CN105371826A - Automotive body pose parameter detection system based on monocular vision - Google Patents
Automotive body pose parameter detection system based on monocular vision Download PDFInfo
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- CN105371826A CN105371826A CN201510981354.3A CN201510981354A CN105371826A CN 105371826 A CN105371826 A CN 105371826A CN 201510981354 A CN201510981354 A CN 201510981354A CN 105371826 A CN105371826 A CN 105371826A
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- automotive body
- target plate
- monocular vision
- detection system
- system based
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention discloses an automotive body pose parameter detection system based on monocular vision and aims to solve problems about non-contact visual detection of automotive body pose parameters. The automotive body pose parameter detection system based on monocular vision mainly comprises a camera (1), a circular hole shaped target plate (2) and magnetic gauge stands (3), wherein the camera (1) directly acquires a quadric curve image of circular holes under a coordinate system of the camera, so that the automotive body pose parameters are obtained through matrix transformation from a plane-coordinate system to the coordinate system of the camera, and detection of the automotive body pose parameters is finished. The magnetic gauge stands (3) are adopted to fix the target plate and an automotive body together, rapid mounting and real-time detection of the pose change of the automotive body can be realized, and the test timeliness is improved. The automotive body pose parameter detection system based on monocular vision is simple in structure, high in detection precision, simple and convenient to operate, easy to mount, lower in cost and reliable in performance.
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 body of a motor car pose parameter detection system based on monocular vision.
Background technology
For ensureing the safety traffic of automobile, rationally fast automotive check time motion state, the measurement carrying out vehicle body pose parameter is one of main test item of automobile detection field.At present, mainly rest on manual meter ruler to the measurement of automobile pose parameter and measure, efficiency is low, low precision, and intensity of workers is large.Adopt the body of a motor car pose detection system based on monocular vision and carry out real-time follow-up by video camera and there is the bottleneck that timeliness is fast, accuracy high is expected to solve above-mentioned technology.Therefore, the body of a motor car pose detection system based on monocular vision is adopted to carry out the technical progress of determination to auto industry detection field of automobile pose parameter significant.
Summary of the invention
The present invention is directed to the present situation that cannot realize carrying out automobile pose parameter low cost detection at present, have employed a kind of measuring technique based on monocular vision, provide a kind of low cost, structure simple, be easy to operate, measuring accuracy is high, dirigibility is strong, dependable performance can meet the body of a motor car pose parameter detection system based on monocular vision of automotive check industry to automobile pose testing requirement.
Consult Fig. 1 to Fig. 4, for solving the problems of the technologies described above, the present invention adopts following scheme to be achieved.Body of a motor car pose parameter detection system based on monocular vision provided by the present invention comprises video camera, circular hole formula target plate and Magnetic gauge stand.
Video camera is placed in the horizontal plane, and circular hole formula target plate is placed in the field range of video camera, and two bolts are fixedly connected with the threaded hole screw thread of two Magnetic gauge stand end faces through two small circular through holes of circular hole formula target plate two ends symmetrical machining.
Circular hole formula target plate described in technical scheme is the square plate part that resin makes, the uniform processing of circular hole formula target plate one group of manhole, two ends symmetrical machining two small circular through holes of circular hole formula target plate.
Magnetic gauge stand described in technical scheme is dial gauge standard magnetic gauge stand.
The invention has the beneficial effects as follows:
(1) the present invention is directed to the intersection point that can only identify gridiron pattern target plate when current existing detection system finds unique point, the problem that when obtaining enough unique points, target plate area is excessive, provide a kind of directly can obtain circular hole under camera coordinate system quafric curve image thus obtained the pose parameter of body of a motor car by the planimetric coordinates matrix conversion be tied under camera coordinate system.Coupling due to a unique point can only obtain two equation of constraint about vehicle body pose, and the coupling of a quafric curve can obtain five equation of constraint about vehicle body pose, therefore can obtain higher measuring accuracy.
(2) the present invention is directed to body of a motor car pose parameter detects light to calibration system quality, easy to carry, requirement is waited on the car surface that is fixed on that can be firm, Magnetic gauge stand is adopted target plate and vehicle body to be fixed together, can Fast Installation be realized and real-time pose change body of a motor car being detected, improve the real-time of test.
(3) the present invention is directed to body of a motor car pose parameter detects light to calibration system quality, easy to carry, can be firm be fixed on the requirements such as car surface, adopt circular hole formula target plate, the center of each circular hole has good noise immunity, improves the precision that test is measured.
(4) Magnetic gauge stand of the present invention is magnet base conventional in industry, and this magnet base can by the presence or absence of switch control rule magnetic, and suction is large, volume is little, quality is light, can resist the impact of extraneous factor, improves the accuracy detecting vehicle body pose parameter.
Accompanying drawing explanation
Fig. 1 is the upper axonometric drawing of circular hole formula target plate 2 based on the body of a motor car pose parameter detection system of monocular vision and Magnetic gauge stand 3;
Fig. 2 is the lower axonometric drawing of circular hole formula target plate 2 based on the body of a motor car pose parameter detection system of monocular vision and Magnetic gauge stand 3;
Fig. 3 is circular hole formula target plate 2 based on the body of a motor car pose parameter detection system of monocular vision and Magnetic gauge stand 3 front elevation;
Fig. 4 is the axonometric drawing of the video camera 1 of body of a motor car pose parameter detection system based on monocular vision;
In figure: 1. video camera, 2. circular hole formula target plate, 3. Magnetic gauge stand.
Below in conjunction with accompanying drawing, the present invention is described in further detail:
Consult Fig. 1 to Fig. 4, the body of a motor car pose parameter detection system based on monocular vision includes video camera 1, circular hole formula target plate 2 and Magnetic gauge stand 3.
Video camera 1 is placed in the horizontal plane, circular hole formula target plate 2 is placed in the field range of video camera 1, the square plate part that circular hole formula target plate 2 makes for resin, the uniform processing of circular hole formula target plate 2 one group of manhole, two ends symmetrical machining two small circular through holes of circular hole formula target plate 2, Magnetic gauge stand 3 is dial gauge standard magnetic gauge stand, and two bolts are fixedly connected with the threaded hole screw thread of two Magnetic gauge stand 3 end faces through two small circular through holes of circular hole formula target plate 2 two ends symmetrical machining.
Based on monocular vision body of a motor car pose parameter detection system make usage: position circular hole formula target plate being adsorbed on body of a motor car surface by Magnetic gauge stand, by running car in the field range of video camera.By a series of image of cameras capture, after first being demarcated by camera intrinsic parameter, carry out the detection of vehicle body pose parameter again.Image is caught in real time, to image zooming-out quafric curve image, according to quafric curve image and six pose parameter that can calculate body of a motor car to the result of camera calibration by video camera.Complete the detection to body of a motor car pose parameter.
Claims (3)
1. the body of a motor car pose parameter detection system based on monocular vision, it is characterized in that, the described body of a motor car pose parameter detection system based on monocular vision is made up of with Magnetic gauge stand (3) video camera (1), circular hole formula target plate (2);
Video camera (1) is placed in the horizontal plane, circular hole formula target plate (2) is placed in the field range of video camera (1), and two bolts are fixedly connected with the threaded hole screw thread of two Magnetic gauge stand (3) end faces through two small circular through holes of circular hole formula target plate (2) two ends symmetrical machining.
2. according to the body of a motor car pose parameter detection system based on monocular vision according to claim 1, it is characterized in that the square plate part that described circular hole formula target plate (2) makes for resin, the uniform processing of circular hole formula target plate (2) one group of manhole, two ends symmetrical machining two small circular through holes of circular hole formula target plate (2).
3., according to the body of a motor car pose parameter detection system based on monocular vision according to claim 1, it is characterized in that described Magnetic gauge stand (3) is for dial gauge standard magnetic gauge stand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510981354.3A CN105371826A (en) | 2015-12-24 | 2015-12-24 | Automotive body pose parameter detection system based on monocular vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510981354.3A CN105371826A (en) | 2015-12-24 | 2015-12-24 | Automotive body pose parameter detection system based on monocular vision |
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| CN105371826A true CN105371826A (en) | 2016-03-02 |
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| CN201510981354.3A Pending CN105371826A (en) | 2015-12-24 | 2015-12-24 | Automotive body pose parameter detection system based on monocular vision |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106017425A (en) * | 2016-06-15 | 2016-10-12 | 吉林大学 | Flexible target for autobody pose visual inspection |
| CN106197381A (en) * | 2016-09-07 | 2016-12-07 | 吉林大学 | Motor racing pose full filed code detection system |
| CN106500667A (en) * | 2016-10-31 | 2017-03-15 | 吉林大学 | Body of a motor car pose vision measurement field |
| CN106840031A (en) * | 2017-04-07 | 2017-06-13 | 吉林大学 | Raster pattern automobile Shap feature detection system based on cylinder pose benchmark |
| CN111089569A (en) * | 2019-12-26 | 2020-05-01 | 中国科学院沈阳自动化研究所 | Large box body measuring method based on monocular vision |
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| CN101995219A (en) * | 2010-11-05 | 2011-03-30 | 天津工业大学 | Three-point coding mark point based method for measuring key points of vehicle frame |
| CN103852266A (en) * | 2012-12-04 | 2014-06-11 | 李志伟 | Double-three-dimensional eight-target four-wheel positioning system |
| CN205228454U (en) * | 2015-12-24 | 2016-05-11 | 吉林大学 | Car body position and orientation parameter detecting system based on monocular vision |
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2015
- 2015-12-24 CN CN201510981354.3A patent/CN105371826A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101995219A (en) * | 2010-11-05 | 2011-03-30 | 天津工业大学 | Three-point coding mark point based method for measuring key points of vehicle frame |
| CN103852266A (en) * | 2012-12-04 | 2014-06-11 | 李志伟 | Double-three-dimensional eight-target four-wheel positioning system |
| CN205228454U (en) * | 2015-12-24 | 2016-05-11 | 吉林大学 | Car body position and orientation parameter detecting system based on monocular vision |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106017425A (en) * | 2016-06-15 | 2016-10-12 | 吉林大学 | Flexible target for autobody pose visual inspection |
| CN106197381A (en) * | 2016-09-07 | 2016-12-07 | 吉林大学 | Motor racing pose full filed code detection system |
| CN106500667A (en) * | 2016-10-31 | 2017-03-15 | 吉林大学 | Body of a motor car pose vision measurement field |
| CN106840031A (en) * | 2017-04-07 | 2017-06-13 | 吉林大学 | Raster pattern automobile Shap feature detection system based on cylinder pose benchmark |
| CN111089569A (en) * | 2019-12-26 | 2020-05-01 | 中国科学院沈阳自动化研究所 | Large box body measuring method based on monocular vision |
| CN111089569B (en) * | 2019-12-26 | 2021-11-30 | 中国科学院沈阳自动化研究所 | Large box body measuring method based on monocular vision |
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Application publication date: 20160302 |
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