CN211060856U - Automobile morphology active vision reconstruction system based on straight line and circle invariants - Google Patents
Automobile morphology active vision reconstruction system based on straight line and circle invariants Download PDFInfo
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- CN211060856U CN211060856U CN201922503613.8U CN201922503613U CN211060856U CN 211060856 U CN211060856 U CN 211060856U CN 201922503613 U CN201922503613 U CN 201922503613U CN 211060856 U CN211060856 U CN 211060856U
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Abstract
The utility model discloses a car appearance initiative vision system of rebuilding based on straight line and circle invariant aims at solving the car appearance initiative vision detection problem based on straight line and circle invariant. The automobile morphology active vision reconstruction system based on the invariables of the straight line and the circle mainly comprises a camera support (1), a camera (2), a connecting piece (3), a line laser (4) and a two-dimensional calibration plate (5). The surface of the two-dimensional calibration plate (5) is pasted with a regular geometric figure of a circle and a rectangle which can generate circle and straight line characteristics, the line laser (4) is inserted into an inner hole of a steel pipe of the laser connecting piece (3), a set screw is screwed into a threaded hole in the side face of the steel pipe of the connecting piece (3), and the end part of the set screw is in contact tight fit with the cylindrical surface of the line laser (4), so that the automobile appearance active vision reconstruction system based on the straight line and circle invariants, which has the advantages of simple structure and reliable performance, is provided.
Description
Technical Field
The utility model relates to a measuring equipment in automobile inspection field, more specifically the saying so, it is an automobile morphology initiative vision system of rebuilding based on straight line and circle invariant.
Background
With the development of detection technology, the measurement of the automobile morphology plays an increasingly important role in the fields of automobile detection and the like. The structure has larger size and irregular shape, and the existing detection method such as a three-coordinate machine and the like has low measurement efficiency due to the adoption of point-by-point scanning and contact detection modes. Therefore, aiming at the problem of automobile morphology detection, it is very important to design a non-contact detection method which is fast in measurement speed and suitable for measuring large objects without strict constraints to recover the automobile morphology. An automobile morphology active vision reconstruction system based on a straight line and a circle invariant is provided. In the system, laser lines projected by a line laser are in the plane of the two-dimensional calibration plate, and the fast detection of the automobile morphology feature points is realized by utilizing the relation that the invariants obtained by the circle on the two-dimensional calibration plate and the two straight lines on the general position are the same as the invariants obtained by the corresponding circle in the image shot by the camera and the two straight lines on the general position.
Disclosure of Invention
The utility model discloses to solving and obtaining the car appearance in-process, contact check out test set is expensive, measuring speed is slow, the higher scheduling problem of fixed check out test set cost, has provided a reconstruction system and method that the performance is reliable, simple structure, easy and simple to handle, algorithm are simple. And solving the circle and two straight lines in the image obtained by shooting by the camera to obtain an invariant value. And then, the intersection point of the laser line and the surface of the automobile body is obtained, so that the reconstruction of the automobile shape by adopting the invariant of the straight line and the circle is realized, and the detection efficiency is improved.
With the attached drawings of the specification, the utility model adopts the following technical scheme to realize:
the automobile morphology active vision reconstruction system based on the straight line and circle invariants comprises a camera bracket, a camera, a connecting piece, a line laser and a two-dimensional calibration plate;
the camera support is placed on the ground, a camera is fixedly connected with a bolt thread at the top of the camera support through a threaded hole at the bottom, a two-dimensional calibration plate is placed in a long and thin groove of a U-shaped steel plate of a connecting piece, a bolt penetrates through a through hole of the connecting piece and the two-dimensional calibration plate and is fixedly connected with a nut thread, a line laser is inserted into an inner hole of a laser connecting piece steel pipe, a set screw is screwed into a threaded hole in the side face of the connecting piece steel pipe, the end part of the set screw is in contact and tight fit with the cylindrical surface of the line laser, and a laser plane emitted by the line laser;
the camera support in the technical scheme is a triangular support with adjustable height;
the camera in the technical scheme is a wide-angle industrial camera provided with a narrow-band filter;
the connecting piece in the technical scheme is a part formed by welding a U-shaped steel plate and a steel pipe, a through hole is processed on the side surface of the U-shaped steel plate, and a threaded hole is processed on the side surface of the steel pipe;
the line laser in the technical scheme is a cylindrical part capable of emitting line laser, and the laser wavelength emitted by the line laser is consistent with the band-pass wavelength of the narrow-band filter of the camera.
The two-dimensional calibration plate is a part made of a rectangular steel plate, regular geometric figures of circles and rectangles capable of generating circle and straight line characteristics are pasted on the surface of the two-dimensional calibration plate, and through holes are machined in the two-dimensional calibration plate.
The utility model has the advantages that:
(1) the utility model discloses a system measurement range is wide, dependable performance, device simple structure, easy and simple to handle, with low costs, the utility model discloses a method calculation is simple, the error is little, has realized non-contact, the quick measurement to the car appearance, has solved fixed contact measurement system and has priced, measurement of efficiency is low, the convenience subalternation problem.
(2) The utility model discloses a system has adopted two sets of invariables to calculate the laser line coordinate, has adopted the circle that is located the coordinate system initial point respectively to and be located the straight line of X axle Y axle, simplified the calculation process greatly, reduce the error that is brought by the calculation process. The direct calculation relation between the image and the calibration plate is established by adopting the invariant formed by the straight line and the circle, and the rapid reconstruction of the characteristic points of the vehicle body is realized.
(3) The camera calibration and the vehicle body characteristic point reconstruction can be completed by using the pictures acquired by the same group of cameras, so that the experimental process is simplified.
(4) The utility model discloses a camera 2 that the system adopted is wider for the wide angle industry camera that is equipped with the narrowband optical filter, the field of vision that can obtain for the scope that the assembly that two-dimentional calibration board 5 and line laser 4 are constituteed can scan is wider, and is more nimble. The laser wavelength emitted by the adopted line laser 4 is consistent with the band-pass wavelength of the narrow-band filter of the camera 2, the interference of an environment light source to the measurement process can be effectively reduced, and the measurement precision is greatly improved.
(5) Two threaded holes are respectively processed in the upper, lower, left and right sides of the steel pipe of the connecting piece 3, eight screws are screwed into the threaded holes to adjust and fix the position of the line laser 4, and the laser line projected by the line laser 4 can be coplanar with the two-dimensional calibration plate 5.
Drawings
FIG. 1 is an isometric view of an active visual reconstruction system for vehicle topography based on straight line and circle invariants;
fig. 2 is an axonometric view of the camera mount 1 in the active visual reconstruction system of the vehicle morphology based on the straight line and the circle invariants;
FIG. 3 is an isometric view of a camera 2 in an active visual reconstruction system for vehicle topography based on straight line and circle invariants;
FIG. 4 is an isometric view of a connector 3 in an active visual reconstruction system for vehicle topography based on straight line and circle invariants;
FIG. 5 is an isometric view of a two-dimensional calibration plate 5 in an active visual reconstruction system for vehicle topography based on straight line and circle invariants;
FIG. 6 is an axonometric view of the connector 3, the line laser 4 and the two-dimensional calibration plate 5 in the active visual reconstruction system of the automobile morphology based on the invariants of straight lines and circles;
in the figure: 1. the device comprises a camera support, 2. a camera, 3. a connecting piece, 4. a line laser and 5. a two-dimensional calibration plate.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1 to 6, the active visual reconstruction system for the automobile morphology based on the invariants of the straight line and the circle comprises a camera support 1, a camera 2, a connecting piece 3, a line laser 4 and a two-dimensional calibration plate 5.
The camera support 1 is a triangle support with adjustable height, the camera support 1 is placed on the ground, the camera 2 is a wide-angle industrial camera provided with a narrow-band filter, the camera 2 is fixedly connected with a bolt thread at the top of the camera support 1 through a threaded hole at the bottom, the two-dimensional calibration plate 5 is a part made of a rectangular steel plate, a regular geometric figure of a circle and a rectangle which can generate circle and straight line characteristics is pasted on the surface of the two-dimensional calibration plate 5, the two-dimensional calibration plate 5 is processed with a through hole, the connecting piece 3 is a part formed by welding a U-shaped steel plate and a steel pipe, the side surface of the U-shaped steel plate is processed with a through hole, the side surface of the steel pipe is processed with a threaded hole, the two-dimensional calibration plate 5 is placed in a long and thin groove of the U-shaped steel plate of the connecting piece 3, a bolt penetrates through the through hole of, the screw hole of holding screw in connecting piece 3 steel pipe side, holding screw tip and 4 face of cylinder contact tight fits of line laser, and line laser 4 is the cylindrical part that can give off line laser, and the band-pass wavelength of the laser wavelength that line laser 4 sent is unanimous with the narrowband filter of camera 2, and the laser plane that line laser 4 sent and two-dimensional calibration board figure place plane coplane.
Claims (1)
1. An automobile morphology active vision reconstruction system based on a straight line and a circle invariant comprises a camera support (1), a camera (2), a connecting piece (3), a line laser (4) and a two-dimensional calibration plate (5);
the camera support (1) is placed on the ground, a camera (2) is fixedly connected with a bolt thread at the top of the camera support (1) through a threaded hole at the bottom, a two-dimensional calibration plate (5) is placed in a long and thin groove of a U-shaped steel plate of a connecting piece (3), a bolt penetrates through holes of the connecting piece (3) and the two-dimensional calibration plate (5) and is fixedly connected with a nut thread, a line laser (4) is inserted into an inner hole of a steel pipe of the laser connecting piece (3), a set screw is screwed into a threaded hole in the side face of the steel pipe of the connecting piece (3), the end part of the set screw is in contact tight fit with the cylindrical surface of the line laser (4), and the laser plane emitted by the line laser (4) is coplanar with the plane;
the camera support (1) is a triangular support with adjustable height;
the camera (2) is a wide-angle industrial camera provided with a narrow-band optical filter;
the connecting piece (3) is a part formed by welding a U-shaped steel plate and a steel pipe, a through hole is processed on the side surface of the U-shaped steel plate, and a threaded hole is processed on the side surface of the steel pipe;
the line laser (4) is a cylindrical part capable of emitting line laser, and the laser wavelength emitted by the line laser (4) is consistent with the band-pass wavelength of the narrow-band filter of the camera (2);
the two-dimensional calibration plate (5) is a part made of a rectangular steel plate, and through holes are processed in the two-dimensional calibration plate (5), and the two-dimensional calibration plate is characterized in that regular geometric figures of circles and rectangles capable of generating circle and straight line characteristics are pasted on the surface of the two-dimensional calibration plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922503613.8U CN211060856U (en) | 2019-12-31 | 2019-12-31 | Automobile morphology active vision reconstruction system based on straight line and circle invariants |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922503613.8U CN211060856U (en) | 2019-12-31 | 2019-12-31 | Automobile morphology active vision reconstruction system based on straight line and circle invariants |
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| Publication Number | Publication Date |
|---|---|
| CN211060856U true CN211060856U (en) | 2020-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922503613.8U Active CN211060856U (en) | 2019-12-31 | 2019-12-31 | Automobile morphology active vision reconstruction system based on straight line and circle invariants |
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| Country | Link |
|---|---|
| CN (1) | CN211060856U (en) |
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2019
- 2019-12-31 CN CN201922503613.8U patent/CN211060856U/en active Active
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