CN110285756A - Photo-electric automobile chassis measuring instrument - Google Patents
Photo-electric automobile chassis measuring instrument Download PDFInfo
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- CN110285756A CN110285756A CN201910637416.7A CN201910637416A CN110285756A CN 110285756 A CN110285756 A CN 110285756A CN 201910637416 A CN201910637416 A CN 201910637416A CN 110285756 A CN110285756 A CN 110285756A
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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
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0025—Measuring of vehicle parts
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of high-precision, easily and efficiently photo-electric automobile chassis measuring instrument, belongs to automobile chassis detection field.The present invention includes processor, video camera and surveys stick, and surveying stick includes ontology, several point light sources and gauge head；Gauge head is fixed on ontology top, and gauge head is directly or indirectly contacted with the tested point on automobile chassis, and several point light sources are distributed on the side of ontology；Video camera, opposite with the point light source surveyed on stick, the point source image of stick is surveyed in acquisition；Processor, receive the image that video camera obtains, using luminous point light source as feature, the characteristic point in described image is extracted, according to the actual positional relationship surveyed on stick between point light source and point light source, characteristic point is matched with point light source on stick is surveyed, in conjunction with the actual positional relationship between point light source and gauge head, position coordinates of the gauge head under camera coordinates system are determined, which is converted into the position coordinates under the coordinate system of chassis, tested point position is determined according to the position coordinates after conversion, completes detection.
Description
Technical field
The present invention relates to a kind of automobile chassis measuring instruments, belong to automobile chassis detection field.
Background technique
With the fast development of auto industry in recent years, vehicle has become the scope of each family's normal expenditure, domestic
Car ownership sharp increase, automobile damage, collision accident also happen occasionally, and a large amount of auto repair service is following, cause
Sharply increase the demand of auto repair.And in terms of auto repair, the analysis of automobile chassis common fault diagnosis and maintenance service
Also growth trend is presented.Technical performance index when reaching factory after maintenance chassis how is ensured after vehicle collision, at
For an important problem of automobile industry.
Automobile repair early stage, shop worker often with visually carry out differentiate automobile chassis whether deform, deformation quantity be it is how many,
Cause the uncertainty of vehicle maintenance very big.With industrialized fast development, people gradually exist three-dimensional measurement technical application
Automobile chassis detection field.However, currently used three-dimensional detection system such as three coordinate measuring machine, joint of robot arm etc. is
Uniting, generally existing detection range is limited, involve great expense, measures the disadvantages of flexible difference.The systems such as laser interferometer and electronic theodolite
It is complicated for operation, measurement efficiency is lower, and expensive.
Summary of the invention
Against the above deficiency, the present invention provides a kind of high-precision, easily and efficiently photo-electric automobile chassis measuring instrument.
A kind of photo-electric automobile chassis measuring instrument of the invention, including processor 3, video camera 2 and survey stick 1；
The survey stick 1 includes ontology, several point light sources and gauge head；
Gauge head is fixed on the top of ontology, and gauge head is several for directly or indirectly contacting with the tested point on automobile chassis
Point light source is distributed on a side of ontology；
Video camera 2, it is opposite with the point light source surveyed on stick 1, for acquiring the point light source surveyed and shone on 1 ontology of stick, obtain figure
Picture；
Processor 3 is connect with video camera 2, for receiving the image of the acquisition of video camera 2, and using luminous point light source as spy
Sign extracts the characteristic point in described image, according to the actual positional relationship surveyed on stick 1 between point light source and point light source, to described
Characteristic point in image is matched with point light source on stick 1 is surveyed, after the completion of matching, in conjunction with the reality between point light source and gauge head
Positional relationship determines position coordinates of the gauge head under camera coordinates system, the conversion between combining camera coordinate system and chassis coordinate system
Probe location coordinate under camera coordinates system is converted to the position coordinates under the coordinate system of chassis, according to gauge head on chassis by relationship
Position coordinates under coordinate system determine the position of the tested point on automobile chassis, complete detection.
Preferably, several point light sources are non-coplanar.
Preferably, the survey stick 1 further includes handle and triggering key, handle is fixed on another side of ontology,
For the hand-held progress automobile chassis detection of operator, the triggering key is mounted on handle, triggers the installation site of key
The position of thumb is opposite when holding handle with operator, and the triggering key is for triggering point light source light-emitting.
Preferably, the top of the ontology is provided with threaded hole, gauge head bottom is equipped with external screw thread, the external screw thread with it is described
Threaded hole engagement, realizes the fixation of gauge head and ontology top.
Preferably, 7 point light sources are provided on a side of the ontology, No. 0 point light source and No. 6 point light source difference
Positioned at surveying the highest and lowest of 1 one sides of stick, the line of No. 0 point light source and No. 6 point light sources is SC, No. 3 point light sources and SC's
Distance it is most short, and No. 3 point light sources at a distance from No. 0 point light source less than No. 3 point light sources at a distance from No. 6 point light sources；No. 4 point light sources
With No. 5 point light sources respectively to the distance of No. 0 point light source be all larger than No. 1 point light source and No. 2 point light sources respectively to No. 0 point light source away from
From phase, No. 1 point light source and No. 2 point light sources are separately positioned on the left and right sides of SC, and No. 4 point light sources and No. 5 point light sources are respectively set
In the left and right sides of SC.
Preferably, the processor 3, according to the actual positional relationship surveyed on stick 1 between point light source and point light source, to institute
Characteristic point in image, which is stated, with surveying point light source on stick 1 and carry out matched method includes:
S1, two characteristic points of first and last in image are extracted, is set as No. 0 characteristic point and No. 6 characteristic points；
S2, the two characteristic point lines of first and last that will be extracted obtain straight line SC, ask remaining 5 points to straight line SC away from
From, apart from the smallest point be No. 3 characteristic points；
S3, distance between two characteristic point of No. 3 characteristic points and first and last is sought, is No. 0 characteristic point apart from close point, is far No. 6 spies
Sign point；
S4, it asks remaining four characteristic point the distance between to No. 0 characteristic point, and is ranked up by size, apart from the smallest
Two points are No. 1 characteristic point, No. 2 characteristic points, remaining is No. 4 characteristic points, No. 5 characteristic points；
If the vertical coordinate of S5, No. 0 characteristic point are smaller than the vertical coordinate of No. 6 characteristic points, enter S6, it is on the contrary then enter
S7；
S6, the horizontal coordinate for comparing No. 1 characteristic point and No. 2 characteristic points, small point are No. 1 characteristic point, and big point is No. 2 spies
Sign point；Compare the horizontal coordinate of No. 4 characteristic points and No. 5 characteristic points, small point is No. 4 characteristic points, and big point is No. 5 characteristic points；
S7, the horizontal coordinate for comparing No. 1 characteristic point and No. 2 characteristic points, small point are No. 2 characteristic points, and big point is No. 1 spy
Sign point；Compare the horizontal coordinate of No. 4 characteristic points and No. 5 characteristic points, small point is No. 5 characteristic points, and big point is No. 4 characteristic points.
Preferably, the measuring instrument further includes measuring point adapter and straight measuring staff, the shape on measuring point adapter top
It is matched with through-hole to be measured, threaded hole or the bolt on chassis, straight measuring staff is located at the bottom of measuring point adapter, the bottom of measuring point adapter
End shape is matched with the top of straight measuring staff, and the bottom of the straight tube measuring staff is equipped with and surveys the 1 matched groove of gauge head shape of stick, detection
When for place survey stick 1 gauge head.
Preferably, the measuring point adapter includes through-hole measuring point adapter, threaded hole measuring point adapter or bolt measuring point
Adapter；
The top of the through-hole measuring point adapter is cone cell, is matched with the through-hole to be measured on chassis, the through-hole measuring point adaptation
The bottom end of device be it is rod-shaped, with the matching grooves at the top of straight measuring staff；
The top of the threaded hole measuring point adapter is column, is matched with the threaded hole on chassis, and the threaded hole measuring point is suitable
The bottom end of orchestration is equipped with groove, and the top of straight measuring staff is inserted into the groove and is matched；
The top of the bolt measuring point adapter is and the matched groove of bolt shape, the bottom of the bolt measuring point adapter
End is equipped with groove, and the top of straight measuring staff is inserted into the groove and is matched.
Preferably, the measuring point adapter includes the through-hole measuring point adapter of a variety of tapers, the through-hole of every kind of taper is surveyed
Point adapter can be matched with the through-hole in setting diameter range.
Preferably, the measuring instrument further includes L-type gauge head adapting rod, L-type gauge head adapting rod top side is equipped with groove,
In use, the lower horizontal of measuring point adapter is inserted into the groove, matching is realized；
L-type gauge head adapting rod bottom end is rod-shaped, in use, the groove for being inserted perpendicularly at the top of the straight measuring staff, is realized
Matching.
Beneficial effects of the present invention, photo-electric automobile chassis measuring instrument of the present invention are carried out using monocular vision-cooperative target
Measurement, the position by measuring cooperative target mapping probe 1 measure the position of automobile chassis tested point indirectly, and the present invention is on surveying stick 1
It is provided with point light source, using the imaging to point light source, determines the pose for surveying stick 1, and then determine the position for surveying 1 gauge head of stick, according to
Transformational relation between camera coordinates system to point-sourcre imaging and chassis coordinate system determines the position of chassis tested point, realizes
Detection.The present invention can high-precision, easily and efficiently carry out chassis tested point three-dimensional coordinate measurement, and then with chassis standard
Database is compared, and carries out vehicle condition assessment.
Detailed description of the invention
Fig. 1 is the principle of the present invention schematic diagram；
Fig. 2 is the schematic diagram of camera coordinates system OXYZ and chassis coordinate system O ' X ' Y ' Z '；
Fig. 3 is the structural schematic diagram for surveying stick 1；
Fig. 4 is the structural schematic diagram for surveying main body in stick 1；
Fig. 5 is the distribution schematic diagram for surveying point light source on stick 1；
Fig. 6 is the schematic perspective view for surveying stick 1；
Fig. 7 is the structural schematic diagram of through-hole measuring point adapter；
Fig. 8 is the structural schematic diagram of threaded hole measuring point adapter；
Fig. 9 is the structural schematic diagram of bolt measuring point adapter；
Figure 10 and Figure 11 is the structural schematic diagram of straight measuring staff, and Figure 10 is the bottom face schematic diagram of straight measuring staff, Figure 11 Figure 10
Diagrammatic cross-section；
Figure 12 is the structural schematic diagram of L-type gauge head adapting rod；
Figure 13 is the structural schematic diagram at the L-type gauge head adapting rod back side；
Figure 14 is the diagrammatic cross-section of Figure 13；
Figure 15 is the positive structural schematic diagram of L-type gauge head adapting rod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Present embodiment carries out chassis measurement using vision prescription, provides a kind of photo-electric automobile chassis measuring instrument, such as
Shown in Fig. 1, including processor 3, video camera 2 and survey stick 1；
Surveying stick 1 includes ontology, several point light sources and gauge head；
Gauge head is fixed on the top of ontology, and in measurement, gauge head is directly or indirectly contacted with the tested point on automobile chassis,
Several point light sources are distributed on a side of ontology, and survey on stick 1 has determination between point light source between point light source and gauge head
Positional relationship, it may be assumed that respectively between position and distance be known；
Video camera 2, opposite with the point light source surveyed on stick 1, in measurement, the point light source to shine on 1 ontology of stick is surveyed in shooting, is obtained
Take image；
Processor 3 is connect with video camera 2, and in measurement, after vehicle to be measured is risen with lifting machine, video camera 2 is placed in
At vehicle front to be measured about 2m, and face vehicle to be measured；Video camera 2 and survey stick 1 power on, and video camera 2 initializes, and judges video camera
Whether 2 initialization succeed, if not successfully, by video camera 2 and the lower electricity of stick 1 is surveyed, then re-power initialization, if at the beginning of video camera 2
Begin chemical conversion function, and four undeformed measuring points establish camera coordinates system as datum mark on selection survey stick 1 and coordinate system conversion in chassis is closed
System；The point light source to shine on 1 ontology of stick is surveyed in the shooting of video camera 2, obtains image；Processor 3 receives the image that video camera 2 obtains,
Using luminous point light source as feature, the characteristic point in image is extracted, the mass center of characteristic point is positioned, according to known survey stick
Actual positional relationship on 1 between point light source and point light source matches the characteristic point in image with point light source on stick 1 is surveyed,
After the completion of matching, in conjunction with the actual positional relationship between point light source and gauge head, pose resolving is carried out, determines gauge head in camera coordinates
Position coordinates under system, according to the transformational relation between camera coordinates system and chassis coordinate system, by the gauge head position under camera coordinates system
It sets coordinate and is converted to position coordinates under the coordinate system of chassis, determine automobile bottom according to position coordinates of the gauge head under the coordinate system of chassis
Detection is completed in the position of tested point on disk.Present embodiment measures automobile by the position of measurement cooperative target mapping probe 1 indirectly
The position of chassis tested point；The processor 3 of present embodiment will pass through the three-dimensional coordinate of tested point under measurement chassis coordinate system, and
It is compared with standard database, to realize the detection and assessment on chassis.
Characteristic point can be divided into actively anti-as measurement feedback device indispensable in monocular vision according to feedback system
Feedback mode and passive feedback method.Wherein active feedback characteristic point passes through the radiation light-wave characteristic of itself, anti-compared with passive type
It is high to present Feature point recognition precision, image procossing is convenient, and it is small by environment shadow sound, therefore present embodiment is special using active feedback
Sign point device carries out the design of the measuring instrument.Simultaneously in order to keep characteristic point contrast higher, convenient for promoting mass center extraction accuracy, choosing
Take near-infrared luminous diode as point light source, simultaneous camera 2 chooses near-infrared sensitivity camera, and the two cooperation obtains brighter
Aobvious, rule picture point；It is rung to eliminate environment shadow, bandpass filter design is added before camera lens, and then obtained ideal
LED picture point image.The influence that environment light can be effectively prevented by the cooperation of near infrared camera, optical filter and infrared LED, has
The promotion mass center extraction accuracy of effect, and then promote later period chassis co-ordinate measurement accuracy.
Due to surveying the brings errors such as the processing of stick 1, assembly, luminous point actual coordinate and theoretical value is caused to have certain deviation.Cause
This, needs to be established further to the progress Accurate Calibration of stick 1 is surveyed using shadow video camera 2 and survey 1 coordinate system of stick, completed pose and accurately survey
Amount.So needing to initially set up contacting between camera coordinates system and chassis coordinate system before chassis detection starts.Due to two
The conversion of coordinate system can be considered as rigid body translation, therefore will be designed based on rigid body translation to the conversion of two coordinate systems.
Assuming that camera coordinates system and chassis coordinate system are respectively the coordinate origin O of OXYZ and O ' X ' Y ' Z ', coordinate system OXYZ
Coordinate in coordinate system O ' X ' Y ' Z ' is (tx ty tz)T, as shown in Figure 2.
There are coordinate of the point P, point P in two coordinate systems to be respectively as follows: in space
P=(x y z)TAnd P '=(x ' y ' z ')T, then coordinate P ' of the tested point under the coordinate system of chassis can be by
Coordinate P of this under camera coordinates system is indicated
P '=R*P+T (1)
Wherein R is the spin matrix of two coordinate systems conversion, and T is the translation matrix of two coordinate systems conversion.
Euler's horn cupping and Quaternion Method are common spin matrix representation methods.Since Quaternion Method is without singularity,
Simple, intuitive, and computational efficiency is high, therefore we select Quaternion Method to the transformational relation of camera coordinates system and chassis coordinate system
It is designed.According to the theory of Quaternion Method, spin matrix R can be expressed as
Wherein,
Translation matrix T can be expressed as
Then the transformational relation of camera coordinates system and chassis coordinate system can be unit with 7 element representations, first four amount
Quaternary number, rear three amounts are translational movements.Therefore, rigid body translation formula are as follows:
P '=R (q) * P+ (q4,q5,q6)T (4)
Since coordinate of the tested point under camera coordinates system and chassis coordinate system is it is known that the former is measured by measuring instrument
It arrives, the latter can search in chassis-date library and obtain.Therefore the foundation of coordinate system transformation relationship has reformed into spin matrix (1)
It is Converse solved.Assuming that there are the point of m known coordinate on automobile chassis, coordinate of this m point under camera coordinates system is
P1=(x1 y1 z1)T, P2=(x2 y2 z2)T...Pm=(xm ym zm)T
Coordinate under the coordinate system of chassis are as follows:
P′1=(x '1 y′1 z′1)T, P '2=(x'2 y'2 z'2)T...P′m=(x'm y'm z'm)T
By P1, P2...PmIt may be constructed camera coordinates matrix D,
Equally, P '1, P '2, P '3It may be constructed chassis coordinates matrix D',
It can be obtained by formula (1),
D'=R*D+T (7)
Here, since matrix D, D' are 3 × m matrix, translation matrix T also should be 3 × m matrix, i.e.,
In order to reduce unknown parameter, translation matrix T is indicated with spin matrix R here, it is as follows
Here,WithRespectively by measuring instrument average coordinatesWith chassis average coordinates
It constitutes, i.e.,
Wherein,
Formula (9) substitution formula (7) can be obtained
Arrangement can obtain
It is solved using least square method, is based on the objective function (residual sum of squares (RSS) function) of formula (13) are as follows:
For solve formula (14) minimum, respectively to q0, q1, q2, q3Local derviation is sought, and enables each partial derivative etc. 0, i.e.,
Formula (15) can be written as
Then the quaternary number q of spin matrix can be acquired by equation group (16).Numerical solution is carried out to it using Newton iteration method
It seeks.
After establishing the Newton iteration of Quaternion Method, it is iterated solution, until+1 iteration result of kth time and kth meets
||qk+1-qk||≤ε (18)
Wherein, ε is pre-designed required precision.
After the quaternary number q iteratively solved, by spin matrix R and translation matrix T can be acquired respectively, and then phase is determined
The transformational relation of machine coordinate system and chassis coordinate system；
In preferred embodiment, several point light sources of present embodiment are non-coplanar, and measurement accuracy is higher.
In preferred embodiment, the survey stick 1 of present embodiment further includes handle and triggering key, and handle is fixed on the another of ontology
On one side, for the hand-held progress automobile chassis detection of operator, the triggering key is mounted on handle, by triggering key
Installation site and operator when holding handle the position of thumb it is opposite, the triggering key is sent out for triggering point light source
Light.
Present embodiment is in the installation space for surveying 1 internal reservation LED power supply circuit of stick, voltage reduction module；Present embodiment will
The triggering key of video camera 2 and the triggering key for surveying 1 point light source of stick when triggering is by key pressing, is surveyed stick 1 and imaged using same
Machine 2 powers on simultaneously；In view of operator needs hand-held stick 1 of surveying to go deep into automobile chassis, it is desirable that survey stick 1 and be easy to use, meet people
Body engineering science.
In preferred embodiment, the top of present embodiment ontology is provided with threaded hole, and gauge head bottom is equipped with external screw thread, this is outer
Screw thread is engaged with threaded hole, realizes the fixation of gauge head and ontology top.Since later period measurement needs to be added the gauge head of different model,
Threaded hole is reserved surveying at the top of stick 1, later period gauge head is facilitated to install.
The photo-electric automobile chassis measuring instrument of present embodiment is measured using monocular vision-cooperative target, cooperative target
The structure of mark (surveying stick 1), which will bring the measuring precision, to be directly affected.In preferred embodiment, a side of the ontology
On be provided with 7 point light sources, as shown in Figures 3 to 6, survey stick 1 include 3 long struts 11, main body 12,4 sprags 13, shell
14, handle 15, gauge head 16 and seven point light sources, main body 12 and the assembly of shell 14 constitute and survey 1 ontology of stick, and handle 15 is mounted on shell
It on 14, is held convenient for operator, the centre at 14 top of main body 12 and shell is equipped with threaded hole, and the bottom thread of gauge head 16 screws in spiral shell
In pit, the fixation of gauge head 16 and main body 12 and 14 top of shell is realized；
In measurement range, it is ensured that 7 characteristic points can be distinguished effectively on the image, as shown in figure 5, No. 0 point light source
It being located at No. 6 point light sources and surveys the highest and lowest of 1 one sides of stick, the line of No. 0 point light source and No. 6 point light sources is SC, 3
Number point light source is most short at a distance from SC, and No. 3 point light sources at a distance from No. 0 point light source less than No. 3 point light sources and No. 6 point light sources
Distance；No. 4 point light sources and No. 5 point light sources are respectively all larger than No. 1 point light source and No. 2 point light sources respectively to the distance of No. 0 point light source
To the distance phase of No. 0 point light source, No. 1 point light source and No. 2 point light sources are separately positioned on the left and right sides of SC, No. 4 point light sources and No. 5
Point light source is separately positioned on the left and right sides of SC.
As shown in fig. 6,3 long struts 11 and 4 sprags 13 are separately positioned on a side of main body 12, it is 3 long
Pillar 11 is respectively used to No. 0 point light source of installation, No. 3 point light sources and No. 6 point light sources, and 4 sprags 13 are respectively used to No. 1 point of installation
Light source, No. 2 point light sources, No. 4 point light sources and No. 5 point light sources；
By demand analysis and early-stage study, present embodiment provides a kind of survey by 7 feature point groups at two planes
Stick 1, having a size of 345*180*186mm after assembly, since automobile chassis measurement space is limited, the barriers such as protrusion are more, as far as possible
1 size of stick is surveyed in compression；
For the survey stick 1 of 7 point light sources of present embodiment, measured using 7 characteristic points when measurement, it need to be by image
Point is corresponded with actual point, and then is completed corresponding point matching and carried out next step operation.But measurement points are more, and in order to
Further compression space causes characteristic point distribution not according to most basic linear type structure, and characteristic point position is relative complex.
In view of in-site measurement situation, automobile is generally risen by lifting machine, and operator measures from bottom to top；Simultaneously
In order to facilitate the calibration and calibration for surveying stick 1, need to guarantee that survey stick 1 can be carried out good luminous point in an upward or a downward direction and adopt
Collection and measurement.It is required that guaranteeing to survey 1 face video camera 2 of stick as far as possible in operating process, and then guarantee the geometry between each control point
Positional relationship and picture point rule.7 characteristic points are numbered in present embodiment, from top to bottom, are followed successively by 0-6 from left to right
Number, as in Figure 2-4.
Processor 3 is according to the actual positional relationship surveyed on stick 1 between point light source and point light source, the figure shot to video camera 2
Characteristic point as in is specifically included with the matched method of point light source progress on stick 1 of surveying:
S1, two characteristic points of first and last in image are extracted, is set as No. 0 characteristic point and No. 6 characteristic points；
S2, the two characteristic point lines of first and last that will be extracted obtain straight line SC, ask remaining 5 points to straight line SC away from
From, apart from the smallest point be No. 3 characteristic points；
S3, distance between two characteristic point of No. 3 characteristic points and first and last is sought, is No. 0 characteristic point apart from close point, is far No. 6 spies
Sign point；
S4, it asks remaining four characteristic point the distance between to No. 0 characteristic point, and is ranked up by size, apart from the smallest
Two points are No. 1 characteristic point, No. 2 characteristic points, remaining is No. 4 characteristic points, No. 5 characteristic points；
If the vertical coordinate of S5, No. 0 characteristic point are smaller than the vertical coordinate of No. 6 characteristic points, enter S6, it is on the contrary then enter
S7；
S6, the horizontal coordinate for comparing No. 1 characteristic point and No. 2 characteristic points, small point are No. 1 characteristic point, and big point is No. 2 spies
Sign point；Compare the horizontal coordinate of No. 4 characteristic points and No. 5 characteristic points, small point is No. 4 characteristic points, and big point is No. 5 characteristic points；
S7, the horizontal coordinate for comparing No. 1 characteristic point and No. 2 characteristic points, small point are No. 2 characteristic points, and big point is No. 1 spy
Sign point；Compare the horizontal coordinate of No. 4 characteristic points and No. 5 characteristic points, small point is No. 5 characteristic points, and big point is No. 4 characteristic points.
This method is suitble to live chassis measurement environment, carries out hand-held measurement convenient for operator.
In preferred embodiment, the measuring instrument of present embodiment further includes measuring point adapter and straight measuring staff, measuring point adapter top
The shape at end is matched with through-hole to be measured, threaded hole or the bolt on chassis, and straight measuring staff is located at the bottom of measuring point adapter, and measuring point is suitable
The lower shape of orchestration is matched with the top of straight measuring staff, and the bottom of the straight tube measuring staff is equipped with to be matched with survey 1 gauge head of stick, 16 shape
Groove, for placing the gauge head 16 for surveying stick 1 when detection, the structure of straight measuring staff is as shown in Figure 10 and Figure 11.
By the observation in experimental field to automobile chassis, chassis tested point mainly includes through-hole, threaded hole and bolt etc.,
It is difficult to carry out the measurement of all tested points by single gauge head 16.Therefore, present embodiment is directed to different location and variety classes
Measuring point each provides measuring point adapter；Meanwhile in order to carry out the unification of data and facilitate staff's hand-held, and abide by
Interchangeability principle is followed, and has carried out straight measuring staff.It is directed to different tested points when measurement, different measuring point adapters is selected to be packed into straight survey
It is placed in bar below tested point, 1 gauge head 16 of stick will be surveyed and be placed in straight measuring staff lower surface groove, complete chassis measurement.
In preferred embodiment, measuring point adapter includes through-hole measuring point adapter, threaded hole measuring point adapter or bolt measuring point
Adapter；
It is measured for through-hole:
Since automobile chassis contains a large amount of different size through-holes, setting for gauge head 16 can not be carried out for every kind of size through-hole
Meter.It therefore can be three kinds of measuring point adapters by pore diameter range to be measured, diameter is respectively 25mm, 35mm and 60mm, is directed to 0 respectively
~25mm through-hole, 25~35mm through-hole and the measurement of 35~60mm through-hole, can be very good the survey for completing all size through-holes in chassis
Amount matches as shown in fig. 7, the top of the through-hole measuring point adapter of present embodiment is cone cell with the through-hole to be measured on chassis, described
The bottom end of through-hole measuring point adapter be it is rod-shaped, with the matching grooves at the top of straight measuring staff；Present embodiment is by being arranged a variety of tapers
Through-hole measuring point adapter, satisfaction matched with 0~25mm through-hole, 25~35mm through-hole and 35~60mm through-hole.
For screw thread hole measurement: as shown in figure 8, the top of the threaded hole measuring point adapter of present embodiment is column, with
The threaded hole on chassis matches, and the bottom end of the threaded hole measuring point adapter is equipped with groove, and the groove is inserted on the top of straight measuring staff
It is matched；Since chassis threaded hole is national standard thread hole, size is fixed.Therefore it needs to distinguish for these threaded holes
Carry out the design of different size gauge heads 16；
It is measured for bolt: as shown in figure 9, the top of the bolt measuring point adapter of present embodiment is and bolt shape
The groove matched, the bottom end of the bolt measuring point adapter are equipped with groove, and the top of straight measuring staff is inserted into the groove and is matched；By
National standard is also corresponded in bolt, size is fixed.Therefore the design of gauge head 16 is equally carried out respectively for different size bolts；
The measuring instrument further includes 16 adapting rod of L-type gauge head, and 16 adapting rod top side of L-type gauge head is equipped with groove, is used
When, the lower horizontal of measuring point adapter is inserted into the groove, realizes matching；
16 adapting rod bottom end of L-type gauge head is rod-shaped, in use, the groove for being inserted perpendicularly at the top of the straight measuring staff, real
Now match.Simultaneously because present embodiment is measured using monocular vision-cooperative target formula, need to guarantee in measurement process to survey stick 1
Face video camera 2 is in order to the acquisition to luminous point.But by experimental field observation it can be found that the distribution of automobile chassis tested point can
To be divided into horizontal plane and two kinds of vertical plane, measuring point is unfavorable for the acquisition to luminous point in vertical plane；Therefore, it is adopted for the ease of luminous point
Collect and follow interchangeability principle, present embodiment has carried out the design of 16 adapting rod of L-type gauge head, the tested point in vertical plane is converted
It is measured on to horizontal direction, as shown in Figure 12 to Figure 15.
Present embodiment can be with by the measurement method of the straight measuring staff-survey stick 1 of this measuring point adapter -16 adapting rod of gauge head -
The measurement for meeting all tested points on chassis, economize on resources, convenient for operation while follow interchangeability principle, greatly facilitate
Chassis measurement and vehicle condition assessment.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (10)
1. a kind of photo-electric automobile chassis measuring instrument, which is characterized in that including processor, video camera and survey stick；
The survey stick includes ontology, several point light sources and gauge head；
Gauge head is fixed on the top of ontology, and gauge head with the tested point on automobile chassis for directly or indirectly contacting, if doing light
Source distribution is on a side of ontology；
Video camera, it is opposite with the point light source surveyed on stick, for acquiring the point light source surveyed and shone on stick ontology, obtain image；
Processor is connect with video camera, for receiving the image of video camera acquisition, and using luminous point light source as feature, is extracted
Characteristic point in described image, according to the actual positional relationship surveyed on stick between point light source and point light source, in described image
Characteristic point is matched with point light source on stick is surveyed, after the completion of matching, in conjunction with the actual positional relationship between point light source and gauge head,
Determine position coordinates of the gauge head under camera coordinates system, the transformational relation between combining camera coordinate system and chassis coordinate system, by phase
Probe location coordinate under machine coordinate system is converted to the position coordinates under the coordinate system of chassis, according to gauge head under the coordinate system of chassis
Position coordinates determine the position of the tested point on automobile chassis, complete detection.
2. photo-electric automobile chassis measuring instrument according to claim 1, which is characterized in that several point light sources are not total
Face.
3. photo-electric automobile chassis measuring instrument according to claim 2, which is characterized in that the survey stick further include handle and
Key is triggered, handle is fixed on another side of ontology, for the hand-held progress automobile chassis detection of operator, the touching
Hair key is mounted on handle, and the position of thumb is opposite when triggering the installation site of key hand-held with operator handle, institute
Triggering key is stated for triggering point light source light-emitting.
4. photo-electric automobile chassis measuring instrument according to claim 3, which is characterized in that the top of the ontology is provided with
Threaded hole, gauge head bottom are equipped with external screw thread, which engages with the threaded hole, realize the fixation of gauge head and ontology top.
5. photo-electric automobile chassis measuring instrument according to claim 2, which is characterized in that on a side of the ontology
7 point light sources are provided with, No. 0 point light source and No. 6 point light sources are located at highest and lowest, No. 0 point light for surveying one side of stick
The line of source and No. 6 point light sources is SC, and No. 3 point light sources are most short at a distance from SC, and No. 3 point light sources are at a distance from No. 0 point light source
Less than No. 3 point light sources at a distance from No. 6 point light sources；No. 4 point light sources and No. 5 point light sources are respectively big to the distance of No. 0 point light source
It is respectively separately positioned on to the distance phase of No. 0 point light source, No. 1 point light source and No. 2 point light sources in No. 1 point light source and No. 2 point light sources
The left and right sides of SC, No. 4 point light sources and No. 5 point light sources are separately positioned on the left and right sides of SC.
6. photo-electric automobile chassis measuring instrument according to claim 5, which is characterized in that the processor, according to survey stick
Actual positional relationship between upper point light source and point light source matches the characteristic point in described image with point light source on stick is surveyed
Method include:
S1, two characteristic points of first and last in image are extracted, is set as No. 0 characteristic point and No. 6 characteristic points；
S2, the two characteristic point lines of first and last that will be extracted obtain straight line SC, seek remaining the 5 points distances for arriving straight line SC, away from
It is No. 3 characteristic points from the smallest point；
S3, distance between two characteristic point of No. 3 characteristic points and first and last is sought, is No. 0 characteristic point apart from close point, is far No. 6 characteristic points；
S4, it asks remaining four characteristic point the distance between to No. 0 characteristic point, and is ranked up by size, apart from two the smallest
Point is No. 1 characteristic point, No. 2 characteristic points, remaining is No. 4 characteristic points, No. 5 characteristic points；
If the vertical coordinate of S5, No. 0 characteristic point are smaller than the vertical coordinate of No. 6 characteristic points, enter S6, on the contrary it is then into S7；
S6, the horizontal coordinate for comparing No. 1 characteristic point and No. 2 characteristic points, small point are No. 1 characteristic point, and big point is No. 2 features
Point；Compare the horizontal coordinate of No. 4 characteristic points and No. 5 characteristic points, small point is No. 4 characteristic points, and big point is No. 5 characteristic points；
S7, the horizontal coordinate for comparing No. 1 characteristic point and No. 2 characteristic points, small point are No. 2 characteristic points, and big point is No. 1 feature
Point；Compare the horizontal coordinate of No. 4 characteristic points and No. 5 characteristic points, small point is No. 5 characteristic points, and big point is No. 4 characteristic points.
7. the photo-electric automobile chassis measuring instrument according to claim 4 or 6, which is characterized in that the measuring instrument further includes
Measuring point adapter and straight measuring staff, through-hole to be measured, threaded hole or bolt in the shape and chassis on measuring point adapter top
Match, straight measuring staff is located at the bottom of measuring point adapter, and the lower shape of measuring point adapter is matched with the top of straight measuring staff, the straight tube
The bottom of measuring staff is equipped with and surveys the matched groove of stick gauge head shape, for placing the gauge head of survey stick when detection.
8. photo-electric automobile chassis measuring instrument according to claim 7, which is characterized in that the measuring point adapter includes logical
Hole measuring point adapter, threaded hole measuring point adapter or bolt measuring point adapter；
The top of the through-hole measuring point adapter is cone cell, is matched with the through-hole to be measured on chassis, the through-hole measuring point adapter
Bottom end be it is rod-shaped, with the matching grooves at the top of straight measuring staff；The top of the threaded hole measuring point adapter is column, the spiral shell with chassis
Pit matching, the bottom end of the threaded hole measuring point adapter are equipped with groove, and the top of straight measuring staff is inserted into the groove and is matched；
The top of the bolt measuring point adapter be with the matched groove of bolt shape, the bottom end of the bolt measuring point adapter is set
Fluted, the top of straight measuring staff is inserted into the groove and is matched.
9. photo-electric automobile chassis measuring instrument according to claim 7, which is characterized in that the measuring point adapter includes more
The through-hole measuring point adapter of the through-hole measuring point adapter of kind taper, every kind of taper can be with the through-hole progress in setting diameter range
Match.
10. photo-electric automobile chassis measuring instrument according to claim 9, which is characterized in that the measuring instrument further includes L-type
Gauge head adapting rod, L-type gauge head adapting rod top side are equipped with groove, in use, described in the lower horizontal insertion of measuring point adapter
Groove realizes matching；
L-type gauge head adapting rod bottom end is rod-shaped, in use, the groove for being inserted perpendicularly at the top of the straight measuring staff, realizes matching.
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| CN201910637416.7A CN110285756A (en) | 2019-07-15 | 2019-07-15 | Photo-electric automobile chassis measuring instrument |
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| CN201910637416.7A CN110285756A (en) | 2019-07-15 | 2019-07-15 | Photo-electric automobile chassis measuring instrument |
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Cited By (1)
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| CN113281062A (en) * | 2021-06-07 | 2021-08-20 | 湖南汽车工程职业学院 | Intelligent recognition automobile chassis vehicle condition detection system |
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