KR20240084585A - A System for Processing a Data of a 3D Measuring Robot for Measuring a Vehicle Structure - Google Patents

Abstract

The present invention relates to a data processing system for a 3D measurement robot for measuring vehicle structure. The data processing system of the 3D measurement robot for vehicle structure measurement includes a 3D measurement robot 11 for vehicle structure using a camera and a laser scanner; A mathematical control server 12 that controls the operation of the 3D measurement robot 11 and acquires numerical data with the 3D measurement robot 11; a 3D image generation module 13 that generates a 3D image of the vehicle structure from the acquired numerical data; and a hydraulic data generation module 14 that generates hydraulic data from the generated 3D image.

Description

Data processing system for 3D measuring robot for measuring vehicle structure {A System for Processing a Data of a 3D Measuring Robot for Measuring a Vehicle Structure}

The present invention relates to a data processing system for a 3D measurement robot for measuring vehicle structure, and specifically, to a system for measuring vehicle structure that enables the generation of a 3D image by processing numerical data obtained by a 3D measurement robot capable of measuring vehicle structure. This is about the data processing system of a 3D measurement robot.

The accident vehicle may be repaired at an automobile repair shop, industrial shop, or similar vehicle repair shop, and during the repair process, any deformation of the exterior, body, or various operating parts must be restored. For such restoration, information about the vehicle's normal state is required, and the level of deformation needs to be accurately measured. In relation to measuring the level of deformation, Patent Registration No. 10-1657002 discloses a device for measuring the amount of collision deformation of an accident vehicle. In addition, International Publication No. WO 2016/143750 discloses a vehicle specifications measurement device, a vehicle model determination device, and a vehicle specifications measurement method and program. In order to repair a broken vehicle, it is necessary to first obtain data on the structure of the broken state of the broken vehicle and process it appropriately. And based on this, the structure of the broken vehicle needs to be accurately identified and the repair method for the broken vehicle needs to be determined accordingly. However, prior art does not disclose such technology.

The present invention is intended to solve the problems of the prior art and has the following purposes.

Prior art 1: Patent registration number 10-1657002 (Hongik University Sejong Campus Industry-Academic Cooperation Foundation, announced on September 12, 2016) Vehicle driving deformation measurement device Prior Art 2: International Publication No. WO 2017.09.27. Mitsubishi Jugo Kikai System Kabishigaisha, 2016.09.16. Disclosure) Vehicle specification measurement device, vehicle type identification device, vehicle specification measurement method and program

The object of the present invention is to control the operation of a non-contact 3D robot capable of acquiring numerical data on the vehicle structure, and to process the obtained numerical data to enable repair of a broken vehicle. A data processing system for a 3D measurement robot for measuring vehicle structure. is to provide.

According to a preferred embodiment of the present invention, a data processing system for a 3D measurement robot for vehicle structure measurement includes a 3D measurement robot for vehicle structure by a camera and a laser scanner; A mathematical control server that controls the operation of the 3D measurement robot 11 and acquires numerical data with the 3D measurement robot; A 3D image generation module that generates a 3D image of the vehicle structure from the acquired numerical data; and a repair data generation module that generates repair data from the generated 3D image.

According to another suitable embodiment of the present invention, a 3D measurement robot includes a camera and a laser scanner disposed on a measurement arm that is movable and rotatable along mutually orthogonal planes.

According to another suitable embodiment of the present invention, the 3D measurement robot is operated by position/movement data generated by a position/movement data generation module.

According to another suitable embodiment of the present invention, the repair data generation module 14 further includes an image comparison module that compares the reference 3D image with the vehicle 3D image generated from numerical data by the 3D metrology robot.

The data processing system of the 3D measurement robot for measuring vehicle structure according to the present invention generates numerical data acquired by the non-contact 3D measurement robot as a 3D image to facilitate confirmation of the failure state. The data processing system according to the present invention processes data acquired by a 3D measurement robot and compares it with reference vehicle data to facilitate vehicle repair. The processing system according to the present invention detects damage that is not visible to the naked eye, prevents secondary accidents after repair, and creates basic data on the repair of the vehicle after the accident to resolve various disputes that may arise during or after the repair of the vehicle. Be sure to prevent it.

Figure 1 shows an example of a data processing system for a 3D measurement robot for measuring vehicle structure according to the present invention.
Figure 2 shows an embodiment of a 3D metrology robot for a processing system according to the invention.
Figure 3 shows an example of a process in which vehicle data is acquired by a 3D measurement robot according to the present invention.
Figure 4 shows an embodiment of the operating process of the processing system according to the present invention.
Figure 5 shows an example of an image processing process in the processing system according to the present invention.

Below, the present invention will be described in detail with reference to the embodiments shown in the attached drawings, but the examples are for a clear understanding of the present invention and the present invention is not limited thereto. In the description below, components having the same reference numerals in different drawings have similar functions, so unless necessary for understanding the invention, the description will not be repeated, and well-known components will be briefly described or omitted, but the present invention It should not be understood as being excluded from the embodiments.

Figure 1 shows an example of a data processing system for a 3D measurement robot for measuring vehicle structure according to the present invention.

Referring to FIG. 1, the data processing system of the 3D measurement robot for measuring vehicle structure includes a 3D measurement robot 11 for vehicle structure using a camera and a laser scanner; A mathematical control server 12 that controls the operation of the 3D measurement robot 11 and acquires numerical data with the 3D measurement robot 11; a 3D image generation module 13 that generates a 3D image of the vehicle structure from the acquired numerical data; and a hydraulic data generation module 14 that generates hydraulic data from the generated 3D image.

Numerical data about the vehicle structure can be obtained by the 3D measurement robot 11, and the 3D measurement robot 11 may include a camera and a laser scanner. The 3D measurement robot 11 can be placed, for example, below or on the side of a broken vehicle to measure the distance to each part of the vehicle and thereby obtain numerical data. The 3D metrology robot 11 may include means for moving the camera and laser scanner to various positions, and the operation of the 3D metrology robot 11 may be controlled by the repair control server 12. The mathematical control server 12 may have a function of acquiring numerical data measured by the 3D measurement robot 11 while controlling the operation of the 3D measurement robot 11. The repair control server 12 can be a computer, such as a personal computer, and the repair control server 12 can remotely control the 3D measurement robot 11. Specifically, the repair control server 12 can determine the movement position of the 3D measurement robot 11 and control the operation of the 3D measurement robot 11. Additionally, the measurement values obtained by the 3D measurement robot 11 can be obtained and processed into numerical data. The repair control server 12 may obtain numerical data for the vehicle from measurement values of each part of the vehicle, and the obtained numerical data may be transmitted to the 3D image generation module 13. The 3D image generation module 13 may be formed integrally with the mathematical control server 12 and may have a function of converting numerical data obtained by the mathematical control server 12 into a 3D image. A 3D image can be created through an alignment and registration process based on distance data for multiple points acquired by a laser scanner. As described above, the measurement robot 11 may include a camera and a laser scanner, and performs an alignment process, a registration process, and a noise removal process based on distance data for multiple points of the broken vehicle obtained by the laser scanner. 3D images can be created. When a 3D image of a broken vehicle that needs to be repaired is generated by the 3D image generation module 13 through this process, repair data can be generated by the repair data generation module 14. The repair data generation module 14 may have a function of generating repair data based on the 3D image generated by the 3D image generation module 13. Specifically, the repair data generation module 14 may include a reference vehicle image corresponding to the same type of vehicle as the broken vehicle, and may compare the 3D image of the broken vehicle that needs to be repaired with the reference vehicle image. And mathematical data can be generated based on these comparison results. Mathematical data can be generated in a variety of ways and is not limited to the presented embodiment. Below, a measurement robot that allows 3D images of broken vehicles to be acquired is described.

Figure 2 shows an embodiment of a 3D metrology robot for a processing system according to the invention.

Referring to Figure 2, the 3D measurement robot 11 includes a movement guidance frame 21 on which a guidance path 27 is formed; A moving block (22) capable of moving along the movement guidance frame (21); A measuring arm 23 coupled to the moving block 22 to form a measuring hand 231; Measuring means 25 formed on the measurement arm 231 to acquire scan data; and an arm operating module (24) coupled to the moving block (23). The movement guidance frame 21 may be installed, for example, in a repair device for vehicle repair and may be located below the vehicle. The mobile guidance frame 21 may be a structure that can be installed on the underside of a vehicle lifted upward for repair, and may include, for example, a pair of linearly extending guidance members; a connecting member connecting a pair of guiding members to each other; And it may include a coupler or similar fastening means that allows it to be coupled to a predetermined position or frame. Additionally, a guidance path 27 may be formed in the movement guidance frame 21. The guidance path 27 may be formed along at least one guidance member of the moving guidance frame 21, or may be formed independently, and may extend linearly along the longitudinal direction of the vehicle. The guidance path 27 may be formed along one edge extending in the longitudinal direction of the movement guidance frame 21, but is not limited thereto. The moving block 22 may be moved along the guidance path 27, and the moving block 22 may have a structure capable of moving along the movement guidance frame 22 and capable of being coupled with a measuring means. . Additionally, various control means or data processing means for controlling the measuring means or processing data obtained from the measuring means may be installed in the moving block 22. Additionally, the mobile block 22 may optionally include various communication means for communicating with an external processor. The moving block 22 may have an overall square plate shape and may have a structure that can be coupled to the upper part of the movement guidance frame 21. A coupler capable of being coupled to the movement guiding frame 21 may be formed below the moving block 22, and a moving bracket coupled to the guiding path 27 may be disposed. Specifically, the guidance path 27 is a linear tunnel or channel-shaped movement path structure with a square cross-section that is open on one side and extends linearly, and the movement bracket disposed at the bottom of the movement block 22 is the guidance path 27. It can be combined to be able to move along. The moving block 22 may be of various structures capable of moving along the guidance path 27. A coupling block 24 may be formed on the moving block 22, and the measuring arm 23 may be coupled to the coupling block 24. For example, the plate-shaped coupling block 24 may be coupled to the upper part of the square plate-shaped moving block 22, and the measuring arm 23 may be coupled to the central part of the coupling block 24. The measuring arm 23 may be comprised of a disk-shaped coupling adjustment block and a linear measuring hand 231 extending from the coupling adjustment block. The combined adjustment block may have a structure that can be rotated relative to the moving block 22 and can be moved in a direction perpendicular to the extension direction of the movement guidance frame 21 or in the width direction of the vehicle. The overall coupling control block may have a disk shape or a drum shape, and the lower part may be coupled to the upper part of the moving block 22. And the measuring hand 231 may extend linearly from one part of the combination control block. The measuring hand 231 may move linearly or rotationally according to the linear or rotational movement of the measuring arm 23, and the measuring means 25 may be coupled to the measuring hand 231. For example, the measurement means 25 may include vision means for image acquisition, such as cameras, and laser scanners for scanning the distances to different parts of the vehicle. The measurement means 25 may have a function of acquiring scan data by scanning the vehicle while moving according to the linear or rotational movement of the measurement arm 23. The measuring hand 231 may be separated upward from the upper surface of the moving block 22 and extend linearly, and a measuring means 25 may be coupled to the lower side of the end of the measuring hand 231. The measuring means 25 is disposed below the measuring hand 231, and at the end of the measuring hand 231 is a guiding hole 232 for transmitting or receiving various signals, including laser light generated by the measuring means 25. ) can be formed. Due to this arrangement of the measuring means 25, measurement precision is improved and various types of external interference can be prevented during the measurement process. The moving block 22 or measuring arm 23 may be moved linearly or rotationally by various driving means, and may be operated by a motor such as a step motor or a servo motor, for example. A coupling portion 26 for placement of an operation module for such operation may be formed on one part of the movement guidance frame 21, and a state of the movement guidance frame 21 may be formed on the other part of the movement guidance frame 21. Various monitoring means may be arranged to check or check the position of the moving block 22 or the measuring arm 23. The finishing part 28 is coupled to one end of the movement guidance frame 21 so that the movement guidance frame 21 has an overall rectangular structure. Optionally, means for guiding the movement of the measuring arm 23, assisting the movement of the moving block 22, or limiting the movement of the moving block 22 may be disposed in the finishing portion 28. The movement guidance frame 21 may have various structures capable of moving the movement block 22 in a given direction. Numerical data for each part of the vehicle can be obtained by the measurement robot 11 having this structure, and a 3D image can be generated from the numerical data. Below, the operating process of the measurement robot is explained.

Figure 3 shows an example of a process in which vehicle data is acquired by a 3D measurement robot according to the present invention.

Referring to FIG. 3, the 3D measurement robot 11 is operated by position/movement data generated by the position/movement data generation module 37. A vehicle, such as a broken vehicle, in which the entire operation of the measurement robot can be controlled by the operation control module 31 installed in a repair server such as a personal computer, and must be scanned by the shape detection module 321 for the operation of the measurement robot. The overall shape of can be detected, and the path for scanning can be detected by the path detection module 322. Based on such overall shape detection and path detection, the reference shape for forming the entire image may be determined by the image reference shape determination module 33. The reference shape may be a part whose shape changes in the overall shape, a bent part, a part connected to each other, or an independent part, and such an image reference shape can become a standard for forming a 3D image in the future. For example, image reference shapes can be connected or combined to create an entire 3D image of a broken down vehicle. The reference position for scanning may be determined by the reference position determination module 34 based on this image reference shape. Specifically, the camera and laser scanner may be moved based on the reference position to determine the reference shape of each image. And each image reference shape can be matched to each other to create an entire 3D image. Once the reference position is determined by the reference position determination module 34, the linear movement scale and rotation angle scale for acquiring the image reference shape can be calculated from each reference position by the movement/rotation scale calculation module 35. The calculated linear movement scale and rotation angle scale may be transmitted to the position/movement data generation module 37. Position/movement data may be generated by the position/movement data generation module 37, and the position/movement data may include a scale that must be moved at each position in the movement path of the measurement robot. Position/movement data may be generated with reference to the movement precision or measurement precision of the measurement robot stored in the movement/measurement specification module 36. The position/movement data generated in this way can be transmitted to the operation control module 31, and the operation control module 31 operates the measurement robot control module 38 according to the position/movement data to move the measurement robot and provide numerical values. Data can be obtained. The measurement robot control module 38 can acquire numerical data in real time by operating the measurement robot, and the obtained numerical data can be stored in the numerical data acquisition module 39. In this way, the measurement robot is operated based on the position/movement data to obtain scan data through a programmed automatic process. It also allows remote control of the measurement robot from the repair server. Real-time numerical data by the metrology robot can be acquired in a variety of ways and is not limited to the presented implementation.

Figure 4 shows an embodiment of the operating process of the processing system according to the present invention.

Referring to FIG. 4 , the repair data generation module 14 further includes an image comparison module 45 that compares the reference 3D image with the vehicle 3D image generated from numerical data by the 3D measurement robot 11. The operation of the measurement robot 11 can be controlled by the remote control server 41, and the remote control server 41 can be the repair control server described above. The remote control server 41 may include a location/movement control module 42, and the location/movement control module 42 may include the location/movement data described above. The position/movement control module 42 can control the operation of the 3D measurement robot 11 based on the position/movement data, and the numerical data acquired by the 3D measurement robot 11 is stored in the numerical data acquisition module 43. It can be saved in . Numerical data stored in the numerical data acquisition module 43 may be specification data for the entire broken vehicle, and such numerical data may be transmitted to the remote control server 41. A 3D image generation module 44 may be installed in the remote control server 41, and a 3D image of the broken vehicle may be generated from numerical data by the 3D image generation module 44. The 3D image generated for the broken vehicle may be transmitted to the image contrast module 45, and the image contrast module 45 may compare the reference 3D image transmitted from the reference 3D image module 46 with the generated 3D image for the broken vehicle. You can prepare for. The reference 3D image can be the same type of vehicle as the broken vehicle, and by comparing the two images, the part that needs to be repaired can be determined. If the part that needs to be repaired is determined by comparison, virtual restoration can be performed by the virtual restoration module 47, and through this virtual restoration, the repair method for the broken vehicle can be determined by the repair method determination module 48. there is. The repair method according to virtual restoration may be determined in various ways, and the present invention is not limited thereto. For 3D image contrast, the 3D image needs to be created in an appropriate manner. Below, how 3D images are created is explained.

Figure 5 shows an example of an image processing process in the processing system according to the present invention.

As explained above, image and dimensional data can be acquired partially and continuously by the metrology robot, and such partial image and dimensional data need to be synthesized. Additionally, a 2D image or 3D image can be created based on dimensional data, and partial images need to be synthesized or made into an appropriate shape. Referring to the left side of FIG. 5, image synthesis includes the step of inputting a camera image (P51); Step where white balance is adjusted (P52); A step in which partial images are stitched (P53); A step in which an alpha value is input to create an alpha image (P54); And it can be synthesized through the step of generating a composite image (P55). Additionally, in order to match partial images using camera images or dimensional data, partial shapes or figures need to be searched and a registered image created based on them. The process of generating such a registered image includes applying a histogram equalization function to equalize the image (P61); A step in which the smoothed image is binarized (P62); A step in which corners of the binarized image are extracted (P63); A step in which a partial shape is created based on the extracted corners (P64); and a step (P65) in which the figure position value is analyzed and generated. Partial images acquired by a camera or generated by a laser distance sensor can be processed in various ways and combined to synthesize them, and are not limited to the presented embodiment.

Although the present invention has been described in detail above with reference to the presented embodiments, those skilled in the art will be able to make various variations and modifications without departing from the technical spirit of the present invention by referring to the presented embodiments. . The present invention is not limited by such variations and modifications, but is limited by the claims appended below.

11: 3D measurement robot 12: Repair control server
13: 3D image generation module 14: Repair data generation module
23: Measuring arm 37: Position/movement data generation module
45: Image contrast module

Claims (4)

3D measurement robot for vehicle structures by cameras and laser scanners (11);
A mathematical control server 12 that controls the operation of the 3D measurement robot 11 and acquires numerical data with the 3D measurement robot 11;
a 3D image generation module 13 that generates a 3D image of the vehicle structure from the acquired numerical data; and
A data processing system for a 3D metrology robot for measuring vehicle structure, including a repair data generation module (14) that generates repair data from the generated 3D image. The method of claim 1, wherein the 3D measurement robot (11) is capable of moving along mutually orthogonal planes and at the same time rotatable. Data processing of a 3D measurement robot for measuring vehicle structure including a camera and a laser scanner disposed on a rotatable measurement arm (23). system. The data processing system of claim 1, wherein the 3D measurement robot (11) is operated by position/movement data generated by the position/movement data generation module (37). The method of claim 1, wherein the hydraulic data generation module (14) further comprises an image comparison module (45) that contrasts the reference 3D image with the vehicle 3D image generated from numerical data by the 3D measurement robot (11). Data processing system for 3D measurement robots.