CN112461124B - Positioning system and method for vehicle body floor detection support - Google Patents
Positioning system and method for vehicle body floor detection support Download PDFInfo
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- CN112461124B CN112461124B CN202011152988.5A CN202011152988A CN112461124B CN 112461124 B CN112461124 B CN 112461124B CN 202011152988 A CN202011152988 A CN 202011152988A CN 112461124 B CN112461124 B CN 112461124B
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- sliding table
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Abstract
The invention belongs to the technical field of vehicle engineering, and discloses a positioning system for a vehicle body floor detection support, which comprises: the device comprises a detection base, a three-dimensional movable support, a positioning controller, a laser positioner, an image acquisition module and an image recognition module; the three-dimensional movable support is fixed on the detection base and connected with the positioning controller to realize controlled movement in a three-dimensional direction; the laser positioner is fixed on the three-dimensional movable support, is connected with the positioning controller and is used for projecting positioning light spots on the floor of the vehicle body to realize positioning hole slot calibration in a matching manner; the image acquisition module is arranged on the three-dimensional movable support and connected with the image recognition module and used for acquiring the vehicle body floor image projected with the positioning light spots and screening and recognizing the positioning hole slots. The positioning system and the positioning method for the vehicle body floor detection support can realize convenient and efficient positioning operation.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a positioning system and a positioning method for a vehicle body floor detection support.
Background
In the prior art, the size specification of the automobile parts is detected by the aid of a detection support. However, the whole vehicle body floor needs to be integrally fixed on the detection support through a lifting machine which is manually engaged, so that the whole process is complex in operation and low in efficiency. Meanwhile, due to the fact that the support device is required to adapt to different vehicle type specifications, the support positioning position needs to be adjusted correspondingly, the operation complexity is increased, and the operation efficiency is reduced.
Disclosure of Invention
The invention provides a positioning system and a positioning method for a vehicle body floor detection support, which solve the technical problems of complex operation process and low efficiency in the prior art when a vehicle body bottom is fixed on the detection support.
In order to solve the technical problem, the invention provides a positioning system for a vehicle body floor detection bracket, which comprises: the device comprises a detection base, a three-dimensional movable support, a positioning controller, a laser positioner, an image acquisition module and an image recognition module;
the three-dimensional movable support is fixed on the detection base and connected with the positioning controller to realize controlled movement in a three-dimensional direction;
the laser positioner is fixed on the three-dimensional movable support, is connected with the positioning controller and is used for projecting positioning light spots on the floor of the vehicle body to realize positioning hole slot calibration in a matching manner;
the image acquisition module is arranged on the three-dimensional movable support and connected with the image recognition module and used for acquiring the vehicle body floor image projected with the positioning light spots and screening and recognizing the positioning hole slots.
Further, the three-dimensional movable support comprises: the device comprises a bracket main body, a first sliding table, a first axial driving element, a second sliding table, a second axial driving element, a third sliding table, a third axial driving element and a positioning pin shaft;
the bracket main body is detachably fixed on the detection base, the first sliding table is fixed on the bracket main body, and the first axial driving element is fixed on the first sliding table;
the second sliding table is slidably fixed on the first sliding table, the telescopic end of the first axial driving element is connected with the second sliding table, and the second axial driving element is fixed on the second sliding table;
the third sliding table is slidably fixed on the second sliding table, the telescopic end of the second axial driving element is connected with the third sliding table, the third axial driving element is fixed on the third sliding table, and the positioning pin shaft is fixed on the telescopic end of the third axial driving element;
the laser positioner and the image acquisition module are arranged on the third sliding table;
wherein the first axial drive element, the second axial drive element and the third axial drive element have extension and retraction directions along X-axis, Y-axis and Z-axis directions, respectively.
Further, the projection direction of the laser positioner is consistent with the axial direction of the positioning pin shaft.
Furthermore, the projection light source of the laser positioner is an annular light source, and the annular light source is sleeved on the positioning pin shaft.
Further, the image acquisition module comprises a camera;
the camera is fixed on the third sliding table.
Furthermore, the camera is a camera with a distance measurement function.
Furthermore, the image identification module adopts a convolutional neural network to screen and identify the positioning slot.
A car body floor detection support positioning method is characterized in that a positioning operation method is executed based on a car body floor detection support positioning system;
the positioning operation method comprises the following steps:
the laser positioner projects a positioning light spot to the floor of the vehicle body;
the image acquisition module acquires a real-time image of the vehicle body floor projected with the positioning light spot and then transmits the real-time image to the image identification module;
the image recognition module screens and recognizes the positioning hole slots based on the convolutional neural network, acquires the position coordinates of the positioning hole slots and then sends the position coordinates to the positioning controller;
the positioning controller controls the three-dimensional movable support to act so that the positioning pin shaft is aligned to the positioning slot hole and then embedded.
Further, the image recognition module screens and recognizes the positioning hole slots based on a convolutional neural network, and the obtaining of the position coordinates of the positioning hole slots includes:
the image recognition module screens and recognizes the positioning light spots in the real-time image, and establishes a three-dimensional coordinate system by taking the positioning light spots as an origin, wherein the directions of an X axis, a Y axis and a Z axis of the three-dimensional coordinate system are determined based on the three-dimensional action direction of the three-dimensional movable support;
and the image identification module screens and identifies the position and the depth of the positioning hole slot in the real-time image by adopting a convolutional neural network based on the contour of the positioning hole slot.
Further, the projection direction of the positioning light spot is consistent with the axial direction of the positioning hole groove.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the positioning system and the positioning method for the vehicle body floor detection support provided by the embodiment of the application are characterized in that an automatic detection support is composed of a three-dimensional movable support and a positioning controller on the basis of a detection base, and a laser positioner, an image acquisition module and an image recognition module are additionally arranged and used for realizing screening and recognition of a positioning slot hole and realizing auxiliary three-dimensional positioning by combining a positioning light spot, so that high-precision positioning operation is realized, and the position coordinate and the depth information of the positioning slot hole are obtained; then controlling the high-precision action of the three-dimensional movable support, and accurately and properly embedding the positioning pin shaft on the three-dimensional movable support into the positioning slot; the whole process is highly automatic, convenient and efficient.
Drawings
FIG. 1 is a schematic structural diagram of a three-dimensional movable support according to an embodiment of the present invention;
FIG. 2 is a schematic view of an assembly of a detection base and a floor assembly according to an embodiment of the present invention;
FIG. 3 is a schematic view of an assembly structure of a main locating pin according to an embodiment of the present invention;
fig. 4 is a schematic view of an assembly structure of an auxiliary positioning pin according to an embodiment of the present invention.
Detailed Description
The embodiment of the application provides a positioning system and a positioning method for a vehicle body floor detection support, and solves the technical problems that in the prior art, the operation process of fixing a vehicle body bottom to the detection support is complex, and the efficiency is low.
In order to better understand the technical solutions, the technical solutions will be described in detail below with reference to the drawings and the specific embodiments of the specification, and it should be understood that the embodiments and specific features of the embodiments of the present invention are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features of the embodiments and examples of the present application may be combined with each other without conflict.
Referring to fig. 2, a vehicle body floor detection bracket positioning system includes: the device comprises a detection base 9, a three-dimensional movable support, a positioning controller, a laser positioner, an image acquisition module and an image recognition module.
Specifically, the three-dimensional movable support is fixed on the detection base 9, and the three-dimensional movable support is connected with the positioning controller, and controlled movement in a three-dimensional direction is realized under the control of the positioning controller.
The laser positioner is fixed on the three-dimensional movable support, is connected with the positioning controller and is used for projecting positioning light spots on the floor of the vehicle body as positioning reference points to realize calibration of the positioning hole grooves in a matching manner. Namely, the positioning light spot is used as a positioning marker and applied to the floor of the vehicle body, and when a real-time image is acquired through the image acquisition module, the positioning light spot can be used as a reference point to carry out positioning coordinate quantization, so that the positioning controller can drive the three-dimensional movable support to move three-dimensionally.
The image acquisition module is arranged on the three-dimensional movable support and connected with the image recognition module and used for acquiring a real-time image of the vehicle body floor projected with the positioning light spots and screening and recognizing the positioning hole slots. Specifically, the image identification module is provided with a convolutional neural network model, and various slot profiles can be learned in advance to facilitate subsequent accurate screening and identification. In order to facilitate coordinate quantification, the positioning cursor is used as an origin of a three-dimensional coordinate system, so that the positioning coordinates of the positioning slot hole can be quantified, and the action of the three-dimensional movable support can be accurately controlled.
Referring to fig. 1, the three-dimensional movable support provided by the present embodiment includes: the support comprises a support main body 1, a first sliding table 4, a first axial driving element 5, a second sliding table 3, a second axial driving element 8, a third sliding table 2, a third axial driving element 7 and a positioning pin shaft 6.
The bracket main body 1 is detachably fixed on the detection base, the first sliding table 4 is fixed on the bracket main body 1, and the first axial driving element 5 is fixed on the first sliding table 4; the second sliding table 3 is slidably fixed on the first sliding table 4, the telescopic end of the first axial driving element 5 is connected with the second sliding table 3, and the second axial driving element 8 is fixed on the second sliding table 3; the third sliding table 2 is slidably fixed on the second sliding table 3, the telescopic end of the second axial driving element 8 is connected with the third sliding table 2, the third axial driving element 7 is fixed on the third sliding table 2, and the positioning pin 6 is fixed on the telescopic end of the third axial driving element 7; thereby being controlled to realize the action in three directions; generally, the expansion and contraction directions of the first, second and third axial driving elements are along the X-axis, Y-axis and Z-axis directions, respectively, so that the motion can be quantified and controlled in a three-dimensional coordinate system.
The laser positioner and the image acquisition module are arranged on the third sliding table 2, so that image acquisition and positioning light spot following projection are realized.
It should be understood that the specific structure of the three-dimensional motion system is various, and the specific scheme provided in this embodiment is only for illustration and not for limitation.
Generally, in order to improve the convenience of positioning and the efficiency of action, the projection direction of the laser positioner is consistent with the axial direction of the positioning pin shaft 6, and positioning errors in the Z-axis direction are eliminated.
Further, a projection light source of the laser positioner is an annular light source, and the annular light source is sleeved on the positioning pin shaft 6; that is to say, the positioning light spot is actually on the same axis as the positioning pin 6, and only the quantization in the X axis and the Y axis needs to be considered during positioning, which is efficient and reliable.
In this embodiment, the image acquisition module includes a camera; the camera is fixed on the third sliding table 2; a plurality of cameras can be adopted to carry out collaborative camera shooting, and the positioning accuracy is improved.
It should be noted that the camera is a camera with a distance measurement function, so that the depth of the positioning slot can be obtained while the camera is positioned, the Z-axis motion of the third axial driving element 7 can be accurately controlled, and the positioning pin 6 can be properly embedded in the positioning slot.
In this embodiment, the first axial driving element 5, the second axial driving element 8 and the third axial driving element 7 may be direct driving elements such as hydraulic cylinders, or indirect driving elements of a servo motor matching a torque conversion mechanism.
Referring to fig. 2, fig. 3 and fig. 4, an auxiliary support assembly 91 is disposed on the detection base 9 for detachably fixing a main positioning pin support 92, an auxiliary positioning pin support 93 and an auxiliary support 94; thereby achieving stable support of the vehicle body floor overall 10.
The positioning method based on the above positioning system will be specifically described below.
A car body floor detection support positioning method is characterized in that a positioning operation method is executed based on a car body floor detection support positioning system;
the positioning operation method comprises the following steps:
the laser positioner projects a positioning light spot to the floor of the vehicle body to be used as a reference point for the image recognition module to quantize the positioning coordinate;
the image acquisition module acquires a real-time image of the vehicle body floor projected with the positioning light spot and then transmits the real-time image to the image identification module;
the image recognition module screens and recognizes the positioning hole slots based on the convolutional neural network, acquires the position coordinates of the positioning hole slots and then sends the position coordinates to the positioning controller;
the positioning controller controls the three-dimensional movable support to act so that the positioning pin shaft is aligned to the positioning slot hole and then embedded.
Specifically, the image recognition module screens and recognizes the positioning hole slot based on a convolutional neural network, and the obtaining of the position coordinate of the positioning hole slot includes:
the image recognition module screens and recognizes the positioning light spots in the real-time image, and establishes a three-dimensional coordinate system by taking the positioning light spots as an origin, wherein the directions of an X axis, a Y axis and a Z axis of the three-dimensional coordinate system are determined based on the three-dimensional action direction of the three-dimensional movable support;
the image identification module screens and identifies the position and the depth of the positioning hole groove in the real-time image by adopting a convolutional neural network based on the contour of the positioning hole groove; as the quantitative motion amplitude of the three-dimensional movable support.
It is worth mentioning that the projection direction of the positioning light spot is consistent with the axial direction of the positioning hole, so that the positioning pin 6 can be aligned with the positioning hole.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
the positioning system and the positioning method for the vehicle body floor detection support provided by the embodiment of the application are characterized in that an automatic detection support is composed of a three-dimensional movable support and a positioning controller on the basis of a detection base, and a laser positioner, an image acquisition module and an image recognition module are additionally arranged and used for realizing screening and recognition of a positioning slot hole and realizing auxiliary three-dimensional positioning by combining a positioning light spot, so that high-precision positioning operation is realized, and the position coordinate and the depth information of the positioning slot hole are obtained; then controlling the high-precision action of the three-dimensional movable support, and accurately and properly embedding the positioning pin shaft on the three-dimensional movable support into the positioning slot; the whole process is highly automatic, convenient and efficient.
Finally, it should be noted that the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to examples, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (9)
1. The utility model provides a vehicle body floor detects support positioning system which characterized in that includes: the device comprises a detection base, a three-dimensional movable support, a positioning controller, a laser positioner, an image acquisition module and an image recognition module;
the three-dimensional movable support is fixed on the detection base and connected with the positioning controller to realize controlled movement in a three-dimensional direction;
the laser positioner is fixed on the three-dimensional movable support, is connected with the positioning controller and is used for projecting positioning light spots on the floor of the vehicle body to realize positioning hole slot calibration in a matching manner;
the image acquisition module is arranged on the three-dimensional movable support, is connected with the image recognition module and is used for acquiring an image of the floor of the vehicle body projected with the positioning light spots and screening and recognizing the positioning hole slots;
wherein the three-dimensional movable support comprises: the device comprises a bracket main body, a first sliding table, a first axial driving element, a second sliding table, a second axial driving element, a third sliding table, a third axial driving element and a positioning pin shaft;
the bracket main body is detachably fixed on the detection base, the first sliding table is fixed on the bracket main body, and the first axial driving element is fixed on the first sliding table;
the second sliding table is slidably fixed on the first sliding table, the telescopic end of the first axial driving element is connected with the second sliding table, and the second axial driving element is fixed on the second sliding table;
the third sliding table is slidably fixed on the second sliding table, the telescopic end of the second axial driving element is connected with the third sliding table, the third axial driving element is fixed on the third sliding table, and the positioning pin shaft is fixed on the telescopic end of the third axial driving element;
the laser positioner and the image acquisition module are arranged on the third sliding table;
wherein the first axial drive element, the second axial drive element and the third axial drive element have extension and retraction directions along X-axis, Y-axis and Z-axis directions, respectively.
2. The vehicle body floor detecting bracket positioning system according to claim 1, wherein the projection direction of the laser positioner coincides with the axial direction of the positioning pin.
3. The vehicle body floor detecting bracket positioning system according to claim 2, wherein the projection light source of the laser positioner is an annular light source, and the annular light source is sleeved on the positioning pin shaft.
4. The vehicle body floor detection bracket positioning system of claim 1, wherein the image acquisition module includes a camera;
the camera is fixed on the third sliding table.
5. The vehicle body floor detecting bracket positioning system of claim 4, wherein the camera is a camera with distance measuring function.
6. The vehicle body floor detecting bracket positioning system according to claim 1, wherein the image recognition module performs screening recognition of the positioning hole slots by using a convolutional neural network.
7. A vehicle body floor detection support positioning method, characterized in that a positioning operation method is performed based on the vehicle body floor detection support positioning system of claim 1;
the positioning operation method comprises the following steps:
the laser positioner projects a positioning light spot to the floor of the vehicle body;
the image acquisition module acquires a real-time image of the vehicle body floor projected with the positioning light spot and then transmits the real-time image to the image identification module;
the image recognition module screens and recognizes the positioning hole slots based on the convolutional neural network, acquires the position coordinates of the positioning hole slots and then sends the position coordinates to the positioning controller;
the positioning controller controls the three-dimensional movable support to act so that the positioning pin shaft is aligned to the positioning hole groove and then embedded.
8. The vehicle body floor detecting bracket positioning method according to claim 7, wherein the image recognition module screens and recognizes the positioning hole slots based on a convolutional neural network, and the obtaining the position coordinates of the positioning hole slots comprises:
the image recognition module screens and recognizes the positioning light spots in the real-time image, and establishes a three-dimensional coordinate system by taking the positioning light spots as an origin, wherein the directions of an X axis, a Y axis and a Z axis of the three-dimensional coordinate system are determined based on the three-dimensional action direction of the three-dimensional movable support;
and the image identification module screens and identifies the position and the depth of the positioning hole slot in the real-time image by adopting a convolutional neural network based on the contour of the positioning hole slot.
9. The vehicle body floor detecting bracket positioning method according to claim 8, wherein a projection direction of the positioning light spot coincides with an axial direction of the positioning hole groove.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011152988.5A CN112461124B (en) | 2020-10-26 | 2020-10-26 | Positioning system and method for vehicle body floor detection support |
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| CN202011152988.5A CN112461124B (en) | 2020-10-26 | 2020-10-26 | Positioning system and method for vehicle body floor detection support |
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| CN112461124A CN112461124A (en) | 2021-03-09 |
| CN112461124B true CN112461124B (en) | 2021-11-30 |
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