CN114199141A - Device and method for detecting left-right height difference of automobile body based on stereoscopic vision - Google Patents

Device and method for detecting left-right height difference of automobile body based on stereoscopic vision Download PDF

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CN114199141A
CN114199141A CN202111482163.4A CN202111482163A CN114199141A CN 114199141 A CN114199141 A CN 114199141A CN 202111482163 A CN202111482163 A CN 202111482163A CN 114199141 A CN114199141 A CN 114199141A
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height difference
camera
image
industrial control
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张立斌
冯诗源
王艺鹏
查玉彬
刘相帅
郑嘉东
刘琦烽
单红梅
戴建国
刘玉梅
陈熔
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Jilin University
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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
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
    • G01B11/0608—Height gauges

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Abstract

The invention relates to a device and a method for detecting left and right height difference of an automobile body based on stereoscopic vision, belonging to automobile safety performance detection equipment. The device includes: 2 cameras with the same model, 1 gantry support, 1 industrial control computer and the like. The device utilizes 1 group of cameras to collect the image of the tail part of the vehicle when the brake lamp at the tail part of the vehicle is lightened, adopts a computer image processing technology to segment and extract the outline of the brake lamp at the tail part of the vehicle, reconstructs two-dimensional coordinates of the outline of the brake lamp, and calculates the absolute value of the difference value of the longitudinal coordinates of the outline centroids of the brake lamps at the left side and the right side by extracting the outline centroids of the brake lamps so as to obtain the height difference of the left side and the right side of the vehicle body. The invention can obtain the left-right height difference of the automobile body under the non-contact condition. The method has the advantages of novel and unique design concept, good detection precision, simple device structure and convenient installation and operation. The research result has certain theoretical value and practical value and has good application and popularization prospect.

Description

Device and method for detecting left-right height difference of automobile body based on stereoscopic vision
Technical Field
The invention belongs to detection equipment of automobile safety performance, and particularly relates to a device and a method for detecting left and right height difference of an automobile body based on stereoscopic vision. The method comprises the steps of collecting a vehicle tail image when a vehicle tail brake lamp is turned on by using 2 cameras, segmenting and extracting the outline of the vehicle tail brake lamp by using a computer image processing technology, reconstructing two-dimensional coordinates of the outline of the tail brake lamp, calculating the outline centroid of the brake lamp, and calculating the absolute value of the difference value of the longitudinal coordinates of the outline centroids of the left brake lamp and the right brake lamp so as to obtain the left-right height difference of a vehicle body. The device has the characteristics of high detection precision and good system reliability, has high detection speed and strong repeatability, has a simple structure, is reasonable in design, and reduces the manufacturing cost of the detection device.
Background
After the automobile runs for a long time, jolts or collides, the height difference of the bilateral symmetry point of the automobile body is overlarge due to the deformation of the frame and the axle, the loosening of the riding bolt, the abrasion of the axle connection part, looseness and the like. The height difference of the bilateral symmetry point of the automobile body directly influences the smoothness of the automobile and influences various performances of the automobile such as safety, operation stability, trafficability, fuel economy and the like. For the requirement of the height difference of the bilateral symmetry point of the automobile body, the 5.1.10.2.2 th regulation in the national standard GB 18565-2016 (the comprehensive performance requirement and inspection method of road transport vehicles): the car body should be well-rounded, and the height difference of the left and right symmetrical parts of the outer edge of the car body should be less than or equal to 40 mm.
The research institute of automobile transportation engineering of Jilin university has developed the height difference measuring apparatu of automobile body bilateral symmetry point based on laser rangefinder principle. The device firstly finds a point on a vehicle body through a laser, and the laser is reset and cleared. And then, the holder is controlled to rotate horizontally until the laser finds the position close to the symmetric point on the other side of the vehicle body, at the moment, the laser finally finds the symmetric point by controlling the lifting of the holder, and the data at the moment is the height difference of the bilateral symmetric point of the vehicle body. However, the method is difficult to detect the red vehicle, and large errors are caused by manually controlling the cradle head to ascend and descend to search for the symmetrical point, so that the detection speed is low.
At present, there is no efficient device for detecting the left-right height difference of the automobile body, and with the development of the digital image processing technology, a device for detecting the left-right height difference of the automobile body based on the stereoscopic vision is researched to detect the left-right height difference of the automobile body.
Disclosure of Invention
The invention mainly aims to provide a device and a method for detecting the left-right height difference of an automobile body based on stereoscopic vision. The device has unique design concept, convenient installation and high detection precision.
The above object of the present invention can be achieved by the following technical solutions, which are described below with reference to the accompanying drawings:
the device comprises 1 group of camera devices and an industrial control computer, wherein the camera devices respectively comprise 2 cameras with the same type and 1 gantry support, and the gantry supports are arranged at the tail ends of a vehicle detection area. The cameras A1 and A2 are installed on a camera horizontal bracket of the gantry bracket and are horizontally installed perpendicular to a driving line. The distance between the camera and the vehicle detection area is the optimal wide-angle calibration distance (1500-2000 mm) of the camera, the height from the ground is 4500mm, and the base line distance between the two cameras is 1400-2500 mm.
The detection method of the left-right height difference of the automobile body by the detection device comprises the following steps.
Step one, performing wide-angle accurate calibration of the shooting direction on calibration templates for the camera respectively.
And step two, after the vehicle enters the detection area and stops, the industrial control computer prompts a driver to step on a service brake pedal, and after the tail brake light of the vehicle is lightened, the camera starts to acquire the tail image of the vehicle.
And step three, simultaneously, extracting the outline of the tail lamp and reconstructing a two-dimensional coordinate by a detection program in the industrial control computer according to the image acquired by the camera by adopting a computer image processing technology, calculating the outline centroid of the stop lamp, and calculating the absolute value of the difference value of the longitudinal coordinates of the outline centroids of the left tail lamp and the right tail lamp so as to obtain the left-right height difference of the vehicle body.
The method for detecting the centroid of the tail lamp of the vehicle by the industrial control computer comprises the following steps: after the camera collects the image of the tail of the vehicle and transmits the image to the industrial control computer, the computer extracts the tail lamp part of the vehicle by identifying the gray value of the image, and binarizes the tail lamp part and the background part, wherein the tail lamp part is set to be white, and the rest part is black. Binarization and threshold determination are as follows:
Figure BDA0003395697930000031
in the formula, 1 represents white, 0 represents black, target represents a tail stop lamp portion, and background represents a portion other than the stop lamp. x and y represent pixel coordinate values in the horizontal direction and the vertical direction of the acquired image, respectively. g (x, y) is a gray value gray expression of coordinates (x, y). Calculation expression of the tail lamp centroid coordinate value:
Figure BDA0003395697930000032
in the formula x0、y0And the coordinate values of the centroid in the horizontal direction and the vertical direction are respectively represented, and N is a total pixel point in the horizontal direction and the vertical direction. According to the formula, the left tail and the right tail can be calculated through the traversal of the pixelsCoordinates (x) of the center of the lampl,yl)_And (x)r,yr) And finally calculating ylAnd yrAnd the absolute value of the difference can obtain the left-right height difference of the vehicle body.
The innovation of the invention is as follows: (1) the left-right height difference of the vehicle body is detected by calculating the left-right symmetric points of the vehicle body by using a binocular vision and centroid detection technology. (2) A set of mode for automatically extracting the centroid of the tail lamp of the vehicle is designed to calculate the bilateral symmetry point of the vehicle body. (3) The height difference of the left and right sides of the vehicle body can be efficiently, conveniently and accurately detected.
Drawings
FIG. 1 is a schematic axial side projection view of a device for detecting a lateral height difference of an automobile body.
Figure 2 is a front view of the gantry support.
Fig. 3 is a schematic view of an image captured by a binocular camera.
FIG. 4 is a binary graphical illustration after processing by an industrial control computer.
Fig. 5 is a schematic view of a pixel coordinate system of the tail light extraction section.
Fig. 6 is a detection flowchart.
In the figure: 1. camera A, B for 2, gantry support for 3, industrial control computer for 4, camera vertical support for 5, and camera horizontal support for 6.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. The following examples are presented merely to further understand and practice the present invention and are not to be construed as further limiting the claims of the present invention. 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.
In the description of the present invention, where terms are involved, such as: the directional or positional relationships indicated by "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on the directional or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or part (element) referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements can be directly connected or indirectly connected through an intermediate medium, and the two elements can be communicated with each other internally, and can be flexibly connected, rigidly connected or movably connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention relates to a device for detecting the left-right height difference of an automobile body based on stereoscopic vision, which mainly comprises a gantry support 3, 2 cameras A1 and B2 with the same model and an industrial control computer 4. The model of the camera is DH-HV3150UC, a color digital image sensor is adopted, the resolution is 2048 x 1536, a USB interface is adopted, a variable focus lens can be matched, and the model of the industrial control computer 4 is Inulae IPC-810E.
Referring to fig. 2, the gantry support 3 is composed of a camera vertical support 5 and a camera horizontal support 6, and is composed of hollow square steel, the side length of the hollow square steel is 150mm, the height of the camera vertical support 5 is 4500mm, and the length of the camera horizontal support 6 is 5000 mm.
The invention relates to a method for detecting left and right height difference of an automobile body based on stereoscopic vision. Before the detection starts, the internal and external parameters of two cameras A1 and A2 are obtained according to a camera calibration method, after the vehicle enters a detection area and stops, the industrial control computer 4 prompts a driver to step on a service brake pedal, and after the tail brake light of the vehicle is lightened, the cameras start to acquire the tail images of the vehicle. The detection program in the industrial control computer 4 extracts the tail lamp part and reconstructs two-dimensional coordinates by adopting a computer image processing technology according to the image acquired by the camera, calculates the outline centroid of the stop lamp, and obtains the left-right height difference of the vehicle body by calculating the absolute value of the difference value of the longitudinal coordinates of the outline centroids of the left stop lamp and the right stop lamp.
Referring to fig. 3, a vehicle tail image is taken for a binocular camera.
Referring to fig. 4, the method for the industrial control computer 4 to detect the centroid of the tail light of the vehicle: after the camera collects the image of the tail of the vehicle and transmits the image to the industrial control computer 4, the industrial control computer 4 extracts the tail lamp part of the vehicle by identifying the gray value of the image, and binarizes the tail lamp part and the background part, wherein the tail lamp part is set to be white, and the background part is black. Binarization and threshold determination are as follows:
Figure BDA0003395697930000051
in the formula, 1 represents white, 0 represents black, target represents a tail stop lamp portion, and background represents a portion other than the stop lamp. x and y represent pixel coordinate values in the horizontal direction and the vertical direction of the acquired image, respectively. g (x, y) is a gray value gray expression of coordinates (x, y). Calculation expression of the tail lamp centroid coordinate value:
Figure BDA0003395697930000052
in the formula x0、y0And the coordinate values of the centroid in the horizontal direction and the vertical direction are respectively represented, and N is a total pixel point in the horizontal direction and the vertical direction. According to the formula, the coordinates (x) of the centroids of the left tail lamp and the right tail lamp can be calculated through the traversal of the pixelsl,yl)_And (x)r,yr) And finally calculating ylAnd yrAnd the absolute value of the difference can obtain the left-right height difference of the vehicle body.
Referring to fig. 5, the horizontal direction is an x-axis of the pixel coordinate system, and the vertical direction is a y-axis of the pixel coordinate system; the tail lamp part is a part (target) to be extracted, and g (x, y) of each pixel point of the part is 1; the portion other than the tail light is a background portion (background), and g (x, y) of each pixel point in the background portion is 0.
Referring to fig. 1, the overall arrangement of the detection system is as shown in fig. 1. The detection device has the advantages of novel and unique structural design concept, high verification precision, strong repeatability, simple structure and convenience in installation and operation.
The foregoing embodiments are merely illustrative of the technical spirit and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.

Claims (3)

1.一种基于立体视觉的汽车车身左右高度差检测装置，该装置包括摄像装置和工业控制计算机，其特征在于：1. a vehicle body left and right height difference detection device based on stereo vision, the device comprises a camera and an industrial control computer, it is characterized in that: 所述摄像装置为1组，分别由2台相同型号的摄像机和1个龙门支架组成，所述龙门支架安装在车辆检测区域的末端，摄像机安装在龙门支架的摄像机水平支架上，且垂直于行车线水平安装，摄像机距离车辆检测区域的距离为摄像机最佳广角标定距离1500～2000mm，距离地面高度4500mm，两摄像机的基线距为1400～2500mm。The camera device is a group, consisting of 2 cameras of the same model and a gantry bracket, the gantry bracket is installed at the end of the vehicle detection area, and the camera is installed on the camera horizontal bracket of the gantry bracket, and is perpendicular to the vehicle. The line is installed horizontally. The distance between the camera and the vehicle detection area is the best wide-angle calibration distance of the camera 1500-2000mm, the height from the ground is 4500mm, and the baseline distance between the two cameras is 1400-2500mm. 2.如权利1要求所述的检测装置进行汽车左右高度差的检测方法，按以下步骤进行检测：2. the detection device as claimed in claim 1 carries out the detection method of the height difference between the left and right of the automobile, and detects according to the following steps: 步骤一，对2个摄像机用标定模板分别进行所拍摄方向的广角精确标定；Step 1: Accurate wide-angle calibration of the shooting direction for the two cameras using calibration templates respectively; 步骤二，车辆进入检测区域停止后，工业控制计算机提示驾驶员踩下行车制动踏板，车辆尾部制动灯光亮起后，摄像机开始采集车辆尾部图像；Step 2, after the vehicle enters the detection area and stops, the industrial control computer prompts the driver to step on the brake pedal, and after the brake light at the rear of the vehicle lights up, the camera starts to collect the image of the rear of the vehicle; 步骤三，同时工业控制计算机内部的检测程序根据摄像机所采集的图像，采用计算机图像处理技术，对尾灯轮廓进行提取并重建二维坐标，计算尾灯轮廓形心，通过计算左右两侧制动灯轮廓形心纵向坐标差值的绝对值得到车辆车身左右高度差。Step 3: At the same time, the detection program inside the industrial control computer uses computer image processing technology to extract the contour of the tail light and reconstruct the two-dimensional coordinates according to the image collected by the camera, calculate the centroid of the contour of the tail light, and calculate the contour of the left and right brake lights. The absolute value of the difference between the longitudinal coordinates of the centroid obtains the height difference between the left and right of the vehicle body. 3.如权利1要求所述的检测装置进行汽车车身左右高度差检测方法，其特征在于：通过工业控制计算机计算车尾灯轮廓形心的方法：在摄像机采集车辆尾部图像传递给工业控制计算机后，计算机通过识别图像的灰度值进而提取车辆尾灯部分，对尾灯部分与其余部分进行二值化，尾灯部分设置为白色，其余部分为黑色，二值化及阈值判定如式：3. the detection device as claimed in claim 1 carries out the detection method of the height difference between the left and right of the automobile body, it is characterized in that: the method for calculating the contour centroid of the taillight by the industrial control computer: after the camera captures the rear image of the vehicle and transmits it to the industrial control computer, The computer extracts the taillight part of the vehicle by identifying the gray value of the image, and binarizes the taillight part and the rest. The taillight part is set to white, and the rest is black. The binarization and threshold determination are as follows:
Figure FDA0003395697920000011
Figure FDA0003395697920000011
 式中1表示白色，0表示黑色，target表示尾部制动灯部分，background表示除制动灯以外的部分，x和y分别表示所采集图像水平方向与垂直方向上的像素坐标值，g(x,y)是坐标(x,y)的灰度值灰度表达式，尾灯形心坐标值的计算表达式：In the formula, 1 represents white, 0 represents black, target represents the rear brake light part, background represents the part other than the brake lights, x and y represent the pixel coordinate values in the horizontal and vertical directions of the captured image, respectively, g(x ,y) is the grayscale expression of the grayscale value of the coordinates (x,y), and the calculation expression of the taillight centroid coordinate value:
Figure FDA0003395697920000021
Figure FDA0003395697920000021
 式中x0、y0分别表示形心在水平方向与垂直方向上的坐标值，N是水平方向和垂直方向上的总像素点，根据以上公式，通过像素的遍历即可计算出左右尾灯形心的坐标(xl,yl)_和(xr,yr)，最后计算yl和yr差值的绝对值即可得出车身左右高度差。In the formula, x 0 and y 0 represent the coordinate values of the centroid in the horizontal and vertical directions, respectively, and N is the total pixel points in the horizontal and vertical directions. According to the above formula, the left and right taillight shapes can be calculated by traversing the pixels. The coordinates of the center (x l , y l ) _ and (x r , y r ), and finally calculate the absolute value of the difference between y l and y r to obtain the height difference between the left and right of the body.
CN202111482163.4A 2021-12-07 2021-12-07 Device and method for detecting left-right height difference of automobile body based on stereoscopic vision Pending CN114199141A (en)

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Publication number Priority date Publication date Assignee Title
JPH06258044A (en) * 1993-03-09 1994-09-16 Hitachi Electron Eng Co Ltd Orbit measuring device optical system water drop prevention device
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Application publication date: 20220318