WO2024043360A1

WO2024043360A1 - Automatic vehicle frame measurement system

Info

Publication number: WO2024043360A1
Application number: PCT/KR2022/012684
Authority: WO
Inventors: 정현종
Original assignee: 정현종
Priority date: 2022-08-24
Filing date: 2022-08-24
Publication date: 2024-02-29

Abstract

The present invention relates to an automatic vehicle frame measurement system. The automatic vehicle frame measurement system comprises: a route analysis and setting module (11) that sets a route for measurement; a measurement robot (12) that acquires image data and distance scan data for each portion of a vehicle body while being moved along the set route; and a data storage/analysis module (13) that stores and analyzes the data acquired by the measurement robot (12), and thereby generates vehicle body data.

Description

Vehicle frame automatic measurement system

The present invention relates to an automatic vehicle frame measurement system.

This invention corresponds to the result of the project to develop an automatic measurement and damage analysis system for automobile body (frame) using task number D2121018 Lee Joo-sik Lift, sponsored by Gyeonggi-do Economic Science Promotion Agency.

Accidental vehicles 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 normal state of the vehicle 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 restore the vehicle condition, the condition of the damaged vehicle needs to be measured, and specifically, the shape of the frame must be measured. And such measurements need to be made automatically for measurement efficiency and error prevention. However, the prior art does not disclose means capable of such precise measurement.

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

The purpose of the present invention is to provide an automatic vehicle frame measurement system that automatically measures the deformation state of a vehicle that has been deformed due to various causes through a non-contact method, analyzes the level of damage, and enables vehicle repair based on that.

According to a preferred embodiment of the present invention, a vehicle frame automatic measurement system includes a path analysis setting module that sets a path for measurement; A measurement robot that moves along a set path and acquires image data and distance scan data for each part of the car body; and a data storage/analysis module that stores and analyzes data acquired by the measurement robot to generate vehicle body data.

According to another suitable embodiment of the present invention, the measurement robot includes a moving means capable of moving along a plane by a predetermined distance and a data acquisition module.

According to another suitable embodiment of the invention, the moving means includes a motor and the data acquisition module includes a camera and a laser distance sensor.

According to another suitable embodiment of the present invention, the car body data becomes data about a damaged car body, and the damage level of the damaged car body is analyzed by comparing it with reference data of the vehicle.

The vehicle frame operation measurement system according to the present invention enables automatic measurement of the vehicle body by a measurement robot. For example, the measurement system according to the present invention allows the vehicle body or frame to be measured in a single work process while the vehicle is fixed to a portable lift to obtain related data. As a result, work time can be shortened, and the automatic measurement process allows workers to perform other tasks during the measurement process, thereby improving work efficiency. In addition, automatic measurement ensures measurement reliability, allows vehicle damage to be diagnosed based on the measurement results, and repairs can be made based on this. The measurement system according to the present invention can be applied for various purposes and is not limited by vehicle type.

Figure 1 shows an embodiment of an automatic vehicle frame measurement system according to the present invention.

Figure 2 shows an embodiment of a measurement robot for a measurement system according to the present invention.

Figure 3 shows a detailed view of a measurement robot for a measurement system according to the present invention.

Figure 4 shows an example of a process in which a vehicle frame or body is measured in the measurement system according to the present invention.

Figure 5 shows an example of an image processing process in the 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.

Referring to Figure 1, the vehicle frame automatic measurement system includes a path analysis setting module 11 that sets a path for measurement; A measurement robot 12 that acquires image data and distance scan data for each part of the vehicle body while moving along a set path; and a data storage/analysis module 13 that stores and analyzes data acquired by the measurement robot 12 to generate vehicle body data.

The vehicle may be, but is not limited to, a vehicle in which at least part of the body of the vehicle has been damaged due to an accident or other causes. A path for acquiring data about the vehicle body frame may be analyzed and set by the path analysis setting module 11. The path analysis setting module 11 can analyze and set a measurement path based on vehicle type, body shape, damage location, or similar vehicle data. The path analysis setting module 11 can set a path by referring to data related to the vehicle body stored in the vehicle body data module 14. The body data module 14 can store various data related to the vehicle, for example, the type of vehicle, dimensions for each part, structure of the vehicle, location of parts, or similar vehicle-related data. The path analysis setting module 11 may set a path for measuring the vehicle body frame based on data stored in the vehicle data module 14 or data on the damage location of the vehicle. The set path can be saved, and data for each part of the vehicle frame can be acquired as the measurement robot 12 moves along the set path. The measurement robot 12 includes a moving means that moves a predetermined distance along a set path; Image acquisition means for acquiring images of each part of the vehicle body frame; And it may include a distance measuring means for obtaining the distance for each part. Image data and distance scan data for each part of the vehicle body can be obtained by such a measurement robot 12. The measurement robot 12 can automatically acquire image data and distance scan data while moving along the path set by the path analysis setting module 11. Specifically, the robot control module 15 may be installed, and the operation of the measurement robot 12 may be controlled by the robot control module 15. The robot control module 15 may be, for example, an operating program and may be installed on a computer such as a personal computer (PC). The operation of the measurement robot 12 can be controlled by the robot control module 15, and the measurement robot 12 can acquire data by measuring each part of the car body frame using an automatic measurement method. In this way, data acquired by the measurement robot 12 can be transmitted to the data storage/analysis module 13. The data storage/acquisition module 13 can store data acquired by the measurement robot 12 and analyze it to obtain data on the entire vehicle body frame. If necessary, the data storage/acquisition module 13 may generate a vehicle body model and generate vehicle body image data based on the generated data. Additionally, the data storage/analysis module 13 can generate data on the level of damage by comparing the acquired data with car body data before damage. Additionally, the area that needs to be restored, the level of restoration, or the type of restoration in relation to the damaged car body can be analyzed. In this way, data related to repair of the body frame, such as body frame data, damage type, damage level, or restoration level, may be analyzed and generated and transmitted to the management module 16. The management module 16 can generate vehicle body diagnostic data according to the analysis results and take subsequent actions based on it. The management module 16 may take various actions as required for the damaged vehicle, but the present invention is not limited thereto.

Referring to FIG. 2, the measurement robot includes a bed 21 having an overall rectangular plane shape; A pair of guide rails (22a, 22b) formed to extend along the longitudinal direction of the bed (21); a pair of base plates (23a, 23b) movable along guide rails (22a, 22b); Measurement paths (24a, 24b) formed on a pair of base plates (23a, 23b) to extend in a direction perpendicular to the direction of extension of the guide rails (22a, 22b); and

measurement modules

26a, 26b movable along the

measurement paths

24a, 24b. The measurement robot may be placed underneath the vehicle while the vehicle is secured to a vehicle anchoring device such as a portable lift. Specifically, a bed 21 having a rectangular shape may be placed below the vehicle, and a pair of

guide rails

22a and 22b may extend along the longitudinal direction of the vehicle. Each base plate (23a, 23b) can be moved along each guide rail (22a, 22b), and each base plate (23a, 23b) is moved in a direction perpendicular to the extension direction of the bed 21. It can be an elongated rectangular shape.

Measurement paths

24a and 24b may be formed on the

base plates

23a and 23b having this structure. The

measurement paths

24a and 24b may extend in a direction perpendicular to the extension direction of the

guide rails

22a and 22b. In this way, the

guide rails

22a and 22b and the

measurement paths

24a and 24b can each form the XY-axis direction. Reference blocks (25a, 25b) may be formed on one side of the base plates (23a, 23b), and the relative positions of the bed 21 and the base plates (23a, 23b) can be confirmed by the reference blocks (25a, 25b). It can be. During the measurement process, the

base plates

23a and 23b need to be aligned in a predetermined direction, and this alignment can be confirmed using the

reference blocks

25a and 25b.

Measurement modules

26a, 26b may be placed on the upper surfaces of the

base plates

23a, 23b, and the

measurement modules

26a, 26b may be moved along the

measurement paths

24a, 24b. Thereby, the

measurement modules

26a and 26b can move along the XY-plane and measure the lower part of the vehicle body to generate vehicle body frame data. The

measurement modules

26a and 26b may include a distance measurement means and an image acquisition means, the distance measurement means may be a laser scanner or an ultrasonic scanner, and the image acquisition means may be a camera. The

measurement modules

26a and 26b can acquire distance data and image data for each part of the car body frame while moving along the XY-plane, and the acquired data is transmitted to the analysis module to obtain dimensional data and image data for the entire car body frame. Image data may be acquired. The

measurement modules

26a and 26b may include various means for measuring the vehicle body frame, and the present invention is not limited thereby.

Referring to FIG. 3, the moving means includes

motors

31a and 31b, and the data acquisition module includes

cameras

33a and 33b and

laser distance sensors

32a and 32b. The

motors

31a and 31b may be motors capable of measuring rotation angles, such as servo motors or step motors, and a rotation unit 37a such as a belt pulley may be coupled to the

motors

31a and 31b. A power transmission means such as a timing belt may be coupled to the rotation unit 37a to rotate the gears or similar

rotation inducing units

39a and 39b. As the rotation axis 38a rotates according to the rotation of the

rotation induction units

39a and 39b, the moving

blocks

36a and 36b move a predetermined distance along the

measurement paths

24a and 24b formed on the

base plates

23a and 23b. can be moved Movement of the

movable blocks

36a and 36b along the

base plates

23a and 23b according to the driving of the

motors

31a and 31b can be accomplished in various ways and are not limited to the presented embodiment. The moving

blocks

36a and 36b may be plate-shaped, and

laser distance sensors

32a and 32b and

cameras

33a and 33b may be disposed on the moving

blocks

36a and 36b. The

laser distance sensors

32a and 32b may be continuous distance measurement means such as laser scanners, and the

cameras

33a and 33b may be aligned to face the same direction as the

laser distance sensors

32a and 32b. A cable carrier (34a, 34b) may be formed on one side of the base plates (23a, 23b), and a movement guidance means is connected to the cable carriers (34a, 34b) so that the base plates (23a, 23b) are guided by the guide rails (22a, 23b). It can be moved along 22b). In this way, a pair of measurement modules moves along a pair of

guide rails

22a and 22b formed in parallel along the longitudinal direction and simultaneously moves in a random direction along the

measurement paths

24a and 24b, respectively. Image data and distance data of one side of the vehicle body frame can be obtained. Each measurement module can be moved independently, and each can be automatically moved along a preset path as described above. Additionally, data can be automatically acquired during the movement process and transmitted to the analysis module. Below, this process is explained in detail.

Referring to FIG. 4, the car body data becomes data about the damaged car body, and the damage level of the damaged car body is analyzed by comparing it with the vehicle's reference data. When the vehicle is fixed to the lift 41, the measurement robot can be located below the vehicle and an image of the vehicle body can be acquired (P41). XY movement coordinates for measurement can be set based on reference data for the car body and the car body image (P42), and this process can be carried out automatically on a remotely placed computer such as a PC. As the measurement robot 42 operates, the camera/laser distance sensor may operate (P43), and measurement of the vehicle body frame may proceed (P44). The measurement robot 42 can continuously acquire distance data and image data of the underside of the vehicle body while moving along the XY-plane, as described above. During the measurement process of the vehicle body frame, vehicle data 43 can be referenced, and the measurement results can be analyzed to analyze the level of damage (P45). Depending on the level of damage or damage, a diagnosis of body damage can be made (P48) and vehicle data (43) can be referenced. Once the level of damage is analyzed (P43), dimensional data for restoration of the vehicle body can be generated, and the parts that need to be repaired or the extent of repair can be determined. In this process, a 2D model or 3D model of the vehicle frame can be created as needed. Based on this data, a car body repair method can be determined (P46), and then repairs can be performed based on the measurement data (P47). In this way, as vehicle body frame data is acquired by the measuring robot, the damage level is progressed by a program based on the acquired data, thereby ensuring reliability of damage analysis of the vehicle frame and improving work efficiency.

As explained above, image and distance data can be acquired partially and continuously by a metrology robot, and such partial image and distance data need to be synthesized. Additionally, a 2D image or 3D image can be created based on distance 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 distance data, partial shapes or figures need to be searched and a matched 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.

The present invention relates to an automatic measurement system for car body frames and is used in various fields of the automobile industry.

Claims

a path analysis setting module 11 that sets a path for measurement;

A measurement robot 12 that acquires image data and distance scan data for each part of the vehicle body while moving along a set path; and

An automatic vehicle frame measurement system including a data storage/analysis module (13) that stores and analyzes data acquired by the measurement robot (12) to generate vehicle body data.
The automatic measurement system for a vehicle frame according to claim 1, wherein the measurement robot (12) includes a moving means capable of moving along a plane by a predetermined distance and a data acquisition module.
The automatic vehicle frame measurement system according to claim 2, wherein the moving means includes motors (31a, 31b), and the data acquisition module includes cameras (33a, 33b) and laser distance sensors (32a, 32b).
The automatic measurement system for a vehicle frame according to claim 1, wherein the vehicle body data is data about a damaged vehicle body, and the damage level of the damaged vehicle body is analyzed by comparing it with reference data of the vehicle.