CN104019751B - The laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates target - Google Patents
The laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates target Download PDFInfo
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- CN104019751B CN104019751B CN201410289999.6A CN201410289999A CN104019751B CN 104019751 B CN104019751 B CN 104019751B CN 201410289999 A CN201410289999 A CN 201410289999A CN 104019751 B CN104019751 B CN 104019751B
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
- 239000002965 rope Substances 0.000 claims abstract description 15
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- 230000000875 corresponding Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000005259 measurement Methods 0.000 abstract description 9
- 238000010276 construction Methods 0.000 abstract description 2
- 230000001186 cumulative Effects 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 230000003287 optical Effects 0.000 description 2
- BJQHLKABXJIVAM-UHFFFAOYSA-N Bis(2-ethylhexyl) phthalate Chemical compound CCCCC(CC)COC(=O)C1=CC=CC=C1C(=O)OCC(CC)CCCC BJQHLKABXJIVAM-UHFFFAOYSA-N 0.000 description 1
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Abstract
nullThe invention discloses the laser scanning plane three-dimensional demarcation target that a kind of automobile pattern active vision is measured，Aim to solve the problem that cannot realize using three-dimensional scaling target to realize collected by camera piece image can complete the problem that automobile pattern vision measurement system laser plane is demarcated，The laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates target by target plate framework (1)、Steel wire rope (2)、Stud (3) forms with bolt (4)，The datum level providing a kind of target co-ordinates system can overlap with the datum level of the world coordinate system of detection line、Gather piece image can complete to demarcate、Simple in construction、Accuracy of detection is high、Cumulative error is little、Fully functional、Easy and simple to handle、It is easily installed、Highly versatile、The met automotive check industry of dependable performance carries out the laser scanning plane three-dimensional of the automobile pattern active vision measurement that Fast Calibration requires and demarcates target the laser scanning plane that automobile pattern active vision is measured.
Description
Technical field
The present invention relates to the calibrating instrument of the detection equipment of a kind of auto industry field, in particular, it relates to one
The laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates target.
Background technology
For ensureing the safety traffic of automobile, the most quickly overload and oversize and the size of detection automobile is reequiped, and carries out automobile
The measurement of car body appearance and size be automobile detection field predominantly detect one of project.At present, the measurement to automobile dimension is main
Resting on manual meter ruler to measure, efficiency is low, low precision, and intensity of workers is big.Use laser plane that body of a motor car is entered
Row scanning, and by camera acquisition automobile image so that realize car load appearance and size measure method quick, accurate owing to having
Really and the feature such as high reliability is expected to solve above technical bottleneck.Owing to needing accurately to obtain the position of laser plane during detection
Put, it is therefore desirable to the position of system laser plane is carried out accurate calibration, and the existing scaling method for optical plane mainly uses
Two-dimensional target is demarcated, and needs to convert the position of multiple demarcation target in calibration process, gathers several target image ability
Completing the demarcation of aiming plane, in order to improve demarcation efficiency, the design uses three-dimensional target and steel wire rope as the throwing of optical plane
Shadow marker, owing to target is three-dimensional target, therefore can once obtain multiple three-dimensional scaling point, nothing by gathering piece image
Multiple image need to be gathered.The benchmark of the coordinate system of scaling board as measuring basis, therefore can be made due to the side of scaling board
Face overlaps with the datum level of the world coordinate system of detection line, it is achieved measures system coordinate system and overlaps with the datum level of vehicle testing line
Purpose, enormously simplify coordinate system conversion amount of calculation.Therefore, the laser scanning plane three that automobile pattern active vision is measured
It is significant to the technological progress of auto industry detection field that dimension demarcates target.
Summary of the invention
The laser scanning plane that the present invention is directed to realize measuring automobile pattern active vision at present uses three-dimensional mark
The present situation that targeting mark is disposably demarcated, it is provided that the datum level of a kind of coordinate system that can make scaling board and the world detecting line
The datum level of coordinate system overlaps, collection piece image can complete demarcation, simple in construction, accuracy of detection is high, cumulative error is little, merit
Can complete, easy and simple to handle, be easily installed, the met automotive check industry of highly versatile, dependable performance to automobile pattern actively
The laser scanning plane of vision measurement carries out the laser scanning plane three of the automobile pattern active vision measurement that Fast Calibration requires
Dimension demarcates target.
Refering to Fig. 1 to Fig. 4, for solving above-mentioned technical problem, the present invention adopts the following technical scheme that and is achieved.The present invention
The laser scanning plane three-dimensional that institute offer automobile pattern active vision is measured demarcate target include target plate framework, steel wire rope,
Stud forms with bolt.
Bolt penetrates the screwed hole of six frames outside target plate framework from outside to inside and is screwed with target plate framework
Connecting, the end of bolt is fixing with one end of steel wire rope to be connected, and one end of stud penetrates three frames inside target plate framework
Screwed hole be screwed with target plate framework and be connected, the other end of stud is fixing with the other end of steel wire rope to be connected.
Target plate framework described in technical scheme is the hollow cube with the most adjacent three faces that measuring instrument steel is made
Body FRAME COMPONENTS, is made up of four orthogonal cuboid steel column type frame welding for each, two relative edges of each
Frame the most corresponding equidistant processing one row's tapped through hole.
The invention has the beneficial effects as follows:
(1) the present invention is directed to the feature that on laser plane, characteristic point generates, use three-dimensional target and steel wire rope to put down as light
The projection marker in face, owing to target is three-dimensional target, therefore can once obtain multiple three-dimensional mark by gathering piece image
Fixed point, it is not necessary to gather multiple image.
(2) present invention use the side of scaling board as measuring basis, can make scaling board coordinate system datum level with
The datum level of the world coordinate system of detection line overlaps, it is achieved measure the mesh that system coordinate system overlaps with the datum level of vehicle testing line
, enormously simplify the amount of calculation of each coordinate system conversion.
(3) major part of the present invention uses etalon steel to be processed, and first, standard steel section yield is big, and machinery adds
Work operation is few, and production cost is relatively low；Secondly, as the important accessory of measuring instrument, use standard steel section to have certain intensity,
Can be indeformable in life-time service, it is ensured that the precision of measurement, the national standard requirement to certainty of measurement can be met.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing that the laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates target；
Fig. 2 is that the laser scanning plane three-dimensional that automobile pattern active vision is measured is demarcated target and hit the axle of target framework 1
Mapping；
Fig. 3 is that the laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates the axonometric drawing of steel wire rope 2 in target；
Fig. 4 is that the laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates the axonometric drawing of stud 3 in target；
In figure: 1. target plate framework, 2. steel wire rope, 3. stud, 4. bolt.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings:
Refering to Fig. 1 to Fig. 4, the laser scanning plane three-dimensional that automobile pattern active vision is measured is demarcated target and is included target
Plate framework 1, steel wire rope 2, stud 3 and bolt 4.
The hollow cube FRAME COMPONENTS with the most adjacent three faces that target plate framework 1 is made for measuring instrument steel, each
Face is made up of four orthogonal cuboid steel column type frame welding, and two relative frame correspondences respectively of each equidistantly add
Work one row's tapped through hole, bolt 4 penetrates screwed hole and the target plate framework of six frames outside target plate framework 1 from outside to inside
1 is screwed connection, and the end of bolt 4 is fixing with one end of steel wire rope 2 to be connected, and one end of stud 3 penetrates in target plate framework 1
The screwed hole of three frames of side is screwed with target plate framework 1 and is connected, the other end of stud 3 and the other end of steel wire rope 2
Fixing connection.
The using method of the laser scanning plane three-dimensional demarcation target that automobile pattern active vision is measured:
The initial point that intersection point is world coordinate system of definition three planes of three-dimensional scaling target, is placed on level by stereo calibration plate
On ground, by level indicator level-off, and measure the position of its side plane also by laser range finder on the basis of frame side
Adjustment makes its side plane parallel with lane line, when the laser scanning plane projection of automobile pattern vision measurement system is to three-dimensional
When demarcating target, laser plane will intersect with the steel wire rope of three-dimensional scaling target, is increased by image acquisition, image filtering, image
By force, ask for image slices vegetarian refreshments Hessian matrix two eigenvalue and finally judge the three-dimensional coordinate of intersection point, sitting according to camera review
Mark realizes the demarcation under world coordinate system of the laser scanning plane with the cross ratio invariability principle of three-dimensional world coordinate.
Claims (1)
1. the laser scanning plane three-dimensional demarcation target that an automobile pattern active vision is measured, it is characterised in that described vapour
The laser scanning plane three-dimensional that car pattern active vision is measured demarcates target by target plate framework (1), steel wire rope (2), stud (3)
Form with bolt (4)；
Bolt (4) penetrates screwed hole and target plate framework (1) screw thread of six frames in target plate framework (1) outside from outside to inside
Fixing connection, the end of bolt (4) is fixing with one end of steel wire rope (2) to be connected, and one end of stud (3) penetrates target plate framework
(1) screwed hole of three frames of inner side is screwed with target plate framework (1) and is connected, the other end of stud (3) and steel wire rope
(2) the other end is fixing to be connected；
Target plate framework (1) is the hollow cube FRAME COMPONENTS with the most adjacent three faces that measuring instrument steel is made, each
It is made up of four orthogonal cuboid steel column type frame welding, the most corresponding equidistant processing of two relative frames of each
One row's tapped through hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410289999.6A CN104019751B (en) | 2014-06-25 | The laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410289999.6A CN104019751B (en) | 2014-06-25 | The laser scanning plane three-dimensional that automobile pattern active vision is measured demarcates target |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104019751A CN104019751A (en) | 2014-09-03 |
| CN104019751B true CN104019751B (en) | 2016-11-30 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1508512A (en) * | 2002-12-17 | 2004-06-30 | 北京航空航天大学 | Overall calibrating method for multi-vision sensor detecting system |
| CN1912531A (en) * | 2005-08-11 | 2007-02-14 | 北京航空航天大学 | Laser visual quantity transmission device and quantity transmission method |
| CN102322816A (en) * | 2011-06-13 | 2012-01-18 | 北京航空航天大学 | Calibration target device and calibration method for three-dimensional ice-shaped digital image system |
| CN102419261A (en) * | 2011-08-15 | 2012-04-18 | 吉林大学 | Automobile wheel positioner TDOF (three degrees of freedom) calibrating system with extended wide-area visual field space |
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1508512A (en) * | 2002-12-17 | 2004-06-30 | 北京航空航天大学 | Overall calibrating method for multi-vision sensor detecting system |
| CN1912531A (en) * | 2005-08-11 | 2007-02-14 | 北京航空航天大学 | Laser visual quantity transmission device and quantity transmission method |
| CN102322816A (en) * | 2011-06-13 | 2012-01-18 | 北京航空航天大学 | Calibration target device and calibration method for three-dimensional ice-shaped digital image system |
| CN102419261A (en) * | 2011-08-15 | 2012-04-18 | 吉林大学 | Automobile wheel positioner TDOF (three degrees of freedom) calibrating system with extended wide-area visual field space |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20170625 |