JP6232306B2 - Truck dimensional measurement equipment - Google Patents

Description

  The present invention relates to an apparatus for measuring various dimensions of a truck in or near a facility for manufacturing a truck.

  After the manufacture of the truck, the dimensions such as the total length, the total width, and the total height are measured, and it is determined whether or not the value is an appropriate value. Since the shape of a truck is various, and the parts to be measured for each dimension are different for each truck, it was directly measured manually by a person in charge. Specifically, the weight is swung down from the front and rear ends or the left and right ends of the lorry, and the floor surface position swung vertically is marked. The total length and width of the truck can be obtained by measuring the mark position on the floor after moving the truck. Regarding the measurement of the total height, a measuring instrument is used that measures the height by bringing the contact part into contact with the highest part of the truck.

  In such measurements, particularly the measurement of the total length and the total width, there are concerns that a measurement error may occur due to a difference in the skill of the operator and that a large work cost is required for the measurement. Therefore, a technique (for example, Patent Document 1) for measuring the dimensions of a truck using a camera or the like is used in automobile inspection by an automobile inspection independent administrative agency or the like. In addition, a method has been introduced in which a method of attaching a target portion (reflecting portion) that can be photographed with a camera to a truck is used so that the camera measurement accuracy of the photographed data is not hindered by illumination of a measurement field or the like (for example, Patent Document 2). ).

Japanese Patent No. 3637416 JP 2010-181325 A

  If the dimensions of the lorry are measured using a camera as described above, the work cost can be reduced, but there is still room for improvement in the following points.

  The camera is placed above the lorry to include the entire lorry in the imaging area. However, some trucks are required to measure parts that are difficult to see from above. Such a part is likely to cause a large difference in the quality of a captured image as compared with other parts. For example, in a lorry with a cargo box mounted on a chassis frame, the lighting part such as the tail lamp is located at the rear end of the chassis frame, so it is located below the cargo box, so image quality may be degraded. There is sex. In particular, when the packing box is dumped (tilted) backward, the lighting section is located further forward than the rear end of the lorry (the rear end of the packing box) in order to avoid interference with the packing box. The possibility of quality degradation increases.

  For the purpose of simply “measuring the size of a truck”, for example, in the case of measuring the width of a full width, it is only necessary to measure the widest part of the truck. However, there are some lorries that are difficult to specify the site to be measured. In particular, in a lorry equipped with a cargo box, it may be impossible to accurately determine visually which of the width of the cab or the cargo box is larger. In addition, a manufacturer that mounts a cargo box on a chassis frame is required to grasp not only the width dimension of the truck, but also the equilibrium state of the cargo box mounted on the chassis frame. In particular, the manufacturer that mounts the cab (cab) on the chassis frame is generally different from the manufacturer that mounts the cargo box on the chassis frame on which the cab is mounted. Therefore, if there is no data to be compared with the separate cab for loading the packing box on the chassis frame, information regarding the accuracy of packing box mounting may be fed back to the person in charge of manufacturing or loading the packing box. Can not.

  The present invention has been made in view of these points, and while using means that contributes to improvement in measurement efficiency using an imaging unit such as a camera, the measurement accuracy is higher and accurate data management regarding a truck can be performed. It aims at providing the measuring device of the size of a simple lorry.

  The following truck measurement system will be used at the truck manufacturing facility.

A target unit having a reflection part that is attached to a truck and reflects light, an optical system unit that outputs light reflected by the target unit from a plurality of locations to the truck, and light reflected by the optical system unit is reflected. Thus, a control unit that determines the coordinate position of the target unit and calculates a predetermined dimension of the truck is disposed. And a part of said target part is attached to a lighting part arranged behind said lorry, and a light for which at least a part of said target part is subjected to light output by said optical system means is provided at said plurality of places. A part output location is provided, and the light data reflected by the target part is input to the control part, and the control part calculates at least one of the full length, the full width or the full height of the truck. The mounting position of the lighting part is calculated based on light data from the output part for the lighting part.
In the same manufacturing facility, a truck size measuring device having the following configuration may be used.

  A target part having a reflecting part attached to the lorry for reflecting light, optical system means for outputting the light reflected by the target part from a plurality of locations to the lorry, and light from the optical system means A control unit that determines the coordinate position of the target unit by being reflected and calculates a predetermined dimension of the truck is disposed. And the said target part contains the target part for wheels arrange | positioned with respect to the wheel of the said truck, The optical output with respect to the said target part for wheels at least by the said optical system means is in the said several places. The wheel output location to be performed is provided, the light data reflected by the target unit is input to the control unit, and the wheel position is calculated based on the light data from the wheel output location And

The above optical system means may be provided in a state where a plurality of optical system means are fixed in advance with respect to the lorry or a plurality or a single one provided so as to move within a certain range with respect to the lorry. Further, the optical system means may be gripped by the work vehicle and output from a plurality of locations to the truck.
In addition, it is good also as a lorry vehicle size measuring device of the following composition.

  Targets manufacturing facilities for trucks equipped with chassis frames. In this facility, a target unit attached to the truck and reflecting light to reflect light, optical system means for outputting the light reflected by the target unit from a plurality of locations to the truck, and the optical system The coordinate position of the target unit is determined by reflection of light from the means, and a control unit for calculating a predetermined dimension of the truck is provided. The target unit includes the cargo unit. It is assumed that a wheel target portion arranged for a vehicle wheel and a load target portion arranged for the load of the cargo vehicle are included. And with respect to the said lorry vehicle in a stopped state at a predetermined position, an output portion for a wheel where light output to the wheel target portion is performed by the optical system means is provided, and further, the lorry vehicle in the stopped state is provided. On the other hand, there is provided an output position for a mounted object in which light output to the target object for mounted object is performed by the optical system means. Data of light reflected by these target units is input to the control unit, and the control unit determines the wheel position and the total length, full width, or total height of the truck based on the light data from the wheel output point. At least one of them will be calculated. The wheel output point and the load output point may be the same or different points.

With this configuration, the time and cost for measuring the vehicle dimensions can be greatly reduced compared to the prior art. Conventionally, "the process of coloring paint on the front wheel or rear wheel, or the process of coloring paint on the floor near the front wheel or rear wheel" (coloring process) and "moving the freight car a little after these processes The process of leaving the tire tread mark on the floor and calculating the centerline of the truck using the tread mark (tread mark measuring process) was performed. According to the configuration of the present invention, since the optical system means is used, it is not necessary to move the truck, and the coloring step and the tread mark measurement step can be omitted.
And it is preferable that the said wheel target part is attached with respect to the contact member contact | abutted to the said wheel.

  As in the apparatus of the present invention, it is provided with optical system means for outputting light from a plurality of locations to the truck, and further, an output location for the lighting section for photographing the lighting section is set, and light data at the location is set. Therefore, it is possible to take a good picture of the lighting part that is arranged below the cargo box and is difficult to shoot from the upper side of the truck. Can be calculated accurately.

  In addition, optical system means for outputting light from a plurality of locations with respect to the truck is provided, and an output location for a wheel for photographing a target portion provided for the wheel is also provided, and light data at the location is provided. With the configuration for calculating the wheel position based on the above, the center part in the width direction of the truck can be easily calculated, and the center line in the front-rear direction can be easily calculated. As a result, the truck size calculated from other target parts can be easily calculated.

It is a mimetic diagram showing the lorry size measuring device of the measurement place concerning the embodiment of the present invention. It is a schematic plan view which shows the lorry vehicle dimension measuring apparatus of the measurement place which concerns on embodiment of this invention. (A) is the principal part side view which shows imaging | photography of the lighting part of the cargo vehicle which concerns on embodiment of this invention, (b) is the principal part side view which shows imaging | photography of the front wheel of the same truck, c) is a cross-sectional side view of the packing box mounted on the truck. It is a conceptual diagram which shows the determination method of the coordinate position of the target part which concerns on embodiment of this invention. It is a flowchart which shows the procedure of the lorry vehicle dimension measuring method which concerns on embodiment of this invention. It is a principal part side view which shows the contact member which concerns on another embodiment of this invention. (A) is a schematic top view of the truck for demonstrating centerline calculation based on this invention, (b) is a schematic top view which shows the contact member which concerns on another embodiment of this invention.

One embodiment of a measuring device for measuring a size of a truck at a measurement location according to the present invention will be described with reference to the drawings.
1. About the structure of a truck dimensional measuring device

  FIG. 1 is a schematic diagram of an overall outline of a size measuring device of a truck 1. The lorry 1 is stopped at the measurement location. This measurement location is, for example, a location that is carried as a final process in a facility that manufactures the truck 1.

  This dimension measuring apparatus uses cameras 21a to 21l as an example of optical system means, and processes the image data taken by the cameras 21a to 21l with a PC serving as a control unit, thereby calculating the length of the truck 1 and the like. It has become.

  The cameras 21a to 21l are provided so as to be located around the freight car 1 (dashed line R) as shown in the figure in order to take images of the freight car 1 from a plurality of locations. The cameras 21a to 21l are arranged clockwise from the front side of the lorry 1 along the circumference R shown in the drawing (only 21a, 21b, 21d, 21f, 21g, 21j, and 21l are displayed in the figure). In the present embodiment, the twelve cameras 21a to 21l are provided in order to obtain a plurality of photographing data for the freight car 1. However, the number is not particularly limited to twelve. Furthermore, a configuration may be adopted in which a single camera circulates around the cargo truck 1 to obtain a plurality of image data.

  The cameras 21a to 21l are each directed toward the freight car 1. The “predetermined angle” is such that the freight car 1 enters the photographing region from the upper side of the freight car 1 as shown in FIG. In addition to the “predetermined angle”, the camera 21a that shoots from the front part and the three cameras 21f to 21h that shoot from the rear part are set to shoot at “another angle”. . At the location of the camera 21a, the imaging Pa2 having the “predetermined angle” similar to the other locations and the imaging Pa1 with “another angle” centered on the lower side of the imaging Pa2 can be performed. Is set. The cameras 21f to 21h are also set to be capable of photographing Pf2, Pg2, and Ph2 at “predetermined angles” and photographing Pf1, Pg1, and Ph1 at “other angles”. With the shooting data at each of a plurality of locations, the entire data of the freight vehicle 1 can be obtained, and regarding the detailed shooting data on the lower side (wheels, tail lights, etc.) of the freight vehicle 1 that is difficult to see from above, a camera The images Pf1, Pg1, and Ph1 can be obtained at the above “different angles” of 21a and 21f to 21h. These cameras 21a to 21l are connected to a PC in the measurement location. Via the external input / output unit 31 provided in the PC, it is possible to output a camera shooting command and input shooting data between the PC and each of the cameras 21a to 21l. Each of the cameras 21a to 21l uses a target portion attached to a predetermined part of the lorry as a photographing point, but the display of the target portion is omitted in FIG. 1 for convenience of explanation.

  Each target unit is provided with a reflection unit that reflects the light emitted from the cameras 21a to 21l. The captured data includes the reflected light, and the control unit 30 in the PC controls the coordinate position of each target unit. It is used for calculating the predetermined dimensions of the lorry 1.

  The control unit 30 includes a coordinate position determination unit 34 that determines the coordinate position of the target unit from the detected reflected light data (imaging data), and a dimension calculation unit 35 that calculates the dimensions of the truck 1 from the coordinate position. And will be included. Output results such as coordinate positions and calculated dimensions are stored in the PC and output on a screen or a document having a predetermined format.

  A photographing data reading unit 33 is arranged between the coordinate position determination unit 34 and the external input / output unit 31. The inputted photographing data is read by the photographing data reading unit 33, and the photographed image is displayed on the PC screen. The operator can immediately determine the quality of the shooting state from the displayed image. Note that when performing camera shooting, a camera selection unit 32 connected to the external input / output unit 31 is used. The camera selection unit 32 selects which of the 12 cameras 21a to 21l is used. Thereby, the operator can take a desired camera. The camera selection unit 32 may be configured to select either shooting by one camera or simultaneous shooting by a plurality of cameras. In the case of shooting around the circumference R with one camera, the shot shooting data may be sequentially stored in the control unit 30 or may be stored in a lump.

  The coordinate position determination unit 34 determines the three-dimensional coordinate position of the shooting point (target unit) using two or more shooting data as appropriate among the shooting data of the twelve cameras 21a to 21l. Further, the coordinate position determination unit 34 determines the coordinate position of the shooting point (target portion) of the front wheel using the shooting data of the front camera 21a. Further, the coordinate positions of the lighting part 13 and the rear wheel photographing point (target part) are also determined using the respective photographing data of the photographing Pf1, Pg1, and Ph1 of the three cameras 21f, 21g, and 21h on the rear side.

  Determination data (coordinates of the target portion) of the coordinate position determination unit 34 is output to the dimension calculation unit 35. The dimension calculation unit 35 includes a first dimension calculation unit 35a that calculates the length of the lorry 1 in the front-rear direction, the width direction, and the height direction from the coordinate positions determined by the image data of the cameras 21a to 21l, and the rear side. A second dimension calculating unit 35b that calculates the mounting position of the lighting unit 13 from the coordinate positions determined by the image data of the three cameras 21f to 21h, the coordinate position determined by the image data of the front camera 21a, and the rear side A center line calculation unit 35c that calculates a vehicle center line position from the coordinate positions determined by the image data of the three cameras 21f, 21g, and 21h, and a maximum value are selected from a plurality of data calculated by the first dimension calculation unit 35a. A dimension selector 35d.

  The center line calculation unit 35c has a function of calculating the center line of the lorry 1 from the photographing Pa1 by the front camera 21a and the photographing Pf1, Pg1, and Ph1 by the three rear cameras 21f, 21g, and 21h. This function calculates the midpoint of the left and right front wheels and the midpoint of the left and right rear wheels, and calculates the center line along the front-rear direction of the lorry 1 connected to both the midpoints.

  The 1st dimension calculation part 35a has a function which projects each 3D coordinate of a target part on a predetermined plane (horizontal plane), and calculates the distance of each projected point. In the calculation unit 35a, the center line data calculated by the center line calculation unit 35c is also used. In addition, regarding this function, it is not limited to this calculation method, You may calculate the distance of each point of the determined three-dimensional coordinate.

  The second dimension calculating unit 35b has a function of calculating a region where the lighting unit 13 is attached based on the coordinate position of the target unit attached to the lighting unit 13. The calculation unit 35b also uses the centerline data calculated by the centerline calculation unit 35c. The lighting unit 13 is a unit body formed by combining a plurality of members such as a tail lamp, and the width, height, and thickness thereof are managed in advance. Therefore, based on the three-dimensional coordinate position of the reference target part, the attachment position of the lighting part 13 (in which area the lighting part 13 is arranged) is calculated. In addition, without using the width value etc. which were managed beforehand, a some target part is attached to the lighting part 13, and the attachment position of the lighting part 13 is calculated from the some three-dimensional coordinate position obtained from a some target part. You may do it.

Data selected and calculated by the dimension selection unit 35d and the second dimension calculation unit 35b is output to the dimension determination unit 36. The dimension determination unit 36 has a function of determining whether a difference between data input in advance and each input data is within a desired range.
A data storage unit 37 and a data output unit 38 are also arranged in the PC, and the calculated data and the like are stored and can be output when necessary.
2. About camera and target layout

  Next, the layout of the twelve cameras 21a to 21l and the attachment position of the target unit with respect to the freight car 1 will be described with reference to FIG. FIG. 2 is a schematic plan view showing twelve cameras 21a to 21l with respect to the freight car 1. The upper side is the front side of the freight car, the lower side is the same rear side, and the left and right sides are the same left and right side. All of the cameras 21a to 21l are provided so that a plurality of target portions enter the imaging region, and are separated from the truck 1 by a distance that allows the target portions to be well imaged. As the cameras 21a to 21l, for example, digital cameras are employed, but other devices may be used as long as images can be taken. These cameras 21a to 21l have strobes and generate a flash when photographing.

In the lorry 1, target parts (19 members indicated by T11, 12,..., And T in the figure) that serve as shooting points for camera shooting are attached to the illustrated positions. Yes. All target parts have the same configuration. Although not shown in the figure, a circular reflecting portion having an outer diameter of about 30 mm is arranged at the center of a substantially square sheet having a side of about 50 mm. This reflection part reflects the light of the flash emitted from each of the cameras 21a to 21l (or a strobe by a device near the camera). Each target portion has a structure in which the back of the sheet can be easily attached to the freight vehicle 1 with a magnet.
The detailed mounting position of each target part is as follows.
First, a front target portion T11 and rear target portions T12 and T13 are arranged for measuring the total length of the lorry 1.

  The front target portion T11 is disposed on the front surface of the lorry 1 as illustrated. It is arranged at a position that is the forefront of the lorry 1, for example, a position that is a central portion of the number plate mounting hole on the bumper on the front side of the lorry 1. Even if the front target portion T11 is arranged with the reflecting portion facing upward and the front target portion T11 is arranged at a low position, the three cameras 21a, 21b, and 21l on the front side can take a good image. The attachment state of the front target portion T11 is not particularly limited, and the reflection portion may be directed forward as long as the reflected light of the reflection portion is included in the imaging data of the front cameras a, 21b, and 21l. Absent.

  Rear target portions T12 and T13 are disposed behind the lorry 1. Specifically, these rear target portions T12 and T13 are arranged on the left and right edges on the upper end surface of the rear side door (tailgate) 11a constituting the cargo box 11. This is because the tailgate 11a is a member located at the rearmost side of the lorry 1. When the other members are at the rearmost side, the rear target portions T12 and T13 are arranged on the rearmost member.

  The distance between the intermediate portion between the rear target portions T12 and T13 and the front target portion T11 is the total length L of the truck 1. In the freight vehicle 1 in which the cargo box 11 is mounted as in the present embodiment, the rear end of the freight vehicle has a square shape, so that it is easy to accurately specify the position at the rear of the freight vehicle 1. That is, since the rear edge of the upper end face of the tailgate 11a becomes the accurate rear end of the cargo vehicle 1, the total length L can be calculated with high accuracy. Further, since the rear target portions T12 and T13 are arranged at the above positions, the height positions of both ends of the tailgate 11a (the packing box 11) can be compared from the three-dimensional coordinate positions of both the target portions T12 and T13. it can. Based on the comparison result, it can also be determined whether or not the chassis frame 12 is mounted in a horizontal state.

  Moreover, the following six sets of target parts are arranged for measuring the full width of the cargo vehicle 1. These target portions are located on a line along the width direction of the truck as shown in the figure.

  As a first set, front wheel target portions T21 and T22 are arranged at the center of each of the left and right front wheels 14. Further, as a second set, rear wheel target portions T61 and T62 are also arranged at the center of each of the rear wheels 15. A virtual line connecting the intermediate point P1 of the front wheel target portions T21 and T22 and the intermediate point P2 of the rear wheel target portions T61 and T62 is set as a center line (axle) Lc of the lorry 1.

  As a third set, cab target portions T31 and T32 are arranged on the left and right sides of the cab 16 (cab). In the figure, the cab target portions T31 and T32 are arranged behind the cab 16, but if there is a portion that protrudes to the left and right, the cab target portions T31 and T32 are arranged in that portion. This is for measuring the maximum value of the width of the cab 16.

  As a fourth set, cargo box front target portions T41 and T42 are arranged on the front portion on the left and right sides of the cargo box 11. Specifically, it is arranged on the outer surface of the fixed column in front of the packing box. If there is a portion projecting laterally from the fixed column at the front portion of the packing box 11, the configuration is arranged at that portion. This is for measuring the maximum value of the width in front of the packing box 11. For the same purpose, a fifth set of cargo box center target portions T51 and T52 are arranged at the center of the cargo box 11 in the front-rear direction of the lorry. On the outer surface of the fixed column at the rear part of the packing box 11, the packing box rear target parts T71 and T72 serving as the sixth set are arranged.

  The positions where these six sets of target portions are arranged are set in advance as the corners of each portion. This is to prevent the mounting height and the positional deviation in the front-rear direction from occurring in each set. Then, the coordinate position of each set of target portions is used as data for calculating the width of the truck. Since a plurality of calculation results can be obtained, the maximum value among them is selected as the full width W. All of the target portions are arranged in the front-rear direction of the cargo vehicle on the left side or the right side of the cargo vehicle 1, but at least one target portion is arranged in each of the cab 16 and the cargo box 11. For example, the number and attachment position can be changed as appropriate.

  Further, center target portions Ts1, Ts2, Ts31, Ts32, Ts41, and Ts42 that contribute to the determination of the center line of the lorry 1 whose longitudinal direction is the front-rear direction are arranged on the left and right front wheels. Among these target portions, the intermediate point P3 is calculated using the target portions Ts1, Ts2 for the front wheels, and the intermediate point P4 is calculated using the target portions Ts31, Ts32, Ts41, Ts42 for the rear wheels. From these intermediate points P3 and P4, the center line Lc of the lorry is separately calculated. Note that it is possible to verify whether there is a difference from the center line Lc calculated from the intermediate points P1 and P2 calculated from the target portions T21, T22, T61, and T62 (see FIG. 7 described later). These center points P1 and P2 may also be used simultaneously to calculate the center line Lc.

  In addition, tail gate side end target portions T81 and T82 are disposed on the left and right lower edge portions of the tail gate side end surface. This is for measuring the rear overhang of the lorry 1.

  Further, for measurement of the lighting unit 13 that is arranged below the cargo box 11 and is difficult to see from above the cargo vehicle 1, the irradiation surface (rear surface of the cargo vehicle) of the lighting unit 13 has a lighting unit target unit T91, T92 is arranged. The target portions T91 and T92 for the lighting part are respectively arranged on the upper side and in the corners that are the outer end portions in the lighting part 13 that is a unit body. However, the arrangement position is not limited to the corner, and may be another corner.

  Among the target portions arranged as described above, the lighting portion target portions T91 and T92 are photographed intensively by the three rear cameras 21f, 21g, and 21h and taken by the Pf1, Pg1, and Ph1, and other targets. The part is photographed by 12 cameras 21a to 24l. Of the target portions Ts1, Ts2, Ts31, Ts32, Ts41, and Ts42 for the center, the target portions Ts1 and Ts2 for the front wheels are intensively photographed by the photographing Pa1 of the front camera 21a, and the target portion Ts31 for the rear wheels. , Ts32, Ts41, and Ts42 are photographed in a concentrated manner by the photographing Pf1, Pg1, and Ph1 by the three rear cameras 21f, 21g, and 21h. In addition, regarding the imaging of the target portions Ts31, Ts32, Ts41, and Ts42 for the rear wheels, the imaging may be performed at “an angle different from the imaging Pf1, Pg1, and Ph1” in order to obtain more appropriate imaging data. good. In this way, the coordinate position of each part can be easily determined by using the imaging data, and the total length L and the full width W are calculated. Therefore, projection work such as marking each part on the floor surface can be performed. There is no need to do this, and the work cost can be greatly reduced.

  Regarding the measurement of the total height H of the lorry 1, a variable height device is used in the present embodiment. For example, an apparatus or the like is used that includes a base with wheels that can move within the measurement location, a columnar member that extends in the vertical direction with respect to the base, and a horizontal member that can move up and down along the columnar member. The same kind of target portion is attached to the horizontal member. The total height H can be calculated by taking a picture of the horizontal member in contact with the highest position of the truck (for example, the rear cameras 22 and 24). Note that the above-described apparatus may not be used as long as the truck can easily attach the target portion to the highest part.

  Of the photographic data photographed at a plurality of locations according to the layout described above, the photographic data at some locations includes at least “photographed data at an angle different from other locations”, and has the following effects.

  As a first effect, it is possible to obtain high-quality image data using the front camera 21a and the three rear cameras 21f, 21g, and 21h. A part that is difficult to photograph from above the truck 1 can be photographed appropriately by switching the photographing angle. In particular, in the measurement location where the truck 1 according to the present embodiment is continuously carried in, the location for adjusting the imaging angle is set, so that the imaging is simply performed at the same imaging angle as the other sites. There is no need to make another measurement due to the difficult lighting section 13 or the like, and the working efficiency can be greatly improved. Regarding the adjustment of the shooting angle, the camera 21a, 21f, 21g, and 21h are configured to change the shooting angle while the positions of the cameras 21a, 21f, 21g, and 21h are constant, but the height position may be changed separately. The center target portions Ts1, Ts2, Ts31, Ts32, Ts41, and Ts42 are brought into contact with front wheels or rear wheels as shown in FIGS. 3A and 3B in order to reduce measurement errors. The abutting members K1 and K2 are attached.

  As shown in FIG. 3A and FIG. 3B, the target portion with respect to the portion provided below the cargo vehicle 1 or below the cargo box 11 has entered the rear side from the front end portion of the cargo vehicle 1. It is arranged at the position (length L11) or the position (length L12) that enters the front side from the rear end of the packing box 11, and the shooting angle is different from other shooting locations, so that high quality shooting is possible. Data can be obtained.

  As a second effect, there is an increase in the accuracy of measurement of the inner surface (inward surface) of the packing box 11. Since the front camera 21a and the three rear cameras 21f, 21g, and 21h can obtain at least “photographing data at an angle different from other locations”, the cameras at other locations (for example, the packing box 11). The cameras 21d, 21e, 21i, and 21j) located on the side of the side can be set to a shooting angle that favorably includes the inner surface of the packing box 11 in the shooting region. Specifically, the shooting angle can be set as shown in FIG. FIG. 3C is a cross-sectional view taken along the line A1-A2 of the packing box 11 in FIG. 2, and a plurality of target portions T101 to T104 are arranged on the inside thereof.

A front wall target portion T101 is arranged on the front wall portion 11b constituting the cargo box 11 on the surface facing the rear of the lorry. The front wall target portion T101 is disposed at a height position equivalent to the upper surface portion of the side side door (side gate) 11c constituting the cargo box 11 at the center in the vehicle width direction.
A tail gate center target portion T102 is disposed at the center in the vehicle width direction on the upper end surface of the tail gate 11a.

  The front wall target portion T101 and the tailgate center target portion T102 are used for measuring the inner length of the cargo box 11 in the front-rear direction of the lorry. The two target portions T101 and T102 are attached to each central portion by visual inspection. The target portions are arranged on both front and rear edges of the side gate 11c, and are used for measuring the inner length. You may be allowed to.

  Next, a side gate center target portion T103 is disposed in the center portion of the upper end surface of the side gate 11c in the front-rear direction of the lorry. Similarly, a target portion (not shown) is arranged on the upper end surface of the opposite side gate at the same central portion in the front-rear direction of the lorry. These target parts are used for measuring the inner width of the packing box 11.

  Further, on the upper surface of the floor surface portion 11d, a floor surface target portion T104 is disposed in the center. This target part T104 is used for measuring the inner height of the packing box 11 by combining with the target parts T101 to T103 used for measuring the inner length and inner width of the packing box.

  These target portions T101 to T104 are photographed by the cameras 21d, 21e, 21i, and 21j located on the side of the packing box 11, and photographed by the three cameras 21f, 21g, and 21h on the rear side Pf2, Pg2, and Ph2. Taken. At this time, the surrounding R (see FIG. 1) can be obtained by combining the three cameras 21f, 21g, and 21h on the rear side that can adjust the shooting angle with the cameras at other locations such as the cameras 21d, 21e, 21i, and 21j. ) Can be obtained while preventing the enlargement of the desired manufacturing facility and preventing the enlargement of the area.

  Specifically, among the three cameras 21f, 21g, and 21h on the rear side, for example, at the shooting location of the camera 21g, the shooting Pg1 can set the shooting Pg2 as a shooting area centering on the inner surface of the packing box 11. . When the angle adjustment of the image capturing Pg1 is not included, the lighting portion below the packing box 11 is further moved to the position (a chain line portion in the figure) 210g moved further by the distance Lb to include the image capturing area. Although it is necessary to provide it, the camera 21g can be brought close to the freight car 1 by including the photographing Pg1. At the same time, the accuracy of the shooting data inside the packing box 11 is increased.

It should be noted that a known method is used to acquire the shooting data. When determining the coordinate position of the rear target unit T12, as shown in FIG. 4, the reflected light from the reflection unit of the rear target unit T12 is projected onto the imaging surfaces R1 and R2 of the rear cameras 21f and 21g. The projected positions u1 and u2 are extracted by the coordinate position determination unit 34. The rear cameras 21f and 21g are fixed in the measurement place, and the photographing surfaces R1 and R2 also have unique position data. The three-dimensional coordinate position of the rear target portion T12 is determined by associating the positions u1 and u2 on both surfaces R1 and R2. Shooting data can be obtained in the same manner with other cameras. Based on the position information of the target part that overlaps in these photographic data, a plurality of photographic data are connected to grasp the overall shape, size, position, etc. of the truck 1. Therefore, three or more photographing surfaces R1 and R2 may be used in order to increase accuracy.
3. Next, a method for measuring the size of a truck will be described with reference to the flowchart of FIG.

  First, camera coordinate position determination steps S11 and S12 are performed within the measurement location. Next, centerline determination steps S21 to S25 of the truck 1 are performed. Thereafter, light is output to each target with respect to the stopped lorry 1, specifically, photographing steps (light output steps) S31 to S33 for photographing each target, each target portion coordinate position determining step S41, coordinates Steps S51 to S54 for calculating the required size of the truck from the position are performed in order. Finally, a determination is made as to whether or not the calculated dimension matches a predetermined value, and a storage process is performed (S61 to S62).

  In the camera coordinate position determination step, first, the reference target is photographed by the cameras 21a to 21l (S11). The reference target is the center position of the three-dimensional coordinates in the measurement location and is fixed in the measurement location. The photographing data is output to the PC, and the coordinate position of each camera 21a to 21l is determined by associating the unique coordinate position of the reference target with the photographing data in the PC (S12). By fixing the coordinates of each of the cameras 21a to 21l, quick measurement is possible regardless of the type of the truck.

  After the camera coordinate position determination step, a step of determining a center line extending in a direction perpendicular to the width direction of the lorry 1 carried into the measurement place is performed. In this step, the following work is performed.

Cargo vehicle stop work at the measurement position (stop position) is performed (S21). At this time, the driving handle is adjusted so that the lorry 1 can go straight. Next, contact members that contact the front and rear wheels of the truck are installed (S22). The abutting member is provided with target portions (center target portions) Ts1, Ts2, Ts31, Ts32, Ts41, and Ts42. Shooting is started using the cameras 21 a, 21 f, 21 g, and 21 h for the stopped truck 1. The photographing data of the photographing is input to the PC (S24), the intermediate position P3 (see FIG. 2) between the left and right front wheels and the intermediate position P4 (see FIG. 2) of the rear wheels are calculated, and the center line is also calculated (see FIG. 2). S25). The calculation of the center line is useful for accurately calculating the width of the freight vehicle described later.
In the photographing process (S31 to S33), the following operation is performed on the truck 1 further stopped.

Each target part is pasted to the position mentioned above (S31), and it image | photographs with the cameras 21a-21l (S32). Shooting data from all the cameras 21a to 21l is confirmed on the screen of the PC (S33). The target parts for measuring the width of the truck such as the cab target parts T31 and T32 are pasted in a state where the respective reflecting parts of the target parts of each set face in opposite directions. That is, it is affixed on the outer surface of each side surface of the cab 16 or the packing box 11. By sticking to the outer surface, in particular, the outer dimension of the packing box 11 is measured. As a result, there is no difference between workers in the step of attaching the target portion, and this can lead to an accurate measurement of the width of the truck.

In the photographing process, the front camera 21a and the rear cameras 21f, 21g, and 21h need only be photographing Pa2, Pf2, Pg2, and Ph2. This is because photographing Pa1, Pf1, Pg1, and Ph1 have already been performed in the camera coordinate position determination steps S11 and S12. Thereby, the time loss of duplication work can be omitted and high efficiency can be realized. However, when the accuracy of the shooting data is increased by increasing the number of data, shooting Pa1, Pf1, Pg1, and Ph1 may be performed in the shooting process.
After the photographing process, the coordinate position of each target unit is determined using the photographing data included in the two photographing surfaces R1 and R2 (see FIG. 4).

  After the coordinate position determination step S41, a calculation step S51 of the total length L, the full width W, and the total height H of the truck 1 and a calculation step of the attachment position of the lighting unit 13 are performed (S52). Either of the steps S51 and S52 may be performed first or simultaneously.

  The calculation of the full width W and the like is performed by the first dimension calculator 35a and the dimension selector 35d (S51). For the total length L, one numerical value is calculated. On the other hand, for the full width W, numerical values at a plurality of parts are calculated. The target parts are four sets of cab target parts T31 and T32, packing box front target parts T41 and T42, packing box center target parts T51 and T52, and packing box rear target parts T71 and T72.

  First, the distance from the center line Lc of the lorry 1 to the target units T31, T41, T51, T71 on the right side is calculated. Similarly, distances from the center line Lc to the left target units T32, T42, T52, and T72 are calculated. By calculating these distances and adding them up, four sets of width values T31 and T32, T41 and T42, T51 and T52, and T71 and T72 can be obtained. Next, among these four sets of width values, the maximum value is selected as the full width W of the lorry 1. At this time, not only the width values but also the distances on both the left and right sides from the center line Lc to the side surface are displayed on the PC screen. By displaying the distance from the center line Lc to each part, it is possible to grasp the mounting state of the cargo box 11 on the chassis frame 12. Specifically, by knowing how far each part of the cargo box 11 is from the center line Lc of the truck 1, the cargo box 11 is arranged symmetrically with respect to the center line Lc. Can be determined. Furthermore, the equilibrium state of the cargo box 11 with respect to the chassis frame 12 can also be determined using the height positions of other target parts (for example, the rear target parts T12, T13, etc.).

  In addition, regarding the calculation of the full width of the lorry 1, the distance between the target portions arranged in the vehicle width direction is used. For example, "the distance from the center line Lc to the left front wheel target portion T22" A method of calculating the total value Lt of “the distance from the center line Lc to the right cargo box rear target portion T71” may be used. If the packing box 11 is mounted to be shifted to the right side, or if the rear of the packing box 11 is mounted to be shifted to the right side and inclined with respect to the center line Lc, it is determined by a rear projection view. In this case, since the total value Lt is the maximum value as the width value of the truck 1, the value is further suitable as the entire vehicle width. In this way, a plurality of total values may be calculated using a target portion different from the target portion arranged along the vehicle width direction, and the largest value among them may be set as the vehicle full width value.

  Since the width of the lorry 1 is measured at a plurality of locations, even if the lorry 1 and other types of lorries are continuously brought into the measurement location, simple shape changes and changes in the loading position of the cargo box 11 can be easily performed. Can be confirmed. In addition, even if the shape is slightly different for each lorry to be carried, the operator does not need a long time to examine the optimum part for measuring the full width W.

Moreover, since both the cab 16 and the cargo box 11 are separately mounted on the chassis frame, the mutual position with respect to the center line Lc of the lorry 1 can be compared by measuring both width dimensions. You can also. Since the measurement of the cab 16 and the packing box 11 is performed independently, even if one of them is arranged in an unsuitable state with respect to the chassis frame, it contributes to the quick selection of unsuitable places.
As described above, since the calculation method uses the center line Lc, the following effects are also provided when the number of target portions is increased.

Since the attachment position of the target portion is a corner portion of each part, each set of target portions can be arranged at substantially the same position in the height direction and the front-rear direction. On the other hand, in the case of the cab 16 whose side surface is curved, it is necessary to arrange the target part in addition to the corner part, and the height direction and the front-rear direction position of the left and right target parts are different from the corner part. By comparing the distances from the center line Lc, it can also be determined whether or not the target portion is properly disposed.
After confirming these calculation results, if it is confirmed that there is no calculation error, the truck size calculation process is completed (S54).

  Then, it is determined whether or not the dimension of the truck 1 calculated using the control unit 30 of the PC is a predetermined value (S61), and the data so far is stored (S62).

  In the above dimension measurement method, the inner length, inner width, and inner height are also calculated from the coordinate position of the target portion T101 and the like (see FIG. 3C) disposed on the inner surface of the packing box 11.

  Regarding the dimension measurement method, camera coordinate position determination steps S11 and S12 are set. However, when a method of taking a picture by rotating the camera is employed, the steps S11 and S12 can be omitted. In this case, the size (the vehicle length, the vehicle width, the vehicle height, etc.) of the lorry 1 is grasped in a three-dimensional manner from a plurality of image data captured at a plurality of locations. The center line determination steps S21 to S25 are also performed separately from the photographing steps S31 to S33, but may be performed simultaneously.

  In the present embodiment, the contact members K1 and K2 are used in the center line determination steps S21 to S25. However, as long as the contact members K1 and K2 can contact the front wheels or the rear wheels, the front wheels or the rear wheels as shown in FIG. For example, contact members K11 and K21 having tapered portions K11a and K21a as shown in FIG. 6 are used, and the tapered portions K11a and K21a are arranged on the lower side of the front wheel or the rear wheel. You may just make it contact | abut to a surrounding surface, especially the surrounding surface near a grounding surface. By adopting a configuration that abuts on the peripheral surface close to the ground contact surface, the thickness can be reduced compared to the abutting members K1 and K2 in FIG. 3, and it is easy for the operator to carry and quickly contact the front wheel or the rear wheel. The contact work or the separation work can be performed. Further, the abutting members K11 and K21 can be brought into contact with the left and right front wheels or the rear wheels at the same time, for example, a length having a length equivalent to the width of the lorry 1 as a longitudinal direction. When the abutting members K11 and K21 are provided at both ends of the scale member, the target member Ts1 can be set to the front wheel or the rear wheel only by bringing the long member close to the left or right front wheel or the rear wheel. , Ts2, Ts31, Ts32, Ts41, and Ts42 can be arranged close to each other at the same time. Further, the target portions Ts1, Ts2, Ts31, Ts32, Ts41, Ts42 can be arranged in a line in the width direction of the lorry 1 along the long member, and the contact members K11, K21 are arranged on the left and right front wheels or A virtual line Lt1 (see FIG. 2) connecting the front wheel target portions T21 and T22 and a virtual line Lt2 (see FIG. 2) connecting the center target portions Ts1 and Ts2 of the front wheels are parallel to each other simply by contacting the rear wheels. can do. For this reason, it can be determined in the coordinate position determination step S41 and the like that the virtual lines Lt1 and Lt2 are not parallel. In such a case, erroneous measurement can be prevented early, and re-implementation of measurement can be started early.

  Further, as shown in FIG. 7 (a), if the front wheel 14 is stopped in a state in which the front wheel 14 faces in the left-right direction intersecting with the front-rear direction (vertical direction in the figure) of the lorry 1, Even if the virtual line Lt1 connecting T21 and T22 and the virtual line Lt2 connecting the front wheel center target portions Ts1 and Ts2 are parallel, any virtual line Lt1 or Lt2 faces a direction different from the width direction of the freight vehicle 1. End up. Even in this case, in the present embodiment, the imaginary line Lc connecting the intermediate point P1 of the left and right front wheels 14 and the intermediate point P2 of the left and right rear wheels 15 and the center of the front wheel center target portions Ts1 and Ts2 are used. Since a virtual line Lc1 connecting the point P3 and the center point P5 of the rear wheel center target portions Ts31, Ts32, Ts41, and Ts42 can be calculated, the front-rear direction desired by the front wheel 14 (vertical direction in the figure) can be obtained. It can be judged that it is not suitable. That is, if both virtual lines Lc and Lc1 are compared and it is determined that they do not coincide with each other, the information is transmitted in the center line determination step S25 (see FIG. 5), and the stop position of the lorry 1 or the front wheel 14 The direction can be adjusted again. Therefore, erroneous measurement can be prevented at an early stage, and measurement can be re-executed at an early stage. For the calculation of the intermediate point P5, the intermediate coordinate positions of the center target portions Ts31 and Ts32 arranged with respect to the right rear wheel 15 are calculated, and the intermediate coordinates of the left rear wheel 15 calculated in the same way are calculated. The midpoint on the line connecting the position is calculated. These calculation methods can be appropriately changed depending on the number of center target portions.

  Then, in addition to the contact members K1, K2, K11, and K21 described above, the side surface of the rear wheel 15 is brought into contact with the rear wheel 15 as shown in FIG. The contact member Q can also be used. The abutting member Q has a length equivalent to the width of the lorry 1 and has a guide portion Q1 whose longitudinal direction is the width direction of the lorry 1 and is slidably attached along the guide portion Q1. It has four slide portions Q2 whose longitudinal direction is the longitudinal direction of the automobile 1. A center target portion Ts31, Ts32, Ts41, Ts42 is attached to each of the slide portions Q2.

  The center target portions Ts31, Ts32, Ts41, and Ts42 can be arranged on the left and right rear wheels 15 by the long guide portion Q1, respectively. Further, since the slide portion Q2 can contact the side surface of the rear wheel 15, the center target portions Ts31, Ts32, Ts41, and Ts42 are connected to a virtual line (rear wheel wheel axis direction) Lt3 that connects the rear wheel target portions T61 and T62. Can be arranged in parallel. Furthermore, the target portion Ts31, Ts32, Ts41, Ts42 can be brought close to and abutted against the outer surface of the rear wheel 15 by the slide portion Q2. In addition, although the four slide parts Q2 are provided, it is good also as a structure by which the slide part Q2 was provided so that it might correspond also to the inner surface of adjacent tires.

As described above, by using the contact members K1, K2, K11, K21, and Q, the center line of the truck 1 can be calculated easily and quickly. As a result, both the “determining the wheel position and center line” of the lorry 1 and the “calculating the coordinate position of each part of the cargo box 11 and the vehicle dimensions of the lorry 1” are taken by the cameras 21a to 21l. This can be done based on the data. In particular, in the process of performing at least the center line determination step S25 of the cargo vehicle 1 to the vehicle dimension determination step S54, the lorry 1 is not moved unless the virtual lines Lc, Lc1, Lt1 to Lt4 described above do not match. In the center line determination step S25, it is possible to proceed to the next step while keeping the state stopped at the predetermined position, leading to a great reduction in time in the entire vehicle dimension measurement step.
4). Other

  As described above, in the acquisition of shooting data at a plurality of locations, it is configured that acquisition data at two shooting angles can be acquired at some shooting locations, but this “partial shooting location” is limited to the number described above. Not. In addition, regarding the adjustment of the shooting angle, if at least a part of the shooting part can be obtained at least in the shooting part, if at least a part of the target part attached to the lighting part can be obtained, it is possible to obtain a plurality of shooting points. It is not necessary to perform shooting at the shooting angle. That is, only the photographing centered on the target portion attached to the lighting portion is performed at the position of the camera 21g, and only the photographing not centering on the target portion attached to the lighting portion is performed in the cameras 21f and 21h at the adjacent photographing locations. It is possible to perform desired dimension measurement based on these photographing data.

  In addition, using optical system means such as a camera, etc., but if the lighting in the facility is reflected on the freight car and hinders the accuracy of dimension measurement, cover the part where the light is reflected unnecessarily with a dark curtain etc. It doesn't matter.

  In the above-described embodiment, the first group cameras 21a to 21l are used for image capturing. However, if the coordinate position of each target unit can be grasped and a desired part can be measured, other means can be used. It doesn't matter. For example, means for measuring the distance to the target unit and the coordinate position of the target unit using a laser as an optical system unit is also known. Of course, as long as it can be used for measurement, those having other wavelengths are also applicable.

  The optical system means using the laser includes an output unit that directly outputs laser light to the target unit. Furthermore, when the optical system means includes an input unit that detects and inputs the reflected light of the laser beam from the output unit, the input unit outputs the input data to the coordinate position determination unit 34 described above. Even if the optical system means is not provided with an input unit, an input unit having the same function is separately provided and output to the coordinate position determination unit 34 is performed. Note that the input unit includes a unit that senses a layout where each target unit is placed by sensing with an image sensor, and a unit that detects reflected light and measures the position of each target from the detection time.

  Further, in the lorry 1, there is only one target portion (front side target portion T <b> 11) arranged on the front side. However, when the front end of the lorry is curved or the like, it is necessary to increase the measurement accuracy. It is good also as a structure which has arranged the target part. The dimensions to be measured are not limited to calculating all of the total length, the total width, and the total height, and only one may be calculated.

  In addition, although the above apparatus and method were intended for the lorry 1 in which the cargo box 11 is mounted in the present embodiment, the present invention can also be applied to various types of vehicles. In particular, a similar effect can be obtained for a vehicle (specially equipped vehicle) that carries a vehicle other than the cab on the chassis frame 12 and carries luggage, earth and sand, waste, gas, liquid, or a work machine.

  Since the present invention contributes to the efficiency of dimension measurement, it is useful as a dimension measuring apparatus in a measurement place where various trucks are carried, particularly in a measurement place where a truck equipped with a cargo box is carried.

1 Lorry
DESCRIPTION OF SYMBOLS 11 Packing box 12 Chassis frame 13 Light part 21a-21l Camera (optical system means)
30 control unit 31 external input terminal unit 32 camera selection unit 33 photographing data reading unit 34 coordinate position determination unit 35 dimension calculation unit 35a first dimension calculation unit 35b second dimension calculation unit 35c center line calculation unit 35d dimension selection unit 36 dimension determination Section 37 Data storage section 38 Data output section

Claims (1)

In a truck manufacturing facility,
A target part that is attached to the truck and has a reflecting part that reflects light;
Optical system means for outputting light reflected from the target unit from a plurality of locations to the truck, and determining the coordinate position of the target unit by reflecting light from the optical system means, A control unit for calculating a predetermined dimension;
Is a pallet truck dimension measuring device,
A part of the target part is attached to a lighting part arranged behind the truck,
In the plurality of places, there is provided an output part for a lighting part where light output to at least a part of the target part is performed by the optical system means,
Data of light reflected by the target unit is input to the control unit,
The control unit calculates at least one of a total length, a full width, or a total height of the truck, and calculates a mounting position of the lighting unit based on light data from the output part for the lighting unit. Cargo truck dimension measuring device.

Images