CN105571491B - Automobile chassis data measurin system and its method based on binocular vision - Google Patents
Automobile chassis data measurin system and its method based on binocular vision Download PDFInfo
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- CN105571491B CN105571491B CN201610095022.XA CN201610095022A CN105571491B CN 105571491 B CN105571491 B CN 105571491B CN 201610095022 A CN201610095022 A CN 201610095022A CN 105571491 B CN105571491 B CN 105571491B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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Abstract
The invention discloses a kind of automobile chassis data measurin system based on binocular vision, including hand held module, standard database, for some demarcating modules installed in tested automobile chassis un-deformed area and for some measurement modules installed in tested automobile chassis region to be measured；Controller is connected with display module, touch control input module, networking module, image capture module, power management module, signal controller one and signal controller two, and hand held module also includes industrial camera one and industrial camera two；The networking module is also connected with standard database；The hand held module also has camera crossbeam, and the industrial camera one and industrial camera two are separately mounted to the both ends composition binocular camera structure of camera crossbeam.Present invention reduces testing cost, simplify measurement operation, facilitate that transport is mobile, improve detection efficiency, reduces requirement to ambient light, and can realize that any angle once shoots more measurement point automatic measurements.
Description
Technical field
The present invention relates to a kind of automobile chassis data measurin system, further relates to a kind of automobile chassis data measuring method, category
In auto repair fields of measurement.
Background technology
Automobile in shaping maintenance process, it is necessary to measured to the three-dimensional data such as fabrication hole, mounting hole on automobile chassis,
And by measurement data compared with normal data, the deformation on chassis, damaged condition and maintenance effect are judged with this.
Existing car data measuring system mainly has mechanical measuring system, electronic type laser measurement system, ultrasonic wave
Four kinds of measuring system and vision measurement system.
Mechanical measurement system is to use the special measurement head for vehicle dimension customization to measure, and is measured by observing
Mated condition between control point and special measurement head judges deformation, damaged condition and maintenance effect.But often cover special measurement
Head is only applicable to a vehicle, with high costs, application is narrow and measurement is cumbersome.
Electronic type laser measurement system is generally made up of Laser emission receiver, computer and multiple reflecting targets, and it is used
Laser measuring technique, launch laser projection to reflecting target by two PRK transmitters, have difference on each reflecting target
Reflecting grating, the laser beam by receiving optical grating reflection obtains measurement data and is transferred to computer, finally by computer meter
Calculate the space three-dimensional size of measurement point.But electronic type laser measurement system is bulky, mobile inconvenience, the peace before measurement are transported
Dress work is very cumbersome, and measurement efficiency is low, while laser is easily by external interference, higher to measurement scene requirement, and laser pair
Human body has certain harmfulness, and security is poor.
Ultrasonic measurement system is generally made up of ultrasonic transmitter, ultrasonic receiver, switch board and all kinds of measurement heads,
Ultrasonic transmitter has two occurring sources up and down while launches ultrasonic wave, and ultrasonic receiver can quickly and accurately measure ultrasound
Ripple is propagated the time used on vehicle between different datum marks, switch board according to the reception condition of each ultrasonic receiver from
The dynamic three-dimensional data for calculating each measurement point.Ultrasonic measurement system measurement accuracy is high, but by wind speed, temperature and air pressure etc. because
Element has a great influence, and volume is larger, transports mobile inconvenience, the installment work before measurement is very cumbersome, and measurement efficiency is low.
With the development of computer vision, vision technique is gradually applied in automobile maintenance industry.Vision measurement system
System obtains measurement result using CMOS industrial cameras or CCD industrial cameras collection image with reference to image processing algorithm.But industrial phase
Machine sensitive component is influenceed very greatly by shooting environmental light, if insufficient light, the situation for owing exposure occurs in shooting image, such as
Fruit light is too strong, and the situation of overexposure then occurs in shooting image, owes to expose and overexposure can all lead to not or wrong identification index point.
Existing solution is to supplement light source within sweep of the eye in shooting, and increase brightness meets the shooting condition required for camera, but
Fixed distance and relative position relation must be kept between industrial camera and subject, can not be met in auto repair
The needs of any angle shooting measurement in journey；Also, existing vision measurement system needs artificial participation in distinguishing mark point
Identification, can not realize automatic measurement；Again, existing vision measurement system is demarcated using target, area occupied great Yi
Block, be not fixed easily, need repeatedly shooting to complete measurement when target is more.
The content of the invention
The technical problem to be solved by the invention is to provide a kind of automobile chassis data measurin system based on binocular vision
And its method, expand the application of automobile chassis data measurin system, reduce testing cost, simplify measurement operation, convenient fortune
Defeated movement, detection efficiency is improved, reduces requirement to ambient light, realizes that any angle once shoots more measurement points automations and surveyed
Amount.
Technical scheme is as follows：
Automobile chassis data measurin system based on binocular vision, including hand held module, standard database, for installed in
It is tested some demarcating modules of automobile chassis un-deformed area and for some surveys installed in tested automobile chassis region to be measured
Measure module；
The hand held module includes controller, and the controller is connected with display module, touch control input module, networking mould
Block, image capture module, power management module, signal controller one and signal controller two, the hand held module also include using
In shooting demarcating module and the industrial camera one and industrial camera two of measurement module；The signal controller one and industrial camera one
It is connected, the signal controller two is connected with industrial camera two；The networking module is also connected with standard database；
The hand held module also has camera crossbeam, and the industrial camera one and industrial camera two are separately mounted to camera horizontal stroke
The both ends composition binocular camera structure of beam；
The demarcating module have demarcation mark module, installed in demarcation mark module on the inside of demarcation light-emitting device and
The demarcation brightness impression module being connected with demarcation light-emitting device；
The measurement module have measurement mark module, installed in measurement mark module on the inside of measurement light-emitting device and
The measurement brightness impression module being connected with measurement light-emitting device.
As a further improvement on the present invention：The demarcating module also includes being used to pass through with tested automobile chassis fabrication hole
The demarcation firm banking that claw structure is connected；The demarcation light-emitting device and demarcation firm banking pass through magnetic snap fit phase
Connection.
As a further improvement on the present invention：It is described demarcation light-emitting device have be used for detect demarcation firm banking whether with
Automobile chassis fabrication hole connects in place and controls the demarcation power subsystem of demarcation light-emitting device switch.
As a further improvement on the present invention：The measurement module also includes being used to pass through with tested automobile chassis fabrication hole
The measurement firm banking that claw structure is connected；The measurement light-emitting device and measurement firm banking pass through magnetic snap fit phase
Connection.
As a further improvement on the present invention：It is described measurement light-emitting device have be used for detect measurement firm banking whether with
Automobile chassis fabrication hole connects in place and controls the measurement power subsystem of measurement light-emitting device switch.
As a further improvement on the present invention：The quantity of the demarcating module is 3.
A kind of automobile chassis data measuring method based on binocular vision, comprises the following steps：
(A) establish and remain fixed automobile chassis coordinate system, and institute with automobile chassis un-deformed area relative position
It is consistent with the coordinate system referenced by size value in standard database to state automobile chassis coordinate system；Also, establish and hand held module phase
Fixed hand held module coordinate system is remained to position, and determines industrial camera one and industrial camera two in hand held module coordinate
Posture in system；
(B) 3 demarcating modules and some measurement modules are fixed on tested automobile chassis, demarcating module is arranged on chassis
In fabrication hole in un-deformed area, measurement module is arranged in the fabrication hole to be measured in region to be measured；Also, by showing mould
The installation site of demarcating module and measurement module is input in controller by block and touch control input module；
(C) demarcation light-emitting device is opened, demarcation brightness impression module is sensed to ambient and to demarcating luminous dress
The brightness put is adjusted, to meet the photographing request of industrial camera one and industrial camera two；Also, open the luminous dress of measurement
Put, measurement brightness impression module is sensed to ambient and the brightness to measuring light-emitting device is adjusted, to meet work
The photographing request of industry camera one and industrial camera two；
(D) demarcating module and measurement module are taken pictures using hand held module, industrial camera one obtains image one, industry
Camera two obtains image two；
(E) by principle of triangulation, calculate in each comfortable image one of each demarcating module and measurement module and image two
Parallax simultaneously calculates depth information, so as to obtain the three-dimensional coordinate of each demarcating module and measurement module in hand held module coordinate system
Value；
(F) coordinate value of the fabrication hole in standard database where 3 demarcating modules is read, calculates 3 demarcating modules
D coordinates value in automobile chassis coordinate system, and sat according to 3 demarcating modules in automobile chassis coordinate system and hand held module
Two groups of D coordinates values in mark system calculate is converted to the point by the D coordinates value at any point in hand held module coordinate system
The transformation matrix of D coordinates value in automobile chassis coordinate system；
(G) D coordinates value of each measurement module in automobile chassis coordinate system is calculated using transformation matrix then to obtain
D coordinates value of each fabrication hole to be measured in automobile chassis coordinate system；
(H) by D coordinates value and standard database of each fabrication hole to be measured calculated in automobile chassis coordinate system
Coordinate value compare, obtain repairing required difference, and measurement result is exported.
Further improvement as the inventive method：In the step (C), the demarcation power subsystem detects demarcation
Firm banking is connected with automobile chassis fabrication hole automatically controls demarcation light-emitting device opening afterwards in place；The measurement power subsystem inspection
Automatic control survey light-emitting device after measurement firm banking is connected in place with automobile chassis fabrication hole is measured to open.
Further improvement as the inventive method：The transformation matrix includes 3X3 spin matrix R and 3X1 translation
Matrix T.
Further improvement as the inventive method：
For the D coordinates value [X at any point in hand held module coordinate systemS,YS,ZS]T, 3X3 spin matrix R be present
With 3X1 translation matrix T by [XS,YS,ZS]TBe converted to D coordinates value [X of this in automobile chassis coordinate systemT,YT,ZT
]T, it is expressed as formula (1)：
3 demarcating module (1) P are obtained by query criteria database1、P2And P3Three-dimensional in automobile chassis coordinate system
Coordinate value is respectively PT1[XT1,YT1,ZT1]T、PT2[XT2,YT2,ZT2]TAnd PT3[XT3,YT3,ZT3]T, 3 are obtained by step (E)
Demarcating module (1) P1、P2And P3D coordinates value in hand held module coordinate system is respectively PS1[XS1,YS1,ZS1]T、PS2[XS2,
YS2,ZS2]TAnd PS3[XS3,YS3,ZS3]T；
Then translation matrix T solution formulas are formula (2)：
Wherein spin matrix R is multiplied to obtain by three spin matrixs：
R=R1R2R3；
Wherein, R1、R2And R3Represent as follows：
Three Eulerian angles θ, φ and ψ are used to represent the direction of a coordinate system in three dimensions relative to another coordinate system,
Spin matrix R1Represent to rotate θ angles, spin matrix R about the z axis2Represent to rotate φ angles, spin matrix R around X-axis3Expression rotates around Y-axis
ψ angles；
Then spin matrix R is expressed as formula (3)：
Formula (2) and formula (3) are substituted into formula (1), then by PT1[XT1,YT1,ZT1]TWith PS1[XS1,YS1,ZS1]T、PT2
[XT2,YT2,ZT2]TWith PS2[XS2,YS2,ZS2]T、PT3[XT3,YT3,ZT3]TWith PS3[XS3,YS3,ZS3]TThree groups of coordinate values substitute into respectively
Three solution formulas are obtained in formula (1), Eulerian angles θ, φ and ψ is calculated, then obtains spin matrix R.
Relative to prior art, the present invention has following good effect：(1) present invention is simple in construction, installs space-consuming
Small, hand-holdable operation is mobile, easy to use, can realize the more measurement points of any angle while shoot measurement, simplifies measurement behaviour
Make, improve measurement efficiency；(2) demarcating module and measurement module have demarcation brightness impression module and measurement brightness impression respectively
Module, to demarcation light-emitting device and it the brightness of light-emitting device can be measured be adjusted according to external environment light, reduce pair
The requirement of ambient light, and do not influenceed by factors such as wind speed, temperature and air pressure；(3) present invention has standard database, is locating
Automatically the data in standard database are called during reason and are compared automatically with normal data after a measurement, further letter
Change measurement operation, improve measurement efficiency；(4) present invention uses demarcating module and measurement module, small volume, easy for installation,
Be not in each other to block, convenient shooting, can realize that once shooting can be completed to measure；(5) present invention has criterion numeral
According to storehouse, suitable for the measurement of various vehicles, have a wide range of application, testing cost is low；(6) present invention can be after completion of taking pictures certainly
It is dynamic to complete system calibrating, graphical analysis, Coordinate Conversion, measurement module matching, normal data comparison and measurement result output etc.
Whole links, without manual intervention, realize automatic measurement.
Brief description of the drawings
Fig. 1 is the structural representation of the automobile chassis data measurin system based on binocular vision.
Fig. 2 is the structural representation of demarcating module.
Fig. 3 is the structural representation of measurement module.
Fig. 4 is the schematic diagram measured to automobile chassis data.
Embodiment
The technical scheme that the invention will now be described in detail with reference to the accompanying drawings：
Such as Fig. 1, a kind of automobile chassis data measurin system based on binocular vision, including hand held module, standard database,
For 3 demarcating modules 1 installed in tested automobile chassis un-deformed area and for installed in tested automobile chassis area to be measured
Some measurement modules 2 in domain；
The hand held module includes the controller of X86-based, and the controller is connected with display module, touch-control input mould
Block, networking module, image capture module, power management module, signal controller one and signal controller two, the hand held module
Also include being used for the high resolution industrial camera 1 and high resolution industrial camera 24 for shooting demarcating module 1 and measurement module 2；
The signal controller one is connected with industrial camera 1, and the signal controller two is connected with industrial camera 24；It is described
Networking module is also connected with standard database, and the normal data of vehicle chassis is preserved in standard database, have recorded chassis
The D coordinates value relative to reference frame of upper each fabrication hole.
Such as Fig. 4, the hand held module also has camera crossbeam 5, and the industrial camera 1 and industrial camera 24 are pacified respectively
Binocular camera structure is formed mounted in the both ends of camera crossbeam 5.
Such as Fig. 2, the demarcating module 1 has demarcation mark module 1-1, the mark on the inside of demarcation mark module 1-1
Determine light-emitting device 1-2 and the demarcation brightness impression module being connected with demarcation light-emitting device 1-2；
The demarcation that the demarcating module 1 also includes being used to by claw structure be connected with tested automobile chassis fabrication hole is consolidated
Determine base 1-3；The demarcation light-emitting device 1-2 is connected with demarcation firm banking 1-3 by magnetic snap fit；
The demarcation light-emitting device 1-2 also have be used to detecting demarcation firm banking 1-3 whether with automobile chassis fabrication hole
Connect in place and control the demarcation power subsystem of demarcation light-emitting device 1-2 switches.
Such as Fig. 3, the measurement module 2 has measurement mark module 2-1, the survey on the inside of measurement mark module 2-1
Amount light-emitting device 2-2 and the measurement brightness impression module being connected with measurement light-emitting device 2-2；
The measurement that the measurement module 2 also includes being used to by claw structure be connected with tested automobile chassis fabrication hole is consolidated
Determine base 2-3；The measurement light-emitting device 2-2 is connected with measurement firm banking 2-3 by magnetic snap fit；
The measurement light-emitting device 2-2 also have be used to detecting measurement firm banking 2-3 whether with automobile chassis fabrication hole
Connect in place and control the measurement power subsystem of measurement light-emitting device 2-2 switches.
Such as Fig. 4, automobile is measured using the automobile chassis data measurin system based on binocular vision, method bag
Include following steps：
(A) establish and remain fixed automobile chassis coordinate system, and institute with automobile chassis un-deformed area relative position
It is consistent with the coordinate system referenced by size value in standard database to state automobile chassis coordinate system；Also, establish and hand held module phase
Fixed hand held module coordinate system is remained to position, and determines that industrial camera 1 and industrial camera 24 are sat in hand held module
Posture in mark system；
(B) 3 demarcating modules 1 and some measurement modules 2 are fixed on tested automobile chassis, demarcating module 1 is arranged on
In fabrication hole in the un-deformed area of chassis, measurement module 2 is arranged in the fabrication hole to be measured in region to be measured；
Automobile middle part and the fabrication hole at rear portion is selected to place demarcating module 1 if automotive front collides, if after automobile
Portion, which collides, then selects the technique hole position at automotive front and middle part to place demarcating module 1, is selected if the god's collision of automobile middle part method
Select automotive front and post processing hole position places demarcating module 1；
Also, the installation site of demarcating module 1 and measurement module 2 is input to by display module and touch control input module
In controller；
(C) the demarcation power subsystem, which detects, demarcates after firm banking 1-3 is connected in place with automobile chassis fabrication hole certainly
Dynamic control demarcation light-emitting device 1-2 is opened, and demarcation brightness impression module is sensed to ambient and to demarcating light-emitting device
1-2 brightness is adjusted, to meet the photographing request of industrial camera 1 and industrial camera 24；Also, the measurement power supply
Unit detects that measurement firm banking 2-3 is connected rear automatic control survey light-emitting device 2-2 in place with automobile chassis fabrication hole and beaten
Open, measurement brightness impression module is sensed to ambient and the brightness to measuring light-emitting device 2-2 is adjusted, to meet
The photographing request of industrial camera 1 and industrial camera 24；
(D) demarcating module 1 and measurement module 2 to be taken pictures using hand held module, industrial camera 1 obtains image one,
Industrial camera 24 obtains image two；
(E) by principle of triangulation, calculate in each comfortable image one of each demarcating module 1 and measurement module 2 and image two
Parallax and calculate depth information, sat so as to obtain three-dimensional in hand held module coordinate system of each demarcating module 1 and measurement module 2
Scale value；
(F) coordinate value of the fabrication hole in standard database where 3 demarcating modules 1 is read, calculates 3 demarcating modules
1 D coordinates value in automobile chassis coordinate system, and according to 3 demarcating modules 1 in automobile chassis coordinate system and hand held module
Two groups of D coordinates values in coordinate system calculate is converted to this by the D coordinates value at any point in hand held module coordinate system
The transformation matrix of D coordinates value of the point in automobile chassis coordinate system, the transformation matrix include 3X3 spin matrix R and
3X1 translation matrix T；
For the D coordinates value [X at any point in hand held module coordinate systemS,YS,ZS]T, certainly exist 3X3's
Spin matrix R and a 3X1 translation matrix T, can be by [XS,YS,ZS]TThis is converted in automobile chassis coordinate system
D coordinates value [XT,YT,ZT]T, it is expressed as formula (1)：
3 (P of demarcating module 1 can obtain by query criteria database1、P2And P3) in automobile chassis coordinate system three
Dimensional coordinate values are respectively PT1[XT1,YT1,ZT1]T、PT2[XT2,YT2,ZT2]TAnd PT3[XT3,YT3,ZT3]T, it is available by step (E)
3 (P of demarcating module 11、P2And P3) D coordinates value in hand held module coordinate system is respectively PS1[XS1,YS1,ZS1]T、PS2
[XS2,YS2,ZS2]TAnd PS3[XS3,YS3,ZS3]T；
Then translation matrix T solution formulas are formula (2)：
Wherein spin matrix R can be multiplied to obtain by three spin matrixs：
R=R1R2R3；
Wherein, R1、R2And R3Represent as follows：
Three Eulerian angles (θ, φ, ψ) are used to represent the direction of a coordinate system in three dimensions relative to another coordinate system,
Spin matrix R1Represent to rotate θ angles, spin matrix R about the z axis2Represent to rotate φ angles, spin matrix R around X-axis3Expression rotates around Y-axis
ψ angles；
Then spin matrix R can be expressed as formula (3)：
Formula (2) and formula (3) are substituted into formula (1), then by PT1[XT1,YT1,ZT1]TWith PS1[XS1,YS1,ZS1]T、PT2
[XT2,YT2,ZT2]TWith PS2[XS2,YS2,ZS2]T、PT3[XT3,YT3,ZT3]TWith PS3[XS3,YS3,ZS3]TThree groups of coordinate values substitute into respectively
Three solution formulas are obtained in formula (1), Eulerian angles (θ, φ, ψ) is calculated, then obtains spin matrix R；
(G) D coordinates value of each measurement module 2 in automobile chassis coordinate system is calculated using transformation matrix meter R then to obtain
To D coordinates value of each fabrication hole to be measured in automobile chassis coordinate system；
(H) by D coordinates value and standard database of each fabrication hole to be measured calculated in automobile chassis coordinate system
Coordinate value compare, obtain repairing required difference, and measurement result is exported.
Claims (10)
1. the automobile chassis data measurin system based on binocular vision, it is characterised in that：The automobile chassis data measurin system
Including hand held module, standard database, for some demarcating modules (1) installed in tested automobile chassis un-deformed area and use
In some measurement modules (2) installed in tested automobile chassis region to be measured；
The hand held module includes controller, and the controller is connected with display module, touch control input module, networking module, figure
As acquisition module, power management module, signal controller one and signal controller two, the hand held module also includes being used to shoot
The industrial camera one (3) and industrial camera two (4) of demarcating module (1) and measurement module (2)；The signal controller one and industry
Camera one (3) is connected, and the signal controller two is connected with industrial camera two (4)；The networking module also with criterion numeral
It is connected according to storehouse；
The hand held module also has camera crossbeam (5), and the industrial camera one (3) and industrial camera two (4) are separately mounted to
The both ends composition binocular camera structure of camera crossbeam (5)；
The demarcating module (1) has demarcation mark module (1-1), the demarcation hair on the inside of demarcation mark module (1-1)
Electro-optical device (1-2) and the demarcation brightness impression module being connected with demarcation light-emitting device (1-2)；
The measurement module (2) has measurement mark module (2-1), the measurement hair on the inside of measurement mark module (2-1)
Electro-optical device (2-2) and the measurement brightness impression module being connected with measurement light-emitting device (2-2).
2. the automobile chassis data measurin system based on binocular vision as claimed in claim 1, it is characterised in that：The demarcation
Module (1) also includes being used for the demarcation firm banking (1-3) by claw structure being connected with tested automobile chassis fabrication hole；Institute
Demarcation light-emitting device (1-2) is stated with demarcation firm banking (1-3) by magnetic snap fit to be connected.
3. the automobile chassis data measurin system based on binocular vision as claimed in claim 2, it is characterised in that：The demarcation
Light-emitting device (1-2), which has, to be used to detect whether demarcation firm banking (1-3) is connected in place and controls with automobile chassis fabrication hole
Demarcate the demarcation power subsystem of light-emitting device (1-2) switch.
4. the automobile chassis data measurin system based on binocular vision as claimed in claim 1, it is characterised in that：The measurement
Module (2) also includes being used for the measurement firm banking (2-3) by claw structure being connected with tested automobile chassis fabrication hole；Institute
Measurement light-emitting device (2-2) is stated with measurement firm banking (2-3) by magnetic snap fit to be connected.
5. the automobile chassis data measurin system based on binocular vision as claimed in claim 4, it is characterised in that：The measurement
Light-emitting device (2-2), which has, to be used to detect whether measurement firm banking (2-3) is connected in place and controls with automobile chassis fabrication hole
Measure the measurement power subsystem of light-emitting device (2-2) switch.
6. the automobile chassis data measurin system based on binocular vision as described in claim 1 to 5 is any, it is characterised in that：
The quantity of the demarcating module (1) is 3.
A kind of 7. automobile chassis data measuring method based on binocular vision, it is characterised in that：Comprise the following steps：
(A) establish and remain fixed automobile chassis coordinate system, and the vapour with automobile chassis un-deformed area relative position
Chassis coordinate system is consistent with the coordinate system referenced by size value in standard database；Also, establish position relative with hand held module
The hand held module coordinate system for remaining fixed is put, and determines that industrial camera one (3) and industrial camera two (4) are sat in hand held module
Posture in mark system；
(B) 3 demarcating modules (1) and some measurement modules (2) are fixed on tested automobile chassis, demarcating module (1) installation
In fabrication hole in the un-deformed area of chassis, measurement module (2) is arranged in the fabrication hole to be measured in region to be measured；Also,
The installation site of demarcating module (1) and measurement module (2) is input in controller by display module and touch control input module；
(C) demarcation light-emitting device (1-2) is opened, demarcation brightness impression module is sensed to ambient and to demarcating luminous dress
The brightness for putting (1-2) is adjusted, to meet the photographing request of industrial camera one (3) and industrial camera two (4)；Also, open
Light-emitting device (2-2) is measured, measurement brightness impression module is sensed to ambient and to the bright of measurement light-emitting device (2-2)
Degree is adjusted, to meet the photographing request of industrial camera one (3) and industrial camera two (4)；
(D) demarcating module (1) and measurement module (2) are taken pictures using hand held module, industrial camera one (3) obtains image
One, industrial camera two (4) obtains image two；
(E) by principle of triangulation, calculate in each demarcating module (1) and each comfortable image one of measurement module (2) and image two
Parallax and calculate depth information, so as to obtain each demarcating module (1) and measurement module (2) three in hand held module coordinate system
Dimensional coordinate values；
(F) coordinate value of the fabrication hole in standard database where 3 demarcating modules (1) is read, calculates 3 demarcating modules
(1) D coordinates value in automobile chassis coordinate system, and in automobile chassis coordinate system and held according to 3 demarcating modules (1)
Two groups of D coordinates values in module coordinate system, which calculate, changes the D coordinates value at any point in hand held module coordinate system
For the transformation matrix of D coordinates value of this in automobile chassis coordinate system；
(G) D coordinates value of each measurement module (2) in automobile chassis coordinate system is calculated using transformation matrix then to obtain
D coordinates value of each fabrication hole to be measured in automobile chassis coordinate system；
(H) by the seat in D coordinates value and standard database of each fabrication hole to be measured calculated in automobile chassis coordinate system
Scale value compares, and obtains repairing required difference, and measurement result is exported.
8. the automobile chassis data measuring method based on binocular vision as claimed in claim 7, it is characterised in that：In the step
Suddenly in (C), the demarcation power subsystem detects demarcation firm banking (1-3) and the technique of un-deformed area described in automobile chassis
Hole connection automatically controls demarcation light-emitting device (1-2) and opened afterwards in place；The measurement power subsystem detects measurement firm banking
Automatic control survey light-emitting device (2-2) is opened after (2-3) is connected in place with fabrication hole to be measured described in automobile chassis.
9. the automobile chassis data measuring method based on binocular vision as claimed in claim 7 or 8, it is characterised in that：It is described
Transformation matrix includes 3X3 spin matrix R and 3X1 translation matrix T.
10. the automobile chassis data measuring method based on binocular vision as claimed in claim 9, it is characterised in that：Calculate and become
The specific method for changing matrix is：
For the D coordinates value [X at any point in hand held module coordinate systemS,YS,ZS]T, described 3X3 spin matrix be present
R and 3X1 translation matrix T is by [XS,YS,ZS]TBe converted to D coordinates value [X of this in automobile chassis coordinate systemT,YT,
ZT]T, it is expressed as formula (1)：
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<mo>+</mo>
<mi>T</mi>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
3 demarcating module (1) P are obtained by query criteria database1、P2And P3Three-dimensional coordinate in automobile chassis coordinate system
Value is respectively PT1[XT1,YT1,ZT1]T、PT2[XT2,YT2,ZT2]TAnd PT3[XT3,YT3,ZT3]T, 3 demarcation are obtained by step (E)
Module (1) P1、P2And P3D coordinates value in hand held module coordinate system is respectively PS1[XS1,YS1,ZS1]T、PS2[XS2,YS2,
ZS2]TAnd PS3[XS3,YS3,ZS3]T；
Then translation matrix T solution formulas are formula (2)：
<mrow>
<mi>T</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<msub>
<mi>X</mi>
<mrow>
<mi>T</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>X</mi>
<mrow>
<mi>S</mi>
<mn>1</mn>
</mrow>
</msub>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Y</mi>
<mrow>
<mi>T</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>Y</mi>
<mrow>
<mi>S</mi>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>Z</mi>
<mrow>
<mi>T</mi>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>Z</mi>
<mrow>
<mi>S</mi>
<mn>1</mn>
</mrow>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
</mrow>
Wherein spin matrix R is multiplied to obtain by three spin matrixs：
R=R1R2R3；
Wherein, R1、R2And R3Represent as follows：
<mrow>
<msub>
<mi>R</mi>
<mn>1</mn>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
<mrow>
<msub>
<mi>R</mi>
<mn>2</mn>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
<mrow>
<msub>
<mi>R</mi>
<mn>3</mn>
</msub>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&psi;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&psi;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&psi;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&psi;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
</mrow>
Three Eulerian angles θ, φ and ψ are used to represent that a coordinate system to be relative to the direction of another coordinate system, rotation in three dimensions
Matrix R1Represent to rotate θ angles, spin matrix R about the z axis2Represent to rotate φ angles, spin matrix R around X-axis3Represent to rotate ψ angles around Y-axis；
Then spin matrix R is expressed as formula (3)：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&theta;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mfenced open = "[" close = "]">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mo>-</mo>
<mi>sin</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mn>1</mn>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>sin</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
<mtd>
<mn>0</mn>
</mtd>
<mtd>
<mrow>
<mi>cos</mi>
<mi>&phi;</mi>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>3</mn>
<mo>)</mo>
</mrow>
</mrow>
Formula (2) and formula (3) are substituted into formula (1), then by PT1[XT1,YT1,ZT1]TWith PS1[XS1,YS1,ZS1]T、PT2[XT2,
YT2,ZT2]TWith PS2[XS2,YS2,ZS2]T、PT3[XT3,YT3,ZT3]TWith PS3[XS3,YS3,ZS3]TThree groups of coordinate values substitute into formula respectively
(1) three solution formulas are obtained in, Eulerian angles θ, φ and ψ is calculated, then obtains spin matrix R.
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| CN109059764A (en) * | 2018-08-17 | 2018-12-21 | 中车唐山机车车辆有限公司 | Rail vehicle bottom fabrication hole measuring device and system |
| CN110757146B (en) * | 2019-11-08 | 2021-03-16 | 烟台开发区海德科技有限公司 | Automobile body relative position adjusting system |
| CN111735385A (en) * | 2020-05-27 | 2020-10-02 | 中汽研汽车检验中心（天津）有限公司 | Method for determining seat reference point in reverse engineering of competitive product vehicle |
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| CN103196371A (en) * | 2013-03-29 | 2013-07-10 | 南京工业大学 | Method and system for actively measuring large carriage in real time in three dimensions |
| CN103615980A (en) * | 2013-12-13 | 2014-03-05 | 北京理工大学 | Method and system for measuring parameters of round holes in plate |
| CN105157592A (en) * | 2015-08-26 | 2015-12-16 | 北京航空航天大学 | Binocular vision-based method for measuring deformation shape and deformation rate of flexible trailing edge of adaptive wing |
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| CN103196371A (en) * | 2013-03-29 | 2013-07-10 | 南京工业大学 | Method and system for actively measuring large carriage in real time in three dimensions |
| CN103615980A (en) * | 2013-12-13 | 2014-03-05 | 北京理工大学 | Method and system for measuring parameters of round holes in plate |
| CN105157592A (en) * | 2015-08-26 | 2015-12-16 | 北京航空航天大学 | Binocular vision-based method for measuring deformation shape and deformation rate of flexible trailing edge of adaptive wing |
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