CN207365928U - A kind of wheel shooting measuring device of non-contact four-wheel position finder - Google Patents
A kind of wheel shooting measuring device of non-contact four-wheel position finder Download PDFInfo
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- CN207365928U CN207365928U CN201721393814.1U CN201721393814U CN207365928U CN 207365928 U CN207365928 U CN 207365928U CN 201721393814 U CN201721393814 U CN 201721393814U CN 207365928 U CN207365928 U CN 207365928U
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Abstract
This patent provides a kind of non-contact four-wheel position finder wheel shooting measuring device, which includes：Computer, spotting plate, side filming apparatus, the side filming apparatus includes measurement video camera, auxiliary camera, operation processing unit, data transmission unit and LED assist illuminators, and the measurement video camera is placed in parallel and the relative position of the two is fixed, and the auxiliary camera is fixed with measurement video camera relative position.This patent also provides a kind of non-contact four-wheel position finder wheel measuring method, with the method for computer vision, first pass through image procossing and find hub edge, then three-dimensional correction is carried out to the hub edge of extraction, it is aligned so that the hub edge extracted in left and right ken image is unified to same plane and row, so that the left side after correcting（It is right）The right side of the hub edge point extracted in image after calibration（It is left）The match point of the hub edge extracted in image on a same row, realizes the non-contact positioning measurement to wheel.
Description
Technical field
The present invention relates to automobile four-wheel detection technique field, and in particular to non-contact wheel shooting measurement in four-wheel position finder
Device and the measuring method for realizing the non-contact positioning of wheel.
Background technology
Automobile four-wheel is positioned at that vehicle inspection and maintenance industry is essential, and the accuracy of detection influences what automobile used
Security.Four-wheel aligner detection technique experienced stay-supported, laser type, CCD and 3D four-wheel aligners, have in precision aspect very big
Raising.Most commonly used at present is 3D four-wheel position finders, and the ancillary equipments such as fixture, Target Board are used during operation, is led to
The positional parameter that fixture measures wheel indirectly is crossed, easily produces machine error；And fixture can cause wheel and wheel hub difference journey
The damage of degree；Since rim deformation etc. causes measurement error, it is necessary to which cart compensation, makes operating process more troublesome.It is existing at present
The accuracy and speed of noncontact measurement there is no method to meet wheel alignment meter's measurement demand.
The content of the invention
To solve technical problem of the prior art, realize non-contact four-wheel aligner, first have in the non-contact case
Realize the detection of wheel, one of the object of the invention is to provide a kind of non-contact four-wheel position finder wheel shooting measuring device；This hair
The bright second purpose is to provide a kind of non-contact four-wheel position finder wheel measuring method using above device, with computer vision
Method, detect the locus of wheel, realize the non-contact positioning measurement to wheel.
One of to achieve the object of the present invention, following technical scheme is employed：
A kind of wheel shooting measuring device of non-contact four-wheel position finder, including：Computer, spotting plate, side shooting
Device, passes wherein the side filming apparatus includes two measurement video cameras, an auxiliary camera, operation processing unit, data
Defeated unit and LED assist illuminator,
Two measurement video cameras, an auxiliary camera concatenation operation processing unit, the operation processing unit pass through number
The data after processing are transferred to computer according to transmission unit, the computer is used for the survey for collecting some side filming apparatus
Data are measured, and calculate display wheel alignment parameter, LED assist illuminators are taken the photograph close to two measurement video cameras, an auxiliary
As installation, for floor light,
Two measurement video cameras are placed in parallel and the relative position of the two is fixed, described in the calibration of spotting plate
Relative position between two measurement video cameras, during measurement, device is clapped in the mobile side makes wheel to be measured in two measurement video cameras
The public ken in, the auxiliary camera is fixed with two measurement video camera relative positions, for shoot public object of reference with
The position relationship of the side filming apparatus and other side filming apparatus is demarcated, the side is clapped the image information that device obtains at the same time and passed through
Operation processing unit is handled, processing complete obtained wheel position information by data transmission unit be transferred to computer into
The processing of one step and display.
It is preferred that if two measurements video camera relative position changes, need by the spotting plate mark
Fixed two measurement video cameras obtain its new relative position relation, if the auxiliary camera and two measurements video camera phase
The auxiliary camera need to be demarcated to shift in position and obtains its new relative position relation with two measurement video cameras.
It is preferred that the data transmission unit is data cable or radio transmitting device；Further preferably, it is described to be wirelessly transferred dress
Put and use bluetooth or external application wifi.
In use, preparation is to demarcate two measurement video cameras by spotting plate, its relative position relation is obtained,
This is operated in the case that two measurement video camera relative positions do not change and need not reform, and is fixed in two measurement video cameras
After do once.One auxiliary camera is fixed with two measurement video camera relative positions, for shooting public reference
Thing is to demarcate the position relationship of the side filming apparatus and other side filming apparatus, if the auxiliary camera and described two surveys
Amount video camera relative position, which changes, need to demarcate the auxiliary camera and two measurement video cameras obtain its new relative position
Relation.To ask for the locus of wheel to be measured, when two measurement video cameras of side filming apparatus shoot wheel to be measured, measuring car is treated
Wheel is in the public ken of two video cameras.
A kind of the two of the object of the invention, there is provided non-contact four-wheel position finder wheel measuring method using above device.Survey
Amount process is treated measuring car wheel using two measurement video cameras having demarcated and is shot, and obtains left and right ken image, first to regarding
Area image carries out image procossing, and then according to the relation between the ken image of left and right, the locus of wheel to be measured is calculated.
Concrete technical scheme is as described below：
First, binocular camera is demarcated
Two measurement video cameras are placed in parallel and after the relative position of the two fixation, spotting plate are positioned over two
Measuring in the public ken of video camera, two measurement video cameras shoot 1-20 width images according to different angle, position respectively,
Then according to formula (1), demarcate the relative position of two measurement video cameras, re-projection matrix Q is obtained according to formula (2), i.e., it is complete
Range estimation amount camera calibration in pairs.
2nd, wheel alignment measurement to be measured
1st step：Wheel Image Acquisition to be measured
Two measurement video cameras, i.e. left and right measurement video camera treat the shooting of measuring car wheel at the same time, treat measuring car described in acquisition respectively
The left view area image of wheel, right ken image.
2nd step：Wheel image procossing to be measured
The ken image of acquisition is filtered respectively, suppresses the noise in image；
Image segmentation is carried out to filtered ken image, wheel region to be measured in ken image is partitioned into from image
Come；
Area filling, fills hub for vehicle wheel interior zone and external disturbance region in ken image；
Using opening operation and closed operation processing image, discreet region cavity, smooth side in hub for vehicle wheel image to be measured are filled
Boundary；
The noise around wheel hub is removed to the ken image after filling and removes border, the wheel hub image of wheel to be measured is carried
Take out, obtain more complete wheel hub image；
Contours extract, hub edge is extracted from the wheel hub image of acquisition.
3rd step：Wheel space position three-dimensional reconstruction
A. wheel or so ken image three-dimensional correction
, can not since two measurement video cameras installation can not can guarantee that imaging plane is substantially parallel and pixel column aligns
Directly match the hub edge extracted in the 2nd step, the hub edge image that will have been extracted, carry out three-dimensional school
Just, obtain left and right ken three-dimensional correction figure so that two planes of delineation are parallel, and image line be registered to completely before to parallel knot
Structure；
B. ellipse fitting, the hub edge of left and right ken three-dimensional correction figure, fits left images respectively obtained by step a
The two-dimensional coordinate C in the center of circle where wheel hubl(xlo,ylo)Cr(xro,yro), the parallax d=x in the center of circle where obtaining wheel hublo-xro, and root
Homogeneous coordinates (the X in the center of circle where depth map obtains wheel hub is obtained by re-projection matrix Q according to formula (3)wo, Ywo, Zwo, W), three
Dimension coordinate is (Xwo/ W, Ywo/ W, Zwo/ W), meanwhile, obtain the two-dimensional coordinate of left and right ken image hub point；
C., row matching interval δ is set, the hub edge point in the left and right ken three-dimensional correction figure with a line is matched,
Obtain the hub edge match point p in the left and right ken three-dimensional correction figurel(xl,yl),pr(xr,yr), so as to fulfill Hub side
The matching of edge point；
D. match point parallax is d=xl-xr, depth map is obtained by re-projection matrix Q according to formula (3), calculates Hub side
Edge match point three-dimensional coordinate (Xw/ W, Yw/ W, Zw/W)。
E. according to the three-dimensional coordinate of above-mentioned hub edge match point, two intersecting vectors on hub edge are found outWith
So as to obtain the direction vector where wheel hub to be measuredFinally, by the three-dimensional coordinate in the center of circle where the wheel hub of acquisition
And positional parameter of the direction vector where wheel hub for calculating vehicle wheel to be measured.
Since wheel characteristics unobvious, texture repeat, and require matched speed, existing matching technique can not
Accurate extraction wheel characteristics point, local matching of the prior art is bad to this low-texture image treatment effect of wheel, existing
The matching speed of global registration in technology is slower, and relatively low to the matched accuracy of wheel, therefore existing matching technique is all
Can not meet demand.The innovation of the present invention is, carries out Digital Image Processing to wheel image first, finds hub edge, so
Three-dimensional correction is carried out to the hub edge of extraction afterwards so that the hub edge extracted in left and right ken image is unified to same flat
Face and row alignment, so as to be carried in the right side (left side) image of the hub edge point extracted in a left side (right side) image after correcting after calibration
The match point of the hub edge taken on a same row, therefore correct after left images only need to be in same a line to finding wheel hub
Marginal point is matched, and two dimension matching is converted into one-dimensional partial points matches, and without being matched to entire image, drops significantly
Low matching range, saves and calculates the time, improves computational accuracy.
It is of the invention to be relative to the good effect of the prior art：
1) stereo vision imaging technology is applied to wheel and determined by equipment using double measurement video cameras as three-dimensional imaging component
Position field, the method that three-dimensional information is asked in the method and stereoscopic vision with reference to image procossing are realized that wheel alignment detects, are made
Equipment is more rapidly, easier, more time saving and energy saving.
2) the characteristic point solid matching method in existing stereoscopic vision, it is impossible to meet the matched requirement of wheel, the present invention
The method for devising the Stereo matching of hub for vehicle wheel, realizes fast and accurately Stereo matching.
3) non-contact four-wheel position finder wheel of the invention shooting measuring device, improves the speed of wheel alignment and accurate
Degree, it is not necessary to Target Board or sensor etc. are clipped on wheel by fixture, realize real non-cpntact measurement, at the same time need not
Cart calculates compensation, makes wheel alignment detection more convenient, and the developing direction of four-wheel aligner.
Brief description of the drawings
Fig. 1 is that a kind of wheel of the non-contact four-wheel position finder of embodiment 1 shoots measuring device.
Fig. 2 is that a kind of wheel of the non-contact four-wheel position finder of embodiment 1 shoots measuring device calibration schematic diagram.
Fig. 3 is that a kind of wheel of the non-contact four-wheel position finder of embodiment 2 shoots the wheel image solid school in measuring method
Positive figure.
In Fig. 1-3, spotting plate 1, side filming apparatus 2, wheel to be measured 3, computer 4, wherein, measurement video camera l, survey
Measure video camera r, LED assist illuminator 21, operation processing unit 22, auxiliary camera 23, data transmission unit 24.
Embodiment
With reference to attached drawing of the present invention and instantiation, the concrete technical scheme of the present invention is further described.
Embodiment 1
As shown in Figure 1, a kind of wheel shooting measuring device of non-contact four-wheel position finder, including：Spotting plate 1, side
Filming apparatus 2, wheel to be measured 3, computer 4, wherein the side filming apparatus 2 include measurement video camera l and measurement video camera r,
LED assist illuminators 21, operation processing unit 22, auxiliary camera 23, data transmission unit 24,
Video camera l and r, 23 concatenation operation processing unit 22 of auxiliary camera are measured, the operation processing unit 22 passes through
Data after processing are transferred to computer 4 by data transmission unit 24, and the computer 4 is used to collect some side shooting dresses
2 measurement data is put, and calculates the positional parameter for showing wheel 3 to be measured, LED assist illuminators 21 are close to the measurement shooting
Machine l and measurement video camera r, the auxiliary camera 23 are installed, for floor light,
The measurement video camera l is placed in parallel with measurement video camera r and the relative position of the two is fixed, and uses spotting
Plate 1 demarcates the measurement video camera l and measures the relative position between video camera r, and during measurement, device 2 is clapped in the mobile side to be made to treat
Measuring car wheel 3 is in the public ken of the measurement video camera l and measurement video camera r, the auxiliary camera 23 and the measurement
Video camera l and measurement video camera r relative positions fix, for shoot public object of reference with demarcate the side filming apparatus 2 with it is other
The position relationship of side filming apparatus, the side clap image information that device 2 obtains at the same time by operation processing unit 22 at
Reason, the positional information for the wheel to be measured 3 that processing is completed to obtain are transferred to computer 4 by data transmission unit 24 and further handle
And display.
In this example, if the measurement video camera l and measurement video camera r relative positions change, need by described
Spotting plate 1 demarcates the measurement video camera l and measurement video camera r obtains its new relative position relation, if auxiliary is taken the photograph
The camera 23 and measurement video camera l and measurement video camera r relative positions change need to demarcate the auxiliary camera 23 with it is described
Measurement video camera l and measurement video camera r obtain its new relative position relation.
In this example, the data transmission unit is external application wifi.
In use, preparation is to demarcate the measurement video camera l and measurement video camera r by spotting plate 1, obtain
To its relative position relation, this, which is operated in the measurement video camera l and measurement video camera r relative positions, does not have in the case of changing
It need not reform, be done once after the measurement video camera l and measurement video camera r are fixed.The auxiliary camera 23 with
The measurement video camera l and measurement video camera r relative positions are fixed, for shooting public object of reference to demarcate the side filming apparatus
2 with the position relationships of other side filming apparatus, if auxiliary camera 23 and the measurement video camera l and measuring video camera r phases
The auxiliary camera 23 and measurement video camera l need to be demarcated to shift in position and measurement video camera r obtains its new relative position
Relation.To ask for the locus of wheel 3 to be measured, when side filming apparatus 2 shoots wheel 3 to be measured, the wheel 3 to be measured is in institute
In the public ken for stating measurement video camera l and measurement video camera r.
In application, non-contact four-wheel position finder includes the wheel shooting measuring device in several this example, wherein, auxiliary is taken the photograph
Camera 23 is used to demarcate the relative position of several wheel shooting measuring devices in this example, by data summarization to computer
4, calculate the positional parameter for the wheel to be measured 3 for obtaining whole vehicle.
Embodiment 2
Measuring method is shot using the non-contact wheel of the stereoscopic vision of the device in embodiment 1,
As depicted in figs. 1 and 2, non-contact four-wheel position finder wheel shooting measuring device includes spotting plate 1, side shooting
Device 2, wheel to be measured 3 and computer 4, wherein described that measurement of the side filming apparatus 2 including two placements that are parallel to each other images
Machine l and r, LED assist illuminator 21,22, auxiliary cameras 23 of operation processing unit and radio communication device 24.Auxiliary
Video camera 23 is used for the relative position for demarcating side filming apparatus and other side filming apparatus in four-wheel aligner.
Specific method is as follows：
First, binocular camera (measurement video camera) is demarcated
Camera coordinates (Xc, Yc, Zc) and image physical coordinates (xp, yp) between be changed to：
F is physics focal length in formula.
Image physical coordinates (xp, yp) arrive image pixel coordinates (u, v) between being converted to：
(u in formula0, v0) representing camera center, dx, dy represent horizontal direction and the pixel spacing of vertical direction respectively.
World coordinates (Xw,Yw,Zw) and camera coordinates (Xc, Yc, Zc) between be converted to：
R is spin matrix in formula, and t is translation vector.
It can be obtained according to (4) (5) (6), world coordinate system and the relation of the respective coordinates in image pixel coordinates are following formula (7)
It is shown：
Wherein fx, fyFor the focal length of required video camera, u0, v0For the central point of required video camera.
Imaging point of the spatial point on left and right measurement video camera is respectively (xl,yl,zl), (xr,yr,zr), l, r refer to institute
Left and right measurement video camera is stated, the external parameter of left and right measurement video camera l, r are respectively Rl, tl、Rr, tr, can according to formula (1)
The spin matrix R between video camera must be measured0, translation vector T0, that is, the relative position of double measurement video cameras.
Two measurement video cameras are placed in parallel, and relative position is fixed, and spotting plate 1 is positioned over two measurement shooting l
In the public ken of machine of r, two measurements video camera l and r shoot 10 width images according to different angle, position respectively, ask
Take relative position (R between two video cameras0、T0), and re-projection matrix Q is obtained, such as following formula (2), that is, complete camera calibration.
2nd, 3 positioning measurement of wheel to be measured
1. wheel Image Acquisition
Wheel 3 to be measured is shot at the same time as shown in Figure 1, measuring video camera l in side filming apparatus 2 and measuring video camera r, is obtained
3 or so ken image of wheel to be measured.
2. 3 image procossing of wheel to be measured
, can not by the image of the wheel to be measured 3 directly collected due to 3 ken characteristics of image unobvious of wheel to be measured
Matched using the prior art, to realize the present invention, so carrying out figure firstly the need of the left and right ken image for treating measuring car wheel 3
As handling, the wheel hub of wheel 3 to be measured is extracted.Image procossing is as follows：
1) medium filtering, carries out medium filtering to the ken image of acquisition, eliminates isolated noise point, remove in image respectively
Noise.
2) image segmentation is carried out to filtered ken image.
3) seed filling is used, fills hub for vehicle wheel interior zone to be measured and external disturbance region.
4) using opening operation and closed operation processing image, discreet region cavity in hub for vehicle wheel image to be measured is filled, smoothly
Border.
5) border is removed to ken image, the wheel hub of wheel 3 to be measured is extracted from the ken image at place, is obtained
More complete wheel hub image.
6) contours extract, to the wheel hub image zooming-out hub edge 5) obtained.
3. wheel space position three-dimensional reconstruction
A. wheel or so ken image three-dimensional correction
As shown in figure 3, the hub edge image extracted is carried out three-dimensional correction, left and right ken three-dimensional correction is obtained
Figure, make two planes of delineation parallel, and image line be registered to completely before to parallel structure, according to epipolar-line constraint principle, image
On characteristic point, the matched point one on another piece image is scheduled on corresponding polar curve, on the two images polar curve after correction
Point on a same row, left and right ken images match point in the same row, when being matched, only need to be in the same of another piece image
Matched on row；
B. ellipse fitting, the hub edge of left and right ken three-dimensional correction figure, fits left images respectively obtained by step a
The two-dimensional coordinate C in the center of circle where wheel hubl(xlo,ylo)Cr(xro,yro), the parallax d=x in the center of circle where obtaining wheel hublo-xro, and root
Three-dimensional coordinate (the X in the center of circle where depth map obtains wheel hub is obtained by re-projection matrix Q according to formula (3)wo/ W, Ywo/ W, Zwo/
W), meanwhile, the two-dimensional coordinate of left and right ken image hub point is obtained；
C. as shown in figure 3, row matching interval δ is set, by the Hub side in the left and right ken three-dimensional correction figure with a line
Edge point matches, and obtains the hub edge match point in the left and right ken three-dimensional correction figure, i.e., in left view domain three-dimensional correction figure
Left hand edge point pl(xl,yl) with right ken three-dimensional correction figure in a line left border edge point pr(xr,yr) matching, so as to fulfill wheel hub
The matching of marginal point；
D. match point parallax is d=xl-xr, depth map is obtained by re-projection matrix Q according to formula (3), calculates Hub side
Edge match point three-dimensional coordinate (Xw/ W, Yw/ W, Zw/W)。
E. according to the three-dimensional coordinate of above-mentioned hub edge match point, two intersecting vectors on hub edge are found outWith
So as to obtain the direction vector where 3 wheel shaft of wheel to be measuredFinally, the three-dimensional of the center of circle where the wheel hub of acquisition is sat
Direction vector where mark and wheel hub is used for the positional parameter for calculating vehicle wheel to be measured.
The preferred embodiment of the present invention described in detail above, still, during present invention is not limited to the embodiments described above
Detail, in the range of the technology design of the present invention, a variety of equivalents can be carried out to technical scheme, this
A little equivalents belong to protection scope of the present invention.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
Claims (4)
1. a kind of wheel shooting measuring device of non-contact four-wheel position finder, including：Computer, spotting plate, side shooting dress
Put, wherein the side filming apparatus includes two measurement video cameras, auxiliary camera, operation processing unit, a data transfer
Unit and LED assist illuminators,
It is characterized in that two measurement video cameras, an auxiliary camera concatenation operation processing unit, the operation processing unit
Data after processing are transferred to by computer by data transmission unit, the computer is used to collect some side shooting dresses
The measurement data put, calculates the positional parameter for showing wheel to be measured, LED assist illuminators close to two measurement video cameras,
The installation of one auxiliary camera, for floor light,
Two measurement video cameras are placed in parallel and the relative position of the two is fixed, with described two of spotting plate calibration
The relative position between video camera is measured, wheel to be measured is placed in the public ken of two measurement video cameras, the auxiliary camera
Fixed with two measurement video camera relative positions, the side clap image information that device obtains at the same time by operation processing unit into
Row processing, processing complete obtained wheel position information to be measured by data transmission unit be transferred to computer further processing and
Display.
2. the wheel shooting measuring device of a kind of non-contact four-wheel position finder according to claim 1, it is characterised in that such as
Two measurement video camera relative positions change described in fruit, then need to demarcate two measurement video cameras by the spotting plate
Its new relative position relation is obtained,
If the auxiliary camera and two measurement video cameras relative position change need to demarcate the auxiliary camera with it is described
Two measurement video cameras obtain its new relative position relation.
A kind of 3. wheel shooting measuring device of non-contact four-wheel position finder according to claim 1, it is characterised in that institute
It is wired or wireless transmitting device to state data transmission unit.
A kind of 4. wheel shooting measuring device of non-contact four-wheel position finder according to claim 3, it is characterised in that institute
It is bluetooth or wifi to state radio transmitting device.
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| CN201721393814.1U CN207365928U (en) | 2017-10-25 | 2017-10-25 | A kind of wheel shooting measuring device of non-contact four-wheel position finder |
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| CN201721393814.1U CN207365928U (en) | 2017-10-25 | 2017-10-25 | A kind of wheel shooting measuring device of non-contact four-wheel position finder |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107677223A (en) * | 2017-10-25 | 2018-02-09 | 烟台大学 | The wheel shooting measurement apparatus and measuring method of a kind of non-contact four-wheel position finder |
| CN114370824A (en) * | 2021-12-30 | 2022-04-19 | 北京无线电计量测试研究所 | Wheel diameter measuring device and measuring method |
-
2017
- 2017-10-25 CN CN201721393814.1U patent/CN207365928U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107677223A (en) * | 2017-10-25 | 2018-02-09 | 烟台大学 | The wheel shooting measurement apparatus and measuring method of a kind of non-contact four-wheel position finder |
| CN114370824A (en) * | 2021-12-30 | 2022-04-19 | 北京无线电计量测试研究所 | Wheel diameter measuring device and measuring method |
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