Motor control system for a self-calibrating multi-camera alignment system

• US 10,284,777 B2
• Filed: 08/19/2014
• Issued: 05/07/2019
• Est. Priority Date: 08/19/2013
• Status: Active Grant

• Current Assignee: Snap-On Incorporated
• Original Assignee: Snap-On Incorporated
• Inventors: Rogers, Steven W., Bryan, Eric F., Brown, Adam C., McGinley, Brandon J., Sellers, Eric R.
• Primary Examiner(s): Vaughn, Jr., William C
• Assistant Examiner(s): Towe, Joseph Daniel A
• Application Number:
  US14/463,599
• Publication Number:
  US 20150049199A1
• Time in Patent Office: 1,722 Days
• Field of Search: 348148
• CPC Class Codes: G01B 11/2755 using photoelectric detection means
• CPC Class Codes: G01B 2210/143 One or more cameras on each side of a vehicle in the main embodiment
• CPC Class Codes: G01B 2210/16 Active or passive device attached to the chassis of a vehicle
• CPC Class Codes: G01B 2210/20 Vehicle in a state of translatory motion
• CPC Class Codes: G01B 2210/26 Algorithms, instructions, databases, computerized methods and graphical user interfaces employed by a user in conjunction with the wheel aligner
• CPC Class Codes: H04N 23/698 for achieving an enlarged field of view, e.g. panoramic image capture

Abstract

Embodiments include a method for autonomous camera pod tracking of a vehicle during vehicle alignment. The method can include receiving, at a processor of an autonomous camera pod, at least one of vehicle target image data from a vehicle target camera or calibration target image data from a calibration camera, the vehicle target camera being adapted to acquire images of a target mounted to the vehicle, and the calibration camera being adapted to acquire images of a calibration target mounted to a sister autonomous camera pod. An optimal location of the autonomous camera pod can be calculated based on the received vehicle target image data or calibration target image data. The method can include transmitting, when it is determined to move the autonomous camera pod, a motor command to a motor drive of the autonomous camera pod, thereby causing the autonomous camera pod to move to the optimal location.

Claims

1. A vehicle alignment system utilizing camera pods adapted to autonomously track a vehicle, the system comprising:

first and second supporting tracks;

a first autonomous camera pod mounted to the first track to move autonomously along a first length of the first track, the first autonomous camera pod comprising;

a first motor drive adapted to move the first autonomous camera pod along the first length of the first track,

a first camera adapted to capture image data of a first target mounted to the vehicle, the first camera generating first image data,

a calibration target disposed in a fixed relationship to the first camera, and

a first data processor; and

a second autonomous camera pod mounted to the second track to move autonomously along a second length of the second track, the second autonomous camera pod comprising;

a second motor drive adapted to move the second autonomous camera pod along the second length of the second track,

a second camera adapted to capture image data of a second target mounted to the vehicle, the second camera generating second image data,

a calibration camera disposed in a fixed relationship to the second camera adapted to capture image data of the calibration target, the calibration camera generating calibration image data, and

a second data processor;

the first data processor of the first autonomous camera pod being adapted to;

receive the first image data from the first camera,

autonomously determine, based at least in part on the first image data, whether to cause the first autonomous camera pod to move along the first length of the first track, and

transmit, when the first data processor determines to cause the first autonomous camera pod to move along the first length of the first track, a first motor command to the first motor drive thereby causing the first autonomous camera pod to move along the first length of the first track; and

the second data processor of the second autonomous camera pod being adapted to;

receive the calibration image data from the calibration camera,

autonomously determine, based at least in part on the calibration image data, whether to cause the second autonomous camera pod to move along the second length of the second track, and

transmit, when the second data processor autonomously determines to cause the second autonomous camera pod to move along the second length of the second track, a second motor command to the second motor drive, thereby causing the second autonomous camera pod to move along the second length of the second track.

2. The system of claim 1, wherein the vehicle is mounted on a lift, and the first and second data processors are adapted to control the first and second motor drives to move the first and second autonomous camera pods when the vehicle is raised or lowered on the lift such that the first and second cameras continuously capture image data of the first and second targets, respectively.

3. The system of claim 2, wherein the second data processor is adapted to maintain the first and second autonomous camera pods at a substantially equal height from a reference plane based at least in part on the calibration image data generated by the calibration camera when the first and second autonomous camera pods are moving.

4. The system of claim 1,

wherein third and fourth targets are mounted to the vehicle, the first camera is adapted to capture image data of the third target, and the second camera is adapted to capture image data of the fourth target;

wherein the first and second data processors are adapted to process the image data of the first and third targets from the first camera and the second and fourth targets from the second camera, respectively, to generate a vertical location and orientation representing a position of the vehicle, and to move the first and second autonomous camera pods to an optimal location based on the representation of the vehicle position when only one of the targets is being imaged by one of the first and second cameras.

5. The system of claim 1, further comprising:

a third data processor separate from the first and second data processors and having a third wireless communication device for communicating with a respective first and second wireless communication device of the first and second autonomous camera pods,

wherein the third data processor is adapted to send a command to the first or second data processor via the third wireless communication device.

6. The system of claim 5, wherein the command comprises at least one of a location to which the pods are to be moved, a run speed for the motor drives, and a run time for the motor drives.

7. The system of claim 1, wherein the first and second motor drives further comprise a first and second motor, respectively.

8. The system claim 7, wherein the first and second data processors monitor an operating voltage and current of the first and second motors, respectively, and stop the respective motor when the voltage and/or current indicates a predetermined increase in resistance to a motion of the respective autonomous camera pod.

9. The system of claim 7, wherein the first and second data processors monitor an operating voltage and current of the first and second motors, respectively, and lock out automated movement of the respective motor for a predetermined time period when the voltage and/or current indicate manual movement of the respective autonomous camera pod by a user.

10. The system of claim 7, wherein the first and second data processors are adapted to limit acceleration and deceleration of the first and second motors, respectively, to a predetermined value, to reduce wear on the motors and motor drives.

11. The system of claim 7, wherein the first and second data processors are adapted to monitor a power consumption of the first and second motors, respectively, and to send a user notification, via a wireless interface, when the power consumption exceeds a predetermined level.

12. The system of claim 11, wherein the user notification is a message that service is needed.

13. The system of claim 1,

wherein the first and second motor drives further comprise a first and second motor control board, respectively, and

wherein the first and second data processors are adapted to monitor an operating voltage, an operating current, and a temperature of the first and second motor control boards, respectively, and to send a notification, via a wireless interface, indicating that a component of the respective motor control board has failed based on the monitored voltage, current, and temperature.

14. The system of claim 1, wherein when the first and second autonomous camera pods are moving along the first and second lengths of the tracks, the calibration image data from the calibration camera of the second autonomous camera pod is used by the second data processor to calculate a relative speed of the first autonomous camera pod and to adjust a speed of the second autonomous camera pod such that the first and second autonomous camera pods move at substantially the same speed.

15. The system of claim 1, wherein the second data processor comprises two or more data processors.

16. A method for tracking a vehicle during vehicle alignment, the method comprising:

providing a vehicle alignment system comprising;

first and second supporting tracks,

a first autonomous camera pod mounted to the first columnar track and comprising a first motor drive and a first camera to image a first target mounted to the vehicle, and

a second autonomous camera pod mounted to the second track and comprising a second motor drive, a second camera, and a calibration camera;

acquiring, by the first camera, an image of the first target mounted to the vehicle;

receiving, at a first data processor of the first autonomous camera pod, first image data from the first camera;

calculating, at the first data processor, a first optimal location of the first autonomous camera pod;

determining, at the first data processor, whether to move the first autonomous camera pod;

transmitting, by the first data processor, when the first data processor determines to move the first autonomous camera pod, a first motor command to the first motor drive thereby causing the first autonomous camera pod to move along a first length of the first track to the first optimal location;

acquiring, by the second camera, an image of a second target mounted to the vehicle and, by the calibration camera, an image of a calibration target mounted to the first autonomous camera pod;

receiving, at a second data processor of the second autonomous camera pod, calibration image data from the calibration camera;

calculating, at the second data processor, an optimal location of the second autonomous camera pod based at least in part on the received calibration image data;

determining, at the second data processor, whether to move the second autonomous camera pod; and

transmitting, by the second data processor, when the second data processor determines to move the second autonomous camera pod, a second motor command to the second motor drive thereby causing the second autonomous camera pod to move along a second length of the second track to the second optimal location.

17. The method of claim 16, wherein the vehicle is mounted on a lift, and the first and second data processors are adapted to control the first and second motor drives to move the first and second autonomous camera pods when the vehicle is raised or lowered on the lift such that the first and second cameras continuously capture image data of the first and second targets, respectively.

18. The method of claim 16, wherein the first and second motor drives comprise a first and second motor, respectively;

and

wherein the first and second data processors monitor an operating voltage and current of the first and second motors, respectively, and stop the respective motor when the voltage and/or current indicates a predetermined increase in resistance to a motion of the respective autonomous camera pod.

19. The method of claim 16, wherein the first and second motor drives comprise a first and second motor, respectively;

and

wherein the first and second data processors are adapted to monitor a power consumption of the first and second motors, respectively, and to send a user notification, via a wireless interface, when the power consumption exceeds a predetermined level.

20. The method of claim 16, wherein the second data processor comprises two or more data processors.

21. A non-transitory computer readable medium having instructions stored thereon that, when executed by a processor of an autonomous camera pod mounted to a supporting track, cause the processor to track a vehicle during vehicle alignment, the autonomous camera pod being mounted to the track to move along a length of the tower, the tracking comprising:

receiving vehicle target image data from a vehicle target camera and calibration target image data from a calibration camera, the vehicle target camera being adapted to acquire images of a target mounted to a vehicle, the calibration camera being adapted to acquire images of a calibration target mounted to a sister autonomous camera pod;

calculating an optimal location of the autonomous camera pod based at least in part on the received calibration target image data;

determining, responsive to the calculating, whether to move the autonomous camera pod; and

transmitting, when it is determined to move the autonomous camera pod, a motor command to a motor drive of the autonomous camera pod, thereby causing the autonomous camera pod to move along the length of the tower to the optimal location.

22. The non-transitory computer readable medium of claim 21, wherein the vehicle is mounted on a lift, and the optimal location is calculated such that the transmitting causes the motor drive to move the autonomous camera pod when the vehicle is raised or lowered on the lift such that the vehicle target camera continuously captures image data of the vehicle target.

23. The non-transitory computer readable medium of claim 21, wherein the motor drive further comprises a motor, the tracking further comprising:

monitoring an operating voltage and current of the motor and stopping the motor when the voltage and/or current indicates a predetermined increase in resistance to a motion of the autonomous camera pod.

24. The non-transitory computer readable medium of claim 21, wherein the motor drive comprises a motor, the tracking further comprising:

monitoring a power consumption of the motor and to send a user notification, via a wireless interface, when the power consumption exceeds a predetermined level.

25. The non-transitory computer readable medium of claim 21, wherein the processor comprises two or more processors.