CN116465331A - Four-wheel positioning system and method based on binocular multi-line laser - Google Patents
Four-wheel positioning system and method based on binocular multi-line laser Download PDFInfo
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- CN116465331A CN116465331A CN202310438744.0A CN202310438744A CN116465331A CN 116465331 A CN116465331 A CN 116465331A CN 202310438744 A CN202310438744 A CN 202310438744A CN 116465331 A CN116465331 A CN 116465331A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 19
- 230000001502 supplementing effect Effects 0.000 claims abstract description 12
- 210000004709 eyebrow Anatomy 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 claims abstract description 3
- 230000008859 change Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000007306 turnover Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 3
- 230000001419 dependent effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of automobile inspection, in particular to a four-wheel positioning system and method based on binocular multi-line laser; the system comprises four 3D vision sensors, wherein the four 3D vision sensors are arranged beside four wheels respectively, and a laser, a camera and a control board are arranged in each 3D vision sensor; the light supplementing lamps are four groups in number and are respectively arranged at the lower ends (looking down the figure) of the four 3D vision sensors so as to assist the corresponding 3D vision sensors in acquiring vehicle eyebrow information; the industrial personal computer is in control connection with a control board in the 3D vision sensor and a light supplementing lamp; the number of the lasers in each 3D vision sensor meets the requirement that the laser lines are punched out to cover at least 80% of the area of the corresponding wheel surface, and the control panel in each 3D vision sensor is used for controlling the lasers to be on or off under the control action of the industrial personal computer; through the arrangement, the invention effectively solves the technical problem that the wheel alignment of the automobile before delivery in the prior art lacks an effective and accurate detection means.
Description
Technical Field
The invention relates to the technical field of automobile inspection, in particular to a four-wheel positioning system and method based on binocular multi-line laser.
Background
The accuracy of the automobile wheel positioning parameters is an important condition for ensuring running safety, any misalignment can lead to the serious loss of life and property caused by serious severe traffic accidents generated by high-speed tire burst, such as aggravated abrasion of automobile tires, increased oil consumption, reduced safety and the like. In order to ensure the correctness of these parameters, the factory inspection of the automobile is particularly important.
The prior art refers to a detection method, a device, equipment and a storage medium for wheel alignment parameters disclosed in the patent application publication No. CN 115560716A. In the method, strain data of each link in a vehicle suspension system is acquired; determining deformation data of a connecting rod connecting point according to the strain data and the corresponding relation between the strain data and the deformation data of the connecting rod connecting point in the suspension system; determining wheel positioning parameters according to the deformation data and the corresponding relation between the deformation data and the wheel positioning parameters; and determining a detection result of the wheel alignment parameter based on the wheel alignment parameter. By the method, after the strain data of each connecting rod in the vehicle suspension system is obtained, the wheel positioning parameters can be determined according to the pre-established corresponding relation, the detection result of the wheel positioning parameters can be obtained in time, and the driving safety is ensured.
Although the method can find the problem of wheel positioning at the first time and ensure driving safety, the method realizes real-time positioning of the wheels in the driving process, and an effective and accurate detection means for detecting and positioning the wheels before leaving the factory of the automobile is not available at present.
Disclosure of Invention
In view of the above, the present invention aims to provide a four-wheel positioning system based on binocular multi-line laser, which is used for solving the technical problem in the prior art that the wheel positioning of an automobile before leaving the factory lacks an effective and accurate detection means; the invention also aims to provide a four-wheel positioning method based on the binocular multi-line laser.
In order to achieve the above purpose, the four-wheel positioning system based on binocular multi-line laser provided by the invention adopts the following technical scheme:
a binocular multi-line laser based four-wheel alignment system comprising:
the three-dimensional (3D) vision sensors are four in number and are respectively arranged at the lower ends of the four wheels, and a laser, a camera and a control board are arranged in each 3D vision sensor;
the four light supplementing lamps are used for being respectively arranged beside the four 3D vision sensors so as to assist the corresponding 3D vision sensors to acquire wheel information;
the industrial personal computer is used for controlling and connecting a control board in the 3D vision sensor and the light supplementing lamp;
the number of the lasers in each 3D vision sensor meets the requirement that the laser lines are punched out to cover at least 80% of the area of the corresponding wheel surface, and the control board in each 3D vision sensor is used for controlling the lasers to be on or off under the control action of the industrial personal computer.
Further, each 3D vision sensor includes a rectangular housing, one of the cameras is disposed at each of both ends of the housing in a length direction, and the laser is disposed between the two cameras.
Further, 48 lasers are arranged in each 3D vision sensor.
Further, 48 the laser includes six laser modules, and every laser module includes eight the laser, four laser modules are in the length direction interval equipartition of casing.
Further, eight lasers of each laser module are divided into two columns, each column comprises four lasers, and the two columns of lasers are arranged in a staggered manner in the length direction of the shell.
Further, the triggering frequency of the camera is 40 frames per second, and the camera is triggered twice every scanning, and the triggering frequency comprises a background image and a laser line image.
The four-wheel positioning system based on binocular multi-line laser provided by the invention has the beneficial effects that:
1) Scanning and identification of the tire of the wheel are completed by means of a 3D vision sensor, and the 3D vision detection technology is to project a laser pattern with specific wavelength onto the surface of an object by using the structured light triangulation principle. The angle between the light projection plane and the optical axis of the camera is fixed, so that the system designer does not need to consider the irradiation angle and wavelength of the light source. The foreground in the image is a laser pattern modulated by the surface shape of the object, and the contrast of the image is constant and is only dependent on the light reflecting capability of the material of the surface of the object and is not influenced by the change of ambient light. The detection accuracy is higher;
2) The 32 lasers can fully meet the scanning requirements of various types of tires, and a proper number of lasers can be selected for use according to actual requirements.
Through the arrangement, the invention completes effective and accurate rapid positioning of the wheels by means of the 3D vision sensor, and effectively solves the technical problem that the wheel positioning before the delivery of the automobile in the prior art lacks effective and accurate detection means.
In order to achieve the above purpose, the four-wheel positioning method based on binocular multi-line laser provided by the invention adopts the following technical scheme:
a four-wheel positioning method based on binocular multi-line laser comprises the following steps:
s1: a 3D vision sensor is respectively arranged beside four wheels of the automobile to be detected;
s2: calibrating each 3D vision sensor by utilizing a triangulation principle, converting the coordinates of the 3D vision sensors onto a calibration plate of a calibration frame by using a laser tracker, and converting the coordinates of the 3D vision sensors into the axial center of the calibration frame so as to facilitate the parameter calculation of the subsequent four wheel positioning;
s3: configuring parameters of each 3D vision sensor, selecting starting serial numbers of all working lasers according to the sizes of the tires of the wheels, ensuring that laser lines shot by the lasers can cover at least 80% of the area of the surfaces of the wheels, adjusting the height of the 3D vision sensors from the ground according to the sizes of the tires of the wheels, and ensuring that the laser lines shot by the lasers are symmetrical relative to the axial center on the tires;
s4: and the vehicle is stationary after reaching the designated position, and the 3D vision sensor triggers the light supplementing lamp to take a picture. Acquiring vehicle eyebrow image data, and establishing a four-wheel positioning parameter reference plane by extracting the vehicle eyebrow data;
s5: the vehicle is stationary after reaching a designated position, the 3D vision sensor starts to perform initialization scanning, the 3D vision sensor scans the tire according to a predefined coding mode, the coding mode is that a selected laser works according to a certain rule, the number and serial number of each laser line change, the position of each laser line can be determined after the initialization scanning is finished, three-dimensional point cloud data of the tire surface are output, and the contour area of the outermost periphery of the tire can be obtained after the point cloud processing;
s6: the tire rotates at a fixed speed during normal scanning, the 3D vision sensor outputs point cloud data once every time of scanning, the point cloud data only comprises the point cloud data of the surface of the tire, and the point cloud data are calculated according to the peripheral outline parameters of the tire, the coded image and the laser line data of the current scanning, which are acquired during initialization scanning; in the scanning process, the 3D vision sensor can save the position of the last laser line, and during scanning, the laser line can be searched near the position of the last laser line, so that the laser line in the current image is found, accurate tracking can be realized even if the tire rotates horizontally, and correct point cloud data is output, so that four-wheel positioning parameters are calculated;
s7: and (4) repeating the steps S4 and S6, detecting the positioning parameters of the four wheels of the vehicle again, detecting unqualified wheels, correcting the wheels again, continuing to detect until the detection is qualified, and stopping detecting.
Further, the rotation modes of the tire include horizontal rotation in the front-rear direction and turnover rotation in the left-right direction.
The four-wheel positioning method based on binocular multi-line laser provided by the invention has the beneficial effects that:
1) Scanning and identification of the tire of the wheel are completed by means of a 3D vision sensor, and the 3D vision detection technology is to project a laser pattern with specific wavelength onto the surface of an object by using the structured light triangulation principle. The angle between the light projection plane and the optical axis of the camera is fixed, so that the system designer does not need to consider the irradiation angle and wavelength of the light source. The foreground in the image is a laser pattern modulated by the surface shape of the object, and the contrast of the image is constant and is only dependent on the light reflecting capability of the material of the surface of the object and is not influenced by the change of ambient light. The detection accuracy is higher;
2) The 48 lasers can fully meet the scanning requirements of various types of tires, and a proper number of lasers can be selected for use according to actual requirements.
Through the arrangement, the invention completes effective and accurate rapid positioning of the wheels by means of the 3D vision sensor, and effectively solves the technical problem that the wheel positioning before the delivery of the automobile in the prior art lacks effective and accurate detection means.
Drawings
FIG. 1 is an internal schematic view of a 3D vision sensor of the present invention;
fig. 2 is a flow chart of a four-wheel alignment method based on binocular multi-line laser in the present invention.
Reference numerals in the drawings: 1. a 3D vision sensor; 2. a laser; 3. a camera; 4. a housing; 5. and a laser module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.
The main idea of the invention is to complete the positioning detection of four wheels of an automobile by means of the 3D vision sensor 1, because the 3D vision detection technology uses the structured light triangulation principle to project a laser pattern with specific wavelength onto the surface of an object. The angle between the light projection plane and the optical axis of the camera 3 is fixed, so that the system designer does not need to consider the illumination angle and wavelength of the light source. The foreground in the image is a laser pattern modulated by the surface shape of the object, and the contrast of the image is constant and is only dependent on the light reflecting capability of the material of the surface of the object and is not influenced by the change of ambient light. The detection accuracy is higher. The above concepts are further described below in conjunction with specific embodiments.
The invention provides a specific embodiment of a four-wheel positioning system based on binocular multi-line laser, which comprises:
the utility model provides a four-wheel positioning system based on multi-line laser of binocular includes four 3D vision sensor 1, and four 3D vision sensor 1 are used for arranging respectively in the side of four wheels, and every 3D vision sensor 1 is inside all to be provided with laser instrument 2, camera 3 and control panel.
Referring to fig. 1, each 3D vision sensor 1 includes a rectangular housing 4, one camera 3 is disposed at each of both ends of the housing 4 in the length direction, and a laser 2 is disposed between the two cameras 3. In view of a relatively comprehensive coverage scan of the wheel, in the present embodiment, 48 lasers 2 are arranged within each 3D vision sensor 1. When scanning to various model tires on the market, the laser lines beaten in the 3D vision sensor 1 can cover the area requirement of at least 80% of the corresponding wheel surface, so that the detection precision is ensured.
When the laser is specifically arranged, 48 lasers 2 comprise six laser modules 5, each laser module 5 comprises eight lasers 2, and four laser modules 5 are uniformly distributed at intervals in the length direction of the shell 4. Eight lasers 2 of each laser module are divided into two columns, each column comprises four lasers 2, and the two columns of lasers 2 are arranged in a staggered manner in the length direction of the shell 4. In other embodiments, the number of lasers may be adjusted according to actual needs.
The triggering frequency of the camera 3 is 40 frames per second, and the camera 3 triggers twice every scanning, and comprises a background image and a laser line image.
As a matched arrangement, a light supplementing lamp is arranged beside each 3D vision sensor 1, and the four light supplementing lamps are respectively used for assisting the corresponding 3D vision sensor 1 in acquiring the vehicle eyebrow information.
The light supplementing lamp and the 3D vision sensor 1 are mainly controlled by an industrial personal computer, the industrial personal computer is connected with a control board in the 3D vision sensor 1, when the four-wheel positioning system works, the industrial personal computer sends instructions to control the 3D vision sensor 1, a laser 2 in the four-wheel positioning system is on and off in a fixed beat, and a camera 3 is used for triggering and collecting images respectively, so that a background image and a laser line diagram are obtained, wherein the background image does not contain any laser line, the laser line diagram contains the laser line, and a differential image is obtained after differential operation is carried out on the two images, so that background interference is reduced. The triggering frequency of the camera 3 is 40 frames per second, and the camera 3 triggers twice every scanning, and comprises a background image and a laser line image.
The four-wheel positioning system based on binocular multi-line laser provided by the invention mainly comprises the following steps:
as shown in fig. 2, a 3D vision sensor 1 is arranged beside each of the four wheels of the vehicle to be tested; calibrating each 3D vision sensor 1 by utilizing a triangulation principle, converting the coordinates of the 3D vision sensors 1 onto a calibration plate of a calibration frame by using a laser tracker, and converting the coordinates into a coordinate system with the center of a calibration frame shaft as a coordinate origin, so as to facilitate parameter calculation of the subsequent four wheel positioning; configuring parameters of each 3D vision sensor 1, selecting starting serial numbers of all working lasers 2 according to the sizes of the tires of the wheels, ensuring that laser lines shot by the lasers 2 can cover at least 80% of the area of the surfaces of the wheels, adjusting the height of the 3D vision sensors 1 from the ground according to the sizes of the tires of the wheels, and ensuring that the laser lines shot by the lasers 2 are symmetrical on the tires relative to the axial center;
the vehicle is stationary after reaching the designated position, the 3D vision sensor 1 starts to initialize scanning, the 3D vision sensor 1 scans the tire according to a predefined coding mode, the coding mode is that the selected laser 2 works according to a certain rule, the number and serial number of each laser line change, the position of each laser line can be determined after the initialization scanning is finished, three-dimensional point cloud data of the tire surface are output, and the outline area of the outermost periphery of the tire can be obtained after the point cloud processing;
the tire rotates at a fixed speed during normal scanning, the 3D vision sensor 1 outputs point cloud data once every scanning, the point cloud data only comprises the point cloud data of the surface of the tire, and the point cloud data are calculated according to the peripheral outline parameters of the tire, the coded image and the laser line data of the current scanning, which are acquired during initialization scanning; in the scanning process, the 3D vision sensor 1 can save the position of the last laser line, and during scanning, the laser line can be searched near the position of the last laser line, so that the laser line in the current image is found, accurate tracking can be realized even if the tire rotates horizontally, and correct point cloud data is output, so that four-wheel positioning parameters are calculated;
steps S4 and S5 are repeated, and the positioning parameter detection of the four wheels of the vehicle is performed again.
The invention provides a specific embodiment of a four-wheel positioning method based on binocular multi-line laser, which comprises the following steps:
a four-wheel positioning method based on binocular multi-line laser comprises the following steps:
s1: a 3D vision sensor 1 is respectively arranged beside four wheels of the automobile to be detected;
s2: calibrating each 3D vision sensor 1 by utilizing a triangulation principle, converting the coordinates of the 3D vision sensor 1 onto a calibration plate of a calibration frame by using a laser tracker, and converting the coordinates into the axial center of the calibration frame so as to facilitate the parameter calculation of the subsequent four wheel positioning;
s3: configuring parameters of each 3D vision sensor 1, selecting starting serial numbers of all working lasers 2 according to the sizes of the tires of the wheels, ensuring that laser lines shot by the lasers 2 can cover at least 80% of the area of the surfaces of the wheels, adjusting the height of the 3D vision sensors 1 from the ground according to the sizes of the tires of the wheels, and ensuring that the laser lines shot by the lasers 2 are symmetrical on the tires relative to the axial center;
s4: the vehicle is stationary after reaching a designated position, the 3D vision sensor 1 triggers the light supplementing lamp to take a picture, vehicle eyebrow image data are obtained, and a four-wheel positioning parameter reference plane is established by extracting the vehicle eyebrow data;
s5: the 3D vision sensor 1 starts initialization scanning, the 3D vision sensor 1 scans the tire according to a predefined coding mode, the coding mode is that the selected laser 2 works according to a certain rule, the number and serial number of each laser line change, the position of each laser line can be determined after the initialization scanning is finished, three-dimensional point cloud data of the tire surface are output, and the contour area of the outermost periphery of the tire can be obtained after the point cloud processing;
s6: the tire rotates at a fixed speed during normal scanning, the 3D vision sensor 1 outputs point cloud data once every scanning, the point cloud data only comprises the point cloud data of the surface of the tire, and the point cloud data are calculated according to the peripheral outline parameters of the tire, the coded image and the laser line data of the current scanning, which are acquired during initialization scanning; in the scanning process, the 3D vision sensor 1 can save the position of the last laser line, and during scanning, the laser line can be searched near the position of the last laser line, so that the laser line in the current image is found, accurate tracking can be realized even if the tire rotates horizontally, and correct point cloud data is output, so that four-wheel positioning parameters are calculated;
s7: and (5) continuing to detect after the wheel is re-corrected after the wheel is unqualified, and stopping detecting until the wheel is qualified.
The rotation mode of the tire comprises horizontal rotation in the front-back direction and turnover rotation in the left-right direction.
It should be noted that, the specific implementation of the four-wheel positioning method based on the binocular multi-line laser is described in detail in the above embodiments of the four-wheel positioning system based on the binocular multi-line laser, and will not be described herein.
Claims (7)
1. A binocular multi-line laser based four-wheel alignment system, comprising:
the three-dimensional (3D) vision sensors are four in number and are respectively arranged beside four wheels, and a laser, a camera and a control board are arranged in each 3D vision sensor;
the four light supplementing lamps are used for being respectively arranged beside the four 3D vision sensors so as to assist the corresponding 3D vision sensors in collecting vehicle eyebrow information;
the industrial personal computer is used for controlling and connecting a control board in the 3D vision sensor and the light supplementing lamp;
the number of the lasers in each 3D vision sensor meets the requirement that the laser lines are punched out to cover at least 80% of the area of the corresponding wheel surface, and the control board in each 3D vision sensor is used for controlling the lasers to be on or off under the control action of the industrial personal computer.
2. The binocular multi-line laser based four-wheel alignment system of claim 1, wherein: each 3D vision sensor comprises a rectangular shell, one camera is arranged at each of two ends of the shell in the length direction, and the laser is arranged between the two cameras.
3. The binocular multi-line laser based four-wheel alignment system of claim 2, wherein: 48 (48 laser lines in the drawing) are arranged in each 3D vision sensor, and 32-48 lasers can be installed according to actual requirements.
4. A binocular multi-line laser based four-wheel alignment system according to claim 3, wherein: the 48 lasers comprise six laser modules, each laser module comprises eight lasers, and four laser modules are uniformly distributed in the length direction of the shell at intervals.
5. The binocular multi-line laser based four-wheel alignment system of claim 4, wherein: eight lasers of each laser module are divided into two columns, each column comprises four lasers, and the two columns of lasers are arranged in a staggered mode in the length direction of the shell.
6. A four-wheel positioning method based on binocular multi-line laser is characterized by comprising the following steps:
s1: a 3D vision sensor is respectively arranged beside four wheels of the automobile to be detected;
s2: calibrating each 3D vision sensor by using a triangulation principle, converting the coordinates of the 3D vision sensors onto a calibration plate of a calibration frame by using a laser tracker, and converting the coordinates of the 3D vision sensors into a coordinate system with the center of a shaft of the calibration frame as a coordinate origin, so that the parameter calculation of the subsequent four wheel positioning is convenient;
s3: configuring parameters of each 3D vision sensor, selecting starting serial numbers of all working lasers according to the sizes of the tires of the wheels, ensuring that laser lines shot by the lasers can cover at least 80% of the area of the surfaces of the wheels, adjusting the height of the 3D vision sensors from the ground according to the sizes of the tires of the wheels, and ensuring that the laser lines shot by the lasers are symmetrical relative to the axial center on the tires;
s4: and the vehicle is stationary after reaching the designated position, and the 3D vision sensor triggers the light supplementing lamp to take a picture. Acquiring vehicle eyebrow image data, and establishing a four-wheel positioning parameter reference plane by extracting the vehicle eyebrow data;
s5: the 3D vision sensor starts initialization scanning, the 3D vision sensor scans the tire according to a predefined coding mode, the coding mode is that a selected laser works according to a certain rule, the number and serial number of each laser line change, the position of each laser line can be determined after the initialization scanning is finished, three-dimensional point cloud data of the tire surface are output, and the contour area of the outermost periphery of the tire can be obtained after the point cloud processing;
s6: the tire rotates at a fixed speed during normal scanning, the 3D vision sensor outputs point cloud data once every time of scanning, the point cloud data only comprises the point cloud data of the surface of the tire, and the point cloud data are calculated according to the peripheral outline parameters of the tire, the coded image and the laser line data of the current scanning, which are acquired during initialization scanning; in the scanning process, the 3D vision sensor can save the position of the last laser line, and during scanning, the laser line can be searched near the position of the last laser line, so that the laser line in the current image is found, accurate tracking can be realized even if the tire rotates horizontally, and correct point cloud data is output, so that four-wheel positioning parameters are calculated;
s7: and (4) repeating the steps S4 and S6, detecting the positioning parameters of the four wheels of the vehicle again, detecting unqualified wheels, correcting the wheels again, continuing to detect until the detection is qualified, and stopping detecting.
7. The binocular multi-line laser based four-wheel alignment method of claim 6, wherein: the rotation mode of the tire comprises horizontal rotation in the front-back direction and turnover rotation in the left-right direction.
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| CN202310438744.0A CN116465331A (en) | 2023-04-21 | 2023-04-21 | Four-wheel positioning system and method based on binocular multi-line laser |
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