Michael J Robb

US Patent:

6871409, Mar 29, 2005

Filed:

Jul 23, 2003

Appl. No.:

10/624940

Inventors:

Michael J. Robb - San Jose CA, US
Steve L. Glickman - Los Gatos CA, US
Patrick Brendan O'Mahony - San Jose CA, US
Manjula Gururaj - Pewaukee WI, US
David A. Jackson - Point Roberts WA, US
George M. Gill - Vilonia AR, US
Eric F. Bryan - Conway AR, US

Assignee:

Snap-On Incorporated - Pleasant Prairie WI

International Classification:

G01B011/275

US Classification:

33288, 3320318, 382151, 35613909

Abstract:

In a machine vision system utilizing computer processing of image data, an imaging module incorporates the image sensor as well as pre-processing circuitry, for example, for performing a background subtraction and/or a gradient calculation. The pre-processing circuitry may also compress the image information. The host computer receives the pre-processed image data and performs all other calculations necessary to complete the machine vision application, for example, to determine one or more wheel alignment parameters of a subject vehicle. In a disclosed example useful for wheel alignment, the module also includes illumination elements, and the module circuitry provides associated camera control. The background subtraction, gradient calculation and associated compression require simpler, less expensive circuitry than for typical image pre-processing boards. Yet, the pre-processing at the imaging module substantially reduces the processing burden on the host computer when compared to machine vision implementations using direct streaming of image data to the host computer.

US Patent:

6931340, Aug 16, 2005

Filed:

Jun 6, 2002

Appl. No.:

10/162554

Inventors:

David A. Jackson - Los Gatos CA, US
Michael J. Robb - San Jose CA, US
Donald L. Walchuk - Conway AR, US

Assignee:

Snap-On Incorporated - Pleasant Prairie WI

International Classification:

G01C017/38

US Classification:

702 94, 3320318, 356620, 356135, 35613909

Abstract:

An apparatus and method for calibrating machine vision measuring systems that have more than one camera are disclosed. A first calibration target is mounted in a fixed relationship to a first camera of the machine vision measuring system. A third camera mounted in a fixed relationship to a second camera of the machine vision measuring system. Second and third calibration targets are mounted in a fixed relationship to one another and viewable by the first camera and by the third camera. A data processor is programmed to compute calibration of the first camera and the second camera, based on a position of the second calibration target relative to the third calibration target and based on a position of the first camera with respect to the third camera. The apparatus and method provide a way to continuously measure the positions of two or more cameras used in the measuring system, and to use such measurements to calibrate the system. If the cameras move with respect to each other, their respective positions are calculated and used in subsequent measurements.

US Patent:

6959253, Oct 25, 2005

Filed:

Mar 14, 2003

Appl. No.:

10/387575

Inventors:

David A. Jackson - Los Gatos CA, US
Michael J. Robb - San Jose CA, US
Donald L. Walchuk - Conway AR, US

Assignee:

Snap-On Incorporated - Pleasant Prairie WI

International Classification:

G06F019/00

US Classification:

702 94, 702 85, 702 95, 702150, 3320318, 356620, 356155, 35613809

Abstract:

An apparatus and method for calibrating machine vision measuring systems that have more than one camera are disclosed. A first calibration target is mounted in a fixed relationship to a first camera of the machine vision measuring system. A third camera mounted in a fixed relationship to a second camera of the machine vision measuring system. Second and third calibration targets are mounted in a fixed relationship to one another and viewable by the first camera and by the third camera. A data processor is programmed to compute calibration of the first camera and the second camera, based on a position of the second calibration target relative to the third calibration target and based on a position of the first camera with respect to the third camera. The apparatus and method provide a way to continuously measure the positions of two or more cameras used in the measuring system, and to use such measurements to calibrate the system. If the cameras move with respect to each other, their respective positions are calculated and used in subsequent measurements.

US Patent:

6968282, Nov 22, 2005

Filed:

May 22, 2000

Appl. No.:

09/576442

Inventors:

David A. Jackson - Los Gatos CA, US
Michael J. Robb - San Jose CA, US
Donald L. Walchuk - Conway AR, US

Assignee:

Snap-On Incorporated - Pleasant Prairie WI

International Classification:

G01C017/38

US Classification:

702 94, 3320318, 356620, 356155, 35613909

Abstract:

An apparatus and method for calibrating machine vision measuring systems that have more than one camera are disclosed. A first calibration target is mounted in a fixed relationship to a first camera of the machine vision measuring system. A third camera mounted in a fixed relationship to a second camera of the machine vision measuring system. Second and third calibration targets are mounted in a fixed relationship to one another and viewable by the first camera and by the third camera. A data processor is programmed to compute calibration of the first camera and the second camera, based on a position of the second calibration target relative to the third calibration target and a position of the first camera with respect to the third camera. The apparatus and method provide a way to continuously measure the positions of the cameras used in the measuring system to calibrate the system.

US Patent:

7069660, Jul 4, 2006

Filed:

Jan 24, 2005

Appl. No.:

11/039783

Inventors:

Michael J. Robb - San Jose CA, US
Steve L. Glickman - Los Gatos CA, US
Patrick Brendan O'Mahony - San Jose CA, US
Manjula Gururaj - Pewaukee WI, US
David A. Jackson - Point Roberts WA, US
George M. Gill - Vilonia AR, US
Eric F. Bryan - Conway AR, US

Assignee:

Snap-On Incorporated - Pleasant Prairie WI

International Classification:

G01B 11/275

US Classification:

3320316, 33288, 35613909, 701 29, 701 33

Abstract:

In a machine vision system utilizing computer processing of image data, an imaging module incorporates the image sensor as well as pre-processing circuitry, for example, for performing a background subtraction and/or a gradient calculation. The pre-processing circuitry may also compress the image information. The host computer receives the pre-processed image data and performs all other calculations necessary to complete the machine vision application, for example, to determine one or more wheel alignment parameters of a subject vehicle. In a disclosed example useful for wheel alignment, the module also includes illumination elements, and the module circuitry provides associated camera control. The background subtraction, gradient calculation and associated compression require simpler, less expensive circuitry than for typical image pre-processing boards. Yet, the pre-processing at the imaging module substantially reduces the processing burden on the host computer when compared to machine vision implementations using direct streaming of image data to the host computer.

US Patent:

7254469, Aug 7, 2007

Filed:

Nov 18, 2004

Appl. No.:

10/990546

Inventors:

Michael J. Robb - San Jose CA, US
William Welch - Shanghai, CN
James Panko - Wonderlake IL, US

Assignee:

Snap-On Incorporated - Pleasant Prairie WI

International Classification:

G06F 7/00
G06F 17/00

US Classification:

701 29, 701 33, 701 35, 702 71, 702 74

Abstract:

A system and a machine-implemented method for rendering, on a display device, a first data graph concerning data received from a first data source. A second data graph concerning data received from a second data source is rendered on the display device, and superimposed onto the first data graph to generate a superimposed data graph.

US Patent:

7643915, Jan 5, 2010

Filed:

Jul 26, 2003

Appl. No.:

10/628044

Inventors:

David A. Jackson - Point Roberts WA, US
Michael J. Robb - San Jose CA, US
Patrick B. O'Mahony - San Jose CA, US

Assignee:

Snap-On Incorporated - Kenosha WI

International Classification:

G01M 17/00

US Classification:

701 29, 701 28, 701 31, 701 35, 340439

Abstract:

A diagnostic system allows a service technician to diagnose a malfunction that occurs during operation of a wheel alignment system after the malfunction has occurred and is no longer apparent. The system, which includes one or more cameras for gathering images of the alignment, gathers information in real time about the alignment of a plurality of wheels. The images include reflections from a target mounted on each wheel, and a processing system in communication with the cameras receives the images and generates analysis data based on them, the analysis data providing an analysis of the alignment of the wheels. A memory device stores the images and the analysis data, and a storage control causes the memory device to store the images and the analysis data in response to activation of the storage control by the operator during the occurrence of the malfunction. A display device in communication with the memory device selectively displays the images and the analysis data, and a play-back control causes the display device to selectively display the images and the analysis data to the service technician in response to activation of the play-back control after the occurrence of the malfunction.

US Patent:

20050060899, Mar 24, 2005

Filed:

Sep 23, 2003

Appl. No.:

10/667522

Inventors:

David Jackson - Point Robert WA, US
Eric Bryan - Conway AR, US
Michael Robb - San Jose CA, US

International Classification:

G01B005/24

US Classification:

033203180

Abstract:

A three-dimensional camera based system for determining the position and/or alignment of objects such as motor vehicle wheels. The system includes a strobed infrared lighting subsystem, a visible indicator that the subsystem is working properly, and targets for attachment to the objects. The system also includes at least one camera for viewing the targets, and a data processor connected to the camera for processing data relating to images of the targets to determine position and/or alignment information, and a display that displays the position and/or alignment information. The system includes directional indicators for indicating that the vehicle should be repositioned by moving it backward, forward, or steered left or right. The system also includes wheel indicators tied in with software on the data processing device. These wheel indicators indicate the state of target acquisition by the data processing device based on the image from the camera.