CN106802134A - A kind of line-structured light machine vision tire wear measurement apparatus - Google Patents
A kind of line-structured light machine vision tire wear measurement apparatus Download PDFInfo
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- CN106802134A CN106802134A CN201710153580.1A CN201710153580A CN106802134A CN 106802134 A CN106802134 A CN 106802134A CN 201710153580 A CN201710153580 A CN 201710153580A CN 106802134 A CN106802134 A CN 106802134A
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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
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
Abstract
The invention discloses a kind of measurement apparatus of the pattern depth of line-structured light machine vision, it is characterized in that including Tire support platform, tyre tread test position, tyre tread test position includes two laser line generators, sampling camera and position sensor, the laser that two laser line generators are launched is located at approximately the same plane, two laser line generators are arranged on the both sides of the passage of tire to be tested, along one end of the close Tire support platform of tire direction of advance to be tested, Laser emission direction is both facing to tire to be tested；Sampling camera is arranged on the front of the passage of tire to be tested.Image procossing is carried out by capturing line-structured light tire gabarit image, the line-structured light tire gabarit image to capturing, tire outer profile curve is rebuild according to image procossing, tyre tread position and depth are recognized by outer profile curve, it is automatically obtained the measurement to driving vehicle pattern depth, with good robustness, help to carry out the maintenances such as four-wheel aligner and maintenance work to vehicle.
Description
Technical field
The present invention relates to machine vision metrology technical field, more particularly to line-structured light machine vision tire wear measurement dress
Put.
Background technology
The Main Function of the decorative pattern of automobile tire is exactly to increase the frictional force between tyre surface and road surface, is drained the water away, to prevent
Wheel-slip, tyre tread improves tyre surface ground connection elasticity, tangential force (such as driving force, brake force and the horizontal stroke between tyre surface and road surface
To power) in the presence of, decorative pattern can produce larger tangential elastic deformation.Tangential force increases, and tangential deformation increases therewith, contact surface
" friction effect " also just strengthen therewith, and then inhibit tyre surface and slipperiness on roads or skidding trend.This largely disappears
Except the disadvantage easily skidded without decorative pattern (smooth tread) tire so that the automobile that attriting performance is relevant between tire and road surface
Can --- the normal performance of dynamic property, braking, steer ability and driving safety has reliable guarantee.
Typically using the method for range estimation, this method comments the intuitive judgment of people to existing tire wear measuring method, artificially
Factor is very big, it is impossible to ensure accuracy.The measuring method of another tire wear is that pattern depth is measured, the method
Contact type measurement mainly is carried out with pattern depth chi by testing staff, due to the operating method and tire of reviewer
The pattern depth chi error of itself can cause the data of measurement to produce larger error, and efficiency of manual measurement is low, seriously constrains
The operating efficiency of vehicle testing line.
The content of the invention
For disadvantages described above, how the object of the invention avoids the occurrence of the erroneous judgement that tester's human factor is caused, and improves and surveys
The degree of accuracy of examination and efficiency.
A kind of measurement of the pattern depth of line-structured light machine vision is proposed in order to solve the problem above present invention
Device, it is characterised in that including Tire support platform, at least one tyre tread test position, the tyre tread test position includes two
Individual laser line generator, 1 or 2 sampling cameras and position sensor, the laser that described two laser line generators are launched are located at same
Individual plane, described two laser line generators are arranged on the both sides of the passage of tire to be tested, along leaning on for tire direction of advance to be tested
One end of nearly Tire support platform, Laser emission direction is both facing to tire to be tested；The sampling camera is arranged on tire to be tested
Passage front.
The measurement apparatus of the pattern depth of described line-structured light machine vision, it is characterised in that the Tire support
Platform is made of transparent material, and two laser line generators and sampling camera are all disposed within Tire support platform lower section.
The measurement apparatus of the pattern depth of described line-structured light machine vision, it is characterised in that two laser line generators
Tire support platform lower section is all disposed within sampling camera, laser emission channel and sampling camera sampling channel position in laser line generator
Put and be designed with windowing.
The measurement apparatus of the pattern depth of described line-structured light machine vision, it is characterised in that two laser line generators
Front-left inferior part and the front right lower section of tire checking position are arranged in, two line laser planes of laser line generator transmitting are put down with supporting table
The angle in face is 20-120 degree.
The measurement apparatus of the pattern depth of described line-structured light machine vision, it is characterised in that when only one of which is adopted
During sample camera, sampling camera is arranged on the front of the passage of tire to be tested；When there is two sampling cameras, by camera of sampling
It is separately positioned on front-left inferior part and right front lower place.
The measurement apparatus of the pattern depth of described line-structured light machine vision, it is characterised in that also including decorative pattern depth
Degree computing module, the pattern depth technology modules are realized by following steps：
The tire gabarit image of step 1.1, capture line-structured light；
Step 1.2, tire gabarit image are processed by image processing module and obtain light stripe centric line；
Step 1.3, identify tire outer profile curve while being analyzed to tire gabarit image；
Step 1.4, for the tire outer profile curve for recognizing, further identify tyre tread and identify decorative pattern position
Put；
Step 5, coordinate calculating is carried out to decorative pattern position, acquire pattern depth.
The measuring method of the pattern depth of described line-structured light machine vision, it is characterised in that the capture knot
The tire gabarit image of structure light specifically includes following steps：
Step 2.1, two laser line generators of control produce the line-structured light of stabilization, and project tyre contour outline surface formation one
Bar " one " font laser profiled outline striation；
Step 2.2, control testboard sampling camera work, sampling camera are acquired tyre contour outline image；
The tyre contour outline image output that step 2.3, sampling camera will be sampled completes tire gabarit to image processing module
Image sampling step.
The measuring method of the pattern depth of described line-structured light machine vision, it is characterised in that image processing module
Tire gabarit image is processed according to step in detail below：
Step 3.1, cable architecture light stripe centric line is obtained by light intensity Comparison Method, and obtain each pixel on light stripe centric line
In the user coordinates of tire gabarit image；
Step 3.2, light stripe centric line user coordinates is converted into world coordinates.
The measuring method of the pattern depth of described line-structured light machine vision, it is characterised in that described to identify
Tyre tread and identify that decorative pattern position specifically includes following steps：
Step 4.1, row interpolation is entered according to the light stripe centric line world coordinates for obtaining, obtain abscissa and be fitted song at equal intervals
Line；
Step 4.2, the fairing processing of matched curve to obtaining, obtain a fair curve；
Step 4.3, first difference treatment is carried out to a fair curve, obtain first difference curve；
Step 4.4, to carrying out the treatment that takes absolute value after first difference curve, obtain adiabatic line；
Step 4.5, carry out secondary fairing processing again to adiabatic line, obtain secondary fair curve；
Step 4.6, second order difference is carried out to secondary fair curve, obtain second order difference curve；
Step 4.7, second order difference curve is carried out to take Symbol processing；
Step 4.8, carry out three difference to taking Symbol processing result；
Step 4.9, acquisition decorative pattern position.
The measuring method of the pattern depth of described line-structured light machine vision, it is characterised in that described to decorative pattern
Position carries out coordinate calculating, acquires pattern depth, specifically includes following steps：
Step 5.1, one section of each sample point coordinate of decorative pattern of taking-up；
Step 5.2, the x for finding the minimum point of Y value, y-coordinate；
The x of step 5.3, the point of searching Y value smallest point left and right sides Y maximums, y-coordinate；
The distance of step 5.4, calculating Y value smallest point to straight line both sides Y value maximum point line, the distance is this section of decorative pattern
Depth；
Step 5.5, repeat step 1-5, until obtaining all pattern depths.
The present invention is by gathering the laser profiled outline striation that laser line generator is formed in surface of tyre；Using ccd video camera,
Calculate tyre contour outline information generation integrity profile image；Pattern depth is tried to achieve by the tyre contour outline image for capturing, due to whole
Individual test test sensor and tire to be tested are all that noncontact is sampled, and whole test process can all be carried out automatically, because
This has good robustness, and helps to carry out the maintenances such as four-wheel aligner and maintenance work to vehicle.
Brief description of the drawings
Fig. 1 is the flow chart of line-structured light machine vision tire wear measuring method；
Fig. 2 is the tyre contour outline figure not refined of line-structured light machine vision tire wear measuring method；
Fig. 3 is the profile diagram after line-structured light machine vision tire wear measurement apparatus obtain single pixel；
Fig. 4 is the complete tyre contour outline curve that line-structured light machine vision tire wear measurement apparatus are obtained；
Fig. 5 is that the coordinate that carried out to decorative pattern position of line-structured light machine vision tire wear measurement apparatus calculates acquisition decorative pattern
Depth flow chart；
Fig. 6 is the equidistant fitting crown line that line-structured light machine vision tire wear measurement apparatus are obtained；
Fig. 7 is that line-structured light machine vision tire wear measurement apparatus carry out a fairing song to equidistant fitting crown line
Line；
Fig. 8 is that line-structured light machine vision tire wear measurement apparatus carry out first difference curve to the curve after fairing
Figure；
Fig. 9 is that line-structured light machine vision tire wear measurement apparatus carry out absolute value curve after difference to fair curve
Figure；
Figure 10 be line-structured light machine vision tire wear measurement apparatus to taking absolute value after curve carry out fairing again
Secondary fair curve；
Figure 11 is the second order difference song that line-structured light machine vision tire wear measurement apparatus carry out difference to fair curve
Line chart；
Figure 12 is that line-structured light machine vision tire wear measurement apparatus take graphical diagram to difference curves；
Figure 13 is that line-structured light machine vision tire wear measurement apparatus carry out differing from figure to taking the curve after symbol；
Figure 14 is the decorative pattern location drawing that line-structured light machine vision tire wear measurement apparatus are obtained；
Figure 15 is that the coordinate calculating that carried out to decorative pattern position of line-structured light machine vision tire wear measurement apparatus is spent
Line depth flow chart；
Figure 16 is one section of decorative pattern coordinate diagram of taking-up that line-structured light machine vision tire wear measurement apparatus are obtained；
Figure 17 is the x of the point A of the searching Y value minimum that line-structured light machine vision tire wear measurement apparatus are obtained, y-coordinate
Figure；
Figure 18 is showing for the A point both sides maximum y value point M and N that line-structured light machine vision tire wear measurement apparatus are obtained
It is intended to；
Figure 19 is the decorative pattern bottom of line-structured light machine vision tire wear measurement apparatus acquisition to the distance of line segment MN；
Figure 20 is the composition schematic diagram of the running automobile pattern depth measurement apparatus of line-structured light machine vision.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Figure 20 is the composition schematic diagram of the running automobile pattern depth measurement apparatus of line-structured light machine vision, this reality
Apply the device of example, including 1, two laser line generators of Tire support platform 2,3, CCD industry sampling camera 4 and a position sensor 5；
Tire support platform is used to support tire 6 to be measured；Described two laser line generators send laser and are generally aligned in the same plane, two lines
Laser is located at front end lower left, the front end lower right of tire checking workbench respectively, the line-structured light for producing stabilization, and
Project surface of tyre to be detected and form a laser profiled outline striation；Described two industry sampling cameras are located at tire respectively
Detect rear end lower left, the rear end lower right of workbench, the optical strip image for capturing tyre contour outline.Further, described two
Individual laser line generator is arranged in front-left inferior part and the front right lower section of tire checking position, and two laser of laser line generator transmitting are same
In plane, line laser plane is within the scope of 20-120 degree with the angle of supporting table plane, it is ensured that projected on tyre contour outline
Two laser strips be completely superposed, it is ensured that the laser strip of projection can be with non-blind area ground covering tyre contour outline surface comprehensively.Feel position
Answer device typically to be realized using infrared tube, when tire tire to be tested advances to the position for being adapted to test, notify system control
Laser line generator and sampling camera, start the sampling work of tire gabarit image, and the tire gabarit image of sampling is input to
Fig. 1 is the flow chart of line-structured light machine vision tire wear measuring method, and two laser line generators are arranged on together
One plane, two laser line generators of control produce the line-structured light of stabilization, and project one " one " word of tyre contour outline surface formation
Type laser profiled outline striation；Two sampling cameras of control testboard or so work simultaneously, sampling camera synchronous working respectively from
The left side and the right collection tire contour images；The width tyre contour outline image output of left and right two that sampling camera will be sampled is arrived at image
Reason module, completes the sampling of tire gabarit image.
Fig. 2 is the tyre contour outline figure not refined of line-structured light machine vision tire wear measurement apparatus；In order to more preferable
Illustrate, contour line has carried out brightness reversion with background colour, black line part is tyre contour outline, and white is background.Original image should
It is that background is black, tyre contour outline is white, and similar process has all been done for convenience of explanation with hypograph.
Fig. 3 is the profile diagram after line-structured light machine vision tire wear measurement apparatus obtain single pixel；Adopted due to original
The same position of contour line of the figure of sample all comprising multiple pixels, is inconvenient to process to improve, and each position retains one
Center pixel, obtains single pixel line, that is, treatment acquisition light stripe centric line is carried out to image, and Fig. 3 is after Fig. 2 carries out single pixel
Profile diagram.
By the light stripe centric line of the profile diagram of acquisition carry out world coordinates conversion obtain as Fig. 4 world coordinate system in it is complete
Whole tyre contour outline curve.
Fig. 5 is that the coordinate that carried out to decorative pattern position of line-structured light machine vision tire wear measurement apparatus calculates acquisition decorative pattern
Depth flow chart；Light stripe centric line world coordinates according to obtaining carries out difference, and light stripe centric line world coordinates enters row interpolation, obtains
The equidistant matched curve of abscissa is obtained, as shown in fig. 6, matched curve is also referred to as equidistant fitting crown line；To the plan for obtaining
Fairing processing of curve is closed, a fair curve is obtained, as shown in Figure 7；First difference treatment is carried out to a fair curve,
First difference curve is obtained, as described in Figure 8；To carrying out the treatment that takes absolute value after first difference curve, absolute value curve is obtained, such as
Shown in Fig. 9；Carry out secondary fairing processing again to adiabatic line, obtain secondary fair curve, as shown in Figure 10；To secondary light along bent
Line carries out second order difference, obtains second order difference curve, as shown in figure 11；Second order difference curve is carried out to take Symbol processing, is obtained
Difference curves take graphical diagram, as shown in figure 12；Three difference are carried out to taking Symbol processing result, three difference curves is obtained, such as
Shown in Figure 13；Decorative pattern position is obtained according to three difference curves for obtaining, is easy to shown in Figure 14 according to three difference songs
Line obtains decorative pattern 1, decorative pattern 2, decorative pattern 3 and decorative pattern 4.
Line depth flow chart, according to each decorative pattern for obtaining, carries out the depth survey of each decorative pattern respectively.Take out one section of flower
Each sample point coordinate of line, as shown in figure 16；The x of the minimum point of searching Y value, y-coordinate, as shown in figure 17；Find Y value minimum
The x of the point of point left and right sides Y maximums, y-coordinate, as shown in figure 18.Figure 19 is the measurement of line-structured light machine vision tire wear
The decorative pattern bottom that device is obtained to line segment MN distance, calculating Y value smallest point to straight line both sides Y value maximum point lines MN away from
From the distance is this section of depth of decorative pattern A；The depth of all decorative patterns is calculated by that analogy.
Above disclosed is only an embodiment of the present invention, can not limit the interest field of sheet with this certainly,
One of ordinary skill in the art will appreciate that all or part of flow of above-described embodiment is realized, and according to the claims in the present invention institute
The equivalent variations of work, still fall within the scope that the present invention is covered.
Claims (10)
1. a kind of measurement apparatus of the pattern depth of line-structured light machine vision, it is characterised in that including Tire support platform,
At least one tyre tread tests position, tyre tread test position include two laser line generators, 1 or 2 sampling cameras and
Position sensor, the laser that described two laser line generators are launched is located at approximately the same plane, and described two laser line generators are arranged on
The both sides of the passage of tire to be tested, along one end of the close Tire support platform of tire direction of advance to be tested, Laser emission side
To both facing to tire to be tested；The sampling camera is arranged on the front of the passage of tire to be tested.
2. measurement apparatus of the pattern depth of line-structured light machine vision according to claim 1, it is characterised in that
The Tire support platform is made of transparent material, and two laser line generators and sampling camera are all disposed within Tire support platform lower section.
3. measurement apparatus of the pattern depth of line-structured light machine vision according to claim 1, it is characterised in that
Two laser line generators and sampling camera are all disposed within Tire support platform lower section, in the laser emission channel and sampling phase of laser line generator
Machine sampling channel position is designed with windowing.
4. measurement apparatus of the pattern depth of the line-structured light machine vision according to Claims 2 or 3, its feature exists
Front-left inferior part and the front right lower section of tire checking position, two line lasers of laser line generator transmitting are arranged in two laser line generators
Plane is 20-120 degree with the angle of supporting table plane.
5. measurement apparatus of the pattern depth of line-structured light machine vision according to claim 4, it is characterised in that
When only one of which samples camera, sampling camera is arranged on the front of the passage of tire to be tested；When there is two sampling cameras
When, sampling camera is separately positioned on front-left inferior part and right front lower place.
6. measurement apparatus of the pattern depth of line-structured light machine vision according to claim 5, it is characterised in that
Also include pattern depth technology modules, the pattern depth technology modules are realized by following steps：
The tire gabarit image of step 1.1, capture line-structured light；
Step 1.2, tire gabarit image are processed by image processing module and obtain light stripe centric line；
Step 1.3, identify tire outer profile curve while being analyzed to tire gabarit image；
Step 1.4, for the tire outer profile curve for recognizing, further identify and tyre tread and identify decorative pattern position；
Step 5, coordinate calculating is carried out to decorative pattern position, acquire pattern depth.
7. the measuring method of the pattern depth of line-structured light machine vision according to claim 6, it is characterised in that
The tire gabarit image of the capture line-structured light specifically includes following steps：
Step 2.1, two laser line generators of control produce the line-structured light of stabilization, and project tyre contour outline surface formation one
" one " font laser profiled outline striation；
Step 2.2, control testboard sampling camera work, sampling camera are acquired tyre contour outline image；
The tyre contour outline image output that step 2.3, sampling camera will be sampled completes tire gabarit image to image processing module
Sampling step.
8. the measuring method of the pattern depth of line-structured light machine vision as claimed in claim 7, it is characterised in that figure
As processing module is processed tire gabarit image according to step in detail below：
Step 3.1, cable architecture light stripe centric line is obtained by light intensity Comparison Method, and obtain on light stripe centric line each pixel in wheel
The user coordinates of tire gabarit image；
Step 3.2, light stripe centric line user coordinates is converted into world coordinates.
9. the measuring method of the pattern depth of line-structured light machine vision as claimed in claim 8, it is characterised in that institute
State and identify tyre tread and identify that decorative pattern position specifically includes following steps：
Step 4.1, row interpolation is entered according to the light stripe centric line world coordinates for obtaining, obtain the equidistant matched curve of abscissa；
Step 4.2, the fairing processing of matched curve to obtaining, obtain a fair curve；
Step 4.3, first difference treatment is carried out to a fair curve, obtain first difference curve；
Step 4.4, to carrying out the treatment that takes absolute value after first difference curve, obtain adiabatic line；
Step 4.5, carry out secondary fairing processing again to adiabatic line, obtain secondary fair curve；
Step 4.6, second order difference is carried out to secondary fair curve, obtain second order difference curve；
Step 4.7, second order difference curve is carried out to take Symbol processing；
Step 4.8, carry out three difference to taking Symbol processing result；
Step 4.9, acquisition decorative pattern position.
10. the measuring method of the pattern depth of line-structured light machine vision as claimed in claim 9, it is characterised in that
It is described that coordinate calculating is carried out to decorative pattern position, pattern depth is acquired, specifically include following steps：
Step 5.1, one section of each sample point coordinate of decorative pattern of taking-up；
Step 5.2, the x for finding the minimum point of Y value, y-coordinate；
The x of step 5.3, the point of searching Y value smallest point left and right sides Y maximums, y-coordinate；
The distance of step 5.4, calculating Y value smallest point to straight line both sides Y value maximum point line, the distance is this section of depth of decorative pattern
Degree；
Step 5.5, repeat step 1-5, until obtaining all pattern depths.
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| CN108225798A (en) * | 2017-12-26 | 2018-06-29 | 东南大学 | Tyre skidding based on edge enhancing identification measures test system and test method |
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| CN108225798A (en) * | 2017-12-26 | 2018-06-29 | 东南大学 | Tyre skidding based on edge enhancing identification measures test system and test method |
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