# US 12,183,034 B2 · System and method for utilization of displacement sensor during placement of vehicle service fixture > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,183,034 B2 - Document ID: US12183034B2 - Status: Granted - Kind: B2 - Application number: 18/366,997 - Filed: 2023-08-08 - Published: 2023-11-30 - Granted: 2024-12-31 - Earliest claimed: 2018-08-30 - Assignees: Hunter Engineering Company - Applicants: Hunter Engineering Company - Inventors: Brian M. Cejka; Asher L. Haggard; Daniel R. Dorrance - Web page: https://patentgrep.com/patent/US12183034B2 ## CPC - G06T 7/74: {involving reference images or patches} - G01S 7/481: Constructional features, e.g. arrangements of optical elements - G06T 7/248: {involving reference images or patches} - H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils - H04N 23/56: provided with illuminating means - H04N 23/695: Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G01C 25/00: Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38) - G01S 7/4026: {Antenna boresight} - G01S 7/4972: {Alignment of sensor} - G01S 13/931: of land vehicles - G01S 17/931: of land vehicles - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract A machine-vision vehicle service system, and methods of operation, incorporating at least one displacement sensor to acquire measurements associated with physical floor surfaces in proximity to a vehicle undergoing service or inspection. The acquired measurements are utilized to guiding placement of ADAS target components on a floor surface accounting for deviations from an established vehicle reference plane. ## Claims ### Claim 1 A method for placement of a vehicle service fixture relative to a vehicle undergoing service or inspection, comprising: establishing a spatial reference frame; identifying a location of said vehicle within said spatial reference frame; identifying, within said spatial reference frame, a three-dimensional location and spatial orientation of a multi-axis gimbal supporting at least an optical time-of-flight sensor configured to measure distance along a measurement axis; selecting within said spatial frame of reference, a location for placement of said vehicle service fixture relative to said vehicle; utilizing said multi-axis gimbal three-dimensional location, calculating an orientation for said multi-axis gimbal to align said measurement axis with said selected placement location in said spatial frame of reference; driving said multi-axis gimbal to said calculated orientation; acquiring a measurement of distance to a surface along said measurement axis of said time-of-flight sensor; comparing said acquired measurement of distance to said surface with an expected distance between said optical time-of-flight sensor and said selected placement location in said spatial frame of reference along said measurement axis; responsive to a difference between said acquired measurement of distance and said expected distance exceeding a tolerance, calculating a corrected placement location on said surface and an adjustment to a vertical elevation of said vehicle service fixture at said selected placement location within said spatial reference frame; and positioning said vehicle service fixture on said surface at said corrected placement location and at said adjusted vertical elevation. ### Claim 2 (depends on 1) The method of claim 1 wherein said established spatial reference frame is a floor plane reference for said vehicle, and wherein said surface is a physical floor surface. ### Claim 3 (depends on 1) The method of claim 1 wherein positioning said vehicle service fixture includes directing an operator by projecting an illuminating laser beam along said measurement axis to intersect said surface at said corrected placement location. ### Claim 4 (depends on 1) The method of claim 1 wherein establishing said spatial reference frame includes acquiring images of a set of optical targets associated with the wheels of said vehicle; and evaluating said acquired images to establish a floor plane upon which said wheels of said vehicle are disposed, said established floor plane defining said spatial reference frame. ### Claim 5 A method for locating a vehicle service fixture in three-dimensional space relative to a vehicle, comprising: establishing a three-dimensional spatial reference frame associated with said vehicle, said three-dimensional spatial reference frame including a two-dimensional floor plane defined relative to said vehicle; identifying, within said established spatial reference frame, a three-dimensional location and spatial orientation of a multi-axis gimbal supporting at least an optical time-of-flight sensor configured to measure distance along a measurement axis using a projected point of illumination; locating a placement position on said floor plane for placement of a vehicle service fixture base; directing placement of said vehicle service fixture base at said located placement position by orienting said optical time-of-flight sensor to project said point of illumination at said located placement position; identifying a position within said three-dimensional spatial reference frame for a selected point on said vehicle service fixture when said vehicle service fixture is aligned to a selected orientation relative to said floor plane; guiding an orientation of said vehicle service fixture at said placement position to align said selected point with said identified position; calculating a vertical elevation for a target element on said vehicle service fixture at said placement position and orientation of said vehicle service fixture within said established spatial frame of reference; and guiding an adjustment of said target element on said vehicle service fixture to said calculated vertical elevation. ### Claim 6 (depends on 5) The method of claim 5 wherein guiding said orientation includes orienting said optical time-of-flight sensor to project said point of illumination at said identified position within said three-dimensional spatial reference frame for said selected point on said vehicle service fixture; and wherein guiding said adjustment of said target element to said calculated vertical elevation includes orienting said optical time-of-flight sensor to project said point of illumination at a second identified position within said three-dimensional spatial reference frame for a second selected point on said vehicle service fixture, said second selected point having a fixed relationship to said target element. ### Claim 7 (depends on 5) The method of claim 5 further including identifying, within said established spatial frame of reference, a three-dimensional location and spatial orientation of a second multi-axis gimbal supporting at least a laser line projector configured to project an illuminating laser line along a projection axis; and wherein directing placement of said vehicle service fixture base at said located placement position includes orienting said laser line projector to project said illuminating laser line across said located placement position at a selected orientation for said vehicle service fixture base. ### Claim 8 (depends on 6) The method of claim 6 wherein guiding said orientation of said vehicle service fixture at said placement position to align said selected point with said identified position includes orienting said optical time-of-flight sensor to project said point of illumination along an axis intersecting said identified position. ### Claim 9 (depends on 6) The method of claim 6 wherein guiding said adjustment of said target element on said vehicle service fixture to said calculated vertical elevation includes orienting said optical time-of-flight sensor to project said point of illumination along an axis intersecting said calculated vertical elevation at said placement position and orientation of said vehicle service fixture. ### Claim 10 A method for facilitating placement of a vehicle service fixture relative to a vehicle undergoing service or inspection, comprising: establishing a spatial reference frame; identifying a location of said vehicle within said spatial reference frame; identifying, within said spatial reference frame, a three-dimensional location of a sensor configured to measure a distance along a measurement axis originating at said sensor; determining within said spatial frame of reference, a location for placement of said vehicle service fixture relative to said vehicle; calculating a spatial orientation for said sensor to align said measurement axis with said selected placement location using said identified three-dimensional location; orienting said sensor into alignment with said calculated spatial orientation; acquiring a measurement of distance from said sensor to a surface along said measurement axis; comparing said acquired measurement of distance to said surface with an expected distance between said sensor and said selected placement location along said measurement axis; responsive to a difference between said acquired measurement of distance and said expected distance exceeding a tolerance, calculating a corrected fixture placement location on said surface by altering said selected placement location within said spatial reference frame; and identifying said corrected placement location to an operator to facilitate positioning of said vehicle service fixture at said corrected placement location. ### Claim 11 (depends on 10) The method of claim 10 wherein said established spatial reference frame is a floor plane reference for said vehicle, and wherein said surface is a physical floor surface. ### Claim 12 (depends on 10) The method of claim 10 wherein identifying said corrected placement location includes projecting light to illuminate a point on said surface at said corrected placement location. ### Claim 13 A method for facilitating placement of a vehicle service fixture relative to a vehicle undergoing service or inspection, comprising: establishing a spatial reference frame; identifying a location of said vehicle within said spatial reference frame; identifying, within said spatial reference frame, a three-dimensional location of a sensor configured to measure distance along a measurement axis; determining within said spatial frame of reference, a location for placement of said vehicle service fixture relative to said vehicle; calculating a spatial orientation for said sensor to align said measurement axis with said selected placement location using said identified three-dimensional location; orienting said sensor into alignment with said calculated spatial orientation; acquiring a measurement of distance to a surface along said measurement axis; comparing said acquired measurement of distance to said surface with an expected distance between said sensor and said selected placement location along said measurement axis; responsive to a difference between said acquired measurement of distance and said expected distance exceeding a tolerance, calculating a corrected placement location on said surface by altering said selected placement location within said spatial reference frame; identifying said corrected placement location to an operator to facilitate positioning of said vehicle service fixture at said corrected placement location; wherein establishing said spatial reference frame includes acquiring images of a set of optical targets associated with the wheels of said vehicle; and evaluating said acquired images to establish a floor plane upon which said wheels of said vehicle are disposed, said established floor plane defining said spatial reference frame. ### Claim 14 (depends on 13) The method of claim 13 wherein acquiring said measurement of distance to a surface includes calculating time of flight for light projected along said measurement axis from said sensor to said selected placement location. ### Claim 15 (depends on 13) The method of claim 13 wherein orienting said sensor into alignment with said calculated spatial orientation includes rotating one or more gimbal mountings supporting said sensor. ### Claim 16 (depends on 13) The method of claim 13 wherein calculating a corrected placement location on said surface includes determining an elevation difference between said selected placement location and said surface. ### Claim 17 (depends on 16) The method of claim 16 further including displaying said determined elevation difference to said operator, said elevation difference representative of an elevation difference between a floor surface and a vehicle reference plane.