CN205352310U - Vehicle chassis data measurin system based on binocular vision - Google Patents

Abstract

The utility model discloses a vehicle chassis data measurin system based on binocular vision, including handheld module, standard database, be used for installing by survey vehicle chassis not deformed section a plurality of calibration module and be used for installing and is being surveyed the vehicle chassis regional a plurality of measured module that await measuring, the controller is connected with display module, touch -control input module, networking module, image gathering module, signal controller no. 1 and signal controller no. 2, and handheld module still includes industry camera no. 1 and industry camera no. 2, networking module still is connected with the standard database, handheld module still has the camera crossbeam, industry camera no. 1 is installed respectively with industry camera no. 2 and is constituteed the binocular camera structure at the both ends of camera crossbeam. The utility model discloses reduced the detection cost, simplified measurement operation, made things convenient for the transportation to remove, to improve detection efficiency, to reduce the requirement to the ambient light to arbitrary angle can be realized and the automatic measurement of many measuring points is once shot.

Description

Automobile chassis data measurin system based on binocular vision

Technical field

This utility model relates to a kind of automobile chassis data measurin system, belongs to auto repair fields of measurement.

Background technology

Automobile is in shaping maintenance process, it is necessary to the three-dimensional data such as fabrication hole, installing hole on automobile chassis is measured, and measurement data and normal data is compared, and judges the deformation on chassis, damaged condition and maintenance effect with this.

Existing car data is measured the predominantly organic tool formula of system and is measured system, electronic type laser measurement system, ultrasonic measurement system and vision measurement system four kinds.

Mechanical measurement system is to adopt the special measurement head measurement for vehicle dimension customization, judges deformation, damaged condition and maintenance effect by observing the mated condition measured between control point and special measurement head.But often set special measurement head is only applicable to a vehicle, with high costs, range of application is narrow and measures complex operation.

Electronic type laser measurement system is generally made up of Laser emission receptor, computer and multiple reflecting target, it adopts laser measuring technique, laser projections is launched to reflecting target by two excimer laser emitters, each reflecting target has different reflecting gratings, obtain measurement data by receiving the laser beam of optical grating reflection and be transferred to computer, finally being calculated the space three-dimensional size measuring point by Computer.But electronic type laser measurement system is bulky, the mobile inconvenience of transport, the installment work before measurement is very loaded down with trivial details, measures efficiency low, and laser is easily by external interference simultaneously, and to measuring, scene requirement is higher, and human body is had certain hazardness, poor stability by laser.

Ultrasonic measurement system is generally made up of ultrasonic transmitter, ultrasonic receiver, switch board and all kinds of measurement head, ultrasonic transmitter has upper and lower two occurring source to launch ultrasound wave simultaneously, ultrasonic receiver can be measured ultrasound wave quickly and accurately and propagate the time used between different datum marks on vehicle, and switch board calculates each three-dimensional data measuring point automatically according to the reception condition of each ultrasonic receiver.Ultrasonic measurement system certainty of measurement is high, but is affected relatively big by factors such as wind speed, temperature and air pressure, and volume is relatively big, and the mobile inconvenience of transport, the installment work before measurement is very loaded down with trivial details, measures efficiency low.

Along with the development of computer vision, vision technique is applied gradually in automobile maintenance industry.Vision measurement system utilizes CMOS industrial camera or CCD industrial camera to gather image, and combining image Processing Algorithm obtains measurement result.But industrial camera sensitive component is affected very big by shooting environmental light, if insufficient light, shooting image there will be the situation owing exposure, if light is too strong, shooting image then there will be the situation of overexposure, owe to expose and overexposure all can cause cannot or wrong identification index point.Existing solution is to supplement light source within sweep of the eye in shooting, increase brightness and meet the shooting condition required for camera, but fixing distance and relative position relation must be kept between industrial camera and subject, it is impossible to meet the needs that arbitrarily angled shooting is measured in auto repair process；Further, existing vision measurement system needs when recognition marks point manually to participate in identifying, it is impossible to realize automatic measurement；Again, existing vision measurement system adopt target demarcate, area occupied great Yi blocks, is not fixed easily, need when target is more repeatedly to shoot just can complete measure.

Utility model content

Technical problem to be solved in the utility model is, a kind of automobile chassis data measurin system based on binocular vision is provided, expand automobile chassis data measurin system range of application, reduce testing cost, simplify measure operation, conveniently transport mobile, improve detection efficiency, reduce the requirement to ambient light, realize some automatic measurements are measured in arbitrarily angled once shooting more.

The technical solution of the utility model is as follows:

Based on the automobile chassis data measurin system of binocular vision, including hand held module, standard database, for being arranged on some demarcating modules of tested automobile chassis un-deformed area and for being arranged on some measurement modules in tested automobile chassis region to be measured；

Described hand held module includes controller, described controller is connected to display module, networking module, image capture module, signal controller one and signal controller two, and described hand held module also includes the industrial camera one for shooting demarcating module and measurement module and industrial camera two；Described signal controller one is connected with industrial camera one, and described signal controller two is connected with industrial camera two；Described networking module is also connected with standard database；

Described hand held module also has camera crossbeam, and described industrial camera one and industrial camera two are separately mounted to the two ends composition binocular camera structure of camera crossbeam.

As further improvement of the utility model: described controller is also associated with touch control input module.

As further improvement of the utility model: the quantity of described demarcating module is 3.

As further improvement of the utility model: described demarcating module has demarcation mark module, is arranged on the demarcation light-emitting device demarcated inside mark module and the demarcation brightness impression module being connected with demarcation light-emitting device.

As further improvement of the utility model: described demarcating module also includes the demarcation firm banking for being connected by claw structure with tested automobile chassis fabrication hole；Described demarcation light-emitting device is connected by magnetic snap fit with demarcating firm banking.

As further improvement of the utility model: for detecting, described demarcation light-emitting device has demarcates whether firm banking is connected the demarcation power subsystem putting and controlling to demarcate light-emitting device switch in place with automobile chassis fabrication hole.

As further improvement of the utility model: described measurement module has measurement mark module, is arranged on the measurement light-emitting device measured inside mark module and the measurement brightness impression module being connected with measurement light-emitting device.

As further improvement of the utility model: described measurement module also includes the measurement firm banking for being connected by claw structure with tested automobile chassis fabrication hole；Described measurement light-emitting device is connected by magnetic snap fit with measuring firm banking.

As further improvement of the utility model: for detecting, described measurement light-emitting device has measures whether firm banking is connected the measurement power subsystem putting and controlling to measure light-emitting device switch in place with automobile chassis fabrication hole.

Relative to prior art, this utility model has following good effect: (1) this utility model simple in construction, installation take up room little, hand-holdable operation, mobile, easy to use, it is capable of arbitrarily angled measurement more and a little shoots measurement simultaneously, simplify measurement operation, improve measurement efficiency；(2) demarcating module and measurement module are respectively provided with demarcation brightness impression module and measure brightness impression module, according to external environment light, the brightness demarcating light-emitting device and measurement light-emitting device can be adjusted, reduce the requirement to ambient light, and do not affected by factors such as wind speed, temperature and air pressure；(3) this utility model has standard database, automatically calls the data in standard database and automatically compares with normal data after a measurement, further simplify measurement operation, improve measurement efficiency in processing procedure；(4) this utility model adopts demarcating module and measurement module, and volume is little, easy for installation, does not have each other and blocks, convenient shooting, it is possible to realizes once shooting and can complete to measure；(5) this utility model has standard database, it is adaptable to the measurement of various vehicles, applied range, testing cost is low；(6) this utility model can be automatically performed all links such as system calibrating, graphical analysis, Coordinate Conversion, measurement module coupling, normal data comparison and measurement result output after having taken pictures, it is not necessary to manual intervention, it is achieved that automatic measurement.

Accompanying drawing explanation

Fig. 1 is the structural representation of the automobile chassis data measurin system based on binocular vision.

Fig. 2 is the structural representation of demarcating module.

Fig. 3 is the structural representation of measurement module.

Fig. 4 is the schematic diagram to the measurement of automobile chassis data.

Detailed description of the invention

The technical solution of the utility model is described in detail below in conjunction with accompanying drawing:

Such as Fig. 1, a kind of automobile chassis data measurin system based on binocular vision, including hand held module, standard database, for being arranged on 3 demarcating modules 1 of tested automobile chassis un-deformed area and for being arranged on some measurement modules 2 in tested automobile chassis region to be measured；

Described hand held module includes the controller of X86-based, described controller is connected to display module, touch control input module, networking module, image capture module, signal controller one and signal controller two, and described hand held module also includes the high resolution industrial camera 1 for shooting demarcating module 1 and measurement module 2 and high resolution industrial camera 24；Described signal controller one is connected with industrial camera 1, and described signal controller two is connected with industrial camera 24；Described networking module is also connected with standard database, preserves the normal data of vehicle chassis in standard database, have recorded the D coordinates value relative to reference frame of each fabrication hole on chassis.

Such as Fig. 4, described hand held module also has camera crossbeam 5, and described industrial camera 1 and industrial camera 24 are separately mounted to the two ends composition binocular camera structure of camera crossbeam 5.

Such as Fig. 2, described demarcating module 1 has demarcation mark module 1-1, is arranged on the demarcation light-emitting device 1-2 demarcated inside mark module 1-1 and the demarcation brightness impression module being connected with demarcation light-emitting device 1-2；

Described demarcating module 1 also includes the demarcation firm banking 1-3 for being connected by claw structure with tested automobile chassis fabrication hole；Described demarcation light-emitting device 1-2 is connected by magnetic snap fit with demarcating firm banking 1-3；

Described demarcation light-emitting device 1-2 also has for detecting whether demarcation firm banking 1-3 is connected the demarcation power subsystem putting and controlling to demarcate light-emitting device 1-2 switch in place with automobile chassis fabrication hole.

Such as Fig. 3, described measurement module 2 has measurement mark module 2-1, is arranged on the measurement light-emitting device 2-2 measured inside mark module 2-1 and the measurement brightness impression module being connected with measurement light-emitting device 2-2；

Described measurement module 2 also includes the measurement firm banking 2-3 for being connected by claw structure with tested automobile chassis fabrication hole；Described measurement light-emitting device 2-2 is connected by magnetic snap fit with measuring firm banking 2-3；

Described measurement light-emitting device 2-2 also has for detecting whether measurement firm banking 2-3 is connected the measurement power subsystem putting and controlling to measure light-emitting device 2-2 switch in place with automobile chassis fabrication hole.

Such as Fig. 4, based on the automobile chassis data measurin system of binocular vision to automobile measurement described in using, method comprises the steps:

(A) foundation and automobile chassis un-deformed area relative position remain fixing automobile chassis coordinate system, and described automobile chassis coordinate system is consistent with the coordinate system referenced by size value in standard database；Further, foundation and hand held module relative position remain fixing hand held module coordinate system, and determine industrial camera 1 and the industrial camera 24 attitude in hand held module coordinate system；

(B) being fixed on tested automobile chassis by 3 demarcating modules 1 and some measurement modules 2, demarcating module 1 is arranged in the fabrication hole in the un-deformed area of chassis, and measurement module 2 is arranged in the fabrication hole to be measured in region to be measured；

If automotive front collides, the fabrication hole at automobile middle part and rear portion is selected to place demarcating module 1, if automobile rear collides, select the fabrication hole position at automotive front and middle part to place demarcating module 1, if automobile middle part method god collision, select automotive front and position, post processing hole to place demarcating module 1；

Further, by display module and touch control input module, the installation site of demarcating module 1 and measurement module 2 is input in controller；

(C) described demarcation power subsystem detect demarcation firm banking 1-3 be connected with automobile chassis fabrication hole put in place after automatically control demarcate light-emitting device 1-2 open, demarcate brightness impression module light to external world to carry out sensing and the brightness demarcating light-emitting device 1-2 being adjusted, to meet industrial camera 1 and the photographing request of industrial camera 24；And, described measurement power subsystem detect measurement firm banking 2-3 be connected with automobile chassis fabrication hole put in place after automatic control survey light-emitting device 2-2 open, measure brightness impression module light to external world to carry out sensing and the brightness measuring light-emitting device 2-2 being adjusted, to meet industrial camera 1 and the photographing request of industrial camera 24；

(D) using hand held module that demarcating module 1 and measurement module 2 are taken pictures, industrial camera 1 obtains image one, and industrial camera 24 obtains image two；

(E) by principle of triangulation, calculate the parallax in each demarcating module 1 and each comfortable image one of measurement module 2 and image two and calculate depth information, thus obtaining each demarcating module 1 and the measurement module 2 D coordinates value in hand held module coordinate system；

(F) coordinate figure of the fabrication hole at 3 demarcating module 1 places in standard database is read, calculate 3 demarcating modules 1 D coordinates value in automobile chassis coordinate system, and two groups of D coordinates value that 3 demarcating modules 1 of foundation are in automobile chassis coordinate system and hand held module coordinate system calculate and the D coordinates value of any point in hand held module coordinate system is converted to the transformation matrix of this D coordinates value in automobile chassis coordinate system, described transformation matrix includes the translation matrix T of spin matrix R and the 3X1 of 3X3；

For the D coordinates value [X of any point in hand held module coordinate system_S,Y_S,Z_S]^T, certainly exist the translation matrix T of the spin matrix R and a 3X1 of a 3X3, it is possible to by [X_S,Y_S,Z_S]^TBe converted to this D coordinates value [X in automobile chassis coordinate system_T,Y_T,Z_T]^T, it is expressed as formula (1):

$\left[\begin{array}{c}{X}_T\\ Y_T\\ Z_T\end{array}\right]=R\left[\begin{array}{c}{X}_S\\ Y_S\\ Z_S\end{array}\right]+T---\left(1\right)$

3 demarcating module 1 (P can be obtained by query criteria data base₁、P₂And P₃) D coordinates value respectively P in automobile chassis coordinate system_T1[X_T1,Y_T1,Z_T1]^T、P_T2[X_T2,Y_T2,Z_T2]^TAnd P_T3[X_T3,Y_T3,Z_T3]^T, 3 demarcating module 1 (P can be obtained by step (E)₁、P₂And P₃) D coordinates value respectively P in hand held module coordinate system_S1[X_S1,Y_S1,Z_S1]^T、P_S2[X_S2,Y_S2,Z_S2]^TAnd P_S3[X_S3,Y_S3,Z_S3]^T；

Then translation matrix T solution formula is formula (2):

$T=\left[\begin{array}{c}{X}_{T1}-X_{S1}\\ Y_{T1}-Y_{S1}\\ Z_{T1}-Z_{S1}\end{array}\right]---\left(2\right)$

Wherein spin matrix R can be multiplied by three spin matrixs and obtain:

R=R₁R₂R₃；

Wherein, R₁、R₂And R₃It is expressed as follows:

$R_1=\left[\begin{array}{ccc}cos\mathrm{\θ}& \sin \mathrm{\θ}& 0\\ -\sin \mathrm{\θ}& cos\mathrm{\θ}& 0\\ 0& 0& 1\end{array}\right]$

$R_2=\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\mathrm{\φ}& \sin \mathrm{\φ}\\ 0& -\sin \mathrm{\φ}& cos\mathrm{\φ}\end{array}\right]$

$R_3=\left[\begin{array}{ccc}cos\mathrm{\ψ}& 0& -\sin \mathrm{\ψ}\\ 0& 1& 0\\ \sin \mathrm{\ψ}& 0& \cos \mathrm{\ψ}\end{array}\right]$

Three Eulerian angles (θ, φ, ψ) are for representing in three dimensions the coordinate system direction relative to another coordinate system, spin matrix R₁Represent and rotate θ angle, spin matrix R about the z axis₂Represent and rotate φ angle, spin matrix R around X-axis₃Represent and rotate ψ angle around Y-axis；

Then spin matrix R can be expressed as formula (3):

$R=\left[\begin{array}{ccc}cos\mathrm{\θ}& \sin \mathrm{\θ}& 0\\ -\sin \mathrm{\θ}& cos\mathrm{\θ}& 0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{ccc}1& 0& 0\\ 0& cos\mathrm{\φ}& \sin \mathrm{\φ}\\ 0& -\sin \mathrm{\φ}& cos\mathrm{\φ}\end{array}\right]\left[\begin{array}{ccc}cos\mathrm{\ψ}& 0& -\sin \mathrm{\ψ}\\ 0& 1& 0\\ \sin \mathrm{\ψ}& 0& \cos \mathrm{\ψ}\end{array}\right]---\left(3\right)$

Formula (2) and formula (3) are substituted in formula (1), then by P_T1[X_T1,Y_T1,Z_T1]^TWith P_S1[X_S1,Y_S1,Z_S1]^T、P_T2[X_T2,Y_T2,Z_T2]^TWith P_S2[X_S2,Y_S2,Z_S2]^T、P_T3[X_T3,Y_T3,Z_T3]^TWith P_S3[X_S3,Y_S3,Z_S3]^TThree groups of coordinate figures substitute into respectively and obtain three solution formulas in formula (1), calculate Eulerian angles (θ, φ, ψ), then obtain spin matrix R；

(G) use transformation matrix meter R to calculate each measurement module 2 D coordinates value in automobile chassis coordinate system and then obtain each fabrication hole to be measured D coordinates value in automobile chassis coordinate system；

(H) by D coordinates value in automobile chassis coordinate system of the fabrication hole each to be measured that calculates compared with the coordinate figure in standard database, obtain the difference that maintenance is required, and measurement result is exported.

Claims (9)

1. based on the automobile chassis data measurin system of binocular vision, it is characterised in that: described automobile chassis data measurin system include hand held module, standard database, for being arranged on some demarcating modules (1) of tested automobile chassis un-deformed area and for being arranged on some measurement modules (2) in tested automobile chassis region to be measured；

Described hand held module includes controller, described controller is connected to display module, networking module, image capture module, signal controller one and signal controller two, and described hand held module also includes the industrial camera one (3) for shooting demarcating module (1) and measurement module (2) and industrial camera two (4)；Described signal controller one is connected with industrial camera one (3), and described signal controller two is connected with industrial camera two (4)；Described networking module is also connected with standard database；

Described hand held module also has camera crossbeam (5), and described industrial camera one (3) and industrial camera two (4) are separately mounted to the two ends composition binocular camera structure of camera crossbeam (5).

2. the automobile chassis data measurin system based on binocular vision as claimed in claim 1, it is characterised in that: described controller is also associated with touch control input module.

3. the automobile chassis data measurin system based on binocular vision as claimed in claim 1, it is characterised in that: the quantity of described demarcating module (1) is 3.

4. the automobile chassis data measurin system based on binocular vision as described in as arbitrary in claims 1 to 3, it is characterised in that: described demarcating module (1) have demarcate mark module (1-1), be arranged on the demarcation light-emitting device (1-2) demarcating mark module (1-1) inner side and with demarcate the demarcation brightness impression module that light-emitting device (1-2) is connected.

5. the automobile chassis data measurin system based on binocular vision as claimed in claim 4, it is characterised in that: described demarcating module (1) also includes the demarcation firm banking (1-3) for being connected by claw structure with tested automobile chassis fabrication hole；Described demarcation light-emitting device (1-2) is connected by magnetic snap fit with demarcating firm banking (1-3).

6. the automobile chassis data measurin system based on binocular vision as claimed in claim 5, it is characterised in that: whether described demarcation light-emitting device (1-2) has demarcates firm banking (1-3) and is connected with automobile chassis fabrication hole for detecting and puts and control the demarcation power subsystem that demarcation light-emitting device (1-2) switchs in place.

7. the automobile chassis data measurin system based on binocular vision as described in as arbitrary in claims 1 to 3, it is characterised in that: described measurement module (2) have measure mark module (2-1), be arranged on the measurement light-emitting device (2-2) measuring mark module (2-1) inner side and with measure the measurement brightness impression module that light-emitting device (2-2) is connected.

8. the automobile chassis data measurin system based on binocular vision as claimed in claim 7, it is characterised in that: described measurement module (2) also includes the measurement firm banking (2-3) for being connected by claw structure with tested automobile chassis fabrication hole；Described measurement light-emitting device (2-2) is connected by magnetic snap fit with measuring firm banking (2-3).

9. the automobile chassis data measurin system based on binocular vision as claimed in claim 8, it is characterised in that: whether described measurement light-emitting device (2-2) has measures firm banking (2-3) and is connected with automobile chassis fabrication hole for detecting and puts and control the measurement power subsystem that measurement light-emitting device (2-2) switchs in place.