CN102749310A - Scanning vehicle edge detector in car washer, and detection method thereof - Google Patents
Scanning vehicle edge detector in car washer, and detection method thereof Download PDFInfo
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- CN102749310A CN102749310A CN2012102376299A CN201210237629A CN102749310A CN 102749310 A CN102749310 A CN 102749310A CN 2012102376299 A CN2012102376299 A CN 2012102376299A CN 201210237629 A CN201210237629 A CN 201210237629A CN 102749310 A CN102749310 A CN 102749310A
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Abstract
The invention relates to a scanning vehicle edge detector in a car washer, and a detection method thereof. The detector comprises a car washer frame, a guiderail, a mobile cross beam, a linear laser device, an industrial camera and an industrial personal computer. The industrial camera and the linear laser device are symmetrically arranged on the mobile cross beam by taking the industrial camera as a center, and the mobile cross beam is erected on the car washer frame by the guiderail. The industrial personal computer calculates average value of gray level to a signal processing area in real time, a dynamic threshold is obtained by adding an experience value on the average value, the gray level of each pixel of the area is modulated to be 1 if being larger than the dynamic threshold and be 0 if being smaller than the dynamic threshold, scanning and judgment are carried out on the grey level of the pixel at a position where the linear laser device is, and the car edge is at the position where the scanning is 0. According to the invention, the light scattering problem is avoided by adopting laser scanning, and good transmissivity can ensure normal work in a severe operation environment.
Description
Technical field
The invention belongs to the edge detecting technology field, especially a kind of pick-up unit and detection method thereof that is used for the detection of car washer interscan formula vehicle edge.
Background technology
Along with development and national economy, automobile quantity increases, and the carwash industry is developed.In order to adapt to the requirement of saving labour and environment-friendly water-saving, the carwash industry of China is being carried out by the transformation of traditional manpower carwash to the robotization carwash.
In automatic car washing machine; In order not only to guarantee the carwash quality but also to save car-cleaning time and car washing water; Need to confirm earlier the edge and the positional information of vehicle to be washed, reduce the water spray distance according to different automobile types and scrub operation, so the fast detecting of vehicle edge information to be washed is particularly important.And along with the raising to the vehicle cleaning requirement, the precision of marginal information has to be hoisted, and abominable in addition operating environment and contingent automobile roll the such physical damnification of collision, and these all propose higher requirement to automobile edge detecting technology and device.
But the vehicle edge detection range is almost blank in the automatic car washing machine.In existing automatic car washing machine, just utilize radar or infrared ray to carry out simple range sensing, but can not accurately obtain the marginal information of vehicle.All there are the angle of divergence in hyperacoustic emission of radar detedtor and acceptance, and the data that obtain are inaccurate; Because the restriction of operating environment, pyroscan generation diffuse reflection are difficult for realizing accurately arresting of marginal information equally.Because environmental background is complicated and change easily, make that the noise in the Flame Image Process increases when utilizing camera to carry out IMAQ, the existence of camera lens spread angle makes the rim detection of differing heights vehicle have error in addition.
And laser has good monochromaticity and penetrability, and is affected by environment little, can be used as the perfect light source of rim detection; Utilize image processing techniques only to handle, so just can accurately obtain the marginal information of vehicle to be measured to the change information of laser.
Summary of the invention
The object of the invention is exactly to the accurate detection of vehicle edge information to be washed in the automatic car washing machine scan-type edge detecting device and detection method thereof to be provided in order to realize.This pick-up unit is not only simple in structure, and cost is low, and is applicable to the automatic car washing machine of various models.
The technical scheme that the present invention is taked for the technical solution problem:
Car washer interscan formula vehicle edge pick-up unit comprises car washer framework, guide rail, moving beam, a word line laser instrument, industrial camera and industrial computer.Moving beam places on the guide rail of car washer frame roof; Moving beam is provided with industrial computer, a pair of industrial camera and word line laser instrument one to one; Industrial computer is in the moving beam middle position; A pair of industrial camera and one to one the word line laser instrument be the center with the industrial computer, be and be symmetrical set; Distance between described industrial camera and the industrial computer is greater than the distance between a described word line laser instrument and the industrial computer; One word line laser instrument and industrial camera all are in the perpendicular at moving beam place; One word line laser instrument and moving beam are an angle of 90 degrees; Industry camera and vertical direction are 0～10 degree angle, and direction is in car washer; Described industrial camera, a word line laser instrument all are connected with the industrial computer signal.
Utilize said apparatus to carry out the method that vehicle edge detects: industrial computer carries out the mean value calculation of gray-scale value in real time to the signal Processing zone; Add that on mean value empirical value obtains dynamic threshold; The gray-scale value of this each pixel of zone being modulated, is 1 greater than dynamic threshold again, is 0 less than dynamic threshold; Gray-scale value to the pixel of a word line laser position scans judgement then, and scanning obtains the edge that 0 place is vehicle; Said signal Processing zone contains the laser that a word line laser instrument sends.
The beneficial effect that the present invention had is: avoided the scattering of light problem with laser scanning, its good transmittance guarantees operate as normal in abominable operating environment; The industry camera can be regulated the inclination angle according to different accuracy requirements; The scan-type rim detection is saved vehicle edge detection time to be washed and can not caused damage to vehicle as non-contact detecting; Owing to adopt conventional mechanical and electrical component, so manufacture craft is simple, with low cost; Be not only applicable to automatic car washing machine, be adapted in other manufacturing industry production lines that need marginal information yet.
Description of drawings
Fig. 1 is the structural representation of edge detecting device of the present invention;
Wherein: 1. industrial camera, 2. a word line laser instrument, 3. industrial computer, 4. car washer framework, 5. moving beam, 6. guide rail;
Fig. 2 is a frame picture of industrial camera collection in the moving beam scanning process;
Wherein: 7. automobile, 8. ground, 9. information processing zone, a 10. word line laser.
Embodiment
Below in conjunction with accompanying drawing one embodiment of the invention is further described.
See figures.1.and.2; Moving beam 5 places on institutional framework 4 head rail 6; The initial position of moving beam 5 is positioned at guide rail 6 bottoms, and moving beam 5 is provided with industrial computer 3, a pair of industrial camera 1 and word line laser instrument 2 one to one, and industrial computer 3 is in moving beam 5 middle positions; A pair of industrial camera 1 and one to one word line laser instrument 2 be the center with industrial computer 3, be and be symmetrical set; One word line laser instrument 2 is in the perpendicular at moving beam 5 places with industrial camera 1, and a word line laser instrument 2 is an angle of 90 degrees with moving beam, and industrial camera 1 is 0～10 degree angle with vertical direction, and direction is in car washer; Industry camera 1 is gathered black and white picture with the high-frequency frame number in working order the time; Industrial computer 3 is connected with industrial camera 1, a word line laser instrument 2 equal signals; Control the duty of an industrial camera 1 and a word line laser instrument 2 on the one hand, on the other hand the zone of the information processing in each the frame black and white picture that is collected by industrial camera 19 is all carried out the mean value calculation of gray-scale value, add that on mean value empirical value obtains dynamic threshold; Again the gray-scale value of each pixel in information processing zone 9 is modulated; Greater than dynamic threshold is 1, is 0 less than dynamic threshold, and the gray-scale value to the pixel of a word line laser 10 positions scans judgement then; Scanning obtains the edge that 0 place is vehicle, and the scanned pixel count of recorded and stored; Information processing zone 9 is that ground 8 is the rectangular area of axis of symmetry with a word line laser 10.
The working method of this device: after vehicle 7 to be washed got in the car washer framework, industrial computer transferred to duty with a word line laser instrument and industrial camera; And the synchro control moving beam is at the uniform velocity mobile by car washer frame guide rail bottom forward end, drives a word line laser instrument and treats and wash vehicle and scan, and a word line laser is formed tomography by automobile body partial occlusion to be washed at the vehicle body edge; Industry camera with the high-frequency frame number with black-and-white photograph real time record fault information; Industrial computer averages the calculating of gray-scale value to the information processing zone on each frame black-and-white photograph; Add empirical value and obtain dynamic threshold; Then each grey scale pixel value in information processing zone being modulated, is 1 greater than dynamic threshold, is 0 less than dynamic threshold; Gray-scale value to the pixel of a word line laser position scans judgement then, and scanning obtains the edge that 0 place is vehicle; When the gray-scale value to the pixel of a word line laser position scans when can not get 0, industrial computer will send and stop scan instruction, and a word line laser instrument and industrial camera quit work, and moving beam moves to initial position.
This device can realize that the gordian technique of rim detection is: word line laser instrument emission in-line laser, owing to receive the partial occlusion of body of a motor car, laser forms tomography in scanning process; The industry camera is put down in writing the fault information of a word line with high frequency frame number black and white picture in real time in the crossbeam moving process, and is transferred to industrial computer; Industrial computer all carries out the mean value calculation of gray-scale value to the information processing zone of each frame picture, adds that on mean value empirical value obtains dynamic threshold, the gray-scale value of each pixel in this zone is modulated again; Greater than dynamic threshold is 1; Less than dynamic threshold is 0, and the grey scale pixel value to a word line laser position scans judgement then, and scanning obtains the edge that 0 place is vehicle; Can not get at 0 o'clock; Industrial computer will send and stop scan instruction, and a word line laser instrument and industrial camera quit work, and moving beam moves to initial position.
In the present embodiment, the pixel count of industrial camera is 640 * 480, and sweep frequency was 20 frame/seconds; The signal Processing area size is 640 pixels * 30 pixels.
Claims (2)
1. car washer interscan formula vehicle edge pick-up unit; Comprise car washer framework, guide rail, moving beam, a word line laser instrument, industrial camera and industrial computer; It is characterized in that: moving beam places on the guide rail of car washer frame roof, and moving beam is provided with industrial computer, a pair of industrial camera and word line laser instrument one to one; Industrial computer is in the moving beam middle position, a pair of industrial camera and one to one the word line laser instrument be the center with the industrial computer, be and be symmetrical set; Distance between described industrial camera and the industrial computer is greater than the distance between a described word line laser instrument and the industrial computer; One word line laser instrument and industrial camera all are in the perpendicular at moving beam place; One word line laser instrument and moving beam are an angle of 90 degrees; Industry camera and vertical direction are 0～10 degree angle, and direction is in car washer; Described industrial camera, a word line laser instrument all are connected with the industrial computer signal.
2. utilize the described device of claim 1 to carry out the method that vehicle edge detects; It is characterized in that: industrial computer carries out the mean value calculation of gray-scale value in real time to the signal Processing zone, add that on mean value empirical value obtains dynamic threshold, the gray-scale value of this each pixel of zone is modulated again; Greater than dynamic threshold is 1; Less than dynamic threshold is 0, and the gray-scale value to the pixel of a word line laser position scans judgement then, and scanning obtains the edge that 0 place is vehicle; Said signal Processing zone contains the laser that a word line laser instrument sends.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210237629.9A CN102749310B (en) | 2012-07-10 | 2012-07-10 | Scanning vehicle edge detector in car washer, and detection method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210237629.9A CN102749310B (en) | 2012-07-10 | 2012-07-10 | Scanning vehicle edge detector in car washer, and detection method thereof |
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| CN102749310A true CN102749310A (en) | 2012-10-24 |
| CN102749310B CN102749310B (en) | 2014-07-23 |
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| CN201210237629.9A Expired - Fee Related CN102749310B (en) | 2012-07-10 | 2012-07-10 | Scanning vehicle edge detector in car washer, and detection method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710250A (en) * | 2020-11-23 | 2021-04-27 | 武汉光谷卓越科技股份有限公司 | Three-dimensional measurement method based on line structured light and sensor |
| CN115520150A (en) * | 2022-11-29 | 2022-12-27 | 陕西昂车郡电子科技有限公司 | Dirty device of car washing robot dynamic identification |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20060276985A1 (en) * | 2005-05-23 | 2006-12-07 | Board Of Regents, The University Of Texas System | Automated surface distress measurement system |
| CN201233223Y (en) * | 2008-07-30 | 2009-05-06 | 天恒威科技（北京）有限公司 | Lumber automatic monitor system |
| CN201890600U (en) * | 2010-05-07 | 2011-07-06 | 燕山大学 | Machine vision belt tearing detecting device |
| CN202264799U (en) * | 2011-07-22 | 2012-06-06 | 天津思博科科技发展有限公司 | Visual detection system of freight train over-limit computer |
-
2012
- 2012-07-10 CN CN201210237629.9A patent/CN102749310B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060276985A1 (en) * | 2005-05-23 | 2006-12-07 | Board Of Regents, The University Of Texas System | Automated surface distress measurement system |
| CN201233223Y (en) * | 2008-07-30 | 2009-05-06 | 天恒威科技（北京）有限公司 | Lumber automatic monitor system |
| CN201890600U (en) * | 2010-05-07 | 2011-07-06 | 燕山大学 | Machine vision belt tearing detecting device |
| CN202264799U (en) * | 2011-07-22 | 2012-06-06 | 天津思博科科技发展有限公司 | Visual detection system of freight train over-limit computer |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710250A (en) * | 2020-11-23 | 2021-04-27 | 武汉光谷卓越科技股份有限公司 | Three-dimensional measurement method based on line structured light and sensor |
| CN112710250B (en) * | 2020-11-23 | 2022-12-23 | 武汉光谷卓越科技股份有限公司 | Three-dimensional measurement method based on line structured light and sensor |
| CN115520150A (en) * | 2022-11-29 | 2022-12-27 | 陕西昂车郡电子科技有限公司 | Dirty device of car washing robot dynamic identification |
| CN115520150B (en) * | 2022-11-29 | 2023-02-28 | 陕西昂车郡电子科技有限公司 | Dirty device of car washing robot dynamic identification |
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| CN102749310B (en) | 2014-07-23 |
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