CN106101686A - Laminated glass and manufacture method, the calibration steps of stereoscopic camera and calibration system - Google Patents
Laminated glass and manufacture method, the calibration steps of stereoscopic camera and calibration system Download PDFInfo
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- CN106101686A CN106101686A CN201610266444.9A CN201610266444A CN106101686A CN 106101686 A CN106101686 A CN 106101686A CN 201610266444 A CN201610266444 A CN 201610266444A CN 106101686 A CN106101686 A CN 106101686A
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- Prior art keywords
- glass
- ripple
- image
- mode
- calibration
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B17/00—Layered products essentially comprising sheet glass, or glass, slag, or like fibres
- B32B17/06—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material
- B32B17/10—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material of synthetic resin
- B32B17/10005—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material of synthetic resin laminated safety glass or glazing
- B32B17/10009—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material of synthetic resin laminated safety glass or glazing characterized by the number, the constitution or treatment of glass sheets
- B32B17/10036—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material of synthetic resin laminated safety glass or glazing characterized by the number, the constitution or treatment of glass sheets comprising two outer glass sheets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B32—LAYERED PRODUCTS
- B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
- B32B17/00—Layered products essentially comprising sheet glass, or glass, slag, or like fibres
- B32B17/06—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material
- B32B17/10—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material of synthetic resin
- B32B17/10005—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material of synthetic resin laminated safety glass or glazing
- B32B17/10009—Layered products essentially comprising sheet glass, or glass, slag, or like fibres comprising glass as the main or only constituent of a layer, next to another layer of a specific material of synthetic resin laminated safety glass or glazing characterized by the number, the constitution or treatment of glass sheets
- B32B17/10082—Properties of the bulk of a glass sheet
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03B—MANUFACTURE, SHAPING, OR SUPPLEMENTARY PROCESSES
- C03B33/00—Severing cooled glass
-
- C—CHEMISTRY; METALLURGY
- C03—GLASS; MINERAL OR SLAG WOOL
- C03C—CHEMICAL COMPOSITION OF GLASSES, GLAZES OR VITREOUS ENAMELS; SURFACE TREATMENT OF GLASS; SURFACE TREATMENT OF FIBRES OR FILAMENTS MADE FROM GLASS, MINERALS OR SLAGS; JOINING GLASS TO GLASS OR OTHER MATERIALS
- C03C27/00—Joining pieces of glass to pieces of other inorganic material; Joining glass to glass other than by fusing
- C03C27/06—Joining glass to glass by processes other than fusing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/128—Adjusting depth or disparity
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
Abstract
The invention discloses a kind of laminated glass and manufacture method, the calibration steps of stereoscopic camera and calibration system.The method of this manufacture laminated glass includes: to cut out such mode of the respective side of the first glass and the second glass in identical cut direction, from having a glass plate of the ripple formed in a predetermined direction, cut out described first glass and described second glass；And the such mode being in alignment with each other with the ripple of described first glass and the ripple of described second glass, by described first glass together with described second glassy bond.
Description
Cross-Reference to Related Applications
This application claims at the Japanese patent application that on April 27th, 2015 submits in Japan
No.2015-090584 and the Japanese patent application submitted in Japan on March 8th, 2016
The priority of No.2016-044855, and by quoting, its entire content is incorporated to.
Technical field
The present invention relates to for manufacture the method for laminated glass, laminated glass, for calibrating the side of stereoscopic camera
Method and calibration system.
Background technology
Nearest vehicle is equipped with various Optical devices, such as head up displays and in-vehicle camera in inside.This
A little Optical devices often pass windscreen and use.Such windscreen has been needed to have the property of optical module
Energy.It is known that in the manufacturing process of windscreen, manage such as temperature and pitch time (takt time)
With close to the shape of windscreen to design data and to eliminate optical distortion (distortion).
Such as, Japanese Patent Application Laid-Open No.2004-132870 discloses the actuator for stereoscopic camera,
The regulation of the position skew of its regulation for optical distortion and the stereoscopic camera by image procossing.Japan
Patent Application Kokai No.H7-010569 discloses to reduce the insertion waves profile formed in a manufacturing process
The purpose detailed condition by the plate glass manufacturing process of floating process (float process).Japan is specially
Profit application JP No.2007-290549 discloses the manufacture method of a kind of windscreen and windscreen, at this windscreen
In, the distortion generated in windscreen is made as on direction difference, to reduce when the distortion when windscreen is watched.
But, typical manufacturing technology known for inventor is had a problem in that and is being used for windscreen
The little waviness profile being randomly formed on the front surface and rear surface of windscreen in the manufacturing process of plate glass
Under the influence of formation, there is optical distortion, cause by little abnormal in the image that windscreen captures of such as camera
Become.
Japanese Patent Application Laid-Open No.2004-132870 is similar at following aspect, i.e. measures at vehicle
The optical distortion of the stereoscopic camera of middle lift-launch and position offset to carry out correction, in order to alleviates and is generated by windscreen
The impact of distortion.But, carrying out measurement by image procossing when, have with the distortion generated by windscreen
The position relationship between camera and windscreen is depended in the correction closed, and the position caused due to shock and vibration is closed
Change in system causes the impact of the distortion generated by windscreen constantly to occur.
Japanese Patent Application Laid-Open No.H7-010569 reduces the insertion waves profile formed on plate glass
Size with reduce optical distortion impact.But, the ripple formed on the surface of plate glass can not be complete
Entirely it is eliminated, and therefore uses the windscreen of such plate glass manufacture to have on front surface and rear surface
The ripplet being randomly formed, causes optical distortion.
Use the disclosure of Japanese Patent Application Laid-Open No.2007-290549, it is impossible to fully reduce at flat board glass
The impact of the ripple formed on glass, and therefore use the windscreen of such plate glass manufacture to have at front table
The ripplet being randomly formed on face and rear surface.These ripples cause optical distortion.
Summary of the invention
The problem that it is an object of the invention to solve at least in part in routine techniques.
According to an aspect of the present invention, method is for manufacturing laminated glass.Method includes cutting out first
Glass and the second glass, and by the first glass and the second glassy bond.When cutting, to cut identical
Cut such mode of the respective side cutting out the first glass and the second glass on direction, from having in predetermined party
One glass plate of the ripple being upwardly formed, cuts out the first glass and the second glass.When bonding, with the
Such mode that the ripple of one glass and the ripple of the second glass are in alignment with each other, by the first glass and the second glass
Glass is bonded together.
When considered in conjunction with the accompanying drawings, by reading the described in detail below of presently preferred embodiment of the invention,
It is better understood with above and other purpose, feature, advantage and technology and the industrial significance of this invention.
Accompanying drawing explanation
Figure 1A to Fig. 1 D is the sectional view in the region of windscreen；
Fig. 2 A is the sectional view of the amplification of the incidence/outgoing state of the light beam being shown in unjustified windscreen；
Fig. 2 B is the sectional view of the amplification of the incidence/outgoing state of the light beam being shown in the windscreen of alignment；
Fig. 3 is the flow chart being shown in the manufacturing process in the windscreen manufacture example 1 of embodiment；
Fig. 4 is that the explanatory of plate glass manufacturing process being shown in windscreen manufacture example 1 and example 2 regards
Figure；
Fig. 5 is to be shown in windscreen to manufacture the explanatory diagram of the plate glass cutting technique in example 1；
Fig. 6 is to be shown in windscreen to manufacture the explanation of the silk screen printing on the plate glass in example 1 and example 2
Property view；
Fig. 7 is that the explanatory of plate glass bending process being shown in windscreen manufacture example 1 and example 2 regards
Figure；
Fig. 8 is that the explanatory of plate glass bonding process being shown in windscreen manufacture example 1 and example 2 regards
Figure；
Fig. 9 A and Fig. 9 B is to be shown in windscreen to manufacture the explanatory alignment mark in example 1 and example 2
Explanatory diagram；
Figure 10 is to be shown in windscreen to manufacture the explanatory diagram of the plate glass cutting technique in example 2；
Figure 11 is the explanatory diagram of the exemplary configuration of diagram calibration system, and wherein stereoscopic camera is installed in
Have according in the vehicle of the windscreen of embodiment；
Figure 12 is the block diagram of the exemplary configuration of diagram stereoscopic camera；
Figure 13 is the block diagram of the exemplary hardware arrangement of pictorial information processing means；
Figure 14 is the block diagram of the functional configuration of pictorial information processing means；
Figure 15 is the explanatory diagram of the example of diagram calibration chart；
Figure 16 is the flow chart of the process illustrating the calibration according to embodiment；And
Figure 17 is that diagram is cut in such mode that the waviness direction on front surface and rear surface is orthogonal
Cut the explanatory diagram of the example of glass plate.
Accompanying drawing is intended to describe the exemplary embodiment of the present invention and be not to be read as limiting its scope.Run through
Each accompanying drawing, same or similar Ref. No. specifies same or similar parts.
Detailed description of the invention
Described in detail below according to the present invention for manufacture the method for laminated glass, laminated glass, for school
The method of quasi-stereoscopic camera and the embodiment of calibration system.The purpose of embodiment is intended to reduce plate glass
Manufacturing process in the impact of optical distortion that caused of the little waviness profile that formed.
Terminology used in this article is only for describing the purpose of specific embodiment, and is not intended to limit this
Bright.
As used in this article, singulative " ", " one " and " described " are intended to also include plural number
Form, unless context shows expressly otherwise.
In describing accompanying drawing in embodiment illustrated, in order to clearly, specific nomenclature can be used.But,
The disclosure of this patent specification is not intended to limit the concrete term of so selection, and it is to be understood that each tool
Element of volume includes having identical function, in a similar manner operation and realize all technology etc. of similar results
Effect thing.
The general introduction of windscreen
Process before and after the alignment (bonding adjusts) below describing windscreen and will describe later
General introduction.Figure 1A to Fig. 1 D is the sectional view in the region of windscreen.Fig. 2 A is to be shown in unjustified windscreen
In the sectional view of amplification of incidence/outgoing state of light beam, and Fig. 2 B is to be shown in the windscreen of alignment
The sectional view of amplification of incidence/outgoing state of light beam.
Windscreen 10 has the three-decker of shatter prevention film including two glass plates and being clipped between glass plate.
Two glass plates are manufactured by the method being referred to as floating process, during this period, formed and see in glass plate
The profile of the wave got up as rolling in one direction with little spacing (pitch).
Above mentioned floating process is to float on motlten metal thin melten glass to manufacture tabular glass
The technique of glass.Due to this technique, on the surface of plate glass, on the flow direction of glass material easily
Form insertion waves (corrugation) (waveform).
The glass plate manufactured is through heating and is configured to desired shape, and then with folder between the plates
Film is bonded together.The such fabrication process through plate glass windscreen front surface and after table
On face, the ripplet random scatter caused due to floating process.
Each section (section) of windscreen 10 fabricated as described above is described as follows: region in figure ia
A section, region B section in fig. ib, region C section in fig. 1 c and at Fig. 1 D
In region D section.Region A and region B shows that the front surface of windscreen 10 and rear surface are almost parallel.
Region C shows that the ripple on the front surface and rear surface of windscreen 10 matches each other.Region D shows at wind
Ripple on the front surface of gear 10 and rear surface does not mates.
Fig. 2 A is shown in the incidence/outgoing state of the light beam in the D of region in the comparison configuration of windscreen 10.
As illustrated in the region D section in Fig. 1 D, there is the random wave being dispersed on front surface and rear surface
The windscreen 10 of stricture of vagina makes the light beam through windscreen 10 (enter with the most different directions at front surface and rear surface
Firing angle j ≠ angle of emergence j ') refraction.As a result, optical distortion is generated.Windscreen 10 have include plate glass,
Interlayer and the three-decker of plate glass, and therefore include four interfaces reflecting light.
But, as illustrated in Fig. 2 B, when the light beam in region C section the most in fig. 1 c incidence/
In the state of outgoing, when front surface and rear surface are parallel to each other, the refractive index of windscreen 10 and interlayer substantially phase
With, and therefore reflect hardly with interbedded interface at each plate glass.Therefore, should
Windscreen 10 may be considered as a glass plate optically, and considers only at front surface and the rear table of windscreen 10
Corrugated contours on face is enough.
Such mode of the insertion waves profile alignment to be formed on a glass, for the front table of windscreen 10
Two glass plates of face and rear surface align and bond (with reference to Fig. 2 B).The most therefore the windscreen alignd
There is in 10 front and rears in microcosmos area identical gradient (angle).As illustrated in Fig. 2 B, through wind
The incident beam of the light beam of gear 10 and outgoing beam (angle of incidence i=angle of emergence i ') parallel to each other.Therefore, exist
In the image that windscreen 10 obtains, little distortion is not generated by stereoscopic camera or other device, and because of
This can reduce the impact of the optical distortion of the little waviness profile of formation in the manufacturing process of plate glass.
More than in view of, in an embodiment, the manufacture method of windscreen includes: with the thin ripple formed on a glass
Such mode of stricture of vagina profile alignment so that for front surface and two glass plate alignment of rear surface of windscreen
And bond.This alignment causes the incident beam of the light beam through windscreen and outgoing beam parallel to each other.Therefore,
In the image acquired in windscreen, little distortion is not being generated by camera or other device.Below with reference to attached
Figure describes concrete manufacture example etc. in detail.
Windscreen manufactures example 1
Embodiment describes the example of windscreen 100, and this windscreen 100 is made be bonded together
One glass 100a and the laminated glass of the second glass 100b.Fig. 3 is that the windscreen manufacture being shown in embodiment is shown
The flow chart of the manufacturing process in example 1.First, plate glass (step S11) is manufactured.As it has been described above,
The plate glass being used for windscreen 100 is manufactured by floating process, and this floating process is well-known side
Method.In the process, as illustrated in figure 4, due to this manufacture method, with side on plate glass
Insertion waves profile is formed to W.In an embodiment, windscreen 100 is properly termed as laminated glass 100.
Then, plate glass fabricated as described above is cut into the shape (step S12) of windscreen 100.
When being used as front surface and the first glass 100a of rear surface and the second glass from plate glass cutting
During 100b, the upper and lower surface of the first glass 100a and the second glass 100b is made as and is formed
The direction W of insertion waves is parallel.It addition, cutting will be used as front surface and rear surface on identical line
The first glass 100a and the second glass 100b (with reference to Fig. 5).As it has been described above, in cutting technique, with
In such mode of identical cut direction cutting respective side, with predetermined direction from having a ripply glass
Glass plate cuts out the first glass 100a and the second glass 100b.
Cutting technique in step S12 enables being bonded in when being exposed to alignment at adhesion technique subsequently
Time ripple on the first glass 100a and the second glass 100b between almost without any to partially
(misalignment).Specifically, to the insertion waves on the first glass 100a and at the second glass 100b
On insertion waves between the adjustment of alignment eliminate the ripple on the first glass 100a and the second glass 100b
The major part of stricture of vagina is to partially.
Subsequently, the first glass 100a and the second glass 100b experience such as figure being cut to is had been described above
Black ceramic silk screen printing (step S13) illustrated in 6.Black ceramic is commonly used in improvement for by wind
Gear 100 is assembled into adhesion strength and the persistency of the binding agent of vehicle body, and is used for improving outside windscreen 100
The outward appearance of peripheral edge.In silk screen printing, printing alignment mark as illustrated in Fig. 9 A or Fig. 9 B with
Align in making the ripple on two glass plates (the first glass 100a and the second glass 100b).
Spacing p in alignment mark depends on the pattern of the insertion waves profile formed.Such as, for
The spacing of the corrugated contours of the formation in 100mm stage, substantially 10mm is enough.
Subsequently, the first glass 100a and the second glass 100b experience bending of black ceramic is had been printed with
Technique (with reference to Fig. 7) (step S14).Subsequently, the first glass 100a being bent and the second glass
100b is along with the interlayer experience bonding process inserted between the first glass 100a and the second glass 100b
(with reference to Fig. 8) (step S15).In bonding process, with such mode of ripple alignment, the first glass
Glass 100a and the second glass 100b is bonded together.
When bonding will be used as the first glass 100a and the second glass 100b of front surface and rear surface,
Use the alignment mark of the black ceramic described above with reference to Fig. 9 A and Fig. 9 B so that can be with formation
The precision of about 1/10th of insertion waves profile implements bonding.
By using above-mentioned manufacturing process to manufacture windscreen 100, the thin ripple formed on front surface and rear surface
Stricture of vagina profile is aligned and bonds and is carried out.
Windscreen manufactures example 2
The windscreen manufacture example 2 being different from above-mentioned windscreen manufacture example 1 is below described.Windscreen manufactures example 2
Use and the substantially the same technique of diagram in accompanying drawing, but in the different cutting technique of step S12 use.
Specifically, the plate glass manufacture illustrated in the diagram, the silk screen printing illustrated in figure 6, at Fig. 7
The bending process of middle diagram and the bonding process illustrated in fig. 8 and the phase in windscreen manufactures example 1
With.The cutting technique illustrated in Fig. 10 is different.
It is, in cutting technique the first glass 100a and the upper and lower surface of the second glass 100b
To align with the direction orthogonal for direction W forming insertion waves, and cut out on identical line will be by
The first glass 100a and the second glass 100b (with reference to Figure 10) as front surface and rear surface.
In windscreen manufactures example 2, it is similar to windscreen and manufactures example 1, be aligned on front surface and rear surface
Formed insertion waves profile and implement bonding.
Calibration exemplary system
The example used when the windscreen 100 manufactured by above-mentioned manufacture method is installed to vehicle is below described
Property calibration system.Figure 11 is the explanatory diagram of the exemplary configuration of diagram calibration system, wherein cubic phase
Machine 110 is installed in the vehicle 150 with the windscreen 100 according to embodiment.
Windscreen 100 is arranged on before vehicle 150, and stereoscopic camera 110 is mounted in vehicle 150.
Calibration chart 120 is installed in before vehicle 150.Calibration chart 120 is installed in catching of stereoscopic camera 110
In the range of obtaining.Stereoscopic camera 110 is couple to the information processor (calibrating installation) 130 that will then have to describe.
As illustrated in figure 12, stereoscopic camera 110 includes first camera 111 and second camera 112.As
The camera used is such, and first camera 111 and second camera 112 all include having such as charge-coupled image sensor
(CCD) optical system of photo-electric conversion element.Have the stereoscopic camera 110 of such configuration have as
Lower function: capture object (be calibration chart 120 in this example) image with optics acquisition image also
And output image is as view data.On base direction and horizontal direction, first camera 111 and the second phase
Machine 112 is different.
Figure 13 is the block diagram of the exemplary hardware arrangement of pictorial information processing means 130.Information processor
130 include CPU (CPU) 140, read only memory (ROM) 141, random access memory
Device (RAM) 142, memorizer 143, communicator 144, and external interface (IF) 145.Use
Bus 146 by CPU 140, ROM 141, RAM 142, memorizer 143, communicator 144, with
And exterior I F 145 is coupled to each other.
According to the control program of storage in ROM 141, CPU 140 uses as working storage
RAM 142 implements predetermined control.Memorizer 143 is such as hard disk drive (HDD) or storage card.
Communicator 144 is communicated with other device through exterior I F 145 by such as wireless method.Exterior I F 145
Being a kind of interface, this interface is for transmitting data and from other dress by such as wireless method to other device
Put reception data.
Figure 14 is the block diagram of the functional configuration of pictorial information processing means 130.As being used for implementing calibration cartridge
The function put, information processor 130 includes first image correction unit the 131, second image correction unit
132, correction parameter record unit 133, disparity computation unit 134 and graphics processing unit 135.It
Rear detailed description is as the information processor 130 of calibrating installation.
First image correction unit 131 obtains the image of the calibration chart 120 captured by first camera 111,
And use the correction parameter of record in correction parameter record unit 133 to carry out correction chart picture.Second image calibration
Positive unit 132 obtains the image of the calibration chart 120 captured by second camera 112, and uses in correction
In reference record unit 133, the correction parameter of record carrys out correction chart picture.Correction parameter record unit 133 is to use
In the nonvolatile memory recording the correction parameter about image correction process.Such as, above-mentioned memorizer
143 are used as correction parameter record unit 133.
Disparity computation unit 134 is from by the first image correction unit 131 and the second image correction unit 132
Corresponding two images of correction calculate parallax, and export anaglyph 136.Specifically, parallaxometer
Calculate unit 134 and calculate the position skew about calibration chart 120 of the image from two captures.At image
Reason unit 135 recovers modulation transfer function (MTF) (MTF) attribute having been decreased by, and exports luminance picture
137。
Use configuration above, according to the parameter of record in correction parameter record unit 133, by the first phase
The image of machine 111 and second camera 112 capture is respectively by image correction unit 131 and 132 geometric correction.
First image correction unit 131 and the second image correction unit 132 correction chart picture are to obtain by the first phase
Machine 111 and the pseudo-image of second camera 112 capture, above-mentioned first camera 111 and second camera 112 are at base
It is identical on line direction and horizontal direction.Then, parallax in the horizontal direction is calculated so that exportable
Accurate anaglyph 136.It addition, the MTF that graphics processing unit 135 suitably recovers to be lowered belongs to
Property to enable the output of luminance picture 137 of the resolution with improvement.
The non-software by the hardware of such as integrated circuit (IC), can the merit of implementation information processing means 130
Can block part or all of.
The computer program performed by information processor 130 is pre-mounted in ROM 141 or other is situated between
In matter and be provided.Above computer program may be recorded in computer readable recording medium storing program for performing, such as light
Dish read only memory (CD-ROM), floppy disk (FD), CD-R (CD-R) and numeral are many
In function CD (DVD), as installing or executable file, and therefore it is provided.
The computer program performed in an embodiment is storable in being couple to the calculating of network (such as the Internet)
In machine, and it is downloaded on network and provides.Additionally, can be on network (such as the Internet)
There is provided or distribute the computer program performed in an embodiment.
The computer program performed in an embodiment has the modular arrangements including said units.In reality
In hardware, CPU (processor) 140 reads computer program from ROM 141 and performs computer journey
Sequence so that these unit are downloaded to and generate on main storage.
Can pre-install and provide the computer of information processor 130 in ROM 141 or other medium
Program.
Calibration (calibration example)
The windscreen 100 manufactured by above-mentioned manufacture method in embodiment does not have the indicative of local optical of insertion waves
Distortion.(its sensing accuracy is abnormal by optics in the module that ought be used for such as stereoscopic camera 110 for windscreen 100
Become impact) time be therefore particularly effective.
But, when carrying stereoscopic camera 110 relative to windscreen 100, due to such as at stereoscopic camera 110
And the impact of the position relationship between windscreen 100, calibration may be disturbed.Therefore, when stereoscopic camera 110
Calibration is needed when being mounted in vehicle 150.A kind of example, in this example, the position of image are below described
The position of approximate desired can be set to.
In system as illustrated in Figure 11, calibration chart 120 is installed in before windscreen 100 so that
The pattern being imprinted on calibration chart 120 is projected on the imaging surface of stereoscopic camera 110.Such as Figure 15 institute
Diagram, the pattern of calibration chart 120 is gridiron pattern pattern.The pattern of calibration chart 120 in fig .15
Be used for the two-dimensional search being implemented on x and y direction, with obtain stereoscopic camera 110 in x and y direction
On calibration in deviation.
As illustrated in Figure 15, calibration chart 120 is not limited to gridiron pattern pattern.Calibration chart 120 can be
Arbitrary graphic pattern, such as circular pattern, as long as characteristic point can be extracted from pattern.The less spacing of lattice point carries
For greater number of corresponding point, enabling correction is due in the manufacturing process for above-mentioned windscreen 100
The detection of the local distortion to the windscreen 100 being eliminated partially and not completely generated.On the other hand, have
Less compartment away from the pattern of calibration chart 120 increase the probability of error detection, and the most on the contrary may be used
Use little irregular pattern.It should be noted that, the less pattern of calibration chart 120 as mentioned above increases
Adding quantity of information, increase processes load.The size of the pattern of calibration chart 120 is the most sufficiently large, vertical to fill
The whole screen of body camera 110.The information using corresponding point across the screen makes it possible to obtain in school
Correcting action in standard.
Above-mentioned and in the configuration of the calibration system of Figure 11 to Figure 14 diagram exemplary operations is below described.
Figure 16 is the flow chart of the process illustrating the calibration according to embodiment.First, first camera 111 and second
Camera 112 captures the corresponding image of the calibration chart 120 (with reference to Figure 15) above installed at vehicle 150
(step S21).Then, such as, using characteristic point, it is right to search on the capture image of calibration chart 120
Ying Dian.Respectively from be installed in left side and right side in first camera 111 and the corresponding point of second camera 112
In, obtain in two dimension (it is, the difference between correspondence position in vertical and horizontal direction (x, y))
(dx, dy) (step S22).
It is then determined that the reliability (step S23) of the image of capture.Such as, calibration chart 120 it is extracted in
On the white brightness of pattern, to check the most uneven appearance in whole image district.At calibration figure
The degree of accuracy of the brightness irregularities impact search corresponding point occurred on table 120.
If the result of such as the above results is determined to be insecure (true in the output of step S23 and data
Fixed: no), implement such as to readjust the environment of the calibration about the capture image using calibration chart 120
(step S24).Hereafter, process returns step S21, and is again carried out the capture of calibration chart 120
And procedure below.
By contrast, if it is determined that the image in the capture of step S23 is reliably (determining: yes), parallax
Difference dy between computing unit 134 calculates correspondence position is corrected to the correction parameter of minima, and
Dx is corrected to the parallax value (step S25) corresponding to carrying distance.Subsequently, school obtained as above
Positive parameter is written in correction parameter record unit 133 (step S26) and operates stopping.
Said process makes it possible for the windscreen 100 of embodiment to calibrate stereoscopic camera 110.Specifically,
Calibration can correct with higher degree of accuracy can not be completely from the laminated glass manufactured by above-mentioned manufacture method
100 distortion eliminated.In this way, according to above-described embodiment, by such windscreen 100, i.e. at wind
Gear 100 reduces the shadow of distortion caused due to the insertion waves formed in the manufacture process of plate glass
Ring, the image (and range information) with less distortion can be obtained.
The impact of the degree of accuracy of stereoscopic camera 110 be may be logically divided into due to glass material and whole wind by windscreen 100
The impact of the big distortion that the shape of gear 100 causes and owing to being formed on the glass that describes in an embodiment
The impact of the little distortion that little waviness profile causes.Two glass plates align by this way and bond,
I.e. in the insertion waves profile alignment formed on two glass plates of front surface and rear surface, this can suppress little
The generation of distortion.
But, in actual technique, can not implement in some cases such strict glassy bond with
Reduce pitch time and cost.In such a case, the direction of glass-cutting can be changed so that glass plate
It is bonded together and the direction of little waviness profile is substituted for one another.In other words, with on front surface and rear surface
The direction of waviness such mode intersected with each other, for front surface and two glass plates bondings of rear surface
Together.This bonding dispersibles the front surface of glass and the distortion effects on two surfaces of rear surface.
Specifically, for example, it is contemplated that to the waviness formed on the surface of glass material, cut out for front table
Face and the glass plate of rear surface, and use alignment mark as above (with reference to Fig. 9 A and Fig. 9 B)
The glass plate being used for front surface and rear surface is bonded together.Figure 17 is that diagram is with at front surface and rear table
The explanatory diagram of the example of such mode cutting glass plate that waviness direction on face is orthogonal.At figure
In 17 in the cutting technique of diagram, with relative to forming the different direction of direction w of insertion waves (at this
Mutually orthogonal directions in example) cutting respective side such mode, cut out first from a glass plate
Glass 100a and the second glass 100b.
It is, as illustrated in Figure 17, cut out the front surface that will be used as windscreen from a glass plate
Two glass plates with rear surface.The direction of formation insertion waves it is orthogonal to the direction of upper and lower surface
Such mode, cutting is used as the plate glass (the first glass 100a) of front surface.With upper surface and under
Such mode in the direction being oriented parallel to formation insertion waves on surface, cutting is used as the flat board of rear surface
Glass (the second glass 100b).Alternately, with upper and lower surface be oriented parallel to form thin ripple
Such mode in the direction of stricture of vagina can cut the plate glass being used as front surface, and with upper and lower surface
Direction be orthogonal to be formed such mode in direction of insertion waves and can cut the flat board glass being used as rear surface
Glass.
The the first glass 100a being cut as mentioned above and the second glass 100b experiences silk as above
Wire mark brush (with reference to Fig. 6) and bending process (with reference to Fig. 7).Finally, intersected with each other (real at this with ripple
Execute in example, orthogonal) such mode, the first glass 100a and the second glass 100b is bonded together (ginseng
According to Fig. 8).
Specifically, as it has been described above, the glass plate being cut to experiences the black in silk-screen printing technique
Silk screen printing.Black ceramic is commonly used in improvement for the adhesion strength by the binding agent of glass assemblies to vehicle body
And persistency, and it is used for improving the outward appearance of the peripheral edge of windscreen.Now, printing is such as Fig. 9 A or 9B
The illustrated pattern for alignment.It is printed on the glass plate experience bending process of black ceramic.By
The glass plate for front surface and rear surface of bending is along with the interlayer experience bonding work being inserted in the middle of plate
Skill.When bonding glass plate, the use of the alignment pattern of above-mentioned black ceramic makes with pinpoint accuracy each other
The corresponding direction of insertion waves profile can be formed on the rear surface of quadrature arrangement and front surface.
By using above-mentioned manufacturing process to manufacture windscreen 100, the thin ripple formed on front surface and rear surface
Stricture of vagina profile be orthogonal and align and front and rear surface be bonded together.
Therefore, the direction of the little waviness profile on two glass plates is substituted for one another, enabling distribution glass
Front surface and the impact of distortion on two surfaces of rear surface.
Subsequently, as described with reference to figure 11, carry out and passed through the lamination manufactured as described above by stereoscopic camera 110
The relevant calibration that distorts generated in the image of glass 100 capture, in order to calibration is used for capturing through having ripple
The stereoscopic camera 110 of the image of the glass of stricture of vagina.
As it has been described above, use such windscreen (laminated glass 100), i.e. distribution distortion in this windscreen
Affect to reduce the impact of little distortion, and through this windscreen, the image of capture chart calculating from left and
The correction parameter of the corresponding point of right camera, therefore reduces the impact of big distortion.Consider the impact of windscreen 100,
This configuration can provide as the overall stereoscopic camera 110 with pinpoint accuracy.
For using the calibration steps of chart, open known method can be used, as at Japan Patent No.
Method described in 4109077.For correcting the method that the method for the impact of big distortion is not limited to use chart.
Such as, calculating can be based on the preliminary surveying as described in Japanese Patent Application Laid-Open No.2015-169583
Result is carried out, or can use such as the simulation software in Japanese Patent Application Laid-Open No.2015-163866
Carry out.
Embodiment is described in vehicle 150 embodiment of the windscreen 100 installed.But, the invention is not restricted to
Embodiment.The present invention is applicable to such as other device, such as, use windscreen 100 and by using cubic phase
Machine 110 and information processor (calibrating installation) 130 carry out the device of calibration.
Embodiment provides potent influence: reduce the little waviness profile formed in the manufacturing process of plate glass
The impact of the optical distortion caused.
Above-described embodiment is illustrative to be not limiting as the present invention.Therefore, according to above-mentioned teaching, many extra
Modifications and variations are possible.Such as, in the disclosure and scope of the following claims, in this article
Different at least one elements in illustrative and exemplary embodiment can be bonded to each other or substitute each other.It addition,
The feature (such as quantity, position and shape) of the assembly of embodiment is not intended to embodiment and therefore can be excellent
Selection of land sets.It is therefore to be understood that within the scope of the appended claims, may differ from as herein
In specifically described put into practice disclosure of the invention.
Method step, technique or the operation being described herein as be not necessarily to be construed as inevitable requirement they to be begged for
The certain order of opinion or explanation is carried out, unless particularly pointed out or clear to carry out order through context
Point out.It is also understood that and can use extra or alternative step.
Claims (9)
1., for the method manufacturing laminated glass, described method includes:
To cut out such side of the respective side of the first glass and the second glass in identical cut direction
Formula, from having a glass plate of the ripple formed in a predetermined direction, cuts out described first glass and institute
State the second glass；And
The such mode being in alignment with each other with the ripple of described first glass and the ripple of described second glass, will
Described first glass is together with described second glassy bond.
Method for manufacturing laminated glass the most according to claim 1, wherein said cut direction
Parallel or be orthogonal to described predetermined direction.
Method for manufacturing laminated glass the most according to claim 1, the most when cutting
Described first glass being cut to and described second glass are printed on when bonding the corresponding alignment used
Pattern, and when bonding, the described alignment pattern on described first glass and described second glass is each other
Alignment, and implement bonding.
4. a laminated glass, comprising:
First glass；And
Second glass,
To cut such mode of respective side in identical cut direction, from having shape in a predetermined direction
The glass plate of ripple become, cuts out described first glass and described second glass, and with described the
Such mode of the ripple alignment of the ripple of one glass and described second glass, described first glass and described
Second glass has been bonded together.
5., for the method calibrating stereoscopic camera, described method includes:
The laminated glass obtained in the following way is installed: with in identical cut direction in pre-position
Cut out such mode of the respective side of the first glass and the second glass, formed in a predetermined direction from having
A glass plate of ripple, cut out described first glass and described second glass, and with described first
Such mode that the ripple of glass and the ripple of described second glass are in alignment with each other, by described first glass and
Described second glassy bond is together；And
There is through the capture of described laminated glass the image of the calibration chart of predetermined pattern, and use capture
Image carries out predetermined calibration process.
6. a calibration system, comprising:
Support the glass support unit of laminated glass in pre-position, described laminated glass has passed through as follows
Mode obtains: to cut such mode of respective side in identical cut direction, from having in predetermined party
One glass plate of the ripple being upwardly formed, cuts out the first glass and the second glass, and with described first
Such mode of the ripple alignment of the ripple of glass and described second glass, by described first glass and described
Second glassy bond is together；
Stereoscopic camera through described laminated glass capture image；And
Calibrating installation, the image of the calibration chart that the use of described calibrating installation has predetermined pattern is predetermined to carry out
Calibration process, described image is captured through described laminated glass by described stereoscopic camera.
7., for the method calibrating stereoscopic camera, described method includes:
The laminated glass obtained in the following way is installed: with in different cut direction in pre-position
Cut out such mode of the respective side of the first glass and the second glass, formed in a predetermined direction from having
A glass plate of ripple, cut out described first glass and described second glass, and with described first
The ripple of glass and the ripple of described second glass such mode intersected with each other, by described first glass and
Described second glassy bond is together；And
Carry out the school relevant with the distortion generated in the image that described laminated glass captures by stereoscopic camera
Standard, with calibration for capturing the described stereoscopic camera of the image through having ripply described laminated glass.
Method for calibrating stereoscopic camera the most according to claim 7, described method farther includes:
There is through the capture of described laminated glass the image of the calibration chart of predetermined pattern, and use capture
Image carries out predetermined calibration process.
9. a calibration system, comprising:
Support the glass support unit of laminated glass in pre-position, described laminated glass has passed through as follows
Mode obtains: to cut such mode of respective side in different cut direction, from having in predetermined party
One glass plate of the ripple being upwardly formed, cuts out the first glass and the second glass, and with described first
The ripple of glass and the ripple of described second glass such mode intersected with each other, by described first glass and
Described second glassy bond is together；
Stereoscopic camera through described laminated glass capture image；And
Calibrating installation, the image of the calibration chart that the use of described calibrating installation has predetermined pattern is predetermined to carry out
Calibration process, described image is captured through described laminated glass by described stereoscopic camera.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015090584 | 2015-04-27 | ||
| JP2015-090584 | 2015-04-27 | ||
| JP2016-044855 | 2016-03-08 | ||
| JP2016044855A JP6617614B2 (en) | 2015-04-27 | 2016-03-08 | Laminated glass manufacturing method, laminated glass, stereo camera calibration method, and calibration system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106101686A true CN106101686A (en) | 2016-11-09 |
Family
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| CN201610266444.9A Pending CN106101686A (en) | 2015-04-27 | 2016-04-26 | Laminated glass and manufacture method, the calibration steps of stereoscopic camera and calibration system |
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| JP (1) | JP6617614B2 (en) |
| CN (1) | CN106101686A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111566068A (en) * | 2018-02-23 | 2020-08-21 | 富士胶片株式会社 | Method for producing image display laminated glass, and image display system |
| CN113165324A (en) * | 2018-12-05 | 2021-07-23 | 中央硝子株式会社 | Automobile glass with correction structure |
| CN113227013A (en) * | 2018-12-28 | 2021-08-06 | 积水化学工业株式会社 | Interlayer film for laminated glass, roll body, and method for producing laminated glass |
| CN114728847A (en) * | 2019-11-26 | 2022-07-08 | Ａｇｃ株式会社 | Glass plate with electric heating wire |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6617565B2 (en) * | 2016-01-06 | 2019-12-11 | Ａｇｃ株式会社 | Laminated glass |
| CN109641423B (en) | 2017-05-24 | 2022-06-24 | 法国圣戈班玻璃厂 | Composite glass sheet and method for manufacturing the same |
| JP7180177B2 (en) * | 2018-07-31 | 2022-11-30 | 株式会社リコー | STEREO CAMERA SYSTEM, MOVING OBJECT AND METHOD OF FORMING STEREO CAMERA DEVICE |
| CN116714235B (en) * | 2023-06-13 | 2024-03-12 | 深圳研江智能科技有限公司 | Alignment laminating control method and device for explosion-proof industrial tablet personal computer |
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Also Published As
| Publication number | Publication date |
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| JP6617614B2 (en) | 2019-12-11 |
| JP2016204249A (en) | 2016-12-08 |
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Application publication date: 20161109 |