CN108801140B - Device and method for detecting door moving jumping quantity - Google Patents
Device and method for detecting door moving jumping quantity Download PDFInfo
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- CN108801140B CN108801140B CN201810639465.XA CN201810639465A CN108801140B CN 108801140 B CN108801140 B CN 108801140B CN 201810639465 A CN201810639465 A CN 201810639465A CN 108801140 B CN108801140 B CN 108801140B
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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 device and a method for detecting the amount of door movement and bounce, wherein the device comprises: the device comprises a test frame, a sliding door, an upper pulley, a lower pulley, a damping system, a marker, a driving system, a camera mounting frame and a camera; the sliding door is arranged on an upper guide rail and a lower guide rail of the testing frame through the upper pulley and the lower pulley respectively, and can translate in the testing frame in a reciprocating manner along the upper guide rail and the lower guide rail; the driving end of the driving system is connected with the control end of the lower guide rail; the damping system is arranged at the first end of the upper guide rail; a marker is arranged on the sliding door; the camera mounting frame is fixedly arranged at the top of the testing frame and used for fixing the camera, and when the sliding door is in contact with the damping system and then jumps, the marker is always present in a shooting picture of the camera.
Description
Technical Field
The invention relates to the technical field of sliding door detection, in particular to a device and a method for detecting the amount of sliding door bounce.
Background
The sliding door is a door which is fixed on the track and can move, in order to avoid direct impact of the sliding door and the door frame when the sliding door is closed, the sliding door can be slowly closed after the damping system is arranged on the track, and the buffering time is 2-5 s. However, the sliding door is acted upon by a force at the moment of contact with the damping system to generate a vertical bounce, the magnitude of which depends on the mounting mass of the sliding door accessory, the speed of door movement and the structure of the damping pulley system. If the jumping amount is too large, the comfort of the sliding door during use is reduced, the noise of the sliding door is increased, and the sliding door can fall off from the track to cause danger.
Therefore, before the damping system leaves a factory, the damping system needs to be matched with the sliding door to carry out a bounce test on the test frame, so that the door moves on the test frame at a certain speed, and damping system products which exceed the bounce amount index instantly when contacting the damping pulley system are removed.
The existing method for detecting the moving bounce amount is mainly characterized in that a contact switch sensor is arranged on a moving door test frame, a contact switch is arranged at the maximum height of a bounce requirement range after a standard (the height of a door when the door does not bounce) is determined, and the bounce amount exceeds the standard when the door impacts the contact switch in the test process. The contact measurement has the technical problem that the sensor cannot avoid direct collision with the sliding door in the using process, and the position of the sensor can be changed after the sensor collides for a plurality of times, so that the measurement error is caused.
Disclosure of Invention
The invention provides a device and a method for detecting the amount of door movement bounce, which solve the technical problems that a sensor cannot avoid direct collision with a moving door in the using process of contact type measurement, and the position of the sensor is changed after collision for a plurality of times, so that the measurement error is caused.
The invention provides a device for detecting the amount of door movement and bounce, which comprises:
the device comprises a test frame, a sliding door, an upper pulley, a lower pulley, a damping system, a marker, a driving system, a camera mounting frame and a camera;
the sliding door is arranged on an upper guide rail and a lower guide rail of the testing frame through the upper pulley and the lower pulley respectively, and can translate in the testing frame in a reciprocating manner along the upper guide rail and the lower guide rail;
the driving end of the driving system is connected with the control end of the lower guide rail;
the damping system is arranged at the first end of the upper guide rail;
a marker is arranged on the sliding door;
the camera mounting frame is fixedly arranged at the top of the testing frame and used for fixing the camera, and when the sliding door is in contact with the damping system and then jumps, the marker is always present in a shooting picture of the camera.
Optionally, the device further comprises a calibration disc, wherein the calibration disc is arranged above the marker.
Optionally, the driving system is embodied as any one of a servo control system, a magnetic suspension control system, a hydraulic control system or a cylinder control system.
Optionally, the marker is in particular a ring-shaped marker.
Optionally, the calibration disc is specifically a chessboard calibration disc.
The invention provides a method for detecting the amount of door movement bounce, which utilizes the device for detecting the amount of door movement bounce to detect and comprises the following steps:
sending a control signal to start a driving system to drive a lower guide rail in a testing frame to act at a constant speed, driving a sliding door to execute reciprocating motion in the frame, and simultaneously starting a camera to record a video file;
acquiring a video file recorded by a camera;
performing frame processing on the video file, and searching the center point of the marker in each frame by using a preset matching template in a preset step length to obtain the coordinate of the center point of the marker in each frame;
subtracting the reference coordinate from the coordinate of the central point of the marker of each frame to obtain the bounce amount of each frame of the sliding door;
and determining the maximum bounce amount of the moving door according to the bounce amount of each frame of the moving door.
Optionally, sending a control signal to start the driving system to drive the lower guide rail in the testing frame to move at a constant speed, so as to drive the sliding door to perform reciprocating motion in the frame, and before starting the camera to record the video file, the method further includes:
before the sliding door is contacted with the damping system, a standard image comprising a marker and a calibration disc is obtained through a camera;
calibrating the standard image by a calibration method to obtain the actual length corresponding to each pixel grid in the standard image;
and selecting an area containing the marker in the standard image as a preset matching template, determining the coordinate of the center of the marker in the standard image, and taking the coordinate as a reference coordinate.
Optionally, after determining the maximum amount of door movement according to the amount of door movement per frame, the method further includes:
and connecting the jumping amount of each frame of the sliding door by using a line to obtain a jumping curve of the sliding door.
Optionally, the center point of the marker is searched for by a preset step length in each frame by using a preset matching template, and the coordinates of the center point of the marker obtained in each frame are specifically:
acquiring the maximum assumed bounce amount delta y of the sliding door;
in each frame of video
Searching the center point of the marker in the range, if the center point of the marker is not searched, increasing the values of delta x and delta y by preset step length until the center point of the marker is searched, and determining the coordinate (x) of the center point of the marker of each framei,yi) Wherein x is1As abscissa of the reference coordinate, y1The ordinate of the reference coordinate is, v is the reciprocating speed of the sliding door, k is the number of pixels occupied by each checkerboard in the standard image, m is the actual length of each checkerboard, Δ x is the abscissa compensation term, i is 1,2, …, n, and n is the total frame number of the video.
The invention provides a device for detecting the amount of door movement and bounce, which comprises:
the starting unit is used for sending a control signal to start the driving system to drive the lower guide rail in the testing frame to act at a constant speed, drive the sliding door to execute reciprocating motion in the frame and simultaneously start the camera to record a video file;
the acquisition unit is used for acquiring a video file recorded by the camera;
the searching unit is used for performing framing processing on the video file, searching the center point of the marker in each frame by using a preset matching template according to a preset step length, and obtaining the coordinate of the center point of the marker in each frame;
the jumping amount calculation unit is used for subtracting the reference coordinate from the coordinate of the center point of the marker of each frame to obtain the jumping amount of each frame of the sliding door;
and the determining unit is used for determining the maximum jumping amount of the sliding door according to the jumping amount of each frame of sliding door.
According to the technical scheme, the invention has the following advantages:
the invention provides a device for detecting the amount of door movement and bounce, which comprises: the device comprises a test frame, a sliding door, an upper pulley, a lower pulley, a damping system, a marker, a driving system, a camera mounting frame and a camera; the sliding door is arranged on an upper guide rail and a lower guide rail of the testing frame through the upper pulley and the lower pulley respectively, and can translate in the testing frame in a reciprocating manner along the upper guide rail and the lower guide rail; the driving end of the driving system is connected with the control end of the lower guide rail; the damping system is arranged at the first end of the upper guide rail; a marker is arranged on the sliding door; the camera mounting frame is fixedly arranged at the top of the testing frame and used for fixing the camera, and when the sliding door is in contact with the damping system and then jumps, the marker is always present in a shooting picture of the camera.
In the invention, the driving system drives the lower guide rail to start to act, the sliding door can be driven to reciprocate in the test frame at a constant speed, and the camera is directly fixed on the test frame through the camera mounting frame, so that a video during test can be directly recorded, and the measurement error caused by collision can be avoided, thereby solving the technical problem that the sensor cannot avoid direct collision with the sliding door in the using process of contact measurement, and the position of the sensor can be changed after several collisions, so that the measurement error is caused.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a front view of a structure of an embodiment of a door-moving amount-of-bounce detection device provided by the present invention;
fig. 2 is a structural side view of an embodiment of a door-moving bounce amount detection device provided by the invention;
fig. 3 is a schematic structural diagram of another embodiment of a door-moving bounce amount detection device provided by the present invention;
wherein the reference numerals are:
1. a test frame; 2. moving the door; 3. an upper pulley; 4. a lower pulley; 5. a damping system; 6. a calibration tray; 7. a marker; 8. a drive system; 9. a camera mounting bracket; 10. a camera.
Detailed Description
The embodiment of the invention provides a device and a method for detecting the amount of door movement bounce, which solve the technical problems that in the process of using contact type measurement, a sensor cannot avoid direct collision with a moving door, and the position of the sensor is changed after several collisions, so that the measurement error is caused.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and fig. 2, a door-moving bounce amount detecting device according to the present invention includes:
the device comprises a test frame 1, a sliding door 2, an upper pulley 3, a lower pulley 4, a damping system 5, a marker 7, a driving system 8, a camera mounting frame 9 and a camera 10;
the sliding door 2 is arranged on an upper guide rail and a lower guide rail of the testing frame 1 through an upper pulley 3 and a lower pulley 4 respectively, and the sliding door 2 can move in a reciprocating manner in the testing frame 1 along the upper guide rail and the lower guide rail;
the driving end of the driving system 8 is connected with the control end of the lower guide rail;
the damping system 5 is arranged at the first end of the upper guide rail;
a marker 7 is arranged on the sliding door 2;
the camera mounting frame 9 is fixedly arranged at the top of the testing frame 1 and used for fixing the camera 10, and when the sliding door 2 jumps after contacting the damping system 5, the marker 7 always exists in a shooting picture of the camera 10.
Further, the calibration device also comprises a calibration disc 6, and the calibration disc 6 is arranged above the marker 7.
Further, the driving system 8 is specifically any one of a servo control system, a magnetic suspension control system, a hydraulic control system, or a cylinder control system.
Further, the marker 7 is embodied as a ring-shaped marker.
Further, the calibration plate 6 is specifically a chessboard calibration plate.
In the embodiment of the invention, the driving system 8 drives the lower guide rail to start to act, the sliding door 2 can be driven to reciprocate in the test frame 1 at a constant speed, the camera 10 is directly fixed on the test frame 1 through the camera mounting frame 9, and a video during a test is directly recorded, so that a measurement error caused by collision is avoided, and the technical problem that a sensor cannot avoid direct collision with the sliding door in the using process of contact measurement, and the position of the sensor is changed after several collisions, so that the measurement error is caused, in the contact measurement, is solved.
The structure of the door-moving amount detecting device according to the present invention is described above, and an embodiment of the door-moving amount detecting method according to the present invention is described below.
The invention provides a method for detecting the amount of door movement and bounce, which comprises the following steps:
301. before the sliding door is contacted with the damping system, a standard image comprising a marker and a calibration disc is obtained through a camera;
it should be noted that, after the camera is focused, the sliding door is moved to a position just in contact with the damping system, and a standard image including the marker and the calibration plate at this time is taken.
302. Calibrating the standard image by a calibration method to obtain the actual length corresponding to each pixel grid in the standard image;
it should be noted that after the standard image is obtained, the standard image is calibrated by a Zhang-Yongyou calibration method or other calibration methods, assuming that the size of the calibration disk is 100 × 100mm, 10 × 10 checkerboards are provided, the length of each checkerboard is 10mm, the number k of pixel grids occupied by the side length of each checkerboard in the standard image is tested, and the actual length corresponding to each pixel grid can be obtained by k/10 mm.
303. Selecting an area containing the marker in the standard image as a preset matching template, determining the coordinate of the center of the marker in the standard image, and taking the coordinate as a reference coordinate;
after the calibration is completed, the area containing the marker in the standard image is circled, the coordinate of the center of the marker in the standard image is determined, and the coordinate is used as a reference coordinate (x)1,y1)。
304. Sending a control signal to start a driving system to drive a lower guide rail in a testing frame to act at a constant speed, driving a sliding door to execute reciprocating motion in the frame, and simultaneously starting a camera to record a video file;
it should be noted that after the test is started, a control signal is sent to start the driving system and the camera, so that the driving system drives the lower guide rail in the test frame to move at a constant speed, the sliding door is driven to execute reciprocating motion in the frame, and the camera is started to record a video file.
305. Acquiring a video file recorded by a camera;
it should be noted that, after the test, a video file recorded by the camera is acquired.
306. Performing framing processing on the video file;
it should be noted that the obtained video file is subjected to framing processing.
307. Acquiring the maximum assumed bounce amount delta y of the sliding door;
it should be noted that, before positioning, the maximum assumed door-moving amount Δ y needs to be obtained.
308. In each frame of video
Searching the center point of the marker in the range, if the center point of the marker is not searched, increasing the values of delta x and delta y by preset step length until the center point of the marker is searched, and determining the coordinate (x) of the center point of the marker of each framei,yi) Wherein x is1As abscissa of the reference coordinate, y1The vertical coordinate of a reference coordinate, v is the reciprocating motion speed of the sliding door, k is the number of pixel grids occupied by each checkerboard in a standard image, m is the actual length of each checkerboard, x is an abscissa compensation term, i is 1,2, …, n, and n is the total frame number of a video;
it should be noted that, in order to reduce the time for locating the marker, the marker is located in each frame of video
Searching the center point of the marker in the range, if the center point of the marker is not searched, increasing or decreasing the values of delta x and delta y by preset step length until the center point of the marker is searched, and simultaneously obtaining the coordinate (x) of the center point of the marker of each framei,yi)。
309. Subtracting the reference coordinate from the coordinate of the central point of the marker of each frame to obtain the bounce amount of each frame of the sliding door;
it should be noted that the coordinate (x) of the center point of the marker is obtained in each framei,yi) And subtracting the reference coordinate from the marker center point coordinate of each frame to obtain the door-moving jumping amount of each frame.
310. Determining the maximum bounce amount of the sliding door according to the bounce amount of each frame of the sliding door;
311. and connecting the jumping amount of each frame of the sliding door by using a line to obtain a jumping curve of the sliding door.
The above is an explanation of the flow of an embodiment of the door moving amount detecting method according to the present invention, and the structure of another embodiment of the door moving amount detecting device according to the present invention will be explained below.
Referring to fig. 3, another embodiment of a door-moving bounce amount detecting device according to the present invention includes:
the starting unit 401 is used for sending a control signal to start the driving system to drive the lower guide rail in the test frame to act at a constant speed, drive the sliding door to execute reciprocating motion in the frame, and simultaneously start the camera to record a video file;
an acquiring unit 402, configured to acquire a video file recorded by a camera;
the searching unit 403 is configured to perform framing processing on the video file, and search a center point of the marker in each frame by using a preset matching template and a preset step length to obtain a coordinate of the center point of the marker in each frame;
the bounce amount calculation unit 404 is configured to subtract the reference coordinate from the identifier center point coordinate of each frame to obtain a bounce amount of each frame for moving the door;
the determining unit 405 is configured to determine the maximum amount of door movement according to the amount of door movement per frame.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A door-moving amount-of-bounce detection device, comprising:
the device comprises a test frame, a sliding door, an upper pulley, a lower pulley, a damping system, a marker, a calibration disc, a driving system, a camera mounting frame and a camera;
the sliding door is arranged on an upper guide rail and a lower guide rail of the testing frame through the upper pulley and the lower pulley respectively, and can translate in the testing frame in a reciprocating manner along the upper guide rail and the lower guide rail;
the driving end of the driving system is connected with the control end of the lower guide rail;
the damping system is arranged at the first end of the upper guide rail;
a marker is arranged on the sliding door;
the marking disc is arranged above the marker;
the camera mounting frame is fixedly arranged at the top of the testing frame and used for fixing the camera, and when the sliding door is in contact with the damping system and then jumps, the marker is always present in a shooting picture of the camera.
2. The device for detecting the amount of door moving according to claim 1, wherein the driving system is any one of a servo control system, a magnetic suspension control system, a hydraulic control system, or a cylinder control system.
3. The device for detecting the amount of door moving according to claim 1, wherein the marker is a ring-shaped marker.
4. The door-moving amount-of-bounce detection apparatus according to claim 1, wherein said calibration plate is a chessboard calibration plate.
5. A door-moving amount-of-bounce detection method using the door-moving amount-of-bounce detection apparatus according to any one of claims 1 to 4, comprising:
before the sliding door is contacted with the damping system, a standard image comprising a marker and a calibration disc is obtained through a camera;
calibrating the standard image by a calibration method to obtain the actual length corresponding to each pixel grid in the standard image;
selecting an area containing the marker in the standard image as a preset matching template, determining the coordinate of the center of the marker in the standard image, and taking the coordinate as a reference coordinate;
sending a control signal to start a driving system to drive a lower guide rail in a testing frame to act at a constant speed, driving a sliding door to execute reciprocating motion in the frame, and simultaneously starting a camera to record a video file;
acquiring a video file recorded by a camera;
performing frame processing on the video file, and searching the center point of the marker in each frame by using a preset matching template in a preset step length to obtain the coordinate of the center point of the marker in each frame;
subtracting the reference coordinate from the coordinate of the central point of the marker of each frame to obtain the bounce amount of each frame of the sliding door;
and determining the maximum bounce amount of the moving door according to the bounce amount of each frame of the moving door.
6. The method for detecting the amount of door moving bounce according to claim 5, wherein determining the maximum amount of door moving bounce according to the amount of door moving bounce per frame further comprises:
and connecting the jumping amount of each frame of the sliding door by using a line to obtain a jumping curve of the sliding door.
7. The method for detecting the amount of door moving according to claim 5, wherein the center point of the marker is searched for in each frame by using a preset matching template in a preset step length, and the coordinates of the center point of the marker obtained in each frame are specifically:
acquiring the maximum assumed bounce amount delta y of the sliding door;
in each frame of video
Searching the center point of the marker in the range, if the center point of the marker is not searched, increasing the values of delta x and delta y by preset step length until the center point of the marker is searched, and determining the coordinate (x) of the center point of the marker of each framei,yi) Wherein x is1As abscissa of the reference coordinate, y1The ordinate of the reference coordinate is, v is the reciprocating speed of the sliding door, k is the number of pixels occupied by each checkerboard in the standard image, m is the actual length of each checkerboard, Δ x is the abscissa compensation term, i is 1,2, …, n, and n is the total frame number of the video.
8. A door-moving amount-of-bounce detection device, comprising:
the camera shooting unit is used for acquiring a standard image comprising a marker and a calibration disc through a camera before the sliding door is contacted with the damping system;
the calibration unit is used for calibrating the standard image by a calibration method to obtain the actual length corresponding to each pixel grid in the standard image;
the selection unit is used for selecting an area containing the marker in the standard image as a preset matching template, determining the coordinate of the center of the marker in the standard image and taking the coordinate as a reference coordinate;
the starting unit is used for sending a control signal to start the driving system to drive the lower guide rail in the testing frame to act at a constant speed, drive the sliding door to execute reciprocating motion in the frame and simultaneously start the camera to record a video file;
the acquisition unit is used for acquiring a video file recorded by the camera;
the searching unit is used for performing framing processing on the video file, searching the center point of the marker in each frame by using a preset matching template according to a preset step length, and obtaining the coordinate of the center point of the marker in each frame;
the jumping amount calculation unit is used for subtracting the reference coordinate from the coordinate of the center point of the marker of each frame to obtain the jumping amount of each frame of the sliding door;
and the determining unit is used for determining the maximum jumping amount of the sliding door according to the jumping amount of each frame of sliding door.
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| CN201810639465.XA CN108801140B (en) | 2018-06-20 | 2018-06-20 | Device and method for detecting door moving jumping quantity |
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| CN201810639465.XA CN108801140B (en) | 2018-06-20 | 2018-06-20 | Device and method for detecting door moving jumping quantity |
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| CN110243585A (en) * | 2019-07-09 | 2019-09-17 | 九牧厨卫股份有限公司 | A kind of the smoothness test device and its method of sliding door |
| CN110864891A (en) * | 2019-11-27 | 2020-03-06 | 广东工业大学 | Pulley damper testing device |
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| CN108801140A (en) | 2018-11-13 |
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