JPH11161711A - System for estimating accident automobile repair cost by three-dimensional stereoscopic measurement and method and method for setting estimate - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a system and method for estimating accident automobile repair costs by three-dimensional stereoscopic measurement in which the quantitative measurement of the shape of an accident automobile can be operated by using a three-dimensional stereoscopic measuring method, the estimation of the repair costs of the accident automobile can be simply operated, and accuracy can be obtained. SOLUTION: The shape data of an accident automobile are obtained by using a pointing device(PD) capable of three-dimensional positioning, and the irradiation of a laser beam, ultrasonic wave, or counter line pattern. The obtained shape data of the accident automobile and the shape data of a non- accident automobile are compared and synthesized so that the three-dimensional shape of the shape of the accident automobile can be restored. The damaged site of the accident automobile are quantitatively captured and specified from the restored three-dimensional shape of the accident automobile. Thus, body distortion or the like can be quantitatively captured in an estimation stage, and following estimate preparation can be quickly and exactly attained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for estimating the cost of repairing an accident vehicle, and more particularly to measuring the shape and the like of an accident vehicle by using a three-dimensional three-dimensional measurement method and based on the measured data. The present invention relates to an accident vehicle repair cost estimation system, an estimate book setting means and a method based on three-dimensional measurement for estimating an accident vehicle repair cost.

[0002]

2. Description of the Related Art In a conventional method for estimating an accident vehicle, an estimation worker observes the accident vehicle with the naked eye or a photographed image to judge damage, examines a damaged portion and a damaged component, and examines the damaged component. The index (value multiplied by the unit price set as appropriate) and other repair costs were determined to estimate the overall repair cost.

However, in the above-described method of judging damage by observing the accident vehicle with the naked eye or a photographed image,
The ambiguity due to the subjectivity of the estimating worker was inevitable, and there was a large variation in the estimation due to the experience and intuition of the estimating worker.

[0004]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problem. By measuring the shape of an accident vehicle by using a three-dimensional three-dimensional measurement method, an object of the invention can be improved. Since it is possible to obtain objective quantitative data on vehicles, based on this data, an estimate operator can estimate the repair cost with little variation. It is to provide a setting means and a method.

[0005]

According to the first aspect of the present invention,
A shape measurement data input device for inputting shape measurement data of an accident vehicle, a coordinate measurement device for measuring by irradiating three-dimensional coordinate position data where the shape measurement data input device exists, and a shape of the vehicle Vehicle shape storage means for holding information, shape measurement data transferred from the shape measurement data input device, coordinate position data transferred from the coordinate measurement device, and vehicle shape transferred from the vehicle shape storage means And a quotation creating means for creating a quotation based on the quotation data transferred from the quotation setting means. In the accident vehicle repair cost estimation system based on three-dimensional measurement, the shape measurement data input device includes a detection unit that detects a contact state with the accident vehicle, and a shape measurement of the accident vehicle. A starting point designating means for designating a starting point, and end point specifying means for specifying the end point of the accident vehicle shape measurement,
A light receiving unit that receives light emitted from the coordinate measuring device,
From the shape measurement data input device to the quote setting means,
Means for transferring shape measurement data obtained by the detection unit, the start point designation means, the end point designation means, or the light receiving unit, wherein the coordinate measuring device emits light from three directions to the shape measurement data input device. Irradiating means, and means for transferring coordinate position data of the shape measurement data input device to the estimate setting means, wherein the vehicle shape storage means includes data relating to the shape of a non-accident vehicle, Letter setting means, based on the shape measurement data transferred from the shape measurement data input device and the coordinate position data transferred from the coordinate measurement device,
Calculating means for calculating the coordinate position of the light receiving section, correcting means for calculating the coordinate position of the detecting section from the coordinate position of the light receiving section obtained by the calculating means, and the coordinate position of the detecting section obtained by the correcting means; Restoring means for restoring the three-dimensional shape of the accident vehicle by synthesizing the data on the shape of the non-accident vehicle transferred from the vehicle shape storage means, From the dimensional shape, a judging means for judging whether or not there is a damaged part exceeding the sheet metal correction limit, and when the judging means judges that there is no damaged part exceeding the sheet metal correction limit, the sheet metal correction according to the damaged part is performed. There is provided a selection means for selecting an estimate, and means for transferring the estimate selected by the selection means to the estimate creation means.

According to a second aspect of the present invention, in the first aspect, the shape measurement data input device further includes transmitting means for transmitting coordinate position data of the shape measurement data input device. The apparatus may further include a position sensor that senses the coordinate position data transmitted from the transmitting unit in three directions and measures the coordinate position data.

According to a third aspect of the present invention, there is provided a shape measuring device for measuring a shape of an accident vehicle, a vehicle shape storing means for storing information on a shape of the vehicle, shape measuring data transferred from the shape measuring device, Estimate setting means for selecting an estimate of the repair cost of the accident vehicle based on the vehicle shape information transferred from the vehicle shape storage means, and an estimate based on the estimate data transferred from the estimate setting means In the accident vehicle repair cost estimating system based on three-dimensional stereo measurement having a quotation creating means for creating the accident vehicle, the shape measuring device emits light to the accident vehicle from the left, right, front, rear, and upper sides of the accident vehicle A plurality of light-receiving devices for receiving light emitted from the light-emitting device and reflected on the left, right, front and rear, and upper sides of the accident vehicle, and the light-emitting device to the estimate setting means. Equipment Transfer means for transferring data relating to light and data relating to light reception of the light receiving device, wherein the vehicle shape storage means includes data relating to the shape of a non-accident vehicle, and the estimate setting means is transferred by the transfer means. Distance calculating means for obtaining a distance between the accident vehicle and each of the plurality of light emitting devices, based on data on light emission of the light emitting device and data on light reception of the light receiving device, obtained by the distance calculating means. A restoring means for restoring the three-dimensional shape of the accident vehicle by synthesizing the distance and the data relating to the shape of the non-accident vehicle transferred from the vehicle shape storage means; and Determining means for determining, from the three-dimensional shape of the accident vehicle, whether or not there is a damaged portion exceeding the sheet metal correction limit;
If it is determined that there is no damaged part exceeding the sheet metal correction limit,
There is provided a selecting means for selecting an estimate for sheet metal correction in accordance with the damaged part, and means for transferring the estimate selected by the selecting means to the estimate creating means.

According to a fourth aspect of the present invention, in the third aspect, the shape measuring device includes a plurality of transmitters for transmitting ultrasonic waves to the accident vehicle from left, right, front, rear, and upper sides of the accident vehicle. A plurality of wave receiving devices for receiving ultrasonic waves transmitted from the wave transmitting device and reflected on the left, right, front and rear sides, and the upper side of the accident vehicle; and Transfer means for transferring data relating to the transmission of the device and data relating to the reception of the reception device, wherein the distance calculation means comprises: the data relating to the transmission of the transmission device transferred by the transfer means; The distance between the accident vehicle and each of the plurality of wave transmitting devices can be obtained based on the data regarding the wave reception of the device.

According to a fifth aspect of the present invention, in the third aspect, the shape measuring device is configured to detect the angle of the accident vehicle from an obliquely upward angle.
A pattern light irradiating device for irradiating the accident vehicle with a pattern of a contour line pattern, and photographing the shape data of the accident vehicle including the contour line pattern illuminated on the accident vehicle from an obliquely upper angle of the accident vehicle An image capturing apparatus; and a transfer unit configured to transfer data related to irradiation of the pattern light irradiating apparatus and shape data of the accident vehicle including the contour pattern captured by the image capturing apparatus to the estimate setting unit, The shape storage means includes shape data of the uninjured vehicle including the contour line pattern irradiated on the uninjured vehicle, and the estimate setting unit stores the contour pattern of the accident vehicle transferred from the shape measuring device. Compare the shape data of the accident vehicle including the shape data including the contour line pattern of the non-accident vehicle transferred from the vehicle shape storage means. Further comprising a comparison means, the restoring means can restore the accident vehicle shape based on a comparison of said comparing means.

According to a sixth aspect of the present invention, in the estimate setting means in the accident vehicle repair cost estimating system based on three-dimensional measurement, the shape measurement transferred from the shape measurement data input device for inputting the shape measurement data of the accident vehicle. Data and
Based on the coordinate position data transferred from the coordinate measuring device that measures the three-dimensional coordinate position data in which the shape measurement data input device is present, the coordinates of the light receiving unit that receives the light emitted from the coordinate measuring device Calculating means for obtaining a position; correcting means for obtaining a coordinate position of a detecting part for detecting a contact state with the accident vehicle from the coordinate position of the light receiving part obtained by the calculating means; and detecting the position obtained by the correcting means. Restoring means for restoring the three-dimensional shape of the accident vehicle by synthesizing the coordinate position of the part and the data relating to the shape of the uninjured vehicle transferred from the vehicle shape storage means for retaining information relating to the shape of the vehicle; 3 of the accident vehicle restored by means
From the dimensional shape, a judging means for judging whether or not there is a damaged part exceeding the sheet metal correction limit, and when the judging means judges that there is no damaged part exceeding the sheet metal correction limit, the sheet metal correction according to the damaged part is performed. There is provided a selection means for selecting an estimate, and means for transferring the estimate selected by the selection means to the estimate creation means.

According to a seventh aspect of the present invention, there is provided an estimate book setting means in the accident vehicle repair cost estimation system based on three-dimensional measurement, wherein the estimate book setting means comprises:
From the front and rear, and from the upper side, data on the light emission of the plurality of light emitting devices that project on the accident vehicle, from the left and right sides, front and rear sides, and from the upper side, where the light emitting device emits light and reflects from the accident vehicle Distance calculating means for obtaining a distance between the accident vehicle and each of the plurality of light emitting devices based on data on light reception of the plurality of light receiving devices for receiving the light, and the distance obtained by the distance calculating means Restoration means for restoring the three-dimensional shape of the accident vehicle by combining the data on the shape of the uninjured vehicle transferred from the vehicle shape storage means holding information on the shape of the vehicle, and restoration by the restoration means A determining means for determining whether or not there is a damaged portion exceeding the sheet metal correction limit from the three-dimensional shape of the accident vehicle thus determined; Board according to the part Comprises selecting means for selecting an estimate of the correction, and means for transferring the estimate selected by the selecting unit to quote creation means.

According to an eighth aspect of the present invention, in the seventh aspect, the distance calculating means transmits a plurality of ultrasonic waves to the accident vehicle from right, left, front, rear, and upper sides of the accident vehicle. The data related to the transmission of the device and the data related to the reception of a plurality of reception devices that receive ultrasonic waves from the left and right sides, the front and rear sides, and the upper side that are transmitted by the transmission device and reflected from the accident vehicle. The distance between the accident vehicle and each of the plurality of wave transmitting devices can be determined based on the distance.

According to a ninth aspect of the present invention, in the ninth aspect, the estimate setting means includes a shape of the accident vehicle including a contour line pattern of the accident vehicle transferred from a shape measuring device for measuring the shape of the accident vehicle. Data, and comparison means for comparing the shape data transferred from the vehicle shape storage means holding the shape data of the uninjured vehicle including the contour line pattern irradiated to the uninjured vehicle, wherein the restoration means is provided. The shape of the accident vehicle can be restored based on the comparison by the comparison means.

According to a tenth aspect of the present invention, there is provided a shape measurement data input step of inputting shape measurement data of an accident vehicle using a shape measurement data input device, and a three-dimensional coordinate position data in which the shape measurement data input device exists. A coordinate measuring step of measuring by a coordinate measuring device, shape measuring data obtained by the shape measuring data inputting step, coordinate position data obtained by the coordinate measuring step, and a vehicle shape memory storing a shape of the accident-free vehicle. An estimate setting step for setting an estimate of the repair cost of the accident vehicle based on the information on the shape of the vehicle obtained from the means; and an estimate forming an estimate based on the estimate data obtained by the estimate setting step. In the method for estimating the cost of repairing an accident vehicle by three-dimensional three-dimensional measurement, the method further comprising: A light receiving step of receiving light emitted from the coordinate measuring device at a light receiving unit, a detecting step of detecting a contact state with the accident vehicle by a detection unit, and a starting point specifying step of specifying a starting point of shape measurement of the accident vehicle, An end point designating step for designating an end point of the shape measurement of the accident vehicle, and from the shape measurement data input step to the estimate setting step, obtained by the light receiving step, the detection step, the starting point designating step, or the end point designating step. Transferring the shape measurement data, wherein the coordinate measurement step includes: irradiating the shape measurement data input device with light from three directions; and transmitting the shape measurement data to the estimate setting step. Transferring the coordinate position data, wherein the estimate setting step includes inputting the shape measurement data. A calculation step of obtaining a coordinate position of the light receiving unit based on the shape measurement data obtained in the step and the coordinate position data obtained in the coordinate measuring step; and Correcting the coordinate position of the detection unit from the coordinate position, synthesizing the coordinate position of the detection unit obtained in the correction step, and the data related to the shape of the non-accident vehicle obtained from the vehicle shape storage means. A restoring step of restoring the three-dimensional shape of the accident vehicle, and a judging step of judging from the three-dimensional shape of the accident vehicle restored by the restoring step whether there is a damaged part exceeding a sheet metal correction limit. When the determining step determines that there is no damaged portion exceeding the sheet metal correction limit, a selection step for selecting an estimate of the sheet metal correction according to the damaged portion. And a step of transferring the estimate selected by the selection step to an estimate creation step.

[0015]

Embodiments of the present invention will be described below in detail with reference to the drawings.

Embodiment 1 FIG. 1 is a schematic diagram illustrating a repair estimation system and method based on three-dimensional three-dimensional measurement of an accident vehicle using a measuring pointing device according to an embodiment of the present invention. .

In FIG. 1, a pointing device (PD) 10 capable of three-dimensional positioning is used to trace the surface of an accident vehicle at the tip of the PD while three-dimensionally positioning the tip of the PD.

FIG. 2 shows only the tracing movement of the PD 20. The surface position data obtained in this way is subjected to continuity processing to reproduce and display the approximate value of the line / surface shape, and to quantitatively grasp, restore, and specify the shape of the accident vehicle. In addition, by linking with shape specification data (images and dimensions, etc.) of the vehicle stored and stored in advance (including sampling in advance), it is extremely easy to quantitatively grasp the vehicle shape corresponding to each vehicle type. Become. In addition, it becomes possible to quantitatively grasp the vehicle body distortion and the like which can be grasped only after fixing to the repair jig and removing the outer panel and the like in the estimation stage.

FIG. 3 shows the area required for paint repair by using PD30.
The method of tracing is shown.

In FIG. 3, the range in which paint repair is required is P
By tracing the outer contour using D30 and specifying the range, position size, and the like, the user can easily grasp the contour. By this, the paint repair range is quantitatively grasped including its position and size, and the paint index (depending on the size depending on the part)
Can be automatically calculated.

FIG. 4 shows the case where the coating work area (44) extends over two damaged parts (40, 42). size,
The painting work and index differ depending on the position and whether or not it covers other damaged parts. Extremely troublesome index calculation when the coating range extends over two or more parts (indexes such as whether or not there is a blur treatment in the coating depending on the part to be spread, the position of the range, the size, etc.) are automatically calculated and immediately reflected in the estimate I can do it.

The method of measuring the shape data of an accident vehicle according to the present invention using a PD will be described below.

Measuring Method 1 (1) A head light receiving section is provided on the head of the PD, and a detecting section for detecting a contact state is provided at the tip of the PD.

(2) Light such as infrared rays is applied to the PD head light receiving portion from a position obliquely above the PD (in three directions).

(3) The coordinate position of the head light receiving section is determined by analyzing the phase difference of the vector, detecting the distance, and the like.

(4) Position correction from the head light receiving section to the tip is performed (the position is corrected in consideration of other factors such as the tilt of the PD, the distance to the tip, and the like).

(5) In addition, the PD is provided with start point designation means and end point designation means for setting the start point and end point of the measurement position.

(6) In addition, preferably, the PD is provided with a coating range designation mode switching means.

Measurement method 2 (1) A transmitting element or a receiving element capable of position sensing is included in the head or tip of the PD.

(2) Three-dimensional positioning is directly performed by sensing from three directions or two directions having different heights.

(3) When provided on the head, the position of the tip is corrected.

(4) In addition, in order to set the start and end points of the measurement position, the PD is provided with start point designation means and end point designation means.

(5) In addition, preferably, the PD is provided with a coating range designation mode switching means.

Measurement method 3 In addition, a position sensor capable of measuring and tracking the three-dimensional position of the PD is used. The PD can be shared with a pen-type input device. Means is provided for reflecting the contour shape composed of the surface contour data obtained by the PD into photographed image data or automobile graphic data obtained by a digital camera or the like.

Embodiment 2 FIGS. 5 and 6 show a three-dimensional solid measurement method 2 (using a slit laser beam) according to an embodiment of the present invention.

In FIGS. 5 and 6, both sides (5
The optical three-dimensional shape measuring devices provided at 0, 52), upper (54), front (60), and rear (the rear is not shown) display the light projecting device and the light receiving device together in a box.

FIG. 7 schematically shows an optical three-dimensional shape measuring apparatus.

In FIG. 7, a laser beam emitted from a light projecting element 74 in a light projecting device 72 passes through a slit 76 and irradiates a point P of a measuring object 70 which is separated from the slit 76 by a distance S. The irradiated laser light is reflected, and the point P
Is focused by the light receiving lens O which is separated by a distance L from the lens, and forms an image on the position detecting element 78.

FIG. 8 shows a more detailed configuration of the optical three-dimensional shape measuring apparatus.

In FIG. 8, a laser beam emitted from a light emitting element 80 comprising a semiconductor laser and an LED
The light is squeezed at 2, passed through a (horizontal) slit, and irradiates the measurement object 84 as one slit light (scanned in a vertical direction by a polygon mirror). The laser light reflected on the surface of the measurement target 84 is collected by the light receiving lens 86,
An image is formed on the position detecting element 90. The distance R obtained at one point on the slit reflecting surface is

[0041]

R = (1 + Ia / Ib) BF / L [m] Here, Ia and Ib are currents flowing through the position detecting element 90, B is the distance between the light receiving lens 86 and the light projecting lens 82, F is the distance between the light receiving lens 86 and the position detecting element (PSD) 90, L is the length of the PSD 90.

The number of pixels and the pitch of the light receiving element (position detecting element) in the length direction and the scanning direction of the slit light can be set arbitrarily, but the laser light is not irradiated in order to exclude the influence of the steady light component. It is desirable to sample the amount of light in the state in advance.

The accident body (automobile body) to be measured
Has a wide variety of colors, and particularly has a maximum measurement error in black, but does not perform measurement in units of microns. Therefore, the measurement error can be corrected using color correction data sampled in advance. Chromatic aberration of the lens can be similarly corrected.

Embodiment 3 As a method of three-dimensional three-dimensional measurement, a method using ultrasonic waves is described.
This is the present embodiment.

Similarly, the optical three-dimensional shape measuring apparatus (50, 52, 54, 60, 62) according to the second embodiment is provided on both sides of the vehicle body, above, front, and rear (the rear is not shown).
The ultrasonic three-dimensional shape measuring device (the transmitting device and the receiving device are displayed together in a box) provided in the above-mentioned embodiment.

As a measurement principle, the following general one is used. In a position portion where a numerical value greatly exceeding a threshold value of a measurement in which a degree of deformation is sharply measured, an approximate value processing with a peripheral measurement value is performed. Do.

The shape of the shape measurement data for each vehicle type
The dimensional data is stored in the database and collated with the accident vehicle measurement data.

In the estimation stage, only the outer shape measurement of the accident vehicle is performed, and no obvious problem regarding the resolution occurs.

9 to 12 show a method for obtaining the distance to the object to be measured.

FIGS. 9 and 10 show the FM-CW (frequency modulation, continuous wave) method.

In FIG. 9, the output from the modulation signal oscillator 108 is input to the voltage control oscillator 106, the continuous wave subjected to frequency modulation is amplified by the power amplifier 104, and then the ultrasonic wave (for transmission) 102 Measurement object 100
Transmits waves toward The signal received by the ultrasonic vibrator (for receiving waves) 110 which is reflected by the measurement object 100 and obtained after a delay time Δt is amplified by the preamplifier 112 and then the voltage-controlled oscillator 1
Multiplier 114 multiplies the transmission signal from signal generator 06, extracts only low-frequency components by low-pass filter 116, and obtains a frequency difference proportional to distance R by frequency measurement circuit 118.

Therefore, the distance R is, as shown in FIG.

[0053]

R = frV / 4fmΔf Here, fr is the difference between the frequency of the transmitted wave and the received wave, V is the speed of sound in the air, fm is the modulation frequency of the transmitted wave,
Δf is the modulation frequency bandwidth.

FIGS. 11 and 12 illustrate the pulse echo method.

In FIG. 11, a transmission pulse generating circuit 12
8 is input to an oscillation circuit 126 and amplified by a power amplifier 124.
To transmit the ultrasonic wave to the measurement target 120. The reception wave reflected by the measurement target 120 and returned to the ultrasonic transducer 122 is amplified by the preamplifier 130, and then a detection output is obtained by the detection circuit 132.

Therefore, as shown in FIG. 12, the distance R to the object to be measured is represented by Δt where the delay time from transmission to detection is Δt.

[0057]

R = V / 2 Δt V = 331.5 + 0.607T Here, V is the speed of sound in the air, and T is the temperature of the air.

Fourth Embodiment FIGS. 13 to 15 show a three-dimensional three-dimensional shape measuring apparatus and method according to a fourth embodiment.

As shown in FIG. 13, the three-dimensional three-dimensional shape measuring apparatus of the present invention comprises a pattern light irradiator 140 for irradiating a car with a pattern of a plurality of different contour patterns from an obliquely upward angle, and a pattern light irradiator. Camera 1 for photographing the car including the pattern emitted from 140 from an obliquely upper angle
42. The camera 142 may be a digital still camera, a digital video camera, a television camera, or the like.

FIG. 14 shows a part of a car irradiated with a contour pattern. When the contour line pattern emitted from the pattern light irradiator 144 is illuminated on the car, for example, as shown in FIG.
The shape is as shown in FIG. Points P1, P2,..., Pn on the contour line along the direction in which the shape of the car is. The points on the contours along the other direction of the car shape are Q1, Q
2,..., Qn. Such image data is photographed by the camera 146.

FIG. 15 shows a pattern obtained by irradiating a contour line pattern on a non-accident vehicle and irradiating the accident vehicle with a contour line pattern on the accident vehicle with image data obtained by the camera 146. Is shown.

In FIG. 15, the solid line is a pattern of a non-accident vehicle, and the broken line is a pattern of an accident vehicle (actual vehicle). The points on the contour line of the uninjured car along the direction where the car shape is
, Pn, and points on the contour line of the accident vehicle are actual P1 and actual P2. The points on the contour line of the non-accident vehicle along the other direction of the vehicle shape are Q1, Q2, ..., Qn
, And points on the contour line of the accident vehicle are actual Q1 and actual Q2. It is shown that Q2 and real Q2 overlap.

In the present embodiment, image data obtained by sampling a pattern illuminated on a non-accident vehicle for each vehicle type is stored in advance, and this image data is compared with the above-described pattern obtained from the accident vehicle to calculate and operate. This is to simulate the three-dimensional shape of the accident vehicle.

Therefore, the following method is used.

(1) Image data of a pattern previously irradiated on a non-accident vehicle is obtained for each vehicle type.

(2) The image data of the non-accident vehicle is stored as irradiation contour data (data obtained by converting the shape, contour interval, inclination, and the like into sampling data).

(3) The relationship between the irradiation pattern deformation amount and the actual shape is associated with the irradiation contour data of the non-accident vehicle and the actual shape data of the actual vehicle, and based on the contour position (contour interval, distortion, etc.) for each irradiation pattern. To infer and recover the shape of the uninjured vehicle.

(4) Image data is obtained by irradiating the accident vehicle with a pattern.

(5) The image data of the accident vehicle is stored as irradiation contour data.

(6) Irradiation contour data of the accident vehicle
Analyze using the inference of

(7) The shape of the accident vehicle is restored in a pseudo manner.

(8) The distortion of the pattern recognition due to the lens characteristics of the camera is corrected.

FIGS. 16 to 19 show flowcharts of an automobile repair estimation method based on three-dimensional three-dimensional measurement by a PD of an accident vehicle according to an embodiment of the present invention.

In FIG. 16, PD tip position measurement is started (S100), and it is determined whether the PD tip is in contact with the vehicle surface (S110). If so, the PD tip position is determined. It is stored (S120) and displayed on the screen together with the data of the car image database (S140, S13).
0). If not, step S100 is repeated. If the tip position has not changed, S1
20, S130 and S140 are repeated (S150).

If the tip position has changed, the tip position is stored (S160), and it is determined whether or not each tip position forms a closed surface (S210). If a closed surface is configured, a process in the painting mode is performed (S220).

When the closed surface is not formed and when the processing in the painting mode is completed, the three-dimensional shape is restored (S170). At this time, the three-dimensionally measured data (S300) is based on the vehicle image database (S3).
20) While the screen is being displayed (S310), the three-dimensional shape is restored (S170).

Based on S170, the damage site is determined (S170).
180), when it is determined that there is a damaged portion exceeding the sheet metal correction limit (S190), processing is performed when there is a damaged portion exceeding the sheet metal correction limit (S200).

If it is determined that there is no damaged portion exceeding the sheet metal correction limit (S190), it is determined whether there is a damaged portion that requires sheet metal correction (S400). It is determined whether or not desorption is necessary (S410). If desorption is required, select “desorption” for the damaged area and fill out the quotation. At the same time, the sheet metal correction is entered in the quote. Selection of necessary parts, calculation and entry of an index are also performed (S420).

If it is determined that the attachment / detachment of the damaged part is unnecessary (S410), the flow branches to S430.

Further, it is determined whether or not there is a damaged portion that requires sheet metal correction (S430). If there is no damaged portion, an estimate entry process (S470) is performed, and the process ends. If it is determined that there is more work, it is determined whether or not work related to the work so far occurs (S440). When it is determined that there is no overlapping part, the process returns to step S410. When it is determined that there is, the overlapping part is adjusted (index adjustment) (S450), and the overlapping part is adjusted (index adjustment) (S460). Then step S
Return to 400.

When there are no more damaged parts that require sheet metal correction (S400), the flow branches to the estimate entry processing (S470).

FIG. 17 shows a process in the coating mode (S220).
3 is a flowchart for explaining in detail.

In FIG. 17, since the painting operation index differs depending on the position of the closed surface, the position of the entire surface is calculated (S222). It is determined whether or not the surface extends over the two damage ranges (S224). If it is determined that the surface does, the coating work / index calculation 1 process is performed (S226).
If it is determined that the stroke does not cross, the process of the painting operation / index calculation 2 is performed (S228). Steps S226 and S228
The index calculated differs from that of the painting operation.

FIG. 18 is a flowchart for explaining in detail the processing (S200) when there is a damaged part exceeding the sheet metal correction limit.

In FIG. 18, “replace” of the damaged part is selected and filled in an estimate (S202). Next, select the required work, calculate the index, fill out the estimate,
A necessary part is selected (S204). It is determined whether the possibility of the secondary damage exceeds a predetermined threshold (S206),
When it is determined that the damage is exceeded, a damage expected site having a possibility of secondary damage is preliminarily selected in the estimate, and has an attribute of requiring confirmation for later confirmation (S208).

When it is determined that the possibility of the secondary damage does not exceed the predetermined threshold (S206), the processing (S200) in the case where there is a damaged portion exceeding the sheet metal correction limit without executing S208 is ended. I do.

FIG. 19 is a flowchart for explaining the estimate entry process (S470) in detail.

In FIG. 19, it is determined whether or not painting is necessary for the replacement damaged part (S472). If it is determined that the replacement is not necessary, the estimate input screen is manually entered (S4).
78), the flow jumps to the process of correcting the estimate sheet metal in S484.
If it is determined that the coating is necessary, it is further determined whether or not the coating over two damage areas is necessary (S474).

If it is determined that painting is required to cover two damaged areas, the painting work / index is calculated and written in an estimate (S476), and the flow returns to S472. If it is determined that it is not necessary, the painting work / index is calculated and entered in the estimate (S480), and the estimate input screen is manually entered (S482).

The estimate is confirmed and corrected (S48).
4) Output the estimate and the confirmation result (S488, S48)
6).

[0091]

As described above, according to the accident vehicle repair cost estimation system according to the three-dimensional solid measurement of the present invention, the accident vehicle is measured for its shape and the like by using the three-dimensional solid measurement method. Since quantitative data on vehicles can be obtained, repair cost can be estimated easily and accurately.

[Brief description of the drawings]

FIG. 1 is a schematic diagram illustrating a repair cost estimation system and method based on three-dimensional measurement of an accident vehicle using a measurement pointing device according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating an operation of the pointing device.

FIG. 3 is a diagram illustrating an operation of tracing a range necessary for painting repair with a pointing device.

FIG. 4 is a diagram showing a case where a coating range extends over two damaged parts.

FIG. 5 is a diagram showing a method for three-dimensional three-dimensional measurement of an accident vehicle according to an embodiment of the present invention.

FIG. 6 is a diagram illustrating a method of three-dimensional three-dimensional measurement of an accident vehicle according to an embodiment of the present invention.

FIG. 7 shows an optical system 3 of an accident vehicle according to an embodiment of the present invention.
It is a figure showing a three-dimensional shape measuring device.

FIG. 8 shows an optical system 3 of an accident vehicle according to an embodiment of the present invention.
It is a figure showing a three-dimensional shape measuring device.

FIG. 9 is a block diagram showing an FM-CW method for obtaining a distance to a measurement target.

FIG. 10 is a diagram showing an FM-CW method for obtaining a distance to a measurement target.

FIG. 11 is a block diagram illustrating a pulse echo method for obtaining a distance to a measurement target.

FIG. 12 is a diagram showing a pulse echo method for obtaining a distance to a measurement target.

FIG. 13 is a diagram illustrating a method of three-dimensional three-dimensional measurement of an accident vehicle according to an embodiment of the present invention.

FIG. 14 is a diagram illustrating a method of three-dimensional three-dimensional measurement of an accident vehicle according to an embodiment of the present invention.

FIG. 15 is a diagram illustrating a method of three-dimensional three-dimensional measurement of an accident vehicle according to an embodiment of the present invention.

FIG. 16 is a flowchart of an automobile repair cost estimation method based on three-dimensional three-dimensional measurement of an accident vehicle.

FIG. 17 is a flowchart showing a process in a painting mode of an automobile repair cost estimation method based on three-dimensional three-dimensional measurement of an accident vehicle.

FIG. 18 is a flowchart showing a process in a case where there is a damaged part exceeding a sheet metal correction limit in the method for estimating an automobile repair cost based on three-dimensional three-dimensional measurement of an accident vehicle.

FIG. 19 is a flowchart showing an estimate entry process of an automobile repair cost estimation method based on three-dimensional three-dimensional measurement of an accident vehicle.

[Explanation of symbols]

 10, 20, 30 PD 40, 42 Damaged part 44 Coating work range 50, 52, 54, 60, 62 Three-dimensional shape measuring device 70, 84, 100, 120 Measurement target 80 Light emitting element 82 Light emitting lens 86 Light receiving lens 88 Divider 90 Position detecting element 102, 110, 122 Ultrasonic transducer 104, 124 Power amplifier 106 Voltage controlled oscillator 108 Modulation signal generator 112, 130 Preamplifier 116 Low pass filter 118 Frequency measuring circuit 126 Oscillator circuit 128 Transmitted pulse Generation circuit 132 Detection circuit 134 Time difference measurement circuit 140, 144 Pattern light irradiator 142, 146 Digital still camera

Claims (10)

[Claims] 1. A shape measurement data input device for inputting shape measurement data of an accident vehicle, and a coordinate measurement device for measuring by irradiating light three-dimensional coordinate position data in which the shape measurement data input device exists. Vehicle shape storage means for holding information on the shape of the vehicle; shape measurement data transferred from the shape measurement data input device; coordinate position data transferred from the coordinate measurement device; and transfer from the vehicle shape storage means. Estimate setting means for setting an estimate of the repair cost of the accident vehicle based on the information on the shape of the vehicle obtained, and estimate creation means for creating an estimate based on the estimate data transferred from the estimate setting means In the accident vehicle repair cost estimation system based on three-dimensional measurement, the shape measurement data input device detects a contact state with the accident vehicle. Part, starting point designating means for designating the starting point of the shape measurement of the accident vehicle, end point designating means for designating the end point of the shape measurement of the accident vehicle, a light receiving unit for receiving light emitted from the coordinate measuring device, Means for transferring shape measurement data obtained by the detection unit or the start point designation unit or the end point designation unit or the light receiving unit from the shape measurement data input device to the estimate setting unit, the coordinate measurement device comprising: Irradiating means for irradiating the shape measurement data input device with light from three directions; and means for transferring coordinate position data of the shape measurement data input device to the estimate setting means, wherein the vehicle shape storage means Comprises data relating to the shape of the accident-free vehicle, wherein the estimate setting means comprises: the shape measurement data transferred from the shape measurement data input device; Calculating means for obtaining the coordinate position of the light receiving unit based on the coordinate position data transferred from the device; and correcting means for obtaining the coordinate position of the detecting unit from the coordinate position of the light receiving unit obtained by the calculating means. Restoring means for restoring the three-dimensional shape of the accident vehicle by synthesizing the coordinate position of the detection unit obtained by the correction means and data relating to the shape of the non-accident vehicle transferred from the vehicle shape storage means From the three-dimensional shape of the accident vehicle restored by the restoring means, determining means for determining whether there is a damaged portion exceeding the sheet metal correction limit; and If it is determined that there is no estimate, there is provided a selecting means for selecting an estimate of sheet metal correction according to the damaged portion, and a means for transferring the estimate selected by the selecting means to the estimate creating means. Accident car by the three-dimensional measurement and repair cost estimate system. 2. The accident vehicle repair cost estimation system according to claim 1, wherein the shape measurement data input device further includes a transmitting unit that transmits coordinate position data of the shape measurement data input device. The coordinate measuring device further includes a position sensor that senses the coordinate position data transmitted from the transmitting unit in three directions and measures the coordinate position data, and estimates an accident vehicle repair cost by three-dimensional three-dimensional measurement. system. 3. A shape measuring device for measuring a shape of an accident vehicle, a vehicle shape storing means for holding information on a shape of a vehicle, a shape measuring data transferred from the shape measuring device, and a vehicle shape storing device. Estimate setting means for selecting an estimate of the repair cost of the accident vehicle based on the transferred vehicle shape information, and preparation of an estimate based on the estimate data transferred from the estimate setting means In the accident vehicle repair cost estimation system by three-dimensional three-dimensional measurement having means, the shape measuring device, a plurality of light emitting devices for projecting the accident vehicle from the left and right sides, front and rear sides, and from above A plurality of light receiving devices for receiving light reflected from the light emitting device on the left, right, front and rear, and front and rear sides of the accident vehicle; and De And a transfer means for transferring data relating to light reception of the light receiving device. The vehicle shape storage means comprises data relating to the shape of a non-accident vehicle. The estimate setting means comprises: Distance calculation means for obtaining a distance between the accident vehicle and each of the plurality of light emitting devices, based on data on light emission of the light device and data on light reception of the light receiving device; and Restoring means for restoring the three-dimensional shape of the accident vehicle by combining the distance and the data relating to the shape of the non-accident vehicle transferred from the vehicle shape storage means, and the accident vehicle restored by the restoration means A determination unit for determining whether there is a damaged portion exceeding the sheet metal correction limit based on the three-dimensional shape of the above; Selecting means for selecting an estimate of sheet metal correction in accordance with the damaged part; and means for transferring the estimate selected by the selecting means to an estimate creating means. Cost estimation system. 4. The accident vehicle repair cost estimating system according to claim 3, wherein the shape measuring device transmits ultrasonic waves to the accident vehicle from left, right, front, rear, and upper sides of the accident vehicle. A plurality of wave transmitting devices for transmitting waves; a plurality of wave receiving devices for receiving ultrasonic waves transmitted from the wave transmitting device and reflected on the left and right sides, the front and rear sides, and the upper side of the accident vehicle; and Transfer means for transferring data relating to the transmission of the wave transmitting device and data relating to the reception of the wave receiving device to the setting means, wherein the distance calculating means comprises: An accident vehicle repair cost estimation system based on three-dimensional stereo measurement, wherein a distance between the accident vehicle and each of the plurality of transmission devices is obtained based on data on waves and data on reception of waves by the wave receiving device. 5. The accident vehicle repair cost estimation system according to claim 3, wherein the shape measuring device irradiates the accident vehicle with a contour line pattern from an obliquely upward angle of the accident vehicle. A pattern light irradiation device, a photographing device for photographing the shape data of the accident vehicle including the contour pattern illuminated on the accident vehicle from an obliquely upper angle of the accident vehicle, and Transfer means for transferring the data on the irradiation of the light irradiation device and the shape data of the accident vehicle including the contour line pattern photographed by the photographing device, wherein the vehicle shape storage means, The shape data of the non-accident vehicle including the contour pattern is provided, and the estimate setting means includes the contour line of the accident vehicle transferred from the shape measuring device. The vehicle further includes comparison means for comparing the shape data of the accident vehicle including the turn and the shape data including the contour pattern of the uninjured vehicle transferred from the vehicle shape storage means, wherein the restoration means performs the comparison. An accident vehicle repair cost estimation system based on three-dimensional three-dimensional measurement, wherein the shape of the accident vehicle is restored based on a comparison of means. 6. An estimate book setting means in an accident vehicle repair cost estimation system by three-dimensional three-dimensional measurement, wherein the shape measurement data transferred from a shape measurement data input device for inputting shape measurement data of an accident vehicle, and the shape measurement Based on the coordinate position data transferred from the coordinate measuring device that measures the three-dimensional coordinate position data where the data input device exists, the coordinate position of the light receiving unit that receives the light emitted from the coordinate measuring device is obtained. Calculating means, from the coordinate position of the light receiving unit obtained by the calculating means,
Correction means for obtaining a coordinate position of a detection unit for detecting a contact state with the accident vehicle; and a coordinate position of the detection unit obtained by the correction means, and a vehicle shape storage means for storing information on a shape of the vehicle. And data on the shape of the unaccidented vehicle
Restoring means for restoring the three-dimensional shape of the accident vehicle; judging means for judging from the three-dimensional shape of the accident vehicle restored by the restoring means whether there is a damaged portion exceeding a sheet metal correction limit; When the determining unit determines that there is no damaged portion exceeding the sheet metal correction limit, a selecting unit that selects an estimate of the sheet metal correction according to the damaged portion, and a unit that transfers the estimate selected by the selecting unit to the estimate creating unit. And a quote setting means. 7. An estimate report setting means in an accident vehicle repair cost estimation system based on three-dimensional measurement, wherein the estimate report setting means emits light to the accident vehicle from the left, right, front, rear, and upper sides of the accident vehicle. Data on the light emission of the plurality of light emitting devices, and data on the light reception of the plurality of light receiving devices that receive light from the left, right, front and rear, and the upper side reflected from the accident vehicle by the light emitting device emitting light. Distance calculating means for obtaining a distance between the accident vehicle and each of the plurality of light emitting devices based on the distance, and a vehicle shape storing means for storing information on the distance obtained by the distance calculating means and a shape of the vehicle. Means for restoring the three-dimensional shape of the accident vehicle by combining the data on the shape of the uninjured vehicle transferred from the vehicle, and a sheet metal correction limit from the three-dimensional shape of the accident vehicle restored by the restoration means To Determining means for determining whether there is a damaged part to be obtained, and selecting means for selecting an estimate of sheet metal correction according to the damaged part when the determining means determines that there is no damaged part exceeding the sheet metal correction limit, Means for transferring the estimate selected by the selection means to the estimate creation means. 8. The estimate book setting means in the accident vehicle repair cost estimation system based on three-dimensional three-dimensional measurement according to claim 7, wherein the distance calculation means includes: the left and right sides, the front and rear sides, and the upper side of the accident vehicle; Data related to the transmission of a plurality of transmitting devices that transmit ultrasonic waves to the car, and receive the ultrasonic waves from the left, right, front and rear sides, and the upper side that the transmitting device transmits and reflects from the accident vehicle. In an accident vehicle repair cost estimation system based on three-dimensional stereo measurement, a distance between the accident vehicle and each of the plurality of transmission devices is obtained based on data on reception of a plurality of wave receiving devices. Estimate setting means. 9. An estimate book setting means in the accident vehicle repair cost estimation system based on three-dimensional three-dimensional measurement according to claim 7, wherein said estimate book setting means is an accident transferred from a shape measuring device for measuring the shape of the accident car. The shape data of the accident vehicle including the contour line pattern of the vehicle and the shape data transferred from the vehicle shape storage unit that holds the shape data of the accident vehicle including the contour line pattern irradiated to the uninjured vehicle Estimation book setting means in an accident vehicle repair cost estimation system based on three-dimensional measurement, further comprising comparison means for comparing, wherein the restoration means restores the shape of the accident vehicle based on the comparison of the comparison means. 10. A shape measurement data inputting step of inputting shape measurement data of an accident vehicle using a shape measurement data input device, and three-dimensional coordinate position data in which the shape measurement data input device exists is measured by the coordinate measurement device. A coordinate measurement step, shape measurement data obtained in the shape measurement data input step, coordinate position data obtained in the coordinate measurement step, and a vehicle obtained from a vehicle shape storage unit that stores the shape of a non-accident vehicle. An estimate setting step for setting an estimate of the repair cost of the accident vehicle based on the shape information; and an estimate creation step for creating an estimate based on the estimate data obtained in the estimate setting step. In the accident vehicle repair cost estimating method by three-dimensional measurement, the shape measurement data inputting step includes: A light receiving step of receiving the emitted light by a light receiving unit, a detecting step of detecting a contact state with the accident vehicle by a detection unit, a starting point designating step of designating a starting point of the shape measurement of the accident vehicle, An end point designating step for designating an end point of shape measurement; from the shape measurement data input step to the estimate setting step, the shape measurement data obtained by the light receiving step, the detection step, the starting point designating step, or the end point designating step. Transferring the coordinate measurement step, irradiating the shape measurement data input device with light from three directions, and transmitting the coordinate position data of the shape measurement data input device to the estimate setting step. Transfer step, wherein the estimate setting step is performed in the shape measurement data input step. A calculating step of obtaining a coordinate position of the light receiving unit based on the obtained shape measurement data and the coordinate position data obtained by the coordinate measuring step; and a coordinate of the light receiving unit obtained by the calculating step. A correction step of obtaining a coordinate position of the detection unit from a position, a coordinate position of the detection unit obtained by the correction step,
A restoring step of restoring the three-dimensional shape of the accident vehicle by combining data relating to the shape of the non-accident vehicle obtained from the vehicle shape storage means, and a three-dimensional shape of the accident vehicle restored by the restoration step From, a determination step of determining whether there is a damaged portion exceeding the sheet metal correction limit, and, if the determination step determines that there is no damaged portion exceeding the sheet metal correction limit, estimate the sheet metal correction according to the damaged portion A method for estimating an accident vehicle repair cost by three-dimensional stereo measurement, comprising: a selecting step of selecting; and a step of transferring the estimate selected by the selecting step to an estimate creating step.