WO2022057636A1 - 一种胎纹深度测量方法及胎纹深度测量系统 - Google Patents

一种胎纹深度测量方法及胎纹深度测量系统 Download PDF

Info

Publication number
WO2022057636A1
WO2022057636A1 PCT/CN2021/116225 CN2021116225W WO2022057636A1 WO 2022057636 A1 WO2022057636 A1 WO 2022057636A1 CN 2021116225 W CN2021116225 W CN 2021116225W WO 2022057636 A1 WO2022057636 A1 WO 2022057636A1
Authority
WO
WIPO (PCT)
Prior art keywords
depth
tread
laser
measurement
tire
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/116225
Other languages
English (en)
French (fr)
Inventor
王维林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Intelligent Technology Corp Ltd
Original Assignee
Autel Intelligent Technology Corp Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Intelligent Technology Corp Ltd filed Critical Autel Intelligent Technology Corp Ltd
Publication of WO2022057636A1 publication Critical patent/WO2022057636A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth

Definitions

  • the present application relates to the field of tires, and in particular, to a tread depth measurement method and a tread depth measurement system.
  • the tire tread When the car is moving, the tire tread also rotates.
  • the tire is the only place where the vehicle is in contact with the ground. It is in contact with the ground all the year round and is often worn.
  • the wear of the tire generally refers to the wear of the tire tread. If the tread wear is deep, the grip of the tire will be greatly reduced, and even a puncture may occur. Therefore, it is necessary to measure the depth of the tire tread comprehensively in time to understand its degree of wear.
  • the traditional tread depth measurement equipment some of which rely on the use of calipers or coins to measure, the measurement results are greatly affected by the operation method and subjective judgment, the measurement is inaccurate, and it is impossible to do a comparative analysis of the tread wear of the full tread; even if using The laser measures the tread depth of the tire, but the measurement equipment is also based on the floor type, which requires an installation site, has high environmental requirements, and cannot support the tread depth measurement of the full tread; and some handheld devices not only cannot support the tire tread of the full tread In addition, the design structure is complex and the cost is high, which makes it impossible for ordinary users to use it well.
  • the present invention solve one of the above-mentioned technical problems at least to a certain extent. Therefore, the present invention provides a tread depth measurement method and a tread depth measurement system, which can support the tread depth measurement of the whole tread, and the operation is more convenient Convenience and enhance user experience.
  • an embodiment of the present invention provides a tread depth measurement method, which is applied to a tread depth measurement system.
  • the tread depth measurement system includes a laser, a camera, a handheld bracket, and a displacement sensor.
  • the laser, the camera And the displacement sensor is fixed on the hand-held bracket, the laser is used to emit laser light to the tire tread, the camera is used to collect the image data of the laser on the tire tread, and the displacement sensor is used to measure The displacement of the tread depth measurement system moving on the tire tread, the method comprising:
  • the measurement point is the point that the tread depth measurement system moves through on the tire tread;
  • the image data includes a laser line formed by the laser emission on the tread of the tire;
  • the tread depth of the tire is determined.
  • the at least two measurement points include an initial measurement point and an end measurement point
  • the ratio of the image data reflected on the tread to all the image data in the image data collected at the initial measurement point is greater than or equal to a first preset ratio
  • the ratio of the image data reflected on the tread to the entire image data in the image data of the end measurement point is smaller than the second preset ratio.
  • the measurement point is a point through which the tread depth measurement system travels on the tread of the tire transverse to the direction of travel of the tire.
  • the range of the distance x between two consecutive measurement points in the at least two measurement points is: d/2 ⁇ x ⁇ d, where d is the effective width of the laser line .
  • the method further includes:
  • the determining the tread depth of the tire according to the splicing depth map includes:
  • the tread depth of the tire is determined.
  • the invalid depth data is depth data greater than a preset threshold in the stitched depth map.
  • the determining the tread depth of the tire according to the stitching depth map includes:
  • the laser line is divided into a first laser line and a second laser line, and the depth data of the first laser line is greater than the depth data of the second laser line;
  • the tread depth of the tire is determined.
  • the method further includes:
  • the tire tread wear degree is determined according to the tread depth and a preset depth threshold.
  • the embodiment of the present invention provides a tread depth measurement system, applied to a tire tread, comprising:
  • the laser fixed on the bracket, the laser is used to emit laser light to the tire tread to form a laser line;
  • a camera fixed on the bracket, the camera is used to collect image data of the laser on the tire tread;
  • the displacement sensor is used to measure the displacement of the tread depth measurement system moving on the tire tread;
  • a controller including at least one processor and a memory, the memory, the camera, and the displacement sensor all being in communication with the at least one processor, the memory storing instructions executable by the at least one processor , the instructions are executed by the at least one processor to enable the at least one processor to perform the method as described above.
  • a filter is also included;
  • the filter is arranged on the viewfinder lens of the camera, wherein the wavelength of the light source that the filter allows to pass is the same as the wavelength of the laser output by the laser.
  • the display is connected in communication with the controller, and is used for displaying the image captured by the camera and the stitched depth data.
  • the tread depth measurement method in the present invention is applied to a tread depth measurement system, and the tread depth measurement method includes first controlling a laser to emit laser light to the tire tread, and then Obtain the image data collected by the camera at each of the at least two measurement points on the tire tread.
  • the measurement point is the point where the tread depth measurement system moves on the tire tread.
  • the image data includes the laser emitted on the tire tread.
  • the formed laser line and then determine the depth data of the laser line corresponding to each measurement point emitted to the tire tread according to the image data collected at each measurement point, splicing the depth data corresponding to each measurement point to obtain a splicing depth map, and finally according to the splicing depth.
  • the tread depth measurement method can obtain depth maps of multiple effective measurement points, and determine the tread depth according to the depth map after splicing. Compared with the tread depth measurement scheme of a single measurement point, this method can support the whole tire.
  • the tread depth measurement of the surface range makes the measurement more accurate, and the operation is more convenient, improving the user experience.
  • 1a is a schematic structural diagram of a tread depth measurement system provided by an embodiment of the present invention.
  • Fig. 1b is a schematic diagram of the internal circuit structure of a tread depth measurement system provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for measuring tread depth according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a measurement point provided by an embodiment of the present invention.
  • Fig. 4 is the schematic flow chart of step S25 in Fig. 2;
  • FIG. 5 is a schematic diagram of a stitching depth map provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of a tread depth measurement device provided by an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a hardware structure of a controller according to an embodiment of the present invention.
  • FIGS. 1a and 1b are a schematic structural diagram and a schematic circuit structure of a tread depth measurement system provided by an embodiment of the present invention.
  • the tread depth measurement system is applied to a tire tread.
  • the tread depth measurement system 100 includes a bracket 101, a laser 102, a camera 103, a controller 104 and a displacement sensor 105.
  • the laser 102 is fixed on the bracket 101, and the laser light emitted by the laser 102 is projected on the detection surface where the tire tread is located to form a laser line,
  • the detection surface where the tire tread is located includes the tire tread area, and may also include an area other than the tire tread, that is, the background area.
  • the camera 103 is fixed on the bracket 101.
  • the camera 103 is used to collect the image data of the laser on the tire tread. Different laser lines will be formed when the laser is projected to different positions on the tire tread. Different laser lines have different imaging positions in the image. , points on different laser lines have different pixel coordinates in the image, so the controller 104 can obtain the depth data of each laser line on the tire tread according to the imaging position of different laser lines in the image, and then according to the The difference in depth data determines the depth of the tire tread.
  • the tread depth measurement system 100 does not only measure a certain part of the tire tread once, but after starting the measurement, the user holds the tread depth measurement system 100 and slides on the tread, at multiple valid measurement points Measure the depth of the tread pattern at various points to obtain a depth map at multiple valid measurement points to cover the measurement of the full tread.
  • the displacement sensor 105 Every time the tread depth measurement system 100 moves on the tread, the displacement sensor 105 measures the displacement. After the displacement sensor 105 measures the moving displacement, it is transmitted to the controller 104, and the controller 104 identifies and judges according to the moving displacement. , determine whether the tread depth measurement system 100 has moved to an effective measurement point, and after confirming that the tread depth measurement system 100 has moved to an effective measurement point, continue to acquire the image containing the laser line at the effective measurement point, and continue to acquire the laser line in the tire The depth data of the tread is obtained, and the depth map at the effective measurement point is obtained.
  • the controller 104 splices the depth maps obtained multiple times to obtain a depth map within the full tread range, analyzes the depth information in the depth map, and obtains the tread depth and tread wear within the full tread range. degree.
  • the tread depth measurement system 100 automatically measures the displacement of the system through the displacement sensor 105, and the controller 104 automatically analyzes and judges whether the moved position is a valid measurement point or whether the moving distance is valid, etc. The operation is relatively convenient, and lower cost.
  • the tread depth measurement system 100 further includes a filter (not shown in the figure), and the filter is arranged on the viewfinder lens of the camera 103 , wherein the wavelength of the light source that the filter allows to pass is different from the wavelength of the laser 102 .
  • the wavelengths of the output lasers are the same, so the filter can filter the ambient light entering the camera, etc., and only keep the light signal output by the laser 102 into the viewfinder lens of the camera 103 .
  • the tread depth measurement system 100 further includes a display 106, which is connected in communication with the controller 104 for displaying images captured by the camera 103, and can also display the tread components represented by different laser lines , and the stitched depth map.
  • the controller 104 is electrically connected to the laser 102, the camera 103, and the display 106, respectively.
  • the controller 104 can be arranged in the bracket 101 or an external controller.
  • the controller 104 serves as the control core of the tread depth measurement system 100 and is used to control the laser 102 in the tread depth measurement system 100 to project the laser light on the tire tire.
  • the camera 103 is controlled to obtain an image containing the laser line and some business logic processing, such as a tread depth measurement method provided in the following embodiment.
  • the controller 104 may be a general purpose processor, digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA), microcontroller, ARM (Acorn RISC Machine) or other available Program logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the controller 104 may be any conventional processor, controller, microcontroller, or state machine. The controller 104 may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP, and/or any other such configuration.
  • the tread depth measurement system 100 can be a handheld device.
  • the user holds the bracket 101 of the tread depth measurement system, puts it on the tire tread, and turns on the laser to measure, The user then holds the tread depth measurement system 100 and slides on the tread, measures at multiple measurement points to cover the entire tread range, and finally turns off the laser to end the measurement. Therefore, the user only needs to turn on the laser, move the With three steps of equipment and turning off the laser, the tread depth measurement of the full tread can be completed, which is easy to operate and easy to use.
  • FIG. 2 is a tread depth measurement method provided by an embodiment of the present invention.
  • the tread depth measurement method is applied to a tread depth measurement system.
  • the tread depth measurement method S20 include:
  • the controller controls the laser to output laser light in a specific wavelength band.
  • the laser output from the laser may be a green line laser in a 520 nm band or a red line laser in a 650 nm band.
  • the viewfinder lens of the camera may be a 1MP-2MP high-definition camera.
  • the user holds the tread depth measurement system and moves on the tire tread to obtain the image data collected by each measurement point during the movement.
  • the tread moves longitudinally in the direction of movement of the tire.
  • the image data includes laser emission on the tire tread to form a laser line, and when the laser is projected on the tread depression and plane, different laser lines can be formed.
  • the camera's viewfinder camera Capture image data containing the laser line.
  • the depth data of the laser line corresponding to each measurement point emitted to the tire tread is determined.
  • the corresponding camera coordinate sequence can be calculated according to the pixel coordinate sequence of the laser line, and then the camera coordinate sequence is subjected to projective transformation to obtain a laser coordinate sequence, where the laser coordinate sequence is the coordinates in the laser coordinate system, the laser coordinates
  • the system is a coordinate system composed of the origin of the laser emission, the normal vector of the laser plane, and the laser projection direction.
  • the projection direction is yL
  • the normal vector of the laser plane is n
  • xL is perpendicular to n and yL.
  • the laser plane is parallel to the intersection of the tire tread, and the coordinate system composed of xL, yL and vector n is the laser coordinate system.
  • the yL in the laser coordinate sequence is the depth data of the laser line along the laser projection direction. Therefore, according to the laser coordinate sequence, the depth data of the laser line along the laser projection direction can be obtained, that is, the laser line is emitted to the tire. Tread depth data.
  • Each measurement point means that the image data measured at the measurement point can be used for data analysis, and corresponding depth data can be obtained according to the image data at the measurement point.
  • the laser line is projected vertically to the tread along the yL axis.
  • the tread depth measurement system moves along the xL axis parallel to the tread. Images are taken at multiple measurement points on the moving track to obtain the corresponding depth data, and then measure and analyze. , until the entire tread is covered. If the laser projection ranges of the two consecutive measurement points do not intersect or connect, some data of the tread range will be missed. Therefore, the distance between the two consecutive measurement points will be calculated.
  • Some limitations only if the range of the laser projection at the second measurement point intersects with the range of the laser projection at the first measurement point, or the boundaries of the laser projection at the two measurement points are connected, the second measurement point can be obtained. depth data.
  • the determination of each measurement point can be automatically determined by the displacement sensor.
  • the displacement sensor detects the distance moved by the tread depth measurement system, and transmits the distance to the controller.
  • the controller analyzes the distance. If it is determined that the system reaches the next measurement point, control the camera to obtain image data at the measurement point. Therefore, the tread depth measurement method can automatically determine the measurement point, and then acquire the image data at the measurement point, without manual operation or control, the operation is convenient, the measurement is more comprehensive, and the acquired depth data is more accurate.
  • the horizontal axis of the spliced depth map is xL
  • the vertical axis is yL, including the depth data obtained at each measurement point, and each measurement point corresponds to The horizontal axis xL of each measurement point is different, and the sequence is spliced according to the horizontal axis xL corresponding to each measurement point.
  • the splicing depth map includes the depth data corresponding to each measurement point, and then according to the splicing depth map, the tread depth of the tire is determined, and the tread depth of the full tread is analyzed accordingly.
  • the tread depth measurement method can obtain depth maps of at least two effective measurement points, and splicing them to obtain a splicing depth map. Measurement, measurement is more accurate and comprehensive, and the measurement system is easy to operate and convenient for users to use.
  • the at least two measurement points include an initial measurement point and an end measurement point, wherein the ratio of the image data reflected on the tread to the total image data in the image data collected at the initial measurement point is greater than or equal to The first preset ratio.
  • the image data reflected on the tread means that the horizontal axis xL under the laser coordinate system corresponding to the image data of this part is located within the tread range, that is, the image data obtained at the initial measurement point has at least the first preset ratio or more.
  • the image data is on the tread, and the first preset ratio can be set according to user needs.
  • it can be set to 1/3, that is, if the In the data, at least 1/3 of the image data is on the tread, then the measurement point is used as the initial measurement point, and the depth data obtained at the measurement point is used for splicing; if the measurement is made at a certain measurement point Among the data, there is less data on the tread. If less than 1/3 of the data is on the tread, the measurement point will not be used as the initial measurement point, and the tread depth measurement system will continue to be moved to continue the initial measurement point. ok.
  • the ratio of the image data reflected on the tread to the entire image data is smaller than the second preset ratio.
  • the image data reflected on the tread refers to the image data of the part corresponding to the image data.
  • the horizontal axis xL under the laser coordinate system is located within the tread range, that is, the image data obtained at the end measurement point has at most a second preset ratio of image data on the tread, wherein the second preset ratio It can be set according to user needs.
  • this embodiment of the present invention can be set to 2/3, that is, if the ratio of the image data reflected on the tread to the total image data in the image data obtained at a certain measurement point is less than 2/3, the ratio of the image data beyond the tread range to the total image data is greater than 1/3, which means the bracket has moved to the end of the tire tread, confirm that the measurement point there is the end measurement point, if the measurement point is somewhere
  • the ratio of the image data reflected on the tread to the total image data in the image data obtained at the site is greater than or equal to 2/3, and the ratio of the image data beyond the tread range to the total image data is less than or equal to 1/3, it is considered that the measurement It is not over yet, this measurement is the measurement of the middle measurement point, move the bracket on the tread again, and continue the measurement until the whole tread is measured.
  • the measurement point is a point that the tread depth measurement system passes through when moving on the tread surface of the tire transversely to the moving direction of the tire, then one of the two consecutive measurement points among the at least two measurement points
  • the range of the distance x between them is: d/2 ⁇ x ⁇ d, where d is the effective width of the laser line.
  • d is the effective width of the laser line.
  • the moving distance is measured by a displacement sensor.
  • the next tread measurement and analysis can be performed. Therefore, after the last measurement point, the movement displacement x ⁇ d/2 and x ⁇ d, it is considered that the next measurement point is reached, and the image data is obtained at this measurement point. Therefore, each measurement point of the full tread measurement All can be automatically analyzed and judged by the system, without manual intervention, the user only needs to slide normally on the tread, and the operation is more convenient.
  • the tread width of most tires is 160-300mm. If the height of the bracket is 100mm, the effective tread analysis range d is not greater than 72mm each time.
  • the depth data of the initial measurement point, the depth data of the intermediate measurement point, and the depth data of the end measurement point can be spliced to obtain the spliced depth map. If there is no depth data of the intermediate measurement point, the depth data of the initial measurement point and the depth data of the end measurement point are spliced to obtain a stitched depth map. The depth data of the measurement point and the depth data of the end measurement point are spliced to obtain a spliced depth map. After the splicing depth map is obtained, the splicing depth map is measured and analyzed to obtain the tread depth within the entire tread range.
  • the detection surface where the tire tread is located also includes a background area.
  • the laser When the laser is projected, it can also be projected on an area outside the tire tread, that is, projected on the background area.
  • the camera captures an image, the laser may be projected.
  • the laser line formed in the background area is also photographed, and the laser line will cause errors in the tread depth analysis. It is also necessary to identify the area corresponding to the laser line and remove it so that it does not participate in the tread depth information analysis. Therefore, after the depth data corresponding to each measurement point is spliced to obtain a spliced depth map, invalid depth data is excluded from the spliced depth map to filter out valid depth data.
  • the coordinate yL of the point on the laser line projected to the background area along the laser projection direction varies greatly, and the coordinate value far exceeds that of the laser line in the tread plane area.
  • the yL coordinate value corresponding to the laser line in the recessed area of the tread is determined that the invalid depth data is the depth data greater than the preset threshold in the spliced depth map, and the part of invalid depth data is eliminated from the spliced depth map to filter out valid depth data.
  • the tread depth of the tire can be determined according to the effective depth data in the splicing depth map, thereby reducing the measurement error and improving the measurement accuracy.
  • step S25 includes:
  • the depth data in the splicing depth map divide the laser line into a first laser line and a second laser line, where the depth data of the first laser line is greater than the depth of the second laser line data;
  • the laser lines contained in the image are divided into different laser lines according to the depth data in the spliced depth map. .
  • the depth data of the laser line projected to the tread plane area in the laser projection direction is lower than that projected to the tread recess.
  • the depth data of the laser line formed in the area in the laser projection direction is small, that is, the yL coordinate value of the point projected on the laser line formed by the tread flat area is higher than the yL coordinate value of the point projected on the laser line formed by the tread depression area.
  • the laser line is divided into a first laser line and a second laser line according to the depth data on the mosaic depth map, wherein the depth data of the first laser line is greater than that of the second laser line. That is, the first laser line is a laser line formed by projecting a laser on the area at the depression of the tire tread, and the second laser line is a laser line formed by projecting a laser on the area at the plane of the tire tread.
  • the depth data of the tire tread depression also has a limited range, that is, the yL coordinate value of the point projected onto the laser line formed by the tire tread depression has a limited range, so the first laser line has a limited range.
  • the depth data is less than a preset threshold, wherein the preset threshold can be determined in advance according to prior information, which can reduce the discrimination error between the first laser line and the second laser line, and can exclude the depth data greater than the preset threshold in advance, That is, in order to reduce the measurement error of the tread depth, the tread depth of the tire can be determined directly according to the effective depth data in the splicing depth map.
  • S252. Determine the tread depth of the tire according to the depth data of the first laser line and the depth data of the second laser line.
  • the stitched depth map contains depth data at at least two valid measurement points. Therefore, the stitched depth map may contain multiple first and second laser lines, according to the adjacent first and second laser lines.
  • the corresponding depth data is used to determine the corresponding tread depth. Therefore, the tread depths of multiple treads in the splicing depth map can be calculated, and the difference between the depth data of the first laser line and the depth data of the second laser line is the tread depth.
  • the tread depth measurement method can obtain depth maps of at least two effective measurement points, and splicing them to obtain a splicing depth map. Measurement, measurement is more accurate and comprehensive, and the measurement system is easy to operate and convenient for users to use.
  • the wear degree of the tire tread can be determined. If the measured tread depth is less than the preset depth threshold, it is determined that the tire tread is worn, and the tread depth and the preset depth threshold are determined. The difference can characterize the degree of wear.
  • the preset depth threshold can be defined according to the tire type. In general, the tread depth of a new tire is greater than 8mm. If the preset depth threshold is set to 8mm, if the tread depth in a certain place is less than 8mm, the tire at that place will be determined. surface wear.
  • the tread depth of the full tread range can be analyzed correspondingly through the above method to analyze whether the wear occurs in the full tread range and the degree of wear. If the wear is serious, the tire can be replaced in time. Compared with the single measurement point The measurement method of the tread depth can support the tread depth measurement of the whole tread, and can timely obtain whether wear occurs in the whole tread range, and the measurement is also more accurate.
  • the tread depth measurement method can obtain depth maps of at least two effective measurement points, and splicing them to obtain a splicing depth map.
  • the measurement of the depth of the grain is more accurate and comprehensive, and the measurement system is easy to operate and convenient for users to use.
  • the tread depth measurement method will now be illustrated with an example. If the tread depth measurement system measures at five positions A, B, C, D, and E on the moving track, A and E are the measurement boundaries, corresponding to the start and end points of the measurement, respectively.
  • the five positions A, B, C, D, and E are all measurement points, and the depth data obtained from the five measurement points can be spliced according to the displacement order to obtain a spliced depth map.
  • depth data is also referred to as point cloud data.
  • the start point and the end point have certain particularities.
  • Some of the laser lines captured by the camera at these two positions may not be on the tread, and the depth data that is not on the tread is invalid depth data. Identify them, exclude them from the splicing depth map, and cannot participate in the analysis of tread depth information. After filtering out the effective depth data, determine the tread depth of the tire according to the effective depth data in the splicing depth map to reduce the tire tread depth. The error of the grain depth analysis.
  • the data of the laser lines reflected from the tread in the yL direction is quite different. You can distinguish whether the laser lines are on the tread according to this feature. Please refer to the figure 5.
  • the splicing depth map is shown in the figure, and the laser lines whose depth data exceeds the Lmax part can be analyzed as the background part. The depth data of this part is invalid depth data, which is excluded from the splicing depth map and does not participate in the tread depth analysis.
  • the tread depth information When analyzing the tread depth information, it depends on the depth data of the laser line at the depression (that is, the depression of the tire tread) and the depth data of the laser line at the left and right planes (that is, the plane of the tire tread), as shown in Figure 5.
  • the tread depth information is obtained by comparing the K part with the M1 and M2 parts. If the difference between the depth data of the K part and the M1 part is less than the preset depth threshold, it is determined that the M1 part is worn. If the difference in the depth data of the M2 part is smaller than the preset depth threshold, it is determined that the M2 part is worn.
  • the depression may be located at the boundary point of the two measurements, and the left and right reference information will be lost in a single measurement, but from the stitching depth map of the full tread, the left and right reference information is complete, so
  • the depth data measured by multiple measurement points need to be spliced before analysis.
  • the position of the splicing point is also the position of the measurement point, which is determined by the displacement sensor.
  • the tread depth measurement device 200 includes a control module 21 for controlling the laser to emit laser light to the tire tread;
  • the acquisition module 22 is configured to acquire image data collected by the camera at each of the at least two measurement points on the tire tread; the measurement point is the tread depth measurement system on the tire tread moving past points; said image data comprising laser lines formed by said laser emission on said tire tread;
  • a first determination module 23 configured to determine, according to the image data collected at each measurement point, the depth data of the laser line corresponding to each measurement point emitted to the tire tread;
  • the splicing module 24 is used for splicing the depth data corresponding to each measurement point to obtain a splicing depth map
  • the second determination module 25 is configured to determine the tread depth of the tire according to the splicing depth map.
  • the tread depth measuring device obtains the depth data of at least two effective measurement points, and splices them to obtain a splicing depth map. It is more accurate and comprehensive to measure the tread depth of the tire, and the measurement system is easy to operate and convenient for users to use.
  • the at least two measurement points include an initial measurement point and an end measurement point
  • the ratio of the image data reflected on the tread to all the image data in the image data collected at the initial measurement point is greater than or equal to a first preset ratio
  • the ratio of the image data reflected on the tread to the entire image data in the image data of the end measurement point is smaller than the second preset ratio.
  • the measurement point is a point through which the tread depth measurement system travels on the tire tread transverse to the direction of travel of the tire.
  • the range of the distance x between two consecutive measurement points in the at least two measurement points is: d/2 ⁇ x ⁇ d, where d is the effective width of the laser line .
  • the tread depth measurement device 200 further includes an exclusion module 26 for excluding invalid depth data in the spliced depth map to filter out valid depth data; the second determination module 25 is specifically configured to The effective depth data in the splicing depth map is used to determine the tread depth of the tire.
  • the invalid depth data is depth data greater than a preset threshold in the stitched depth map.
  • the second determination module 25 is specifically configured to divide the laser line into a first laser line and a second laser line according to the depth data in the spliced depth map, the first laser line
  • the depth data of the tire is greater than the depth data of the second laser line; the tread depth of the tire is determined according to the depth data of the first laser line and the depth data of the second laser line.
  • the tread depth measurement device 200 further includes a third determination module 27 for determining the tread wear degree of the tire according to the tread depth and a preset depth threshold.
  • the tread depth measuring device obtains the depth data of at least two effective measurement points, and splices them to obtain a splicing depth map, and the tread depth of a plurality of treads of the full tread can be measured by the splicing depth map.
  • the measurement is more accurate and comprehensive, and the measurement system is easy to operate and convenient for users to use.
  • FIG. 6 is a schematic structural diagram of a controller according to an embodiment of the present invention.
  • the controller 300 includes one or more processors 31 and a memory 32 .
  • one processor 31 is taken as an example in FIG. 6 .
  • the processor 31 and the memory 32 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 9 .
  • the memory 32 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as those corresponding to the tread depth measurement method in the embodiment of the present invention.
  • the processor 31 executes various functional applications and data processing of the tread depth measurement device by running the non-volatile software programs, instructions and modules stored in the memory 32, that is, to realize the tread depth measurement provided by the above method embodiments. Methods and functions of respective modules or units in the above apparatus embodiments.
  • Memory 32 may include high speed random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, memory 32 may optionally include memory located remotely from processor 31 , which may be connected to processor 31 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the program instructions/modules are stored in the memory 32, and when executed by the one or more processors 31, execute the tread depth measurement method in any of the above method embodiments.
  • Embodiments of the present invention also provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as One processor 31 in FIG. 6 can cause the above-mentioned one or more processors to execute the tread depth measurement method in any of the above-mentioned method embodiments.
  • Embodiments of the present invention also provide a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, a process in FIG. 6
  • the device 31 can cause the above one or more processors to execute the tread depth measurement method in any of the above method embodiments.
  • An embodiment of the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, and when the program instructions are controlled When the controller is executed, the controller is made to execute any one of the tread depth measurement methods.
  • each embodiment can be implemented by means of software plus a general hardware platform, and certainly can also be implemented by hardware.
  • the computer program can be stored in a non-transitory computer that can In reading the storage medium, the computer program includes program instructions, and when the program instructions are executed by the UAV, the UAV can be made to execute the processes of the embodiments of the above methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM) or the like.
  • the tread depth measurement method can obtain the depth data of at least two effective measurement points, and splicing them to obtain a splicing depth map.
  • the measurement is more accurate and comprehensive, and the measurement system is easy to operate and user-friendly.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

本发明涉及一种胎纹深度测量方法以及胎纹深度测量系统，该方法首先控制激光器发射激光至轮胎胎面，再获取相机在轮胎胎面上至少两个测量点中各测量点采集的图像数据，该测量点为胎纹深度测量系统在轮胎胎面上移动经过的点，图像数据包含激光发射在轮胎胎面上形成的激光线，再根据在各测量点采集的图像数据确定各测量点对应的激光线发射至轮胎胎面的深度数据，将各测量点对应的深度数据拼接得到拼接深度图，最后根据拼接深度图，确定轮胎的胎纹深度。因此，该方法能够获得多个有效测量点的深度图，且根据拼接后的深度图进行确定胎纹深度，可以支持全胎面范围的胎纹深度测量，测量更加精准，且操作更加方便，提升用户体验。

Description

一种胎纹深度测量方法及胎纹深度测量系统
本申请要求于2020年9月18日提交中国专利局、申请号为202010987835.6、申请名称为“一种胎纹深度测量方法及胎纹深度测量系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及轮胎领域，特别是涉及一种胎纹深度测量方法及胎纹深度测量系统。
背景技术
在车子行进过程中，轮胎胎面也随着转动，轮胎是汽车整车唯一与地面接触的地方，与地面常年接触，经常受到磨损。轮胎的磨损一般是指轮胎胎纹的磨损，若胎纹磨损较深，则会大大降低轮胎的抓地力，甚至会出现爆胎的现象，因此，需要及时全面地测量轮胎胎纹深度，了解其磨损程度。
传统上的胎纹深度测量设备，有些设备依赖于使用卡尺或者硬币测量，测量结果受操作方法和主观判断影响比较大，测量不精确，且无法做全胎面的胎纹磨损对比分析；即使采用激光器进行测量轮胎胎纹深度，但测量设备也要基于落地式，需要安装场地，环境要求高，且不能支持全胎面的胎纹深度测量；而有些手持式设备不仅不能支持全胎面的胎纹深度测量，且设计结构复杂、成本高，导致普通用户无法很好地使用。
发明内容
本发明实施例至少在一定程度上解决上述技术问题之一，为此本发明提供一种胎纹深度测量方法及胎纹深度测量系统，其能够支持全胎面的胎纹深度测量，且操作更加方便，提升用户体验。
第一方面，本发明实施例提供一种胎纹深度测量方法，应用于胎纹深度测量系统，所述胎纹深度测量系统包括激光器、相机、手持支架以及位移传感器，所述激光器、所述相机以及所述位移传感器均固定于所述手持支架，所述激光器用于发射激光至轮胎胎面，所述相机用于采集激光在所述轮胎胎面上的图像数据，所述位移传感器用于测量所述胎纹深度测量系统在所述轮胎胎面上移动的位移，所述方法包括：
控制所述激光器发射激光至所述轮胎胎面；
获取所述相机在所述轮胎胎面上至少两个测量点中各测量点采集的图像数据；所述测量点为所述胎纹深度测量系统在所述轮胎胎面上移动经过的点；所述图像数据包含所述激光发射在所述轮胎胎面上形成的激光线；
根据在所述各测量点采集的所述图像数据确定所述各测量点对应的所述激光线发射至所述轮胎胎面的深度数据；
将所述各测量点对应的所述深度数据拼接得到拼接深度图；
根据所述拼接深度图，确定所述轮胎的胎纹深度。
在一些实施例中，所述至少两个测量点包括初始测量点和结束测量点；
其中，在所述初始测量点采集的图像数据中体现在胎面上的图像数据与全部图像数据的比例大于或等于第一预设比例；
在所述结束测量点的图像数据中体现在胎面上的图像数据与全部图像数据的比例小于第二预设比例。
在一些实施例中，所述测量点为所述胎纹深度测量系统在所述轮胎胎面上横向于所述轮胎的移动方向移动时经过的点。
在一些实施例中，所述至少两个测量点中连续的两个所述测量点之间的距离x的范围为：d/2≤x≤d，其中，d为所述激光线的有效宽度。
在一些实施例中，所述将所述各测量点对应的所述深度数据拼接得到拼接深度图后，所述方法还包括：
在所述拼接深度图中排除无效深度数据，以筛选出有效深度数据；
所述根据所述拼接深度图，确定所述轮胎的胎纹深度，包括：
根据所述拼接深度图中的所述有效深度数据，确定所述轮胎的胎纹深度。
在一些实施例中，所述无效深度数据为所述拼接深度图中大于预设阈值的深度数据。
在一些实施例中，所述根据所述拼接深度图，确定所述轮胎的胎纹深度，包括：
根据所述拼接深度图中的所述深度数据，将所述激光线分为第一激光线与第二激光线，所述第一激光线的深度数据大于所述第二激光线的深度数据；
根据所述第一激光线的深度数据和所述第二激光线的深度数据，确定所述轮胎的胎纹深度。
在一些实施例中，所述根据所述拼接深度图，确定所述轮胎的胎纹深度后，所述方法还包括：
根据所述胎纹深度和预设深度阈值，确定所述轮胎胎面磨损程度。
第二方面，本发明实施例提供一种胎纹深度测量系统，应用于轮胎胎面，包括:
支架；
激光器，固定于所述支架上，所述激光器用于发射激光至所述轮胎胎面，形成激光线；
相机，固定于所述支架上，所述相机用于采集激光在所述轮胎胎面上的图像数据；
位移传感器，固定于所述支架上，所述位移传感器用于测量所述胎纹深度测量系统在所述轮胎胎面上移动的位移；
控制器，包括至少一个处理器以及存储器，所述存储器、所述相机以及所述位移传感器均与所述至少一个处理器通信连接，所述存储器存储有可被所述 至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的方法。
在一些实施例中，还包括滤波片；
所述滤波片设置于所述相机的取景镜头上，其中，所述滤波片允许通过的光源的波长与所述激光器所输出的激光的波长相同。
在一些实施例中，还包括显示器；
所述显示器与所述控制器通信连接，用于显示所述相机拍摄的图像和拼接后的深度数据数据。
本发明与现有技术相比至少具有以下有益效果：本发明中的胎纹深度测量方法，应用于胎纹深度测量系统，该胎纹深度测量方法包括首先控制激光器发射激光至轮胎胎面，再获取相机在轮胎胎面上至少两个测量点中各测量点采集的图像数据，该测量点为胎纹深度测量系统在轮胎胎面上移动经过的点，图像数据包含激光发射在轮胎胎面上形成的激光线，再根据在各测量点采集的图像数据确定各测量点对应的激光线发射至轮胎胎面的深度数据，将各测量点对应的深度数据拼接得到拼接深度图，最后根据拼接深度图，确定轮胎的胎纹深度。因此，该胎纹深度测量方法能够获得多个有效测量点的深度图，且根据拼接后的深度图进行确定胎纹深度，相对于单一测量点的胎纹深度测量方案，该方法可以支持全胎面范围的胎纹深度测量，测量更加精准，且操作更加方便，提升用户体验。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1a是本发明实施例提供的一种胎纹深度测量系统的结构示意图；
图1b是本发明实施例提供的一种胎纹深度测量系统内部电路结构示意图；
图2是本发明实施例提供的一种胎纹深度测量方法的流程示意图；
图3是本发明实施例提供的测量点的示意图；
图4是图2中步骤S25的流程示意图；
图5是本发明实施例提供的一种拼接深度图的示意图；
图6是本发明实施例提供的一种胎纹深度测量装置的结构示意图；
图7是本发明实施例提供的一种控制器硬件结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实 施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，如果不冲突，本发明实施例中的各个特征可以相互结合，均在本发明的保护范围之内。另外，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。再者，本发明所采用的“第一”、“第二”、“第三”等字样并不对数据和执行次序进行限定，仅是对功能和作用基本相同的相同项或相似项进行区分。
请一并参阅图1a和图1b，图1a和图1b是本发明实施例提供的一种胎纹深度测量系统结构示意图和电路结构示意图，该胎纹深度测量系统应用于轮胎胎面，该胎纹深度测量系统100包括支架101、激光器102、相机103、控制器104以及位移传感器105，激光器102固定于支架101上，激光器102所发射的激光投射在轮胎胎面所在检测面，形成激光线，其中，轮胎胎面所在检测面包括轮胎胎面区域，还可以包括轮胎胎面以外的区域，即背景区域。相机103固定于支架101上，相机103用于采集激光在轮胎胎面上的图像数据，激光投射到轮胎胎面的不同位置会形成不同的激光线，不同的激光线在图像中的成像位置不同，不同激光线上的点，在图像中的像素坐标也不同，因此控制器104可以根据不同的激光线在图像中的成像位置，得到各个激光线在轮胎胎面的深度数据，进而根据该各个深度数据差异，确定轮胎胎纹的深度。同时，该胎纹深度测量系统100并不是只在轮胎胎面的某一处测量一次，而是在开始测量以后，用户手持该胎纹深度测量系统100在胎面滑动，在多个有效测量点处测量胎纹的深度，得到多个有效测量点处的深度图，以覆盖全胎面的测量。
而每一次胎纹深度测量系统100在胎面移动的位移，由位移传感器105进行测量，位移传感器105测量该移动位移以后，传送至控制器104，由控制器104根据该移动位移进行识别和判断，判断胎纹深度测量系统100是否移动到有效测量点，确定胎纹深度测量系统100移动到有效测量点以后，再继续获取该有效测量点处包含激光线的图像，并继续获取激光线在轮胎胎面的深度数据，得到该有效测量点处的深度图。最后，控制器104将多次获取的深度图进行拼接，获得全胎面范围内的深度图，对深度图中的深度信息进行分析，获得全胎面范围内的胎纹深度，以及胎纹磨损程度。该胎纹深度测量系统100通过位移传感器105进行自动测量该系统移动的位移，由控制器104自动进行分析判断移动后的位置是否是有效测量点或者移动的距离是否有效等，操作比较方便，且成本较低。
在一些实施例中，该胎纹深度测量系统100还包括滤波片(图中未示出)，滤波片设置于相机103的取景镜头上，其中，滤波片允许通过的光源的波长与激光器102所输出的激光的波长相同，因此，该滤波片可以过滤进入相机的环 境光等，只保留激光器102所输出的光信号进入相机103的取景镜头。
在一些实施例中，该胎纹深度测量系统100还包括显示器106，该显示器106与控制器104通信连接，用于显示相机103拍摄的图像，还可以显示不同激光线所代表的胎面组成部分，以及拼接后的深度图。
在一些实施例中，控制器104分别与激光器102、相机103以及显示器106电连接。控制器104可以设置于支架101内，也可以是外部控制器，控制器104作为胎纹深度测量系统100的控制核心，用于控制胎纹深度测量系统100中的激光器102将激光投射在轮胎胎面所在检测面，控制相机103获取包含激光线的图像以及一些业务逻辑处理，例如下述实施例提供的一种胎纹深度测量方法。
在一些实施例中，控制器104可以为通用处理器、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)、单片机、ARM(Acorn RISC Machine)或其它可编程逻辑器件、分立门或晶体管逻辑、分立的硬件组件或者这些部件的任何组合。还有，控制器104还可以是任何传统处理器、控制器、微控制器或状态机。控制器104也可以被实现为计算设备的组合，例如，DSP和微处理器的组合、多个微处理器、一个或多个微处理器结合DSP和/或任何其它这种配置。
同时，该胎纹深度测量系统100可以为手持式设备，当需要测量胎面胎纹深度时，用户手持该胎纹深度测量系统的支架101，将其放于轮胎胎面，打开激光进行测量，用户再手持该胎纹深度测量系统100在胎面上滑动，在多个测量点处进行测量，以覆盖全胎面的范围，最后关闭激光，结束测量，因此，用户只需要经过打开激光、移动设备以及关闭激光三个步骤，就可以完成全胎面的胎纹深度测量，操作简单，使用方便。
请参阅图图2，图2是本发明实施例提供的一种胎纹深度测量方法，该胎纹深度测量方法应用于胎纹深度测量系统，如图2所示，该胎纹深度测量方法S20包括：
S21、控制所述激光器发射激光至所述轮胎胎面；
将胎纹深度测量系统的支架放于轮胎胎面，用户打开胎纹深度测量系统的开关，使其开始工作。控制器控制激光器输出特定波段的激光，在一些实施例中，激光器输出的激光可以为520nm波段的绿色线激光或者650nm波段的红色线激光。在一些实施例中，相机的取景镜头可以为100万～200万高清摄像头。
S22、获取所述相机在所述轮胎胎面上至少两个测量点中各测量点采集的图像数据；所述测量点为所述胎纹深度测量系统在所述轮胎胎面上移动经过的点；所述图像数据包含所述激光发射在所述轮胎胎面上形成的激光线；
S23、根据在所述各测量点采集的所述图像数据确定所述各测量点对应的所述激光线发射至所述轮胎胎面的深度数据；
用户手持该胎纹深度测量系统在轮胎胎面移动，获取移动过程中各个测量点采集的图像数据，该胎纹深度测量系统可以在轮胎胎面上横向于轮胎的移动 方向移动，也可以在轮胎胎面上纵向于轮胎的移动方向移动。
获取各个测量点采集的图像数据，该图像数据中包含激光发射在轮胎胎面而形成激光线，并且，激光投射在胎纹凹陷处和平面处时，可以形成不同的激光线，相机的取景摄像头拍摄包含该激光线的图像数据。
再根据各测量点采集的图像数据确定各测量点对应的激光线发射至轮胎胎面的深度数据。具体地，可以根据激光线的像素坐标序列计算其对应的相机坐标序列，再将所述相机坐标序列进行投影变换，得到激光坐标序列，所述激光坐标序列为激光坐标系下的坐标，激光坐标系是激光发射原点和激光平面的法向向量，以及激光投射方向组成的坐标系，在该坐标系下，投射方向为yL，激光平面的法向量为n，xL垂直于n与yL，且与激光平面与轮胎胎面的交线方向平行，其中，xL、yL以及向量n组成的坐标系即为激光坐标系。激光坐标序列中的yL即为激光线沿所述激光投射方向的深度数据，因此，根据所述激光坐标序列可以获取所述激光线沿所述激光投射方向的深度数据，即激光线发射至轮胎胎面的深度数据。
各个测量点是指在该测量点处测量的图像数据可以用于数据分析，可以根据该测量点处的图像数据获取对应的深度数据。激光线沿yL轴方向垂直投射到胎面，胎纹深度测量系统沿平行于胎面的xL轴方向移动，在移动轨迹上的多个测量点拍摄图像，获取对应的深度数据，再进行测量分析，直至覆盖完整个胎面，若两次连续测量点激光投射的范围不交叉或不连接，则会漏掉一些胎面范围的数据，因此，会对连续的两个测量点之间的距离进行一些限定，只有第二次测量点处激光投射的范围与第一次测量点处激光投射的范围有交叉，或者正好两次测量点激光投射的范围边界相连，才可以获取第二次测量点处的深度数据。
而各个测量点的确定可以由位移传感器自动进行确定，位移传感器检测胎纹深度测量系统移动的距离，并将该距离传送至控制器，控制器对该距离进行分析，若确定该系统到达下一个测量点，则控制相机获取该测量点处的图像数据。因此，该胎纹深度测量方法可以自动确定测量点，进而获取测量点处的图像数据，无需人为操作或控制，操作方便，且测量更加全面，获取的深度数据更加精确。
S24、将所述各测量点对应的所述深度数据拼接得到拼接深度图；
S25、根据所述拼接深度图，确定所述轮胎的胎纹深度。
获取各测量点处对应的深度数据后，将其进行拼接，得到拼接深度图，该拼接深度图的横轴为xL，纵轴为yL，包含各个测量点处获取的深度数据，各个测量点对应的横轴xL不同，按照各个测量点对应的横轴xL进行顺序拼接。该拼接深度图包含了各个测量点对应的深度数据，再根据该拼接深度图，确定轮胎的胎纹深度，对全胎面的胎纹深度进行相应的分析。
因此，该胎纹深度测量方法可以获得至少两个有效测量点的深度图，并将其进行拼接，获得拼接深度图，通过拼接深度图可以对全胎面的多个胎纹的胎 纹深度进行测量，测量更加精确，更加全面，且测量系统操作方便，方便于用户使用。
在一些实施例中，所述至少两个测量点包括初始测量点和结束测量点，其中，在初始测量点采集的图像数据中体现在胎面上的图像数据与全部图像数据的比例大于或等于第一预设比例。体现在胎面上的图像数据是指该部分的图像数据对应的激光坐标系下的横轴xL位于胎面范围内，即在初始测量点处获取的图像数据中至少有第一预设比例以上的图像数据是在胎面上的，其中，第一预设比例可以根据用户需要而设置，在本发明实施例中，其可以设置为1/3，即，若在某个测量点处测量的数据中，至少1/3以上的图像数据是在胎面上的，则将处测量点作为初始测量点，后续将在该测量点处获得的深度数据用于拼接；若在某测量点处测量的数据中，有较少的数据在胎面上，如小于1/3的数据在胎面上，则不将该测量点作为初始测量点，继续移动胎纹深度测量系统，继续进行初始测量点的确定。
在所述结束测量点的图像数据中体现在胎面上的图像数据与全部图像数据的比例小于第二预设比例，同样地，体现在胎面上的图像数据是指该部分的图像数据对应的激光坐标系下的横轴xL位于胎面范围内，即在结束测量点处获取的图像数据中至多有第二预设比例的图像数据是在胎面上的，其中，第二预设比例可以根据用户需要而设置，在本发明实施例中，其可以设置为2/3，即，若在某测量点处获取的图像数据中体现在胎面上的图像数据与全部图像数据的比例小于2/3，超越胎面范围的图像数据与全部图像数据的比例大于1/3，代表支架已经移动到轮胎胎面末尾处，确认该处的测量点为结束测量点，若在某处测量点处获取的图像数据中体现在胎面上的图像数据与全部图像数据的比例大于或等于2/3，超越胎面范围的图像数据与全部图像数据的比例小于或等于1/3，则认为测量还未结束，此次测量为中间测量点的测量，再次将支架在胎面移动，继续测量，直至全胎面均测量完毕。
在一些实施例中，若测量点为胎纹深度测量系统在轮胎胎面上横向于轮胎的移动方向移动时经过的点，则所述至少两个测量点中连续的两个所述测量点之间的距离x的范围为：d/2≤x≤d，其中，d为所述激光线的有效宽度。例如：请参阅图3，若系统在点A位置测量过后，下一个测量点在B点到C点之间，不能超越点C位置。B和C点距离A点的测量位置分别为L1和L2，L1>＝d/2，L2<d，其中d是系统单次有效测量范围，也即激光线的有效宽度。移动距离采用位移传感器测量，当一次测量后继续移动的距离x>＝L1且x<L2，则可以进行下一次胎面测量与分析。因此，在上一个测量点后，移动位移x≥d/2且x<d，则认为到达了下一个测量点，在该测量点处获取图像数据，因此，全胎面测量的每个测量点均可以由系统自动分析判断，勿需人工干预，用户只需要在胎面正常滑动即可，操作更加方便。大部分车胎胎面宽度为160～300mm，若支架高度为100mm，则每次有效胎面分析范围d不大于72mm。
因此，在对各个测量点的深度数据进行拼接获得拼接深度图时，可以将初 始测量点的深度数据，以及中间测量点的深度数据、结束测量点的深度数据进行拼接获得拼接深度图。若没有中间测量点的深度数据，则将初始测量点的深度数据和结束测量点的深度数据进行拼接获得拼接深度图，若有中间测量点的深度数据，则将初始测量点的深度数据、中间测量点的深度数据以及结束测量点的深度数据进行拼接获得拼接深度图。获得拼接深度图以后，再对拼接深度图进行测量分析，获得全胎面范围内的胎纹深度。
在一些实施例中，所述轮胎胎面所在检测面还包括背景区域，激光投射时，还可以投射在轮胎胎面以外的区域，即投射在背景区域，相机拍摄图像时，可能会把激光投射在背景区域而形成的激光线也拍摄进去，该激光线会胎纹深度分析造成误差，同样需要把该激光线对应的区域识别出来，将其剔除，使其不参与胎纹深度信息分析。因此，在将各测量点对应的深度数据拼接得到拼接深度图后，在拼接深度图中排除无效深度数据，以筛选出有效深度数据。在一些实施例中，根据先验知识和经验可以得知，投射到背景区域的激光线上点沿激光投射方向的坐标yL变化比较大，且该坐标值远远超过胎面平面区域的激光线和胎面凹陷区域的激光线对应的yL坐标值。基于上述先验信息，确定无效深度数据为拼接深度图中大于预设阈值的深度数据，将该部分的无效深度数据从拼接深度图中剔除，以筛选出有效深度数据。
在获得有效深度数据以后，可以根据拼接深度图中的有效深度数据，确定轮胎的胎纹深度，进而减小测量误差，提高测量精确度。
在一些实施例中，获得拼接深度图中的有效深度数据之后，再根据拼接深度图中的有效深度数据，确定轮胎的胎纹深度，具体地，请参阅图4，步骤S25包括：
S251、根据所述拼接深度图中的所述深度数据，将所述激光线分为第一激光线与第二激光线，所述第一激光线的深度数据大于所述第二激光线的深度数据；
将至少两个有效测量点的深度数据进行拼接得到拼接深度图以后，然后再通过一些先验知识或者一些算法，根据拼接深度图中的深度数据将图像中包含的激光线区分为不同的激光线。在一些实施例中，由于激光器到胎面平面的投射深度比到胎面凹陷处的投射深度小，则投射到胎面平面区域形成的激光线在激光投射方向的深度数据比投射到胎面凹陷处区域形成的激光线在激光投射方向的深度数据小，即投射到胎面平面区域形成的激光线上的点的yL坐标值比投射到胎面凹陷处区域形成的激光线上的点的yL坐标值小，因此，根据拼接深度图上的深度数据将激光线分为第一激光线与第二激光线，其中第一激光线的深度数据大于第二激光线的深度数据。即，第一激光线是激光投射在轮胎胎面凹陷处区域形成的激光线，第二激光线是激光投射在轮胎胎面平面处区域形成的激光线。
在一些实施例中，轮胎胎面凹陷处的深度数据也有一个限度范围，即投射到轮胎胎面凹陷处区域形成的激光线上的点的yL坐标值有一个限度范围，因 此第一激光线的深度数据小于预设阈值，其中，预设阈值可以根据先验信息提前确定，这样可以减小第一激光线和第二激光线的区分误差，可以将大于预设阈值的深度数据事先排除掉，即，为了减小胎纹深度测量误差，可以直接根据拼接深度图中的有效深度数据，确定轮胎的胎纹深度。
S252、根据所述第一激光线的深度数据和所述第二激光线的深度数据，确定所述轮胎的胎纹深度。
拼接深度图中包含至少两个有效测量点处的深度数据，因此，拼接深度图中可能会包含多个第一激光线和第二激光线，根据相邻的第一激光线和第二激光线对应的深度数据，确定其对应的胎纹深度。因此，可以将拼接深度图中多个胎纹的胎纹深度计算出来，第一激光线的深度数据和第二激光线的深度数据之差，即为胎纹深度。
因此，该胎纹深度测量方法可以获得至少两个有效测量点的深度图，并将其进行拼接，获得拼接深度图，通过拼接深度图可以对全胎面的多个胎纹的胎纹深度进行测量，测量更加精确，更加全面，且测量系统操作方便，方便于用户使用。
在一些实施例中，不仅需要测量胎纹深度，还需要评估轮胎胎面的磨损程度，若磨损程度较大，则需要更换轮胎胎面。具体地，根据胎纹深度和预设深度阈值，则可确定轮胎胎面磨损程度，若测量的胎纹深度小于预设深度阈值，则确定轮胎胎面发生磨损，胎纹深度和预设深度阈值的差值，则可表征磨损程度。预设深度阈值可以根据轮胎类型而定义，一般情况下，新轮胎胎纹深度大于8mm，若将预设深度阈值设为8mm，则若某处胎纹深度若小于8mm，则确定该处的胎面发生磨损。因此，可以通过上述方法将全胎面范围的胎纹深度进行相应分析，分析全胎面范围内的是否发生磨损，磨损程度如何，若磨损严重，则可以及时更换轮胎，相对于单一测量点的测量方法，该胎纹深度测量方法可以支持全胎面的胎纹深度测量，可以及时获取全胎面范围内是否发生磨损，且测量也更加精确。
综上所述，该胎纹深度测量方法可以获得至少两个有效测量点的深度图，并将其进行拼接，获得拼接深度图，通过拼接深度图可以对全胎面的多个胎纹的胎纹深度进行测量，测量更加精确，更加全面，且测量系统操作方便，方便于用户使用。
为了更好地描述该胎纹深度测量方法的原理和过程，现对该胎纹深度测量方法进行举例说明。若胎纹深度测量系统在移动轨迹上的A、B、C、D、E五个位置进行了测量，其中A和E是测量边界，分别对应测量的开始点和结束点。A、B、C、D、E五个位置均为测量点，则可将该五处测量点获得深度数据按照位移顺序进行拼接，获得拼接深度图。在一些实施例中，深度数据也称为点云数据。而在各个测量点中，开始点和结束点有一定的特殊性，在这两个位置处相机拍摄到的部分激光线可能不在胎面上，不在胎面上的深度数据为无效深度数据，需要把他们识别出来，从拼接深度图中排除出去，不能参与胎纹深度信 息分析，筛选出有效深度数据以后，再根据拼接深度图中的有效深度数据，确定轮胎的胎纹深度，以减小胎纹深度分析的误差。
通常不在胎面上的激光线是轮胎背景反射过来的，与胎面反射过来的激光线在yL方向上面的数据差异比较大，可以根据这个特征区分出激光线是否在胎面上，请参阅图5，拼接深度图如图所示，而深度数据超越Lmax部分的激光线可以分析为背景部分，该部分的深度数据为无效深度数据，从拼接深度图中排除出去，不参与胎纹深度分析。
分析胎纹深度信息时，依赖于凹陷处激光线(即轮胎胎面凹陷处)的深度数据与其左右平面处激光线(即轮胎胎面平面处)的深度数据做对比分析，如图5中的K部分与M1、M2部分做对比分析而获取胎纹深度信息，K部分的深度数据与M1部分的深度数据差异若小于预设深度阈值，则确定M1部分发生磨损，若K部分的深度数据与M2部分的深度数据差异若小于预设深度阈值，则确定M2部分发生磨损。全胎面测量中，凹陷处可能正位于两次测量的边界点，在单次测量中左右参考信息将会丢失，但从全胎面的拼接深度图来看，左右参考信息是齐备的，所以多个测量点测量的深度数据需要进行拼接后才能进行分析，拼接点的位置也就是测量点的位置，其由位移传感器测量确定。
图6是本发明实施例提供的一种胎纹深度测量装置的结构示意图，该胎纹深度测量装置200包括控制模块21，用于控制所述激光器发射激光至所述轮胎胎面；
获取模块22，用于获取所述相机在所述轮胎胎面上至少两个测量点中各测量点采集的图像数据；所述测量点为所述胎纹深度测量系统在所述轮胎胎面上移动经过的点；所述图像数据包含所述激光发射在所述轮胎胎面上形成的激光线；
第一确定模块23，用于根据在所述各测量点采集的所述图像数据确定所述各测量点对应的所述激光线发射至所述轮胎胎面的深度数据；
拼接模块24，用于将所述各测量点对应的所述深度数据拼接得到拼接深度图；
第二确定模块25，用于根据所述拼接深度图，确定所述轮胎的胎纹深度。
因此，在本实施例中，该胎纹深度测量装置获得至少两个有效测量点的深度数据，并将其进行拼接，获得拼接深度图，通过拼接深度图可以对全胎面的多个胎纹的胎纹深度进行测量，测量更加精确，更加全面，且测量系统操作方便，方便于用户使用。
在一些实施例中，所述至少两个测量点包括初始测量点和结束测量点；
其中，在所述初始测量点采集的图像数据中体现在胎面上的图像数据与全部图像数据的比例大于或等于第一预设比例；
在所述结束测量点的图像数据中体现在胎面上的图像数据与全部图像数据的比例小于第二预设比例。
在一些实施例中，所述测量点为所述胎纹深度测量系统在所述轮胎胎面上 横向于所述轮胎的移动方向移动时经过的点。
在一些实施例中，所述至少两个测量点中连续的两个所述测量点之间的距离x的范围为：d/2≤x≤d，其中，d为所述激光线的有效宽度。
在一些实施例中，该胎纹深度测量装置200还包括排除模块26，用于在所述拼接深度图中排除无效深度数据，以筛选出有效深度数据；第二确定模块25具体用于根据所述拼接深度图中的所述有效深度数据，确定所述轮胎的胎纹深度。
在一些实施例中，所述无效深度数据为所述拼接深度图中大于预设阈值的深度数据。
在一些实施例中，第二确定模块25具体用于根据所述拼接深度图中的所述深度数据，将所述激光线分为第一激光线与第二激光线，所述第一激光线的深度数据大于所述第二激光线的深度数据；根据所述第一激光线的深度数据和所述第二激光线的深度数据，确定所述轮胎的胎纹深度。
在一些实施例中，该胎纹深度测量装置200还包括第三确定模块27，用于根据所述胎纹深度和预设深度阈值，确定所述轮胎胎面磨损程度。
需要说明的是，由于所述胎纹深度测量装置与上述实施例中的胎纹深度测量方法基于相同的发明构思，因此，上述方法实施例中的相应内容同样适用于装置实施例，此处不再详述。
因此，该胎纹深度测量装置获得至少两个有效测量点的深度数据，并将其进行拼接，获得拼接深度图，通过拼接深度图可以对全胎面的多个胎纹的胎纹深度进行测量，测量更加精确，更加全面，且测量系统操作方便，方便于用户使用。
请参阅图6，图6是本发明实施例提供的一种控制器的结构示意图。如图6所示，该控制器300包括一个或多个处理器31以及存储器32。其中，图6中以一个处理器31为例。
处理器31和存储器32可以通过总线或者其他方式连接，图9中以通过总线连接为例。
存储器32作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的胎纹深度测量方法对应的程序指令/模块。处理器31通过运行存储在存储器32中的非易失性软件程序、指令以及模块，从而执行胎纹深度测量装置的各种功能应用以及数据处理，即实现上述方法实施例提供的胎纹深度测量方法以及上述装置实施例的各个模块或单元的功能。
存储器32可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器32可选包括相对于处理器31远程设置的存储器，这些远程存储器可以通过网络连接至处理器31。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述程序指令/模块存储在所述存储器32中，当被所述一个或者多个处理器31执行时，执行上述任意方法实施例中的胎纹深度测量方法。
本发明实施例还提供了一种非暂态计算机可读存储介质，所述非暂态计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图6中的一个处理器31，可使得上述一个或多个处理器可执行上述任意方法实施例中的胎纹深度测量方法。
本发明实施例还提供了一种非易失性计算机存储介质，所述计算机存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图6中的一个处理器31，可使得上述一个或多个处理器可执行上述任意方法实施例中的胎纹深度测量方法。
本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被控制器执行时，使所述控制器执行任一项所述的胎纹深度测量方法。
通过以上的实施方式的描述，本领域普通技术人员可以清楚地了解到各实施方式可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程是可以通过计算机程序产品中的计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非暂态计算机可读取存储介质中，该计算机程序包括程序指令，当所述程序指令被无人机执行时，可使所述无人机执行上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
该胎纹深度测量方法能够获得至少两个有效测量点的深度数据，并将其进行拼接，获得拼接深度图，通过拼接深度图可以对全胎面的多个胎纹的胎纹深度进行测量，测量更加精确，更加全面，且测量系统操作方便，方便于用户使用。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (11)

  1. 一种胎纹深度测量方法，应用于胎纹深度测量系统，其特征在于，所述胎纹深度测量系统包括激光器、相机、手持支架以及位移传感器，所述激光器、所述相机以及所述位移传感器均固定于所述手持支架，所述激光器用于发射激光至轮胎胎面，所述相机用于采集激光在所述轮胎胎面上的图像数据，所述位移传感器用于测量所述胎纹深度测量系统在所述轮胎胎面上移动的位移，所述方法包括：
    控制所述激光器发射激光至所述轮胎胎面；
    获取所述相机在所述轮胎胎面上至少两个测量点中各测量点采集的图像数据；所述测量点为所述胎纹深度测量系统在所述轮胎胎面上移动经过的点；所述图像数据包含所述激光发射在所述轮胎胎面上形成的激光线；
    根据在所述各测量点采集的所述图像数据确定所述各测量点对应的所述激光线发射至所述轮胎胎面的深度数据；
    将所述各测量点对应的所述深度数据拼接得到拼接深度图；
    根据所述拼接深度图，确定所述轮胎的胎纹深度。
  2. 根据权利要求1所述的方法，其特征在于，所述至少两个测量点包括初始测量点和结束测量点；
    其中，在所述初始测量点采集的图像数据中体现在胎面上的图像数据与全部图像数据的比例大于或等于第一预设比例；
    在所述结束测量点的图像数据中体现在胎面上的图像数据与全部图像数据的比例小于第二预设比例。
  3. 根据权利要求1所述的方法，其特征在于，所述测量点为所述胎纹深度测量系统在所述轮胎胎面上横向于所述轮胎的移动方向移动时经过的点。
  4. 根据权利要求3所述的方法，其特征在于，所述至少两个测量点中连续的两个所述测量点之间的距离x的范围为：d/2≤x≤d，其中，d为所述激光线的有效宽度。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述将所述各测量点对应的所述深度数据拼接得到拼接深度图后，所述方法还包括：
    在所述拼接深度图中排除无效深度数据，以筛选出有效深度数据；
    所述根据所述拼接深度图，确定所述轮胎的胎纹深度，包括：
    根据所述拼接深度图中的所述有效深度数据，确定所述轮胎的胎纹深度。
  6. 根据权利要求5所述的方法，其特征在于，所述无效深度数据为所述拼接深度图中大于预设阈值的深度数据。
  7. 根据权利要求1所述的方法，其特征在于，所述根据所述拼接深度图，确定所述轮胎的胎纹深度，包括：
    根据所述拼接深度图中的所述深度数据，将所述激光线分为第一激光线与第二激光线，所述第一激光线的深度数据大于所述第二激光线的深度数据；
    根据所述第一激光线的深度数据和所述第二激光线的深度数据，确定所述轮胎的胎纹深度。
  8. 根据权利要求1所述的方法，其特征在于，所述根据所述拼接深度图，确定所述轮胎的胎纹深度后，所述方法还包括：
    根据所述胎纹深度和预设深度阈值，确定所述轮胎胎面磨损程度。
  9. 一种胎纹深度测量系统，应用于轮胎胎面，其特征在于，包括:
    支架；
    激光器，固定于所述支架上，所述激光器用于发射激光至所述轮胎胎面，形成激光线；
    相机，固定于所述支架上，所述相机用于采集激光在所述轮胎胎面上的图像数据；
    位移传感器，固定于所述支架上，所述位移传感器用于测量所述胎纹深度测量系统在所述轮胎胎面上移动的位移；
    控制器，包括至少一个处理器以及存储器，所述存储器、所述相机以及所述位移传感器均与所述至少一个处理器通信连接，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-8中任一项所述的方法。
  10. 根据权利要求9所述的胎纹深度测量系统，其特征在于，还包括滤波片；
    所述滤波片设置于所述相机的取景镜头上，其中，所述滤波片允许通过的光源的波长与所述激光器所输出的激光的波长相同。
  11. 根据权利要求9或10所述的胎纹深度测量系统，其特征在于，还包括显示器；
    所述显示器与所述控制器通信连接，用于显示所述相机拍摄的图像和拼接后的深度数据。
PCT/CN2021/116225 2020-09-18 2021-09-02 一种胎纹深度测量方法及胎纹深度测量系统 Ceased WO2022057636A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010987835.6 2020-09-18
CN202010987835.6A CN112097672A (zh) 2020-09-18 2020-09-18 一种胎纹深度测量方法及胎纹深度测量系统

Publications (1)

Publication Number Publication Date
WO2022057636A1 true WO2022057636A1 (zh) 2022-03-24

Family

ID=73760418

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/116225 Ceased WO2022057636A1 (zh) 2020-09-18 2021-09-02 一种胎纹深度测量方法及胎纹深度测量系统

Country Status (2)

Country Link
CN (1) CN112097672A (zh)
WO (1) WO2022057636A1 (zh)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112097672A (zh) * 2020-09-18 2020-12-18 深圳市道通科技股份有限公司 一种胎纹深度测量方法及胎纹深度测量系统
CN113340228B (zh) * 2021-05-26 2024-05-07 深圳市二郎神视觉科技有限公司 一种手持式轮胎花纹深度测量装置及测量方法
CN114923926A (zh) * 2022-04-22 2022-08-19 深圳市易检车服科技有限公司 胎纹检测装置以及胎纹检测系统
CN114993201B (zh) * 2022-05-25 2024-07-23 深圳市二郎神视觉科技有限公司 轮胎花纹检测装置及方法
CN115661045A (zh) * 2022-09-30 2023-01-31 深圳技术大学 汽车轮胎的质量3d视觉全息检测方法、装置、设备及介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101871895A (zh) * 2010-05-10 2010-10-27 重庆大学 连铸热坯表面缺陷激光扫描成像无损检测方法
CN104048970A (zh) * 2014-06-19 2014-09-17 樊晓东 隧道缺陷的高速检测系统与检测方法
JP2016161360A (ja) * 2015-02-27 2016-09-05 ダイハツ工業株式会社 タイヤ溝の深さ測定方法
CN110914636A (zh) * 2017-03-24 2020-03-24 德克萨股份公司 确定车辆的刹车盘外形和轮胎外形的系统、方法和多功能装置
CN110954012A (zh) * 2019-12-24 2020-04-03 山东交通学院 一种手持式线结构光轮胎磨损检测装置及检测方法
CN112097672A (zh) * 2020-09-18 2020-12-18 深圳市道通科技股份有限公司 一种胎纹深度测量方法及胎纹深度测量系统

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2665255A1 (fr) * 1990-07-24 1992-01-31 Inrets Dispositif pour evaluer le degre d'usure des pneumatiques de vehicules.
DE4316984A1 (de) * 1993-05-21 1994-08-18 Daimler Benz Ag Verfahren und eine Vorrichtung zur automatischen Ermittlung der Profiltiefe von Fahrzeugreifen
TW341654B (en) * 1995-05-26 1998-10-01 Burger Joachim Tread depth measuring device
DE102009016498A1 (de) * 2009-04-08 2010-10-21 Ventech Gmbh Verfahren und Vorrichtung zum Ermitteln der Profiltiefe eines Fahrzeugreifens
GB201401352D0 (en) * 2014-01-27 2014-03-12 Pre Chasm Res Ltd Tyre tread depth and tyre condition determination
CN104102820B (zh) * 2014-06-27 2017-09-22 清华大学 轮胎花纹噪声解析预报方法及系统
CN204373618U (zh) * 2015-02-10 2015-06-03 新维畅想数字科技（北京）有限公司 一种辅助三维扫描的装置
CN106802134A (zh) * 2017-03-15 2017-06-06 深圳市安车检测股份有限公司 一种线结构光机器视觉轮胎磨损测量装置
CN106996750B (zh) * 2017-03-15 2019-03-29 山东交通学院 一种轮胎花纹深度测量装置及轮胎花纹深度计算方法
CN110942460B (zh) * 2019-12-12 2023-01-31 湖南省鹰眼在线电子科技有限公司 一种轮胎花纹深度测量方法、系统及存储介质
CN211147593U (zh) * 2019-12-24 2020-07-31 山东交通学院 一种手持式线结构光轮胎磨损检测装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101871895A (zh) * 2010-05-10 2010-10-27 重庆大学 连铸热坯表面缺陷激光扫描成像无损检测方法
CN104048970A (zh) * 2014-06-19 2014-09-17 樊晓东 隧道缺陷的高速检测系统与检测方法
JP2016161360A (ja) * 2015-02-27 2016-09-05 ダイハツ工業株式会社 タイヤ溝の深さ測定方法
CN110914636A (zh) * 2017-03-24 2020-03-24 德克萨股份公司 确定车辆的刹车盘外形和轮胎外形的系统、方法和多功能装置
CN110954012A (zh) * 2019-12-24 2020-04-03 山东交通学院 一种手持式线结构光轮胎磨损检测装置及检测方法
CN112097672A (zh) * 2020-09-18 2020-12-18 深圳市道通科技股份有限公司 一种胎纹深度测量方法及胎纹深度测量系统

Also Published As

Publication number Publication date
CN112097672A (zh) 2020-12-18

Similar Documents

Publication Publication Date Title
WO2022057636A1 (zh) 一种胎纹深度测量方法及胎纹深度测量系统
US9239235B2 (en) Three-dimensional measuring apparatus, three-dimensional measuring method, and three-dimensional measuring program
WO2022017257A1 (zh) 一种刹车盘磨损区的识别方法及磨损识别系统
TWI614722B (zh) 用於檢測晶圓上缺陷之系統
CN103069250B (zh) 三维测量设备、三维测量方法
US9710905B2 (en) Mask inspection apparatus and mask inspection method
JP6667065B2 (ja) 位置推定装置および位置推定方法
CN109859260B (zh) 确定车位位置的方法、装置及计算机可读存储介质
CN103954234B (zh) 一种车辆轮廓及轴距自标定测量算法
JP6161276B2 (ja) 測定装置、測定方法、及びプログラム
CN107636680A (zh) 一种障碍物检测方法及装置
CN103954222A (zh) 一种车辆轮廓及轴距自动测量系统及测量算法
US10782409B2 (en) Technologies for LIDAR based moving object detection
US11482007B2 (en) Event-based vehicle pose estimation using monochromatic imaging
US20180101956A1 (en) Machine control measurements device
WO2019174484A1 (zh) 一种充电座识别方法及移动机器人
CN114693773B (zh) 一种目标识别跟踪方法及系统
CN111386530A (zh) 车辆检测方法和设备
WO2024001596A9 (zh) 机器人运动控制方法以及装置
CN114187231B (zh) 视场角计算方法、终端设备及存储介质
CN119445067B (zh) 逆反射亮度系数确定方法和装置、电子设备及程序产品
CN117630037A (zh) 一种MiniLED面板缺陷检测系统及方法
WO2025025479A1 (zh) 点云融合方法、装置和3d打印机
JP5964093B2 (ja) 車両サイズ測定装置、車両サイズ測定方法、およびプログラム
JP4309983B2 (ja) レール断面測定装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21868463

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21868463

Country of ref document: EP

Kind code of ref document: A1