US 11,698,250 B2
Wheel aligner with improved accuracy and no-stop positioning, using a drive direction calculation
Steven W. Rogers, Conway, AR (US); David A. Jackson, Point Roberts, WA (US); Eric R. Sellers, Conway, AR (US); Ronald D. Swayne, Sherwood, AR (US); James Rodney Harrell, Greenbrier, AR (US); Chance Robinson, North Little Rock, AR (US); Robert J. D'Agostino, Conway, AR (US); and Adam C. Brown, Maumelle, AR (US)
Assigned to Snap-On Incorporated, Kenosha, WI (US)
Filed by Snap-On Incorporated, Kenosha, WI (US)
Filed on Sep. 13, 2019, as Appl. No. 16/570,583.
Claims priority of provisional application 62/730,727, filed on Sep. 13, 2018.
Prior Publication US 2020/0088515 A1, Mar. 19, 2020
Int. Cl. G01B 11/27 (2006.01); G01B 11/275 (2006.01); B60R 1/00 (2022.01); B60W 40/10 (2012.01); B60W 40/13 (2012.01)
CPC G01B 11/2755 (2013.01) [B60R 1/00 (2013.01); B60W 40/10 (2013.01); B60W 40/13 (2013.01); G01B 2210/12 (2013.01); G01B 2210/143 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A vehicle alignment system comprising:
a first image sensor for viewing a first target disposed on a first wheel of the vehicle on a first side of the vehicle, and for capturing image data of the first target as the vehicle is rolled and the first wheel and target are rotated;
a second image sensor for viewing a second target disposed on a second wheel of the vehicle on a second side of the vehicle opposite the first side of the vehicle, and for capturing image data of the second target as the vehicle is rolled and the second wheel and target are rotated;
a first gravity sensor attached to the first image sensor, for measuring a sensed orientation relative to gravity on the first side of the vehicle;
a second gravity sensor attached to the second image sensor, for measuring a sensed orientation relative to gravity on the second side of the vehicle; and
a data processor for performing the steps of:
calculating, using the image data, a plural number of poses of each of the first and second targets as the first and second wheels and targets are rotated;
calculating a drive direction of the first side of the vehicle which is a direction in which the vehicle is moving in a coordinate system of the first image sensor using the calculated poses of the first target, and a drive direction of the second side of the vehicle which is a direction in which the vehicle is moving in a coordinate system of the second image sensor using the calculated poses of the second target;
calculating a gravity direction on the first side of the vehicle using the measured orientation relative to gravity of the first gravity sensor, and a gravity direction of the second side of the vehicle using the measured orientation relative to gravity of the second gravity sensor;
calculating a vehicle drive direction by transforming the drive direction and gravity direction of the first side of the vehicle into a common coordinate system with the drive direction and gravity direction of the second side of the vehicle; and
calculating a wheel alignment parameter using the vehicle drive direction.