JP7057413B1 - How to assemble the warning light module into the mirror of the rearview mirror - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/02—Rear-view mirror arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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Abstract
【課題】警告灯モジュールをバックミラーの鏡に組み立てる方法に関し、警告灯モジュールの位置ずれを修正する方法を提供する。【解決手段】視覚処理プログラムが領域面積計算、輪郭度計算によってデータ収集を行い、バックミラーの鏡のパターンが警告灯モジュールに対してＸ、Ｙ方向にずれた位置、警告灯モジュールがバックミラーの鏡に対して円周方向にずれた角度を計算し、まとめた後Ｘ、Ｙ、Ｒ方向の位置情報をＰＬＣ制御端子にフィードバックし、更に、ＸとＹ方向に移動するサーボ機構、Ｒ方向に回転して押し下げるサーボ機構によって、目標位置に移動した後、押し下げて精確に位置合わせて貼り付け、貼り付けを完了した後、警告灯を点灯し、ドライバー方向のカメラによって再度撮影し、ドライバー角度の採光が正常か否かを検査する。【選択図】図１PROBLEM TO BE SOLVED: To provide a method for correcting a misalignment of a warning light module with respect to a method of assembling a warning light module into a mirror of a rear-view mirror. SOLUTION: A visual processing program collects data by area area calculation and contour degree calculation, a position where the mirror pattern of the back mirror is displaced in the X and Y directions with respect to the warning light module, and the warning light module is the back mirror. After calculating the angle deviated in the circumferential direction with respect to the mirror and summarizing it, the position information in the X, Y, and R directions is fed back to the PLC control terminal, and further, the servo mechanism that moves in the X and Y directions, in the R direction. After moving to the target position by the servo mechanism that rotates and pushes down, push down to accurately align and paste, and after completing the pasting, turn on the warning light, take a picture again with the camera in the direction of the driver, and set the driver angle. Check if the light is normal. [Selection diagram] Fig. 1
Description
本発明は、車両部品分野に関し、特に、バックミラー死角領域警告灯に関し、具体的には、警告灯モジュールをバックミラーの鏡に組み立てる方法である。 The present invention relates to the field of vehicle parts, particularly to the rear-view mirror blind spot area warning light, and specifically, is a method of assembling a warning light module into a mirror of a rear-view mirror.
車両のバックミラーには一般に視覚死角領域があり、ドライバーが死角領域中の車両を視認できないことになり、死角領域に追い越している車両があれば、この時に車線変更すると、衝突事故が発生してしまう。雷雨や濃霧の天気、光線が暗い夜間等の悪い環境では、ドライバーが後方車両を視認することが一層困難になり、この時に車線変更がより危険なことになる。バックミラーの視覚死角領域を解消するために、死角監視システムがその機運に応じて生まれた。 The rear-view mirror of a vehicle generally has a visual blind spot area, which makes it impossible for the driver to see the vehicle in the blind spot area. It ends up. In adverse environments such as thunderstorms, dense fog, and dark nights, it becomes even more difficult for the driver to see the vehicle behind, which makes changing lanes more dangerous. In order to eliminate the visual blind spot area of the rear-view mirror, a blind spot monitoring system was born according to the momentum.
死角監視システムは、車線変更補助システムとも呼ばれ、英語でＢＳＭ（Ｂｌｉｎｄ Ｓｐｏｔ Ｍｏｎｉｔｏｒ）又はＢＬＩＳ（Ｂｌｉｎｄ Ｓｐｏｔ Ｉｎｆｏｒｍａｔｉｏｎ Ｓｙｓｔｅｍ）と略称され、バックミラーの死角領域を解消することを主な機能としている。電子制御器によって、左右の２つのバックミラー内又は他のところでドライバー後方の安全範囲に障害物又は後続車があるか否かを監視する。死角監視システムの警告灯は、一般にバックミラーに取り付けられ、後方安全範囲に障害物又は後続車がある時に、警告光を発光してドライバーに対して注意を促す。 The blind spot monitoring system, also called a lane change assist system, is abbreviated as BSM (Blind Spot Monitor) or BLIS (Blind Spot Information System) in English, and its main function is to eliminate the blind spot area of the rear-view mirror. An electronic controller monitors the safety area behind the driver in the two rear-view mirrors on the left and right or elsewhere to see if there are any obstacles or vehicles behind. The warning light of the blind spot monitoring system is generally attached to the rear-view mirror and emits a warning light to alert the driver when there is an obstacle or a following vehicle in the rear-view safety range.
死角監視システムの警告灯モジュールは、一般に貼り付けることでバックミラーの鏡の対応するパターン位置に組み立てられる。米国特許第９７６９９３０号明細書には、映像などの技術によって２種の部品（警告灯モジュールとバックミラーの鏡の対応するパターン）の間の正確な位置合わせを実現する、警告灯を位置付けて組み立てる方法が開示されている。しかしながら、警告灯モジュールを位置付けて組み立てる過程で、部品自身の些細な欠陥のため位置合わせが不正確になり、ドライバー方向から視認する光形に差異があるという実際の問題が発生する。例えば、モジュール点灯中に膜の縁部又は非形状領域に光漏れなどが発生した時に、位置合わせの計算にずれが発生して、実際に正確に貼り付けられない現象を引き起こしてしまう。 The warning light module of the blind spot monitoring system is generally assembled in the corresponding pattern position of the rearview mirror by pasting. U.S. Pat. No. 9,769,930 states and assembles warning lights that provide accurate alignment between two components (corresponding patterns of warning light modules and rear-view mirror mirrors) using techniques such as video. The method is disclosed. However, in the process of positioning and assembling the warning light module, there is an actual problem that the alignment becomes inaccurate due to a minor defect of the part itself, and there is a difference in the light shape visually recognized from the driver direction. For example, when light leakage occurs at the edge of the film or in a non-shaped area while the module is lit, a deviation occurs in the alignment calculation, which causes a phenomenon that the film cannot be actually attached accurately.
本発明は、上述した問題に対して、精確に位置付けることができる、警告灯モジュールをバックミラーの鏡に組み立てる方法を提供することを主な目的とする。 An object of the present invention is to provide a method for assembling a warning light module into a mirror of a rear-view mirror, which can be accurately positioned for the above-mentioned problems.
上記目的を実現するために、本発明は、具体的には、
バックミラーの鏡を第１の位置付け装置に置き、警告灯モジュールを第２の位置付け装置に置くステップと、
Ｒ方向に回転して押し下げるサーボ機構によって、警告灯モジュールを第１の撮影位置に移動し、警告灯モジュールを点灯せずに第１のカメラにより警告灯モジュールに対して１回目の撮影を行うステップと、
１回目の撮影による画像に基づいて、視覚処理プログラムにより警告灯モジュールが第１の撮影位置にあった時の座標を確定するステップと、
ＸとＹ方向に移動するサーボ機構によって、バックミラーの鏡を第２の撮影位置に移動し、警告灯モジュールを点灯せずに第１のカメラによりバックミラーの鏡のパターンに対して２回目の撮影を行うステップと、
２回目の撮影による画像に基づいて、視覚処理プログラムによりバックミラーの鏡のパターンが第２の撮影位置にあった時の座標を確定するステップと、
２回の撮影画像の座標に基づいて、バックミラーの鏡のパターンと警告灯モジュールとの間の座標差分値を取得し、座標差分値に基づいて、ＸとＹ方向に移動するサーボ機構によりバックミラーの鏡のパターンを移動し、又はＲ方向に回転して押し下げるサーボ機構により警告灯モジュールを回転するステップと、
Ｒ方向に回転して押し下げるサーボ機構によって、警告灯モジュールをバックミラーの鏡のパターンに押し下げるステップと、を含む警告灯モジュールをバックミラーの鏡に組み立てる方法を用いる。
In order to achieve the above object, the present invention specifically,
The step of placing the mirror of the rearview mirror in the first positioning device and the warning light module in the second positioning device,
A step in which the warning light module is moved to the first shooting position by a servo mechanism that rotates in the R direction and is pushed down, and the first camera shoots the warning light module for the first time without turning on the warning light module. When,
Based on the image taken by the first shooting, the step of determining the coordinates when the warning light module is in the first shooting position by the visual processing program, and
The servo mechanism that moves in the X and Y directions moves the mirror of the rear-view mirror to the second shooting position, and the first camera moves the mirror of the rear-view mirror to the second shooting position without turning on the warning light module. The steps to shoot and
Based on the image from the second shooting, the step of determining the coordinates when the mirror pattern of the rear-view mirror is at the second shooting position by the visual processing program,
Based on the coordinates of the two shot images, the coordinate difference value between the mirror pattern of the rearview mirror and the warning light module is acquired, and based on the coordinate difference value, it is backed by a servo mechanism that moves in the X and Y directions. The step of rotating the warning light module by the servo mechanism that moves the mirror pattern of the mirror or rotates it in the R direction and pushes it down.
A method is used in which the warning light module is assembled into the rear-view mirror mirror, including the step of pushing the warning light module down into the rear-view mirror mirror pattern by a servo mechanism that rotates and pushes down in the R direction.
好ましくは、バックミラーの鏡のパターンと警告灯モジュールとの間の座標差分値は、バックミラーの鏡のパターンの警告灯モジュールに対するＸ、Ｙ方向での差分値Ｄｅｌｔａ＿ＸとＤｅｌｔａ＿Ｙ及び警告灯モジュールのバックミラーの鏡のパターンに対する円周方向での差分値Ｄｅｌｔａ＿Ｒを含む。 Preferably, the coordinate difference value between the mirror pattern of the rearview mirror and the warning light module is the difference values Delta_X and Delta_Y in the X and Y directions with respect to the warning light module of the mirror pattern of the rearview mirror and the back of the warning light module. Includes the difference value Delta_R in the circumferential direction with respect to the mirror pattern of the mirror.
好ましくは、第１のカメラは縦方向カメラである。 Preferably, the first camera is a vertical camera.
好ましくは、警告灯モジュールをバックミラーの鏡のパターンに押し下げた後、警告灯を点灯し、ドライバー方向に位置する第２のカメラにより撮影し、パターンの輝度、発光面積及び／又は図形位置を検出する。 Preferably, after pushing the warning light module down into the mirror pattern of the rearview mirror, the warning light is turned on and photographed by a second camera located in the direction of the driver to detect the brightness, emission area and / or graphic position of the pattern. do.
好ましくは、第１のカメラにより警告灯モジュールに対して１回目の撮影を行う時に、補助光源によって警告灯モジュールに光を補充し、第１のカメラによりバックミラーの鏡のパターンに対して２回目の撮影を行う時に、補助光源によりバックミラーの鏡のパターンに光を補充する。 Preferably, when the warning light module is first photographed by the first camera, the warning light module is replenished with light by the auxiliary light source, and the second camera is used to replenish the warning light module with respect to the mirror pattern of the back mirror. When shooting, the auxiliary light source replenishes the mirror pattern of the back mirror with light.
本発明に係る警告灯モジュールをバックミラーの鏡に組み立てる方法を採用した場合、警告灯モジュールが点灯していない状態で、映像デバイスが２回の撮影を行って、警告灯モジュールの位置を取得し且つバックミラーの鏡のパターンの位置を確定し、警告灯モジュールのバックミラーの鏡のパターンに対する歪みを防止する。 When the method of assembling the warning light module according to the present invention to the mirror of the rear-view mirror is adopted, the video device takes two pictures with the warning light module not lit to acquire the position of the warning light module. Moreover, the position of the mirror pattern of the rear-view mirror is fixed, and the distortion of the rear-view mirror of the warning light module with respect to the mirror pattern is prevented.
本発明の技術的解決手段をより明瞭に説明するために、以下、具体的な実例を参照しながら更に詳述する。 In order to explain the technical solution of the present invention more clearly, the following will be described in more detail with reference to specific examples.
図１～図３に示すように、本発明による警告灯モジュールをバックミラーの鏡に組み立てる方法は、具体的なステップが以下のとおりである。
（１）バックミラーの鏡を人力で第１の位置付け装置に置き、ＸとＹ方向に移動するサーボ機構を配置し、バックミラーの鏡のＸ方向とＹ方向での移動を実現する。
（２）警告灯モジュールを人力で第２の位置付け装置に置き、Ｒ方向に回転して押し下げるサーボ機構を配置し、警告灯モジュールのＲ方向を巡った回転及びＲ方向の降下を実現する。
（３）組み立てシステム全体を起動する。
（４）Ｒ方向に回転して押し下げるサーボ（圧入取付）機構によって、警告灯モジュールを第１の撮影位置に降下させ、補助環境光源により警告灯モジュールに光を補充し、縦方向カメラにより警告灯モジュールに対して１回目の撮影を行う。
（５）１回目の撮影による画像に基づいて、視覚処理プログラムにより処理し、第１の所定のパターンに対して図形を対応付け、且つ警告灯モジュールが第１の撮影位置にあった時のＸ、Ｙ、Ｒ方向の座標値を確定する。
（６）ＸとＹ方向に移動するサーボ機構によって、設定されたバックミラーの鏡のパターンのＸ、Ｙ座標値に基づいて、バックミラーの鏡のパターンを第２の撮影位置に移動し、補助環境光源によりバックミラーの鏡のパターンに光を補充し、縦方向カメラによりバックミラーの鏡のパターンに対して２回目の撮影を行う。
（７）２回目の撮影による画像に基づいて、視覚処理プログラムにより処理し、第２の所定のパターンに対して図形を対応付け、且つバックミラーの鏡のパターンが第２の撮影位置にあった時のＸ、Ｙ、Ｒ方向の座標値を確定する。
（８）２回の撮影によるＸ、Ｙ、Ｒ値に基づいて、視覚処理プログラムにより、バックミラーの鏡のパターンの警告灯モジュールに対するＸ、Ｙ方向での差分値Ｄｅｌｔａ＿ＸとＤｅｌｔａ＿Ｙ及び警告灯モジュールのバックミラーの鏡のパターンに対する円周方向での差分値Ｄｅｌｔａ＿Ｒを算出する。
（９）Ｄｅｌｔａ＿Ｘ、Ｄｅｌｔａ＿Ｙ、Ｄｅｌｔａ＿ＲをＰＬＣ（Ｐｒｏｇｒａｍｍａｂｌｅ Ｌｏｇｉｃ Ｃｏｎｔｒｏｌｌｅｒ）に伝送し、ＰＬＣによりＸ方向、Ｙ方向、Ｒ方向のサーボ運動を制御し、Ｄｅｌｔａ＿Ｘ、Ｄｅｌｔａ＿Ｙ、Ｄｅｌｔａ＿Ｒの３つの差分値の補償を完成する。
（１０）押し下げ機構により警告灯モジュールをバックミラーの鏡のパターンに押し付け、警告灯モジュールを点灯し、ドライバー方向角度のカメラによって、圧入取付を完了した後の警告灯と外部鏡全体パターンの輝度、発光面積、図形位置の検出を完成し、設定された上下限値、下限値に基づいて組み立てが成功したか否かを判断する。
As shown in FIGS. 1 to 3, the method for assembling the warning light module according to the present invention into the mirror of the rear-view mirror has the following specific steps.
(1) The mirror of the rear-view mirror is manually placed on the first positioning device, and a servo mechanism that moves in the X and Y directions is arranged to realize the movement of the mirror in the rear-view mirror in the X and Y directions.
(2) The warning light module is manually placed in the second positioning device, and a servo mechanism that rotates in the R direction and pushes down is arranged to realize rotation of the warning light module around the R direction and descent in the R direction.
(3) Start the entire assembly system.
(4) The warning light module is lowered to the first shooting position by the servo (press-fit mounting) mechanism that rotates and pushes down in the R direction, the warning light module is replenished with light by the auxiliary environmental light source, and the warning light by the vertical camera. Take the first shot of the module.
(5) X when the image is processed by the visual processing program based on the image obtained by the first shooting, the figure is associated with the first predetermined pattern, and the warning light module is in the first shooting position. , Y, R direction coordinate values are fixed.
(6) The servo mechanism that moves in the X and Y directions moves the mirror pattern of the back mirror to the second shooting position based on the set X and Y coordinate values of the mirror pattern of the back mirror, and assists. Light is replenished to the pattern of the mirror of the back mirror by the environmental light source, and the second image is taken with respect to the pattern of the mirror of the back mirror by the vertical camera.
(7) Based on the image obtained by the second shooting, the visual processing program processes the figure, the figure is associated with the second predetermined pattern, and the mirror pattern of the rear-view mirror is in the second shooting position. Determine the coordinate values in the X, Y, and R directions of the hour.
(8) Difference values in the X and Y directions with respect to the warning light module of the mirror pattern of the rear-view mirror based on the X, Y and R values obtained by the two shots Delta_X and Delta_Y and the warning light module. The difference value Delta_R in the circumferential direction with respect to the mirror pattern of the rear-view mirror is calculated.
(9) Delta_X, Delta_Y, and Delta_R are transmitted to a PLC (Programmable Logical Controller), the servo motions in the X, Y, and R directions are controlled by the PLC, and the compensation of the three differences of Delta_X, Delta_Y, and Delta_R is completed. do.
(10) The warning light module is pressed against the mirror pattern of the rear-view mirror by the push-down mechanism, the warning light module is turned on, and the brightness of the warning light and the entire pattern of the external mirror after the press-fitting installation is completed by the camera at the driver direction angle. The detection of the light emitting area and the figure position is completed, and it is judged whether or not the assembly is successful based on the set upper and lower limit values and the lower limit value.
そのうち、第１の位置付け装置と第２の位置付け装置は、左右部材認識センサーを配置してよく、ＸとＹ方向に移動するサーボ機構は、復帰、限界検出スイッチを配置してよい。ＸとＹ方向に移動するサーボ機構、Ｒ方向に回転して押し下げるサーボ機構は、サーボモーターとねじ機構を用いて実現してよい。 Among them, the first positioning device and the second positioning device may be arranged with the left and right member recognition sensors, and the servo mechanism moving in the X and Y directions may be arranged with a return / limit detection switch. A servo mechanism that moves in the X and Y directions and a servo mechanism that rotates in the R direction and pushes down may be realized by using a servomotor and a screw mechanism.
本発明による警告灯モジュールをバックミラーの鏡に組み立てる方法は、視覚処理プログラムが領域面積計算、輪郭度計算によってデータ収集を行い、バックミラーの鏡のパターンが警告灯モジュールに対してＸ、Ｙ方向にずれた位置、警告灯モジュールがバックミラーの鏡に対して円周方向にずれた角度を計算し、まとめた後Ｘ、Ｙ、Ｒ方向の位置情報をＰＬＣ制御端子にフィードバックし、更に、ＸとＹ方向に移動するサーボ機構、Ｒ方向に回転して押し下げるサーボ機構によって、目標位置に移動した後、押し下げて精確に位置合わせて貼り付け、貼り付けを完了した後、警告灯を点灯し、ドライバー方向の映像機構によって再度撮影し、ドライバー角度の採光が正常か否かを検査する。 In the method of assembling the warning light module to the mirror of the back mirror according to the present invention, the visual processing program collects data by area area calculation and contour degree calculation, and the mirror pattern of the back mirror is in the X and Y directions with respect to the warning light module. The position shifted to, the warning light module calculates the angle shifted in the circumferential direction with respect to the mirror of the back mirror, and after summarizing, the position information in the X, Y, R directions is fed back to the PLC control terminal, and further, X With the servo mechanism that moves in the Y direction and the servo mechanism that rotates in the R direction and pushes down, after moving to the target position, push down and paste it in the correct position, and after completing the pasting, turn on the warning light and turn on the warning light. Take a picture again with the image mechanism in the direction of the driver, and check whether the light collection at the driver angle is normal.
点灯していない状態で撮影することで、点灯した後膜の縁部の散乱及び膜自身の欠陥による光漏れのため計算歪みが発生することを防止可能である。それと同時に、警告灯モジュールの左右ＰＣＢが間違って取り付けられたか否か、膜が筐体に取り付けられた否か、左右膜が間違って貼り付けられたか否かなどを検出する。 By taking a picture in a state where it is not lit, it is possible to prevent calculation distortion from occurring due to scattering of the edge of the lit posterior film and light leakage due to a defect of the film itself. At the same time, it detects whether the left and right PCBs of the warning light module are erroneously attached, whether the film is attached to the housing, and whether the left and right films are erroneously attached.
この明細書では、本発明について、その特定の実施例を参照して説明した。ただし、本発明の精神と範囲を逸脱することなく様々な修正や変換を加えるのができることはいうまでもない。従って、明細書は、限定する意図がなく、説明するためのものであると考えるべきである。 The present invention has been described herein with reference to its particular embodiments. However, it goes without saying that various modifications and conversions can be made without departing from the spirit and scope of the present invention. Therefore, the specification is not intended to be limiting and should be considered as an explanation.
Claims (5)
Ｒ方向に回転して押し下げる第１のサーボ機構によって、前記警告灯モジュールを第１の撮影位置に移動し、前記警告灯モジュールを点灯せずに第１のカメラにより前記警告灯モジュールを撮影する第１撮影ステップと、
前記第１撮影ステップで取得した画像に基づいて、視覚処理プログラムにより前記警告灯モジュールが前記第１の撮影位置にあった時の座標を確定する第１座標確定ステップと、
Ｘ方向とＹ方向のそれぞれに移動する第２のサーボ機構によって、前記バックミラーの鏡を第２の撮影位置に移動させ、前記警告灯モジュールを点灯せずに前記第１のカメラにより前記バックミラーの鏡のパターンを撮影する第２撮影ステップと、
前記第２撮影ステップで取得した画像に基づいて、前記視覚処理プログラムにより前記バックミラーの鏡のパターンが前記第２の撮影位置にあった時の座標を確定する第２座標確定ステップと、
前記第１撮影ステップで得た画像と前記第２撮影ステップで得た画像の座標に基づいて、前記バックミラーの鏡のパターンと前記警告灯モジュールとの間の座標差分値を取得し、前記座標差分値に基づいて、前記第２のサーボ機構により前記バックミラーの鏡を移動させ、又は前記第１のサーボ機構により前記警告灯モジュールを回転させる座標修正ステップと、
前記第１のサーボ機構によって、前記警告灯モジュールを前記バックミラーの鏡のパターンに押し下げる押し下げステップと、を含むことを特徴とする警告灯モジュールをバックミラーの鏡に組み立てる方法。 A placement step in which the mirror of the rearview mirror is placed in the first positioning device and the warning light module is placed in the second positioning device.
The first servo mechanism that rotates in the R direction and pushes down moves the warning light module to the first shooting position, and the first camera shoots the warning light module without lighting the warning light module. 1 shooting step and
Based on the image acquired in the first shooting step, the first coordinate determination step of determining the coordinates when the warning light module is in the first shooting position by the visual processing program,
The mirror of the rear-view mirror is moved to the second shooting position by the second servo mechanism that moves in each of the X direction and the Y direction, and the rear-view mirror is moved by the first camera without turning on the warning light module. The second shooting step to shoot the mirror pattern of
Based on the image acquired in the second shooting step, the second coordinate determination step of determining the coordinates when the mirror pattern of the rear-view mirror is at the second shooting position by the visual processing program.
Based on the coordinates of the image obtained in the first shooting step and the image obtained in the second shooting step, the coordinate difference value between the mirror pattern of the rear-view mirror and the warning light module is acquired, and the coordinates are obtained. A coordinate correction step of moving the mirror of the rear-view mirror by the second servo mechanism or rotating the warning light module by the first servo mechanism based on the difference value.
A method of assembling a warning light module into a mirror of a rearview mirror, comprising a push- down step of pushing the warning light module down into a mirror pattern of the rearview mirror by the first servo mechanism.
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