CN106871818A - Become the scan-type automobile morphology detector based on cube posture benchmark of baseline distance - Google Patents

Abstract

The invention discloses a scanning vehicle shape detector based on a cube pose reference with a variable baseline distance, aiming at solving the problem of realizing automobile shape scanning by using a scanning mode based on a cube pose reference with a variable baseline distance. The scanning vehicle shape detector based on the cube pose benchmark with variable baseline distance is mainly composed of a cube target (1), a T-slot guide rail (2), a laser line projector (3), a camera inside the target (4), and a camera outside the target. Video camera (5) and tripod (6) form. The system provides a scanning vehicle shape detector based on a cube pose benchmark with a small footprint, simple structure, high inspection accuracy, simple operation, easy installation, low cost, and reliable performance.

Description

Scanning vehicle shape detector based on cube pose benchmark with variable baseline distance

technical field

The invention relates to detection equipment in the field of automobile appearance detection, more specifically, it is a scanning type automobile appearance inspection instrument based on a cube pose reference with variable baseline distance.

Background technique

The detection of automobile shape is of great significance for the size verification of automobiles, the detection of overload and overrun of automobiles, and the classification of automobile models. Reasonable, fast and accurate acquisition of automobile appearance is one of the important contents in the field of automobile inspection. In the process of obtaining the vehicle shape, the traditional method can be widely applied to the workplace due to the limited field of view of the camera and the impact of measurement accuracy. Therefore, a scanning vehicle based on a cube pose reference with variable baseline distance is designed The shape detector has important application value.

Contents of the invention

The present invention provides a simple structure, easy operation and easy installation for the problem that the field of view of the camera is limited in the process of obtaining the topography of the vehicle, and the accuracy is greatly affected by the attitude of the target when performing camera calibration and pose calculation. A scanning vehicle shape detector based on a cube pose benchmark with variable baseline distance and low cost and reliable performance. The camera outside the target in the scanning automobile shape detector based on the cube pose benchmark with variable baseline distance is responsible for collecting the image of the cube target, realizing the calibration of the outside camera of the target and the coordinate conversion from the outside camera to the inside camera. The camera is responsible for collecting the intersection image of the laser line projector and the surface of the car body. The positions of the camera and the laser line projector in the target can be adjusted, which can realize a wide range of multi-directional car topography scanning.

Referring to Fig. 1 to Fig. 7, in order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions to realize. The scanning vehicle shape detector based on the cube pose reference with variable baseline distance provided by the present invention includes a cube target, a T-slot guide rail, a laser line projector, a camera inside the target, a camera outside the target and a tripod.

The T-slot guide rail is placed on the rectangular steel plate inside the cube target and welded to the cube target. The tops of the two T-slot bolts are placed in the T-slot guide rail and connected with the T-slot guide rail with a small gap. The laser line thrower is placed on The T-slot guide rail is fixedly connected with the T-slot bolt thread, and the camera inside the target is placed on the T-slot guide rail and fixedly connected with the T-slot bolt thread. The camera outside the target is placed on the upper surface of the tripod, and the bolt passes through the round steel plate of the tripod. The through hole of the target is fixedly connected with the camera thread outside the target.

The cube target described in the technical proposal is a hollow cube part with one side open welded by a rectangular steel plate, a rectangular steel plate is welded inside the cube target, and a geometric pattern is pasted on the outside of the cube target.

The T-slot guide rail described in the technical solution is an elongated part processed with T-slots.

The tripod described in the technical proposal is a part processed from a circular steel plate at the top and a slender rectangular steel plate at the bottom, and a circular through hole is processed in the center of the upper surface of the circular steel plate of the tripod.

The beneficial effects of the present invention are:

(1) The present invention uses a cube target to calibrate the camera and solve the transformation matrix. Since the cube target carries more information than the two-dimensional target and the one-dimensional target, the accuracy of calibration and measurement is greatly improved, and the cube target is easy to process, and it also greatly improves the accuracy of calibration and measurement. Saves pre-production time.

(2) The structure of the present invention is simple, and the camera in the target and the laser line thrower are fixed with the T-shaped groove guide rail by lag bolts, which is convenient for installation and maintenance, and has low cost.

(3) In the present invention, the distance between the camera in the target and the line thrower is variable, which greatly improves the field of view of the camera in the target and the scanning area of the laser line thrower, and can be realized without changing the position of the cube target. Changing the relative position of the camera and the laser line projector in the target simplifies the operation steps.

(4) The outer target camera in the scanning vehicle shape detector based on the cube pose reference with variable baseline distance is responsible for collecting the image of the cube target, realizing the calibration of the outer target camera and the coordinate conversion from the outer target camera to the inner target camera The camera inside the target is responsible for collecting the intersection image between the laser line projector and the surface of the car body. The positions of the camera inside the target and the laser line projector within the target can be adjusted, which can realize large-scale and multi-directional car topography scanning.

Description of drawings

Fig. 1 is the axonometric view of the scanning vehicle shape detector based on the cube pose benchmark with variable baseline distance;

Fig. 2 is the axonometric view of the cube target 1 in the scanning type automobile shape detector based on the cube pose benchmark with variable baseline distance;

Fig. 3 is the axonometric view of the T-slot guide rail 2 in the scanning type automobile shape detector based on the cube pose benchmark with variable baseline distance;

Fig. 4 is the axonometric view of the laser line throwing instrument 3 in the scanning type automobile shape detector based on the cube pose reference with variable baseline distance;

Fig. 5 is the axonometric view of the camera 4 in the target in the scanning type automobile shape detector based on the cube pose benchmark of variable baseline distance;

Fig. 6 is the axonometric view of the camera 5 outside the target in the scanning vehicle shape detector based on the cube pose benchmark of variable baseline distance;

Fig. 7 is the axonometric view of the tripod 6 in the scanning type vehicle shape detector based on the cube pose benchmark of variable baseline distance;

In the figure: 1. Cube target, 2. T-slot guide rail, 3. Laser projector, 4. Camera inside the target, 5. Camera outside the target, 6. Tripod.

detailed description

Below in conjunction with accompanying drawing, the present invention is described in further detail:

Referring to Figures 1 to 7, the scanning vehicle shape detector based on the cube pose reference with variable baseline distance includes a cube target 1, a T-slot guide rail 2, a laser line projector 3, a camera inside the target 4, and a camera outside the target 5 with a tripod6.

Cubic target 1 is a hollow cubic part welded by a rectangular steel plate with an opening on one side. A rectangular steel plate is welded inside the cubic target 1. Geometric patterns are pasted on the outside of the cubic target 1. The T-slot guide rail 2 is a slender part with T-slots processed. The grooved guide rail 2 is placed on the rectangular steel plate inside the cube target 1 and welded to the cube target 1. The tops of the two T-slot bolts are placed in the T-slot guide rail 2 and connected with the T-slot guide rail 2 with a small gap. Laser projection The line meter 3 is placed on the T-slot guide rail 2 and fixedly connected with the T-slot bolts. The camera 4 in the target is placed on the T-slot guide rail 2 and fixedly connected with the T-slot bolts. The tripod 6 is made of a round steel plate on the top. A part processed with the elongated rectangular steel plate at the bottom, a circular through hole is processed in the center of the upper surface of the circular steel plate of the tripod 6, the camera 5 outside the target is placed on the upper surface of the tripod 6, and the bolt passes through the circular plate of the tripod 6 The through hole of the steel plate is fixedly connected with the external camera 5 of the target.

The method of using the scanning vehicle shape detector based on the cube pose benchmark with variable baseline distance:

Place the cube target within the field of view of the off-target camera. The off-target camera is responsible for taking pictures with the cube target, calibrating the off-target camera and solving the conversion relationship from the off-target camera to the cube target, and then driving the car to the target within the field of view of the internal camera, and ensure that the laser line projector can intersect with the surface of the car, constantly adjust the relative position of the laser line projector and the camera in the target, and use the camera in the target to shoot the laser line projector and the surface of the car at each position The image of the vehicle is detected by processing the images collected by the camera inside the target and the camera outside the target.

Claims (4)

1. a scanning type automobile appearance detector based on cube pose benchmark of variable baseline distance, it is characterized in that, the scanning type automobile appearance detector based on cube pose benchmark of described variable baseline distance includes cube target (1), T-slot guide rail (2), laser line projector (3), camera inside the target (4), camera outside the target (5) and tripod (6); The T-slot guide rail (2) is placed on the rectangular steel plate inside the cube target (1) and welded to the cube target (1), and the tops of the two T-slot bolts are placed in the T-slot guide rail (2) to connect with the T-slot The guide rail (2) is connected with a small gap, the laser line thrower (3) is placed on the T-slot guide rail (2) and fixedly connected with the T-slot bolt thread, and the camera in the target (4) is placed on the T-slot guide rail (2) Top is fixedly connected with T-shaped groove bolt screw thread, and target external camera (5) is placed on the upper surface of tripod (6), and bolt passes the through hole of tripod 6 circular steel plates and target external camera (5) screw thread fixed connection. 2. according to the scanning type automobile topography detector of changing baseline distance based on cube pose benchmark, it is characterized in that described cube target (1) is the hollow cube part of one side opening of rectangular steel plate welding, A rectangular steel plate is welded inside the cube target (1), and a geometric pattern is pasted on the outside of the cube target (1). 3. according to the scanning type automobile profile detector based on the cube pose benchmark of variable baseline distance according to claim 1, it is characterized in that described T-slot guide rail (2) is the slender part that is processed with T-slot . 4. according to the scanning type automobile shape detector based on the cube pose reference of variable baseline distance according to claim 1, it is characterized in that described tripod (6) is made of the circular steel plate on the top and the elongated rectangle of the bottom The parts that steel plate is processed, the upper surface center of the circular steel plate of tripod (6) is processed with a circular through hole.