CN102042806B - Machine vision-based spatial position detection system for automobile wheel planes and rims - Google Patents
Machine vision-based spatial position detection system for automobile wheel planes and rims Download PDFInfo
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- CN102042806B CN102042806B CN2010105175907A CN201010517590A CN102042806B CN 102042806 B CN102042806 B CN 102042806B CN 2010105175907 A CN2010105175907 A CN 2010105175907A CN 201010517590 A CN201010517590 A CN 201010517590A CN 102042806 B CN102042806 B CN 102042806B
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Abstract
The invention discloses a machine vision-based spatial position detection system for automobile wheel planes and rims in the field of automobile industry, and aims to solve the problem that spatial positions of the automobile wheel planes and rims cannot be measured. The system comprises a first camera (1), a first line laser (2), a second line laser (3), a third line laser (4), a laser positioning seat (5), a third positioning bolt (6), a second positioning bolt (7), a first positioning bolt (8), longitudinal bubbles (9), a second camera (10), a camera frame (11), a base (12), transverse bubbles (13) and a bottom plate (14). The detection system can finish non-contact and automatic detection of the spatial positions of the automobile wheel planes and rims.
Description
Technical field
The present invention relates to a kind of checkout equipment of auto industry field, in particular, it relates to a kind of based on the automotive wheel plane of machine vision and the locus detection system of wheel rim.
Background technology
For guaranteeing the control stability of automobile; Automotive wheel should have certain relative space position when assembling and between the car body; Whether the locus of automotive wheel plane and wheel rim is accurate, and driving safety, control stability and the fuel economy of automobile had material impact.Do not find at present dedicated system that the locus of automotive wheel plane and wheel rim is detected as yet.Because important parameter such as toeing-in, camber, reverse caster and Kingpin inclination during automobilism can obtain through the locus of wheel plane; And the wheelbase difference of automobile also can obtain through the locus of wheel rim with the axle drift angle; Therefore, significant based on the locus detection system of the automotive wheel plane of machine vision and wheel rim to the technical progress in automobile non-contact detecting field.
Summary of the invention
The present invention is directed to the present situation that can't detect the locus of wheel plane and wheel rim at present, provide a kind of and had easy and simple to handle, dependable performance, firm in structure, highly versatile, be easy to install, low cost of manufacture, precision are high satisfy that national metering, quality supervised department and manufacturer's non-contact detecting require based on the automotive wheel plane of machine vision and the locus detection system of wheel rim.
Consult Fig. 1 to Fig. 8, for solving the problems of the technologies described above, the present invention adopts following technical scheme to be achieved.The locus detection system of automotive wheel plane and the wheel rim based on machine vision provided by the present invention includes first video camera, first laser line generator, second laser line generator, the 3rd laser line generator, laser instrument positioning seat, the 3rd dog screw, second dog screw, first dog screw, longitudinal level bubble, second video camera, camera framework, base, laterally air level and base plate.
Base plate is placed on the smooth ground, and four manholes of two rectangle standard steel plate thin slices that four bolts pass base from top to bottom successively are fixedly connected with the threaded hole screw thread of four rectangular distribution of base plate.
Four manholes that four bolts pass the camera framework bottom surface from top to bottom successively are fixedly connected with four threaded hole screw threads of base top surface; Two manholes that two bolts pass two manholes and the camera framework bottom surface of base top surface from bottom to top successively are fixedly connected with identical first video camera and the threaded hole screw thread of second video camera bottom; It is bonding with the bottom surface of camera framework or be threaded fixing that longitudinal level steeps the parallel direction of symmetrical plane longitudinally; Laterally air level is bonding with the bottom surface of camera framework or be threaded fixingly along the parallel plane direction of lateral symmetry, and it is relative with wheel to be measured that camera framework does not have a side of side.
The first identical laser line generator, second laser line generator, the 3rd laser line generator pass three cylindrical holes of laser instrument positioning seat respectively; The transmitting terminal of laser need be higher than the surface of laser instrument positioning seat; First dog screw, second dog screw, the 3rd dog screw screw in three tapped blind holes of laser instrument positioning seat successively; The end face of screw holds out against the sidewall of first laser line generator, second laser line generator, the 3rd laser line generator respectively; The transmitting terminal that the laser of back first laser line generator, second laser line generator, the 3rd laser line generator is installed should be in same plane; The line laser of emission should be parallel to each other, and the laser instrument positioning seat adopts welding or the mode that is threaded is fixed on the bottom surface of camera framework, install back laser instrument positioning seat the lateral symmetry plane should with the lateral symmetry plane coplane of camera framework.
Base plate described in the technical scheme is processed for the standard steel plate, at the threaded hole that is processed with four rectangular distribution away from wheel one side to be measured.
Base described in the technical scheme is the rectangular parallelepiped part of the hollow of a no bottom surface; The end face of base and four sides are the welding of standard steel plate; At the end face of base four threaded holes of processing about its vertical symmetrical plane and lateral symmetry plane symmetry; And two manholes of processing about its lateral symmetry plane symmetry; At two rectangle standard steel plate thin slices of the outside of two minor faces of base end face welding, on each rectangle standard steel plate thin slice about two manholes of processing of vertical symmetrical plane symmetry of base.
Camera framework described in the technical scheme is the rectangular parallelepiped part of the hollow of a no side; The end face of camera framework, bottom surface and three sides are the welding of standard steel plate; In the bottom surface of camera framework about four manholes of processing of its vertical symmetrical plane and lateral symmetry plane symmetry; The position of four manholes and position consistency in four round thread holes that process about its vertical symmetrical plane and lateral symmetry plane symmetry of base top surface; About two manholes of processing of camera framework lateral symmetry plane symmetry, the position of two manholes and position consistency about two manholes of its lateral symmetry plane symmetry processing at base top surface.
Laser instrument positioning seat described in the technical scheme is a rectangular parallelepiped column part; Along three cylindrical holes of its lateral symmetry plane processing; Along three tapped blind holes of its vertical symmetrical plane processing; The vertical and intersectant centerline of the center line of three tapped blind holes and three cylindrical holes and coplane, the degree of depth of tapped blind hole need arrive and pass a side opening wall of cylindrical hole.
The invention has the beneficial effects as follows:
(1) the present invention adopts the method for laser line generator projection that the detected characteristics point is set on the wheel rim plane; And the non-contact measurement that used realizing of Robot Vision; In the time of wheel rim Plane Installation sensor, improved the efficient and the precision of the locus detection of wheel plane and wheel rim greatly when having reduced detection.
(2) critical part of the present invention adopts the standard steel plate to process, and at first, standard steel plate output is big, and the machining operation is few, and production cost is lower; Secondly,, adopt the standard steel plate to have certain intensity as the important accessory of surveying instrument, can be indeformable in long-term the use, the precision that assurance is measured can satisfy the requirement of national standard to accuracy of detection; At last, above critical part is the hollow-core construction that steel plate is formed, and greatly reduces the weight of checkout equipment, has improved equipment the dirigibility that adjustment is operated is installed.
Description of drawings
Below in conjunction with accompanying drawing the present invention is done further detailed description:
Fig. 1 be based on machine vision automotive wheel plane and wheel rim the locus detection system see its axonometric projection graph in the other direction along the Y axle from facing the XOZ plane;
What the locus detection system that Fig. 2 is based on automotive wheel plane and the wheel rim of machine vision did not comprise base plate 14 sees its axonometric projection graph in the other direction from facing the XOZ plane along the Y axle;
Fig. 3 be laser instrument holder 5 and camera framework 11 see its axonometric projection graph in the other direction along the X axle from facing the YOZ plane;
Fig. 4 be laser instrument holder 5 and camera framework 11 see its axonometric projection graph along Y axle positive dirction from facing the XOZ plane;
Fig. 5 be base 12 see its axonometric projection graph along Y axle positive dirction from facing the XOZ plane;
Fig. 6 be base 12 see its axonometric projection graph along Z axle positive dirction from facing XOY plane;
Fig. 7 be based on machine vision automotive wheel plane and wheel rim locus detection system duty see its axonometric projection graph in the other direction along the Y axle from facing the XOZ plane;
Fig. 8 be based on machine vision automotive wheel plane and wheel rim locus detection system duty see its axonometric projection graph along X axle positive dirction from facing the YOZ plane;
Among the figure: 1. first video camera, 2. first laser line generator, 3. second laser line generator, 4. the 3rd laser line generator; 5. laser instrument positioning seat, 6. the 3rd dog screw, 7. second dog screw, 8. first dog screw; 9. longitudinal level bubble, 10. second video camera, 11. camera frameworks, 12. bases; 13. horizontal air level, 14. base plates, 15. wheels to be measured.
Embodiment
Below in conjunction with accompanying drawing the present invention is made further detailed description:
The present invention has provided a kind of simple installation, stable performance, testing result is accurate, precision is high based on the automotive wheel plane of machine vision and the locus detection system of wheel rim.The present invention can be applicable to automobile production producer, automotive inspection equipment manufacturer, Automobile Detection center, vehicle maintenance and repair enterprise, colleges and universities, scientific research institutions and country's metering, quality supervised department.
The present invention adopts the method for laser line generator projection that the detected characteristics point is set on the wheel rim plane; And the non-contact measurement that used realizing of Robot Vision; In the time of wheel rim Plane Installation sensor, improved the efficient and the precision of the locus detection of wheel plane and wheel rim greatly when having reduced detection.Critical part of the present invention adopts the standard steel plate to process, and at first, standard steel plate output is big, and the machining operation is few, and production cost is lower; Secondly,, adopt the standard steel plate to have certain intensity as the important accessory of surveying instrument, can be indeformable in long-term the use, the precision that assurance is measured can satisfy the requirement of national standard to accuracy of detection; At last, above critical part is the hollow-core construction that steel plate is formed, and greatly reduces the weight of checkout equipment, has improved equipment the dirigibility that adjustment is operated is installed.In sum, the present invention have dependable performance, firm in structure, adjustment flexibly, highly versatile, be easy to advantages such as installation, low cost of manufacture, can satisfy needs to the locus non-contact detecting of wheel plane and wheel rim.
Consult Fig. 1 to Fig. 8, include first video camera 1, first laser line generator 2, second laser line generator 3, the 3rd laser line generator 4, laser instrument positioning seat 5, the 3rd dog screw 6, second dog screw 7, first dog screw 8, longitudinal level bubble 9, second video camera 10, camera framework 11, base 12, laterally air level 13 and base plate 14 based on the locus detection system of the automotive wheel plane of machine vision and wheel rim.
Base plate 14 is placed on the smooth ground, and base plate 14 is processed for the standard steel plate, and the one, in order to alleviate the weight of base plate 14, the 2nd, can reduce machining amount, at the threaded hole that is processed with four rectangular distribution away from wheel 15 1 sides to be measured.
Laser instrument positioning seat 5 is a rectangular parallelepiped column part; (cross barycenter and the parallel plane plane of XOZ) along its lateral symmetry plane and process three cylindrical holes; Along three tapped blind holes of its vertical symmetrical plane (crossing barycenter and the parallel plane plane of YOZ) processing; The vertical and intersectant centerline of the center line of three tapped blind holes and three cylindrical holes and coplane; The degree of depth of tapped blind hole need arrive and pass a side opening wall of cylindrical hole; Identical LDL650-5G3 type first laser line generator 2, second laser line generator 3, the 3rd laser line generator 4 pass three cylindrical holes of laser instrument positioning seat 5 respectively; The transmitting terminal of laser need be higher than the surface of laser instrument positioning seat 5; First dog screw 8, second dog screw 7, the 3rd dog screw 6 screw in three tapped blind holes of laser instrument positioning seat 5 successively; The end face of screw holds out against the sidewall of first laser line generator 2, second laser line generator 3, the 3rd laser line generator 4 respectively; Turn first dog screw 8, second dog screw 7, the 3rd dog screw 6 can play the effect that clamps or unclamp first laser line generator 2, second laser line generator 3, the 3rd laser line generator 4, and the transmitting terminal that the laser of back first laser line generator 2, second laser line generator 3, the 3rd laser line generator 4 is installed should be in same plane, and the line laser of emission should be parallel to each other; Laser instrument positioning seat 5 adopts welding or the mode that is threaded is fixed on the bottom surface of camera framework 11, install back laser instrument positioning seat 5 lateral symmetry plane (crossing barycenter and the parallel plane plane of XOZ) should with the lateral symmetry plane of camera framework 11 (barycenter and the parallel plane plane of XOZ) coplane.
Method of application based on the locus detection system of the automotive wheel plane of machine vision and wheel rim:
Wheel 15 to be measured is reached on the base plate 14,, can be used as wheel plane to be measured because the wheel rim steel ring position intensity and the machining precision of wheel 15 to be measured are higher.Open first laser line generator 2, second laser line generator 3, the 3rd laser line generator 4; Then three-beam line laser can project on wheel to be measured 15 surfaces; Form three parallel lines on wheel to be measured 15 surfaces, three parallel lines are the needed unique point in measurement wheel to be measured 15 planes with the intersection point of wheel rim steel ring.First video camera 1 and second video camera 10 through having demarcated can collect two width of cloth images that contain unique point; Can obtain the wheel to be measured 15 planes three dimensional space coordinate of unique point on the wheel rim steel ring just through feature extraction and Feature Points Matching; Can confirm the locus on automotive wheel plane and the three dimensional curve equations of the polygonal circumscribed circle that constitutes by unique point, i.e. the three-dimensional space curve equation of wheel rim by the three dimensional space coordinate of unique point.Can use separately based on the automotive wheel plane of machine vision and the locus detection system of wheel rim, also can be placed to using or being used about the automobile longitudinal plane symmetry about automobile longitudinal plane and four of transverse plane of symmetry placements.
Claims (5)
1. one kind based on the automotive wheel plane of machine vision and the locus detection system of wheel rim, and the locus detection system that it is characterized in that described automotive wheel plane and wheel rim based on machine vision includes first video camera (1), first laser line generator (2), second laser line generator (3), the 3rd laser line generator (4), laser instrument positioning seat (5), the 3rd dog screw (6), second dog screw (7), first dog screw (8), longitudinal level bubble (9), second video camera (10), camera framework (11), base (12), laterally air level (13) and base plate (14);
Base plate (14) is placed on the smooth ground, and four manholes that four bolts pass two rectangle standard steel plate thin slices of base (12) from top to bottom successively are fixedly connected with the threaded hole screw thread of four rectangular distribution of base plate (14);
Four manholes that four bolts pass camera framework (11) bottom surface from top to bottom successively are fixedly connected with four threaded hole screw threads of base (12) end face; Two manholes that two bolts pass two manholes and camera framework (11) bottom surface of base (12) end face from bottom to top successively are fixedly connected with identical first video camera (1) and the threaded hole screw thread of second video camera (10) bottom; Longitudinal level bubble (9) the longitudinally parallel direction of symmetrical plane is bonding with the bottom surface of camera framework (11) or be threaded fixing; Laterally air level (13) is bonding with the bottom surface of camera framework (11) or be threaded fixingly along the parallel plane direction of lateral symmetry, and a side of the no side of camera framework (11) and wheel to be measured (15) are relatively;
Identical first laser line generator (2), second laser line generator (3), the 3rd laser line generator (4) pass three cylindrical holes of laser instrument positioning seat (5) respectively; The transmitting terminal of laser need be higher than the surface of laser instrument positioning seat (5); First dog screw (8), second dog screw (7), the 3rd dog screw (6) screw in three tapped blind holes of laser instrument positioning seat (5) successively; The end face of screw holds out against the sidewall of first laser line generator (2), second laser line generator (3), the 3rd laser line generator (4) respectively; The transmitting terminal that the laser of back first laser line generator (2), second laser line generator (3), the 3rd laser line generator (4) is installed should be in same plane; The line laser of emission should be parallel to each other; Laser instrument positioning seat (5) adopts welding or the mode that is threaded is fixed on the bottom surface of camera framework (11), install back laser instrument positioning seat (5) the lateral symmetry plane should with the lateral symmetry plane coplane of camera framework (11).
2. described based on the automotive wheel plane of machine vision and the locus detection system of wheel rim according to claim 1; It is characterized in that described base plate (14) processes for the standard steel plate, at the threaded hole that is processed with four rectangular distribution away from wheel (15) one sides to be measured.
3. described based on the automotive wheel plane of machine vision and the locus detection system of wheel rim according to claim 1; It is characterized in that described base (12) is the rectangular parallelepiped part of the hollow of a no bottom surface; The end face of base (12) and four sides are the welding of standard steel plate; At the end face of base (12) four threaded holes of processing about its vertical symmetrical plane and lateral symmetry plane symmetry; And two manholes of processing about its lateral symmetry plane symmetry; At two rectangle standard steel plate thin slices of the outside of two minor faces of base (12) bottom surface welding, on each rectangle standard steel plate thin slice about two manholes of processing of vertical symmetrical plane symmetry of base (12).
4. described based on the automotive wheel plane of machine vision and the locus detection system of wheel rim according to claim 1; It is characterized in that described camera framework (11) is the rectangular parallelepiped part of the hollow of a no side; The end face of camera framework (11), bottom surface and three sides are the welding of standard steel plate; In the bottom surface of camera framework (11) about four manholes of processing of its vertical symmetrical plane and lateral symmetry plane symmetry; The position of four manholes and position consistency in four round thread holes that process about its vertical symmetrical plane and lateral symmetry plane symmetry of base (12) end face; About two manholes of processing of camera framework (11) lateral symmetry plane symmetry, the position of two manholes and position consistency about two manholes of its lateral symmetry plane symmetry processing at base (12) end face.
5. described based on the automotive wheel plane of machine vision and the locus detection system of wheel rim according to claim 1; It is characterized in that described laser instrument positioning seat (5) is a rectangular parallelepiped column part; Along three cylindrical holes of its lateral symmetry plane processing; Along three tapped blind holes of its vertical symmetrical plane processing, the vertical and intersectant centerline and the coplane of the center line of three tapped blind holes and three cylindrical holes, the degree of depth of tapped blind hole need arrive and pass a side opening wall of cylindrical hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105175907A CN102042806B (en) | 2010-10-25 | 2010-10-25 | Machine vision-based spatial position detection system for automobile wheel planes and rims |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010105175907A CN102042806B (en) | 2010-10-25 | 2010-10-25 | Machine vision-based spatial position detection system for automobile wheel planes and rims |
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| CN102042806A CN102042806A (en) | 2011-05-04 |
| CN102042806B true CN102042806B (en) | 2012-03-28 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103175703B (en) * | 2011-12-20 | 2015-09-30 | 南车青岛四方机车车辆股份有限公司 | Axle locating and method thereof |
| CN102679876B (en) * | 2012-06-01 | 2014-08-06 | 吉林大学 | Unidirectional panoramic view optical collecting system for whole commercial vehicle |
| CN103292700B (en) * | 2013-05-28 | 2015-07-15 | 吉林大学 | Space general position and orientation measurement standard of machine vision measurement system |
| CN105651168B (en) * | 2015-12-31 | 2019-03-05 | 成都铁安科技有限责任公司 | Method for measuring outline dimension of wheel |
| CN105526884A (en) * | 2016-01-29 | 2016-04-27 | 吉林大学 | Automobile wheel rim shape rotation scanning reconstruction system based on active visual sense |
| CN106323270B (en) * | 2016-07-29 | 2020-05-22 | 北京合众思壮科技股份有限公司 | Data acquisition method and device |
| CN107588719B (en) * | 2017-08-09 | 2019-09-20 | 宝沃汽车（中国）有限公司 | Measurement of coordinates auxiliary device |
| CN111295564A (en) * | 2017-09-15 | 2020-06-16 | 国际电子机械公司 | Optical wheel evaluation |
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| FR2808082A1 (en) * | 2000-04-20 | 2001-10-26 | Renault Automation Comau | Method and equipment for acquisition of geometric data concerning the parallelism of the front wheels of vehicle, comprises bay equipped with projectors of parallel light rays and matrix cameras |
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| CN201885687U (en) * | 2010-10-25 | 2011-06-29 | 吉林大学 | Machine vision-based automobile wheel plane-rim spatial position detection system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102006042308A1 (en) * | 2006-09-08 | 2008-03-27 | Beissbarth Gmbh | Method for finding a geometry detail for determining the spatial position of a wheel rim to a measuring device and method and apparatus for determining the spatial position of a wheel rim to a measuring device |
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- 2010-10-25 CN CN2010105175907A patent/CN102042806B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2808082A1 (en) * | 2000-04-20 | 2001-10-26 | Renault Automation Comau | Method and equipment for acquisition of geometric data concerning the parallelism of the front wheels of vehicle, comprises bay equipped with projectors of parallel light rays and matrix cameras |
| CN1826508A (en) * | 2004-03-18 | 2006-08-30 | 贝斯巴斯公司 | Measuring method and measuring unit for determining the spatial position of a wheel rim, and chassis measuring device |
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| CN201885687U (en) * | 2010-10-25 | 2011-06-29 | 吉林大学 | Machine vision-based automobile wheel plane-rim spatial position detection system |
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