CN107044832A - The variable scan-type automobile morphology detector based on sphere pose benchmark of baseline distance - Google Patents

Abstract

The invention discloses a scanning vehicle shape detector based on a spherical pose reference with a variable baseline distance, aiming at solving the problem of realizing the shape scanning of a vehicle using a scanning mode based on a spherical pose reference with a variable baseline distance. The scanning vehicle shape detector based on the spherical pose reference with variable baseline distance is mainly composed of a spherical target (1), a T-slot guide rail (2), a laser line projector (3), a camera inside the target (4), and a target Outer video camera (5) and tripod (6) form. The system provides a scanning vehicle shape detector based on a spherical pose reference 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 spherical pose reference with variable baseline distance

technical field

The invention relates to a detection device in the field of vehicle shape detection, more specifically, it is a scanning type vehicle shape detection instrument based on a spherical pose reference with a 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 shape of the car, the traditional method is limited by the field of view of the camera and cannot be widely applied to the workplace. Therefore, a scanning car shape detector based on a spherical pose reference with a variable baseline distance is designed. It has important application value.

Contents of the invention

Aiming at the problem of limited camera field of view in the process of acquiring vehicle topography, the present invention provides a spherical pose benchmark based on a simple structure, easy operation, easy installation, low cost, and reliable performance. Scanning vehicle shape detector. The camera outside the target in the scanning vehicle shape detector based on the spherical pose benchmark with variable baseline distance is responsible for collecting the image of the spherical target, realizing the coordinate transformation from the camera outside the target to the camera inside the target, the camera inside the target and the laser line projector The position in the target can be adjusted, which can ensure the realization of multi-directional vehicle topography scanning in a large detection range.

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 spherical pose reference with variable baseline distance provided by the present invention includes a spherical 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 steel plate inside the spherical target and welded to the spherical 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 liner is placed on T The top of the slot guide rail is fixedly connected with the T-slot bolt thread, and the camera inside the target is placed on the top of 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 plate of the tripod. The through hole is fixedly connected with the external camera of the target.

The spherical target described in the technical proposal is a hollow spherical part with an opening on one side, a steel plate is welded inside the spherical target, and a standard geometric pattern is pasted on the outside of the spherical 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) In the present invention, the camera inside the target and the camera outside the target are set respectively, and a T-shaped groove guide rail is set in the spherical target, so that the position of the camera inside the target and the laser line projector can be changed under the premise that the position of the spherical target is fixed. , this method not only ensures the accuracy of the measurement, but also ensures the wide field of view of the vehicle shape detector, which greatly saves the time of manipulation.

(2) The structure of the present invention is simple, and the camera in the target, the laser liner and the arc guide rail are connected by lag bolts, which is convenient for installation and maintenance and low in cost.

(3) The isotropic spherical target used in the present invention is affected by the posture of the target when the camera outside the target is collecting images, which has high flexibility and greatly improves the accuracy of camera calibration.

(4) The camera outside the target is responsible for collecting the image of the spherical target. In the spherical coordinate system, the coordinate conversion from the camera outside the target to the camera inside the target is realized. The positions of the camera inside the target and the laser line projector in the target can be adjusted, which can ensure Realize multi-directional vehicle topography scanning within a large detection range.

Description of drawings

Figure 1 is an axonometric view of a scanning vehicle shape detector based on a spherical pose reference with a variable baseline distance;

Fig. 2 is an axonometric view of a spherical target 1 in a scanning vehicle shape detector based on a spherical pose reference with a variable baseline distance;

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

Fig. 4 is the axonometric view of the laser line projector 3 in the scanning vehicle shape detector based on the spherical pose benchmark with variable baseline distance;

Fig. 5 is the axonometric view of the camera 4 in the target in the scanning vehicle shape detector based on the spherical pose reference with a 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 spherical pose benchmark with a variable baseline distance;

Fig. 7 is the axonometric view of the tripod 6 in the scanning vehicle shape detector based on the spherical pose reference with variable baseline distance;

In the figure: 1. Spherical 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 spherical pose reference with a variable baseline distance includes a spherical 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.

The spherical target 1 is a hollow spherical part with an opening on one side. A steel plate is welded inside the spherical target 1. A standard geometric pattern is pasted on the outside of the spherical target 1. The T-slot guide rail 2 is a slender part processed with a T-slot. The grooved guide rail 2 is placed on the steel plate inside the spherical target 1 and welded to the spherical 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, and the laser line is cast The instrument 3 is placed on the top of the T-slot guide rail 2 and fixedly connected with the T-slot bolts. The camera 4 in the target is placed on the top of the T-slot guide rail 2 and fixedly connected with the T-slot bolts. The tripod 6 is made of a circular steel plate on the top and The part made of the elongated rectangular steel plate at the bottom, a circular through hole is processed in the center of the upper surface of the round 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 round steel plate of the tripod 6 The through hole is fixedly connected with the camera 5 outside the target.

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

Place the spherical target within the field of view of the camera outside the target. In the spherical coordinate system, calibrate the camera outside the target and solve the conversion relationship, and then drive the car to the field of view of the camera inside the target, and ensure the accuracy of the laser line projector. It 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 capture the image of the laser line projector and the car surface at each position, and collect the images collected by the camera inside the target and the camera outside the target The image is processed to complete the detection of the vehicle shape.

Claims (4)

1. a scanning type vehicle profile detector based on a spherical pose benchmark with a variable baseline distance, characterized in that, the variable baseline distance based on a scanning type vehicle profile detector with a spherical pose benchmark includes Spherical 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 steel plate inside the spherical target (1) and welded to the spherical 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 guide rail (2) Connect with a small gap. The laser line thrower (3) is placed on the top of the T-slot guide rail (2) and fixedly connected with the T-slot bolt thread. The camera in the target (4) is placed on the top of the T-slot guide rail (2). It is fixedly connected with the T-slot bolt thread, and the outer camera (5) of the target is placed on the upper surface of the tripod (6), and the bolt passes through the through hole of the round steel plate of the tripod (6) and is fixedly connected with the outer camera (5) of the target by thread. 2. according to the variable baseline distance described in claim 1 based on the scanning type vehicle shape detector of spherical pose reference, it is characterized in that described spherical target (1) is the hollow spherical part of one side opening, spherical target A steel plate is welded inside of (1), and a standard geometric pattern is pasted on the outside of the spherical target (1). 3. According to the variable baseline distance according to claim 1, the scanning vehicle profile detector based on the spherical pose reference is characterized in that the T-slot guide rail (2) is an elongated T-slot that is processed. Components. 4. According to the variable baseline distance according to claim 1, the scanning vehicle shape detector based on the spherical pose reference is characterized in that the tripod (6) is made of a round steel plate at the top and a slender bottom at the bottom. The parts processed by the rectangular steel plate, the upper surface center of the circular steel plate of the tripod (6) is processed with a circular through hole.