CN214843043U - Tire pattern detection device based on binocular vision - Google Patents
Tire pattern detection device based on binocular vision Download PDFInfo
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- CN214843043U CN214843043U CN202022123782.1U CN202022123782U CN214843043U CN 214843043 U CN214843043 U CN 214843043U CN 202022123782 U CN202022123782 U CN 202022123782U CN 214843043 U CN214843043 U CN 214843043U
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Abstract
The utility model discloses a tire decorative pattern detection device based on binocular vision belongs to machine vision technical field, and this detection device includes: set up in subaerial first supporting mechanism and second supporting mechanism, be equipped with the tire that awaits measuring on the first supporting mechanism, be equipped with the binocular stereo camera module of line laser on the second supporting mechanism, the binocular stereo camera module of line laser with the tire that awaits measuring sets up and the interval is preset apart from relatively, the binocular stereo camera module of line laser can acquire the laser line image of the tire that awaits measuring is in order to obtain the three-dimensional information of child line of the tire that awaits measuring. The utility model discloses a tire decorative pattern detection device based on binocular vision acquires the child line image and the three-dimensional stereo information of child line of the tire that awaits measuring through the two mesh stereo camera modules of line laser, further can obtain child line degree of depth information to realize real-time high accuracy, efficient tire decorative pattern and detect.
Description
Technical Field
The utility model relates to a machine vision technical field especially relates to a tire decorative pattern detection device based on binocular vision.
Background
The automobile tire is often acted by external force and is easy to be damaged, so that serious accidents are possibly caused, and great potential safety hazards are formed, so that the regular maintenance and inspection of the automobile tire are very necessary. However, the scratches and cracks on the tire are generally small, and the tire wears throughout the year, and the small damage is generally difficult to detect and observe.
The pattern of the automobile tire mainly has the functions of increasing the friction force between the tire tread and the road surface and removing accumulated water to prevent wheels from skidding, the tire pattern improves the grounding elasticity of the tire tread, the pattern detection of the automobile tire is an important component of automobile detection, and the technical condition of the automobile tire is directly related to the driving safety and the operation stability of the automobile. Therefore, the method has important significance for the detection of the automobile tire morphology on the technical progress in the field of automobile non-contact detection.
The existing tire pattern or wear detection method generally adopts a visual inspection method observed by maintenance workers, and the method depends on experience judgment of people, has large human factors and cannot ensure accuracy. In another tire detection method, a tester carries out contact measurement on the pattern depth by using a tire pattern depth gauge, the operation method of the tester and the error of the tire pattern depth gauge can cause large errors of measured data, the manual measurement efficiency is low, the tire pattern detection method is not suitable for product quality detection in the mass production process, and the work efficiency of an automobile detection line is severely restricted. At present, a device for detecting the tire pattern by using a robot to finish observation and judgment instead of human eyes is hardly used, and the problems of low efficiency, poor accuracy and the like of the existing detection production line are difficult to solve.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the embodiment of the utility model provides a tire decorative pattern detection device based on binocular vision has solved among the prior art problem that tire decorative pattern detection efficiency is low, the accuracy is poor.
The embodiment of the utility model provides a tire pattern detection device based on binocular vision, include:
set up in subaerial first supporting mechanism and second supporting mechanism, be equipped with the tire that awaits measuring on the first supporting mechanism, be equipped with the binocular stereo camera module of line laser on the second supporting mechanism, the binocular stereo camera module of line laser with the tire that awaits measuring sets up and the interval is preset apart from relatively, the binocular stereo camera module of line laser can acquire the laser line image of the tire that awaits measuring is in order to obtain the three-dimensional information of child line of the tire that awaits measuring.
In some embodiments, the line laser binocular stereo camera module includes a laser and a binocular stereo camera, the laser is used for emitting laser lines to the tire to be tested, the binocular stereo camera is used for shooting images of the laser lines on the tire to be tested, wherein the emitting direction of the laser and the shooting direction of the binocular stereo camera both face the tread of the tire to be tested.
In some embodiments, the line laser binocular stereo camera module is located above the tire under test; or the line laser binocular stereo camera module is positioned on the left side of the tire to be tested; or the line laser binocular stereo camera module is positioned on the right side of the tire to be tested.
In some embodiments, the predetermined distance is 1m to 2 m.
In some embodiments, the first support mechanism comprises: the frame, set up in revolution mechanic and driving motor in the frame, driving motor with revolution mechanic connects, the tire that awaits measuring set up in revolution mechanic is last, driving motor can drive revolution mechanic is rotatory in order to drive the tire that awaits measuring for the frame is rotatory.
In some embodiments, the rotating structure is a spindle or a drum.
In some embodiments, a plurality of said tyres under test are arranged side by side on said rotating structure.
In some embodiments, the second support mechanism comprises: the line laser binocular stereo camera module comprises a base, a height adjusting rod arranged on the base and a connecting arm connected with the height adjusting rod, wherein the connecting arm is provided with the line laser binocular stereo camera module.
In some embodiments, the connecting arm is a robotic arm.
In some embodiments, a slide rail is arranged on the base, and a slide block in sliding fit with the slide rail is arranged on the height adjusting rod.
The utility model has the advantages that:
the utility model discloses binocular vision based tire pattern detection device of embodiment is including setting up first supporting mechanism and the second supporting mechanism on the ground, is equipped with the tire that awaits measuring on the first supporting mechanism, is equipped with line laser binocular stereo camera module on the second supporting mechanism, and whole device simple structure, simple to operate; the method comprises the steps of obtaining a tire pattern image and three-dimensional tire pattern information of a tire to be detected through a line laser binocular stereo camera module, and further obtaining tire pattern depth information, so that a large amount of labor cost is saved, and real-time high-precision and high-efficiency tire pattern detection is realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the embodiments of the present invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention and not to limit the embodiments of the invention.
Fig. 1 is a schematic structural view of some embodiments of the binocular vision-based tire pattern detection apparatus of the present invention;
fig. 2 is a schematic structural view of some embodiments of the line laser binocular stereo camera module of the binocular vision-based tire pattern detecting apparatus of the present invention;
fig. 3 is a schematic structural diagram of another embodiment of the binocular vision-based tire pattern detection apparatus of the present invention;
fig. 4 is a schematic structural view of some embodiments of the first supporting mechanism of the binocular vision-based tire pattern detecting apparatus of the present invention;
fig. 5 is the structural schematic diagram of still other embodiments of the binocular vision-based tire pattern detection apparatus of the present invention.
Description of reference numerals:
100-a binocular vision-based tire pattern detection device;
1-a first support mechanism; 11-a frame; 12-a rotating structure;
13-a drive motor; 2-a second support mechanism; 21-a base;
211-a slide rail; 22-height adjustment rod; 221-a slider;
23-a linker arm; 3-line laser binocular stereo camera module;
31-a laser; 32-binocular stereo camera; 4-a control processor;
200-tire to be tested.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention will be combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention.
Furthermore, it should be noted that the terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature. In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, an embodiment of the present invention provides a tire pattern detection apparatus 100 based on binocular vision, including: set up in subaerial first supporting mechanism 1 and second supporting mechanism 2, be equipped with the tire 200 that awaits measuring on first supporting mechanism 1, be equipped with line laser binocular stereo camera module 3 on the second supporting mechanism 2, line laser binocular stereo camera module 3 sets up and the interval is preset apart from the tire 200 that awaits measuring relatively, and line laser binocular stereo camera module 3 can acquire the laser line image of the tire 200 that awaits measuring in order to obtain the three-dimensional stereo information of the child line of the tire 200 that awaits measuring.
It should be noted that, in this embodiment, the first supporting mechanism 1 and the second supporting mechanism 2 may be disposed on the ground, or may be disposed on other platforms, as long as the first supporting mechanism and the second supporting mechanism can be stably placed, and are not limited to being placed on the ground.
In addition, in this embodiment, the first supporting mechanism 1 and the second supporting mechanism 2 may be a bracket, a mounting column, or a movable adjusting mechanism such as: the mechanical structures such as up-and-down adjustment, left-and-right movement or rotation, etc., are not limited in this regard.
It should be noted that, in this embodiment, the line laser binocular stereo camera module 3 is arranged opposite to the tire 200 to be detected and separated by a preset distance, and the preset distance is determined according to an actual detection scene, so that the line laser binocular stereo camera module can face the tread of the tire to be detected and acquire the tread laser line image meeting the detection requirement.
The utility model discloses binocular vision based tire pattern detection device of embodiment is including setting up first supporting mechanism and the second supporting mechanism on the ground, is equipped with the tire that awaits measuring on the first supporting mechanism, is equipped with line laser binocular stereo camera module on the second supporting mechanism, and whole device simple structure, simple to operate; the method comprises the steps of obtaining a tire pattern image and three-dimensional tire pattern information of a tire to be detected through a line laser binocular stereo camera module, and further obtaining tire pattern depth information, so that a large amount of labor cost is saved, and real-time high-precision and high-efficiency tire pattern detection is realized.
In some embodiments, referring to fig. 2, the binocular vision-based binocular stereo camera module 3 of the tire pattern detecting apparatus 100 of the present invention includes a laser 31 and a binocular stereo camera 32, the laser 31 is used for emitting laser lines onto the tire 200 to be tested, the binocular stereo camera 32 is used for capturing images of the laser lines on the tire 200 to be tested, wherein the emitting direction of the laser 31 and the shooting direction of the binocular stereo camera 32 are both towards the tread of the tire 200 to be tested (see fig. 5).
It should be noted that in this embodiment, the number of the lasers 31 may be one or more, the number of the binocular stereo cameras 32 may be one or more, and the number of the binocular stereo cameras 32 and the number of the lasers 31 may be the same or different, for example: the number of lasers is less than the number of binocular stereo cameras. The number of the binocular stereo cameras and the number of the lasers are determined according to the number of the tires to be measured on the first supporting mechanism and the width of the tires to be measured. The line laser light emitted by the laser can be blue light, green light or red light. Preferably, the line laser emitted by the laser is blue light with a wavelength in the range of 440nm-490nm, for example: the wavelength of the linear laser is 440nm, 450nm, 460nm, 470nm, 480nm or 490nm, and is not particularly limited. The binocular stereo camera can be an industrial camera with a large field of view and a large depth of field, such as a camera with a field angle of 70-80 degrees. Preferably, the field angle of the binocular stereo camera in the present embodiment is 75 °.
In addition, the laser 31 and the binocular stereo camera 32 in the embodiment may be installed separately or integrally, and the installation positions of the laser 31 and the binocular stereo camera 32 are relatively fixed or relatively movable to meet different detection scenes.
The utility model discloses tire pattern detection device based on binocular vision adopts the line laser binocular stereo camera module that laser instrument and binocular stereo camera constitute, earlier through laser instrument transmission laser line to the tire that awaits measuring, the image of laser line on the tire that awaits measuring is absorb to rethread binocular stereo camera, later image processor (this image processor can integrate in binocular stereo camera) utilizes binocular vision processing algorithm to handle the image, discernment tire outline three-dimensional stereo information, tire outline three-dimensional stereo information and the tire's of tire depth information are further discerned to the tire outline three-dimensional stereo information that discerns, thereby realize real-time high accuracy, efficient tire pattern detects.
In some embodiments, the line laser binocular stereo camera module 3 of the binocular vision-based tire pattern detecting apparatus 100 of the present invention is located above the tire 200 to be tested, as shown in fig. 1; or the line laser binocular stereo camera module 3 is positioned at the left side of the tire 200 to be tested; or the line laser binocular stereo camera module 3 is positioned at the right side of the tire 200 to be tested, as shown in fig. 3. It should be noted that, in this embodiment, the position settings of the line laser binocular stereo camera module 3 and the tire 200 to be detected may be determined according to an actual detection scene, as long as it is ensured that both the emitting direction of the laser 31 and the shooting direction of the binocular stereo camera 32 face the tread of the tire 200 to be detected, and a laser line image of the tire to be detected meeting the detection requirement may be acquired, which is not specifically limited herein.
In some embodiments, referring to fig. 5, the utility model discloses a based on binocular vision preset distance H between binocular stereo camera module 3 of binocular laser and the tire 200 that awaits measuring of tire pattern detection device 100 central line is 1m ~ 2 m.
In some embodiments, referring to fig. 4, the first supporting mechanism 1 of the binocular vision-based tire pattern detecting apparatus 100 of the present invention includes: frame 11, set up revolution mechanic 12 and driving motor 13 on frame 11, driving motor 13 is connected with revolution mechanic 12, and the tire 200 that awaits measuring sets up on revolution mechanic 12, and driving motor 13 can drive revolution mechanic 12 rotatory in order to drive the tire 200 that awaits measuring rotatory for frame 11. The utility model discloses it is rotatory through driving motor drive revolution mechanic among the tire pattern detection device based on binocular vision, thereby it is rotatory for the frame to drive the tire that awaits measuring, make line laser two mesh stereo module can acquire the laser line image of a plurality of local positions departments of tire tread, also can acquire the laser line image of whole tread, in order to satisfy different detection scenes, and the tread laser line image through the different local positions that acquire or the pattern testing result of the tire that awaits measuring that the laser line image analysis of whole tread reachs is more accurate, avoid appearing the false retrieval.
In some embodiments, the utility model discloses a rotating-structure 12 is pivot or cylinder in the tire pattern detection device based on binocular vision. It should be noted that, in this embodiment, the rotating structure may also be in other structural forms as long as the rotation of the tire to be tested can be realized.
In some embodiments, referring to fig. 4, the rotating structure 12 of the binocular vision-based tire pattern detecting apparatus 100 of the present invention is provided with a plurality of tires 200 to be tested side by side. In this embodiment, a binocular stereo camera can carry out pattern detection simultaneously to a plurality of tyres that await measuring side by side, for example: at most, 3 parallel tires can be supported, and when more parallel tires to be detected need to be detected simultaneously, a plurality of binocular stereo cameras can be arranged. The utility model discloses tire decorative pattern detection device based on binocular vision can detect a plurality of tires that await measuring simultaneously, has further improved detection efficiency.
In some embodiments, referring to fig. 5, the second supporting mechanism 2 of the binocular vision-based tire pattern detecting apparatus 100 of the present invention includes: the binocular stereo camera module comprises a base 21, a height adjusting rod 22 arranged on the base 21, and a connecting arm 23 connected with the height adjusting rod 22, wherein a line laser binocular stereo camera module 3 is arranged on the connecting arm 23. It should be noted that, in this embodiment, the height adjustment rod may be a telescopic adjustment rod, and may also be an adjustment rod with other structural forms, which is not specifically limited herein. In addition, the connection arm and the height adjusting rod in this embodiment may be fixed or movable, and is not particularly limited herein. According to the binocular vision-based tire pattern detection device, the distance between the line laser binocular stereo camera module and the tire to be detected can be adjusted through the height adjusting rod so as to adapt to different detection scenes.
Optionally, the connecting arm 23 of the embodiment of the present invention is a mechanical arm. It should be noted that the robot arm in this embodiment may be a six-axis robot arm, and certainly, other types of robot arms may also be used, and are not limited in this respect. The binocular vision-based tire pattern detection device of the embodiment is characterized in that the line laser binocular stereo camera module is arranged on the mechanical arm, so that the line laser binocular stereo camera module can be freely moved to conveniently detect tires to be detected in various postures.
In some embodiments, referring to fig. 5, the base 21 of the device 100 for detecting tire tread based on binocular vision of the present invention is provided with a slide rail 211, and the height adjusting rod 22 is provided with a slide block 221 in sliding fit with the slide rail 211.
It should be noted that the slide rail 211 disposed on the base 21 in this embodiment may be a cross-shaped slide rail or an L-shaped slide rail, and certainly may also be a slide rail with other shapes, which is not limited herein.
The utility model discloses tire decorative pattern detection device based on binocular vision sets up the slide rail through setting up on second supporting mechanism's base, sets up the slider on altitude mixture control pole for altitude mixture control pole can follow the slide rail on the base and slide, and then drives the two mesh three-dimensional camera modules of line laser and remove, with relative position relation and distance between adjustment line laser two mesh three-dimensional camera modules and the tire that awaits measuring, realizes adapting to different detection scenes.
In some embodiments, as shown in fig. 5, the utility model discloses a tire pattern detection device 100 based on binocular vision still includes control processor 4, sets up on second supporting mechanism 2, and this control processor 4 is connected with line laser binocular stereo camera module 3 and driving motor 13, and control processor 4 controls the work of line laser binocular stereo camera module, still controls driving motor's work simultaneously. The control processor of the embodiment can further analyze and process the three-dimensional information of the tire pattern output by the line laser binocular stereo camera module to obtain a detection result (including the depth average value of the tire pattern, whether the tire pattern is qualified or not). It should be noted that, in this embodiment, the connection between the control processor 4 and the line laser binocular stereo camera module 3 and the driving motor 13 may be a wired connection or a wireless connection, and is not limited specifically herein.
Optionally, the utility model discloses tire pattern detection device 100 based on binocular vision still includes alarm module (not shown in the figure), sets up on second supporting mechanism to be connected with control processor, reachs the testing result and sends alarm control signal in order to start alarm module when the tire that awaits measuring is unqualified when control processor analysis processes. It should be noted that the alarm module in this embodiment may be a signal lamp or a speaker, and certainly may also be other devices having an alarm function, which are not illustrated in this embodiment. For example: the alarm module is a signal lamp, comprises three colors of red, orange and yellow, and respectively represents different early warning grades.
Optionally, the utility model discloses tire pattern detection device 100 based on binocular vision still includes the display (not shown in the figure), sets up on second supporting mechanism to be connected with control processor, the display is used for showing the profile image information of the tire that awaits measuring, length, width, height, area, the volume data of each point coordinate, tire pattern on tire three-dimensional profile reconstruction image, the profile reconstruction image that generate during the use.
Although the embodiments of the present invention have been described above, the description is only for the convenience of understanding the present invention, and the present invention is not limited thereto. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The utility model provides a tire pattern detection device based on binocular vision which characterized in that includes: the system comprises a first supporting mechanism and a second supporting mechanism which are arranged on the ground, wherein a tire to be tested is arranged on the first supporting mechanism, a line laser binocular stereo camera module is arranged on the second supporting mechanism, the line laser binocular stereo camera module and the tire to be tested are oppositely arranged and are separated by a preset distance, and the line laser binocular stereo camera module can acquire a laser line image of the tire to be tested so as to obtain three-dimensional information of a pattern of the tire to be tested;
wherein the first support mechanism comprises: the frame, set up in revolution mechanic and driving motor in the frame, driving motor with revolution mechanic connects, the tire that awaits measuring set up in revolution mechanic is last, driving motor can drive revolution mechanic is rotatory in order to drive the tire that awaits measuring for the frame is rotatory.
2. The binocular vision-based tire pattern detection device according to claim 1, wherein the line laser binocular stereo camera module comprises a laser and a binocular stereo camera, the laser is used for emitting laser lines to the tire to be detected, the binocular stereo camera is used for shooting images of the laser lines on the tire to be detected, and the emitting direction of the laser and the shooting direction of the binocular stereo camera both face the tread of the tire to be detected.
3. The binocular vision-based tire pattern detection device of claim 1, wherein the line laser binocular stereo camera module is located above the tire to be detected;
or the line laser binocular stereo camera module is positioned on the left side of the tire to be tested;
or the line laser binocular stereo camera module is positioned on the right side of the tire to be tested.
4. The binocular vision-based tire pattern detection apparatus as recited in claim 1, wherein the preset distance is 1m to 2 m.
5. The binocular vision-based sipe detecting apparatus of claim 1, wherein the rotating structure is a shaft or a drum.
6. The binocular vision-based tire pattern detection apparatus of claim 1, wherein a plurality of tires to be tested are arranged side by side on the rotating structure.
7. The binocular vision based sipe detecting apparatus of any one of claims 1-6, where the second support mechanism comprises: the line laser binocular stereo camera module comprises a base, a height adjusting rod arranged on the base and a connecting arm connected with the height adjusting rod, wherein the connecting arm is provided with the line laser binocular stereo camera module.
8. The binocular vision-based tire pattern detecting apparatus of claim 7, wherein the connecting arm is a mechanical arm.
9. The binocular vision-based tire pattern detection device as recited in claim 7, wherein a slide rail is arranged on the base, and a slide block in sliding fit with the slide rail is arranged on the height adjustment rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022123782.1U CN214843043U (en) | 2020-09-24 | 2020-09-24 | Tire pattern detection device based on binocular vision |
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| CN202022123782.1U CN214843043U (en) | 2020-09-24 | 2020-09-24 | Tire pattern detection device based on binocular vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113714147A (en) * | 2021-09-23 | 2021-11-30 | 青岛中导辰远智能科技有限公司 | Visual inspection system of tire outward appearance |
| WO2023202045A1 (en) * | 2022-04-22 | 2023-10-26 | 深圳市易检车服科技有限公司 | Tread pattern testing device and tread pattern testing system |
-
2020
- 2020-09-24 CN CN202022123782.1U patent/CN214843043U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113714147A (en) * | 2021-09-23 | 2021-11-30 | 青岛中导辰远智能科技有限公司 | Visual inspection system of tire outward appearance |
| WO2023202045A1 (en) * | 2022-04-22 | 2023-10-26 | 深圳市易检车服科技有限公司 | Tread pattern testing device and tread pattern testing system |
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