# US 10,371,509 B2 · Wheel aligner with advanced diagnostics and no-stop positioning > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,509 B2 - Document ID: US10371509B2 - Status: Granted - Kind: B2 - Application number: 16/056,607 - Filed: 2018-08-07 - Published: 2018-11-29 - Granted: 2019-08-06 - Earliest claimed: 2015-10-06 - Assignees: Snap-on Incorporated - Applicants: Snap-On Incorporated - Inventors: Steven W. Rogers; David A. Jackson; Bradley Lewis; Adam C. Brown; Robert J. D'Agostino; Eric R. Sellers - Web page: https://patentgrep.com/patent/US10371509B2 ## CPC - G01B 11/2755: {using photoelectric detection means} - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - B60S 5/00: Servicing, maintaining, repairing, or refitting of vehicles (vehicles adapted to carry a workshop for servicing or maintenance B60P3/14; servicing rail locomotives B61K) - G01B 11/275: for testing wheel alignment - G06T 7/0004: {Industrial image inspection} - G06T 7/60: Analysis of geometric attributes - G06T 7/73: using feature-based methods - G06V 20/00: Scenes; Scene-specific elements (control of digital cameras H04N23/60) - H04N 7/181: {for receiving images from a plurality of remote sources} - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - B62D 17/00: Means on vehicles for adjusting camber, castor, or toe-in - G01B 2210/12: Method or fixture for calibrating the wheel aligner - G01B 2210/14: One or more cameras or other optical devices capable of acquiring a two-dimensional image - G01B 2210/26: Algorithms, instructions, databases, computerized methods and graphical user interfaces employed by a user in conjunction with the wheel aligner - G01B 2210/30: Reference markings, reflector, scale or other passive device - G01M 17/013: Wheels - G06T 2207/10016: Video; Image sequence - G06T 2207/30164: Workpiece; Machine component - G08B 5/22: using electric transmission; using electromagnetic transmission - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - B60S: SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G01M: TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR - G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS ## Abstract A vehicle wheel alignment system has a plurality of cameras, each camera for viewing a respective target disposed at a respective wheel of the vehicle and capturing image data of the target as the wheel and target are continuously rotated a number of degrees of rotation without a pause. The image data is used to calculate a minimum number of poses of the target of at least one pose for every five degrees of rotation as the wheel and target are continuously rotated the number of degrees of rotation without a pause. At least one of the cameras comprises a data processor for performing the steps of preprocessing the image data, and calculating an alignment parameter for the vehicle based on the preprocessed image data. ## Claims ### Claim 1 A vehicle wheel alignment system comprising: a plurality of cameras, each camera for viewing a respective target disposed at a respective wheel of the vehicle and capturing image data of the target as the wheel and target are continuously rotated a number of degrees of rotation without a pause, wherein the image data is used to calculate a minimum number of poses of the target; wherein each of the minimum number of poses of the target is stored; wherein the stored minimum number of poses of the target comprises at least one pose for every five degrees of rotation captured by each camera as the wheel and target are continuously rotated the number of degrees of rotation without a pause; and wherein at least one of the cameras comprises a data processor for performing the steps of: preprocessing the image data; and calculating an alignment parameter for the vehicle based on the preprocessed image data. ### Claim 2 (depends on 1) The system of claim 1, wherein the data processor of one of the cameras is for serving a user interface. ### Claim 3 (depends on 1) The system of claim 1, wherein the data processor is for calculating a change in an alignment parameter for each vehicle wheel based on the preprocessed image data, and for analyzing the change in the alignment parameter to detect an error. ### Claim 4 (depends on 3) The system of claim 3, where the detected error includes at least one of (a) vehicle wheel axis precession; (b) surface flatness errors of a surface of an alignment rack on which the vehicle wheels and targets rotate; (c) plate slipping errors of a plate which comprises part of the surface of the alignment rack; and (d) stress in a suspension of the vehicle beyond predetermined rest conditions. ### Claim 5 (depends on 4) The system of claim 4, wherein the data processor is for attempting to correct or compensate for detected problems (a)-(d). ### Claim 6 (depends on 5) The system of claim 5, wherein the data processor is for alerting a user of the system if the processor cannot correct the detected problems. ### Claim 7 (depends on 1) The system of claim 1, wherein the data processor is for: detecting, at least in part based on the image data, at least one of (e) instability of one or more of the cameras; and (f) excessive vehicle thrust angle changes. ### Claim 8 (depends on 7) The system of claim 7, wherein the data processor is for attempting to correct or compensate for detected problems (e)-(f). ### Claim 9 (depends on 8) The system of claim 8, wherein the data processor is for alerting a user of the system if the processor cannot correct the detected problems. ### Claim 10 (depends on 1) The system of claim 1, wherein calculating the poses comprises (g) acquiring, as a first wheel is rotating, a first pose of the target at the first wheel, (h) storing the first pose when the first pose is different from previously stored target poses of the first wheel to a predetermined degree, (i) repeating steps (g) and (h) when the first wheel has been rotated less than a minimum number of degrees of rotation; and (j) performing steps (g) through (i) for all the wheels of the vehicle having a target. ### Claim 11 A vehicle wheel alignment system comprising: a plurality of cameras, each camera for viewing a respective target disposed at a respective wheel of the vehicle and capturing image data of the target as the wheel and target are continuously rotated a number of degrees of rotation without a pause, wherein the image data is used to calculate a plural minimum number of poses of the target as the wheel and target are continuously rotated the number of degrees of rotation without a pause; and wherein at least one of the cameras comprises a data processor for performing the steps of preprocessing the image data, and calculating an alignment parameter for the vehicle based on the preprocessed image data. ### Claim 12 (depends on 11) The system of claim 11, wherein the data processor of one of the cameras is for serving a user interface. ### Claim 13 (depends on 11) The system of claim 11, wherein the data processor is for calculating a change in an alignment parameter for each vehicle wheel based on the preprocessed image data, and for analyzing the change in the alignment parameter to detect an error. ### Claim 14 (depends on 13) The system of claim 13, where the detected error includes at least one of (a) vehicle wheel axis precession; (b) surface flatness errors of a surface of an alignment rack on which the vehicle wheels and targets rotate; (c) plate slipping errors of a plate which comprises part of the surface of the alignment rack; and (d) stress in a suspension of the vehicle beyond predetermined rest conditions. ### Claim 15 (depends on 14) The system of claim 14, wherein the data processor is for attempting to correct or compensate for detected problems (a)-(d). ### Claim 16 (depends on 15) The system of claim 15, wherein the data processor is for alerting a user of the system if the processor cannot correct the detected problems. ### Claim 17 (depends on 11) The system of claim 11, wherein the data processor is for: detecting, at least in part based on the image data, at least one of (e) instability of one or more of the cameras; and (f) excessive vehicle thrust angle changes. ### Claim 18 (depends on 17) The system of claim 17, wherein the data processor is for attempting to correct or compensate for detected problems (e)-(f). ### Claim 19 (depends on 18) The system of claim 18, wherein the data processor is for alerting a user of the system if the processor cannot correct the detected problems. ### Claim 20 (depends on 11) The system of claim 11, wherein calculating the poses comprises (g) acquiring, as a first wheel is rotating, a first pose of the target at the first wheel, (h) storing the first pose when the first pose is different from previously stored target poses of the first wheel to a predetermined degree, (i) repeating steps (g) and (h) when the first wheel has been rotated less than a minimum number of degrees of rotation; and (j) performing steps (g) through (i) for all the wheels of the vehicle having a target.