CN109781016A - A kind of method of the high performances such as real-time measurement automobile - Google Patents
A kind of method of the high performances such as real-time measurement automobile Download PDFInfo
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- CN109781016A CN109781016A CN201910188679.4A CN201910188679A CN109781016A CN 109781016 A CN109781016 A CN 109781016A CN 201910188679 A CN201910188679 A CN 201910188679A CN 109781016 A CN109781016 A CN 109781016A
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Abstract
The invention discloses a kind of methods of the high performances such as real-time measurement automobile, including vehicle locating device；The vehicle locating device includes the floating platform for parking cars, and the position of corresponding four wheels of the outside surrounding of the floating platform is fixed, and there are four pedestals；The upper end of the floating platform is slidably connected there are four V-type limited block, and four V-type limited blocks respectively correspond four pedestals and can slide along the direction vertical with the pedestal；Cylinder push-rod, the side of V-type limited block described in the piston rod face of the cylinder push-rod have been bolted positioned at one end of the pedestal towards the floating platform of described floating platform the same side；One end of the pedestal towards the floating platform of the other side is further fixed on fixed strut, the side of V-type limited block described in the fixed strut face；The upper end of four pedestals is respectively arranged with binocular solid camera；The object of the present invention is to provide a kind of methods of the high performances such as real-time measurement automobile.
Description
Technical field
The invention belongs to the high performances areas such as automobile, and in particular to a kind of method of the high performance such as real-time measurement automobile.
Background technique
Raising with people to automotive engineering level requirement, detection project is more and more under line of vehicles, automotive check skill
Art is also in continuous mature, such as Sheets specifically used for automobile and environmental protection tests.And it is led by parts difference, assembly problem
The body of a motor car difference in height of cause threatens car owner's person peace because there are the risks of automobile roll, rollover or load distribution unevenness
Entirely, in many high-end automobile manufacturing enterprises, item must be examined by being classified as.
Common detection gimmick such as manually using tape measure or using contour ruler, is influenced inconvenience by environment and human factor
Also inaccurate；And in terms of mostly research is concentrated mainly on contactless manual detector in industry.Such as can 360 ° freely revolve
The height adjustment device that the laser turned adds feed screw nut screw pair to form；The camera that can be rotated horizontally adds idler wheel to go up and down sliding sleeve
Device etc.；The above detection method is both needed to manual operation and detects manually, and it is about 75s that single, which detects beat, if you need to measure vehicle front and back
The difference in height at end, operator need to be constantly round-trip, do not meet the rhythm of production of general assembly factory pipeline system, greatly constrain host
The productive temp of factory.
Summary of the invention
The object of the present invention is to provide a kind of methods of the high performances such as real-time measurement automobile, to solve asking in background technique
Topic.
The technical solution provided by the present invention is: a kind of method of the high performance such as real-time measurement automobile, including vehicle location
Device；The vehicle locating device includes the floating platform for parking cars, the outside surrounding corresponding four of the floating platform
The position of a wheel is fixed, and there are four pedestals；
The upper end of the floating platform is slidably connected there are four V-type limited block, and four V-type limited blocks respectively correspond four
A pedestal can simultaneously be slided along the direction vertical with the pedestal；
One end positioned at the pedestal towards the floating platform of described floating platform the same side has been bolted
Cylinder push-rod, the side of V-type limited block described in the piston rod face of the cylinder push-rod；The pedestal of the other side is described in
One end of floating platform is further fixed on fixed strut, the side of V-type limited block described in the fixed strut face；Four institutes
The upper end for stating pedestal is respectively arranged with binocular solid camera.
Specifically, the method that system calculates automatically is, if left side camera coordinate system is o1x1y1z1, right camera seat
Mark system is o2x2y2z2, using left side camera coordinate system as world coordinate system, left side ideal image coordinate system is O1X1Y1, right side reason
Think that image coordinate system is O2X2Y2, μ is pixel dimension, f in figure1、f2The respectively focal length of left and right cameras, spatial point P and camera shooting
The angle of the line of machine optical centre and two camera optical axis distinguishes w1、w2, camera optical axis and baseline angle are respectively a1、a2,
The then three-dimensional coordinate by the available spatial point P of space geometry relationship in the case where measuring coordinate system are as follows:
In formula: ω1=arctan (X1/f1), ω2=arctan (X2/f2), B is baseline distance, and Z is object distance.
Specifically, the binocular solid camera chooses edge on automobile tire, the highest point in the circular arc of fender lower end is
Space P point, and the three-dimensional coordinate of P point is measured by the binocular solid camera, left and right wheels P point is then calculated by system automatically
Height difference to the difference in height at left and right sides of automatically derived body of a motor car.
The utility model has the advantages that
Device and method through the invention can real-time measurement left and right vehicle wheel height difference method, without human intervention, automatically
Change degree is high, and beat is very fast, effectively raises productivity effect.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is calculation method schematic diagram of the invention.
In figure: 1- fender lower end circular arc, 2- wheel, 3- binocular solid camera, 4- pedestal, 5- cylinder push-rod, 6-V type
Limited block, 7- floating platform, the fixed strut of 8-.
Specific embodiment
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
As depicted in figs. 1 and 2, the method for the high performance such as real-time measurement automobile in the present embodiment, including vehicle location dress
It sets；
The vehicle locating device includes the floating platform 7 for parking cars, the outside surrounding pair of the floating platform 7
Answering the position of four wheels 2 to fix, there are four pedestals 4；
The upper end of the floating platform 7 is slidably connected there are four V-type limited block 6, and four V-type limited blocks 6 are right respectively
It answers four pedestals 4 and can be slided along the direction vertical with the pedestal 4；
One end positioned at the pedestal 4 towards the floating platform 7 of described 7 the same side of floating platform is bolted
There are cylinder push-rod 5, the side of V-type limited block 6 described in the piston rod face of the cylinder push-rod 5；4 court of the pedestal of the other side
It is further fixed on fixed strut 8 to one end of the floating platform 7, V-type limited block 6 described in fixed 8 face of strut
Side；The upper end of four pedestals 4 is respectively arranged with binocular solid camera 3.
In the present embodiment, the method that system calculates automatically is, if left side camera coordinate system is o1x1y1z1, right side camera shooting
Machine coordinate system is o2x2y2z2, using left side camera coordinate system as world coordinate system, left side ideal image coordinate system is O1X1Y1, right
Side ideal image coordinate system is O2X2Y2, μ is pixel dimension, f in figure1、f2The respectively focal length of left and right cameras, spatial point P and
The angle of the line at camera optics center and two camera optical axis distinguishes w1、w2, camera optical axis is respectively with baseline angle
a1、a2, then the three-dimensional coordinate by the available spatial point P of space geometry relationship in the case where measuring coordinate system are as follows:
In formula: ω1=arctan (X1/f1), ω2=arctan (X2/f2), B is baseline distance, and Z is object distance.
The binocular solid camera 3 chooses edge on automobile tire, and the highest point in fender lower end circular arc 1 is space P
Point, and pass through the three-dimensional coordinate that the binocular solid camera 3 measures P point, then calculate the height of left and right wheels P point automatically by system
Difference is spent to the difference in height at left and right sides of automatically derived body of a motor car；By the way that baseline distance is rationally arranged, (measurement error is with base
The increase of line-spacing and reduce) and baseline and camera light wire clamp angle a (value, the measuring precision are high between 33 °~50 °, accidentally
Difference variation is more steady), it can get higher measurement accuracy.
It is convenient for statement, herein referred "upper", "lower", "left", "right", "front", "rear" etc. represent the description in direction with
The left and right directions of attached drawing itself is consistent, but does not play restriction effect to structure of the invention；In addition, the invention is not limited to upper
State specific embodiment, those skilled in the art can also make a variety of variations accordingly, but it is any with it is of the invention equivalent or similar
Variation should all cover within the scope of the claims.
Claims (3)
1. a kind of method of the high performances such as real-time measurement automobile, it is characterised in that:
Including vehicle locating device；
The vehicle locating device includes the floating platform (7) for parking cars, the outside surrounding pair of the floating platform (7)
Answering the position of four wheels (2) to fix, there are four pedestal (4)；
The upper end of the floating platform (7) is slidably connected, and there are four V-type limited block (6), and four V-type limited blocks (6) are respectively
Corresponding four pedestals (4) can simultaneously be slided along the direction vertical with the pedestal (4)；
The pedestal (4) positioned at the floating platform (7) the same side is solid by bolt towards one end of the floating platform (7)
Surely have cylinder push-rod (5), the side of V-type limited block (6) described in the piston rod face of the cylinder push-rod (5)；The institute of the other side
The one end for stating pedestal (4) towards the floating platform (7) is further fixed on fixed strut (8), fixed strut (8) face
The side of the V-type limited block (6)；The upper end of four pedestals (4) is respectively arranged with binocular solid camera (3).
2. a kind of method of the high performances such as real-time measurement automobile according to claim 1, it is characterised in that:
The method that system calculates automatically is, if left side camera coordinate system is o1x1y1z1, right camera coordinate system is
o2x2y2z2, using left side camera coordinate system as world coordinate system, left side ideal image coordinate system is O1X1Y1, right side ideal image
Coordinate system is O2X2Y2, μ is pixel dimension, f in figure1、f2The respectively focal length of left and right cameras, spatial point P and camera optics
The angle of the line at center and two camera optical axis distinguishes w1、w2, camera optical axis and baseline angle are respectively a1、a2, then by sky
Between three-dimensional coordinate of the available spatial point P of geometrical relationship in the case where measuring coordinate system are as follows:
In formula: ω1=arctan (X1/f1), ω2=arctan (X2/f2), B is baseline distance, and Z is object distance.
3. a kind of method of the high performances such as real-time measurement automobile according to claim 1, it is characterised in that:
The binocular solid camera (3) chooses edge on automobile tire, and the highest point in fender lower end circular arc (1) is space P
Point, and pass through the three-dimensional coordinate that the binocular solid camera (3) measures P point, left and right wheels P point is then calculated by system automatically
Height difference is to the difference in height at left and right sides of automatically derived body of a motor car.
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| CN201910188679.4A CN109781016B (en) | 2019-03-13 | 2019-03-13 | Method for measuring high performance of automobile and the like in real time |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110160451A (en) * | 2019-06-13 | 2019-08-23 | 北京博科测试系统股份有限公司 | A kind of novel non-contact bodywork height measuring system |
| CN110530336A (en) * | 2019-09-04 | 2019-12-03 | 合肥市极点科技有限公司 | Symmetrical height difference measuring method, apparatus, system, electronic equipment and storage medium |
| CN114199141A (en) * | 2021-12-07 | 2022-03-18 | 吉林大学 | Device and method for detecting left-right height difference of automobile body based on stereoscopic vision |
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