CN207066750U - A kind of automobile ergonomics view verification system - Google Patents

Abstract

The utility model specifically relates to an automobile ergonomics visual field checking system with high checking accuracy, small follow-up manual checking workload and accurate manual checking. The calibration system includes a multi-axis manipulator, with grippers installed on the upper end of the manipulator, a simulated light source installed at the outer end of the grippers, a light receiving device installed around the car to be tested, and multiple first laser scanners outside the car are installed at corresponding positions in the light receiving device; The second laser scanner outside the car is installed directly above the car; the controller is also connected with the manual calibration equipment; the laser scanning device only draws the model parameters related to the visual field calibration, and the analysis speed is fast; the calibration system can automatically complete the visual field calibration All content of the verification, the verification accuracy is high, the accuracy is good, and it can be conveniently used for different types of cars; the test accuracy and accurate height determination of the manual verification step; the manual verification result can be directly fed back to the controller to complete the correction. Subsequent manual verification workload is less.

Description

An Automobile Ergonomics Field of View Calibration System

technical field

The utility model relates to the field of automobile ergonomics testing, in particular to an automobile ergonomics visual field check system.

Background technique

Vision design in automobile ergonomics is a very important content, and it is the main factor affecting the active safety of automobiles; for this reason, it is necessary to ensure the vision requirements of car drivers, such as external signals and signs, road boundaries, passing vehicles, etc. The identification and information acquisition of road pedestrians and road pedestrians are the tasks of vehicle vision design.

For example, the size of the front windshield of a car will affect the driver's forward vision, and the A-pillar will cause a blind spot at a certain angle in the driver's forward vision. In order to drive safely, these factors have corresponding standards and specifications; The design method is divided into two types. One is the traditional drawing method. Its basic principle is to draw the side view, front view, and rear view of the car, and then locate the position of the eye ellipse at the corresponding position in the side view of the car. Finally, use The field of view of the eye ellipse is calculated by the drawing method, but the process of this method is cumbersome, and the accuracy of manual work drawing check is low, which is prone to errors;

Another design method is to put the drawn 3D model of the car into the ergonomics verification software, and the software will automatically generate the field of view. Static calibration is performed at a certain angle, but the position and rotation angle of the exterior rearview mirror and interior rearview mirror used in practice can be adjusted, which causes a certain degree of error, and the calibration result is inaccurate; and the 3D model of the car The drawing is very complicated, and the overall model of the car is not actually needed for field of vision verification, only the modeling of the partial parts that block the field of view is required. The 3D model is simplified, which further increases the workload of verification;

The above two methods will have some deviations from the actual situation in the calculation, and it is difficult for designers to find problems in the design or verification stage, and there is no way to effectively test the verification situation; therefore, often after the completion of the car vision design work , It is also necessary for the tester to sit in the car and carry out corresponding tests. For example, whether the upper and lower boundaries of the rear windshield meet the requirements in the front view, the tester needs to sit in the car and then observe the car through the rearview mirror. Objects in the rear are judged by the testers. The follow-up manual verification process is cumbersome, and in order to keep the results correct, each step requires high precision, which further increases the difficulty of manual verification; It is easily affected by the on-site environment, such as light brightness, calibration objects and other factors, resulting in unsatisfactory results of manual calibration.

Contents of the invention

The purpose of the utility model is to provide an automobile ergonomics field of view checking system with high checking accuracy, small follow-up manual checking workload and accurate manual checking.

In order to achieve the purpose of the above invention, the technical solution adopted by the utility model is: a vehicle ergonomics field of view check system, the check system includes the car to be tested, and the driver's seat in the car to be tested is set The fixed bracket is provided with a multi-axis manipulator that can move along the longitudinal, horizontal and vertical directions of the car, and the end of the upper end of the manipulator is equipped with horizontally arranged grippers;

The jaws can rotate around a vertical axis that passes through their own center point, and the outer ends of the jaws are provided with two simulated light sources that are parallel to each other and placed horizontally. A luminous body is set at the center of the light source, and the part of the shell of the simulated light source facing the front of the car is a light-transmitting area made of transparent materials. instrument, the second laser scanner in the car;

A light receiving device is arranged around the car to be tested, and the light receiving device includes a forward photoelectric receiving board, a side photoelectric receiving board, and a rearward photoelectric receiving board respectively positioned at the front, side and rear of the car to be tested. A plurality of first laser scanners outside the car are arranged at corresponding positions in the device; a second laser scanner outside the car that can move along the longitudinal direction of the car is arranged directly above the car to be tested; the first laser scanner inside the car, the car The second laser scanner inside, the first laser scanner outside the vehicle, and the second laser scanner outside the vehicle together constitute a laser scanning device;

The multi-axis manipulator, the analog light source, the laser scanning device, and the light receiving device are respectively connected to the controller through wired or wireless communication; the controller is also connected to the manual checking equipment, and the manual checking equipment includes a The controller controls the test seat with the inclination of its backrest. The size of the test seat is consistent with the size of the driver's seat of the car to be tested; the camera installed near the test seat communicates with the VR glasses, so that the camera can shoot the VR glasses relative to the test seat. chair position.

Preferably, the distance between the center points of the two simulated light sources is 65 mm, and the horizontal distance from the midpoint of the line connecting the two simulated light sources to the rotation center point of the gripper is 99 mm.

Preferably, the scope of the light-transmitting area is the upper and lower sides formed by the intersection lines of the first inclined plane inclined forward, upward, and downward by 45° and the surface of the simulated light source, taking the center point of the simulated light source as the origin and passing through the center point of the simulated light source. Lower boundary; with the center point of the simulated light source as the origin and passing through the center point of the simulated light source, the intersection lines of the second inclined plane inclined 60° to the left front and right front respectively and the surface of the simulated light source form the left and right boundaries, and the upper and lower The quadrilateral area formed by connecting the boundary with the left and right boundaries is the light-transmitting area; the first inclined plane is perpendicular to the vertical plane where the longitudinal center of the vehicle is located, and the second inclined plane is perpendicular to the horizontal plane.

The utility model has the following beneficial effects: the laser scanning device scans the car to be tested, the three-dimensional model drawing process is fast and convenient, and only draws the model parameters related to the field of view verification, and the analysis speed is fast; the light receiving device cooperates with the simulated light source and the multi-axis manipulator. Automatically complete all the content of field of view calibration, high calibration accuracy, good accuracy, and can be conveniently used for different types of cars; testers directly observe the corresponding VR model in the VR space, so the observation effect is good, and the VR space Environmental factors, such as lighting conditions, can be freely designed in the environment, and the placement of calibration objects can also be placed with high precision, which greatly improves the test accuracy and accuracy of the manual calibration step; the results of manual calibration can be directly fed back to The controller is corrected by the calibration system, which reduces the workload of subsequent manual calibration.

Description of drawings

Figure 1 is a front view of the calibration system;

Figure 2 is a top view of the calibration system;

Figure 3 is a top view of the connection between the gripper and the simulated light source;

Fig. 4 is a schematic diagram of the top view of the simulated light source rotated 90° to the right and a left view of the simulated light source;

Fig. 5 is a schematic diagram of the structure of the manual calibration equipment;

Fig. 6 is the schematic diagram of the calibration system circuit;

Fig. 7 is the workflow diagram of utilizing the checking system to check;

Fig. 8 is a check working flow chart in a preferred mode.

Detailed ways

A method for checking the ergonomics field of view of a car as shown in Figures 1-8, comprising the car to be tested, the driver's seat in the car to be tested is provided with a fixed bracket, and the fixed bracket can have a clip at the bottom, The clip is fastened to the surface of the seat, and the fixed bracket can also be made of overlapping steel pipes. The bottom of the steel pipe is directly connected to the slide rail at the bottom of the seat through bolts; the fixed bracket can move along the longitudinal, horizontal and vertical directions of the car. The multi-axis manipulator 11 can generally adopt a five-axis or six-axis manipulator, and a four-axis manipulator can also be set on a slide rail; the upper end of the manipulator 11 is equipped with a horizontally arranged gripper 13;

The gripper 13 can rotate around the vertical axis passing through its own center point, and the outer end of the gripper 13 is provided with two parallel, horizontally placed simulated light sources 12, in order to effectively ensure that the rotation center point of the gripper 13 simulates the human body The head rotation point, the simulated light source 12 simulates the human eye, and the simulation is accurate, the distance between the center points of the two simulated light sources 12 is 65mm, and the horizontal distance from the midpoint of the line connecting the two simulated light sources 12 to the rotation center point of the gripper 13 is 99mm.

The simulated light source 12 is an elliptical spherical shell consistent with the size of the human eye. A luminous body 14 is arranged at the central point of the simulated light source 12. A part of the housing of the simulated light source 12 facing the front of the car is a light-transmitting light made of a transparent material. Zone 15 can be made of glass or transparent plastic material, and the rest of the shell is made of light-shielding material, which can be plastic material or metal material;

The scope of the light-transmitting region 15 is based on the center point of the simulated light source as the origin and passes through the center point of the simulated light source 12, and is formed by the intersection lines of the first inclined plane inclined 45° forward, upward, and downward, respectively, and the surface of the simulated light source 12. Lower boundary; take the center point of the simulated light source 12 as the origin and pass through the center point of the simulated light source, and the intersection lines of the second inclined plane and the surface of the simulated light source 12 to the left front and the right front to incline 60° constitute the left and right borders, and the upper , the quadrilateral area formed by connecting the lower border with the left and right borders is the light-transmitting area 15; the first inclined plane is perpendicular to the vertical plane where the longitudinal center of the automobile is located, and the second inclined plane is perpendicular to the horizontal plane; the simulated light source 12 The first laser scanner 51 in the car and the second laser scanner 52 in the car are respectively arranged on the upper surface and the lower surface of the car;

The light receiving device 30 is arranged around the car to be tested, and the light receiving device 30 includes a forward photoelectric receiving plate 31, a side photoelectric receiving plate 32, and a rearward photoelectric receiving plate 33 respectively positioned at the front, side, and rear of the car to be tested. Corresponding positions in the light receiving device 30 are provided with a plurality of first laser scanners 53 outside the car; the second laser scanner 54 outside the car that can move along the longitudinal direction of the car is set directly above the car to be tested; The first laser scanner 51 inside the car, the second laser scanner 52 inside the car, the first laser scanner 53 outside the car, and the second laser scanner 54 outside the car together constitute the laser scanning device 50 ;

The multi-axis manipulator 11, the simulated light source 12, the laser scanning device 50, and the light receiving device 30 are respectively connected to the controller 5 by wired or wireless communication; the controller 5 is provided with three-dimensional modeling software, and the three-dimensional model is transferred to It is the intermediate software of the VR model, and the 95th percentile human eye ellipse three-dimensional model is also stored in the controller 5;

Described controller 5 is also connected in communication with manual calibration equipment 60, and described manual calibration equipment 60 comprises a test seat 62 whose backrest inclination angle can be controlled by controller 5, and the backrest of test seat 62 can be controlled by an electric motor or hydraulic pressure. The piston cylinder is adjusted, and the controller 5 is connected with the oil pump of the electric motor or the hydraulic piston cylinder; the size of the test seat 62 is consistent with the size of the driver's seat of the car to be tested; the camera 63 arranged near the test seat 62 communicates with the VR glasses 61 , so that the camera 63 can photograph the position of the VR glasses 61 relative to the test seat 62 .

The method for checking the field of view of automobile ergonomics includes the following steps: setting car parameters, checking the field of view, and manually checking;

The described automobile parameter setting step is: the controller 5 takes the ground as the horizontal plane in the three-dimensional modeling software, takes the vertical plane where the center line of the left and right front wheels of the automobile is located as the horizontal plane, and takes the longitudinal center symmetrical plane of the automobile as the longitudinal plane Establish a reference coordinate system on the surface; fix the multi-axis manipulator 11 on the driver's seat, adjust the driver's seat to the end, and then adjust the multi-axis manipulator 11 so that the gripper 13 is at a specific position; the first laser scanner in the car 51. The second laser scanner 52 in the car scans the inclination of the driver's seat back, and the controller 5 controls the manual checking device 60 to make the inclination of the test seat 62 consistent with the inclination of the driver's seat back; The following steps:

a. The first laser scanner 53 outside the car and the second laser scanner 54 outside the car cooperate to scan out the outer contour parameters and position parameters of the A-pillar, B-pillar, front windshield, door glass, and rear windshield of the car, and Mirror size parameters and position parameters of the exterior rearview mirror 21;

The controller 5 respectively extracts the position of the center point of the gripper 13 around itself and the center point of the analog light source 12, and marks them in the three-dimensional modeling software, and then three-dimensionally converts the 95th percentile human eye ellipse into the three-dimensional software. The center point of the model coincides with the center point of the simulated light source 12, and then the surface of the human eye ellipse three-dimensional model is discretized into multiple moving points, and the center point of the gripper 13 rotating around itself is used as the rotation point, and the gripper 13 is rotated around the rotation point , Facing the front of the car, the angle range of 90° left and right relative to the longitudinal plane is discretized into multiple rotation corner points, and then the coordinate parameters of multiple moving points and the angle parameters of multiple rotation corner points are sent to the multi-axis The manipulator 11 controls its motion so that the center point of the simulated light source 12 passes through all the moving points for the first time; when passing through each moving point, the gripper 13 turns around the rotation point to the left and right within 90° respectively. After all the corner points are rotated, the simulated light source 12 moves to the next moving point; the gripper 13 remains horizontal during the movement of the simulated light source 12; The first laser scanner 51 in the car and the second laser scanner 52 in the car scan the inner contour parameters and position parameters of the A pillar, the B pillar, the front windshield, the door glass, and the rear windshield in the car in real time, and Mirror size parameters and position parameters of the interior rearview mirror 22;

b. the controller 5 imports the parameters scanned by the laser scanning device 50 in step a into the three-dimensional modeling software, and establishes respectively the three-dimensional models of the automobile A-pillar, B-pillar, front windshield, car door glass, rear windshield and their respective The position parameters, and the three-dimensional models of the exterior rearview mirror 21 and the interior rearview mirror 22 and their respective position parameters form a three-dimensional model for checking the field of view, and then convert the three-dimensional model for checking the field of view into a VR three-dimensional model through the intermediate software;

The described visual field check step comprises the following steps carried out in sequence:

c. The center point of the simulated light source 12 passes through all moving points for the second time;

d. In the step c, when the simulated light source 12 is at each moving point, after the gripper 13 rotates around the rotation point and passes through all the rotation corners, the simulated light source 12 then moves to the next moving point;

e. In step d, the light receiving device 30 receives the light emitted when the simulated light source 2 is located at each rotation angle point, and sends the boundary parameters of the area illuminated by the light receiving device 30 to the controller 5;

f. In the step e, the controller 5 judges according to the three-dimensional model for field of view verification, the position of the moving point where the simulated light source 12 is located, and the angle parameter of the rotation angle point of the gripper jaw 13. If the simulated light source 12 is irradiated outside the vehicle When rearview mirror 21 or interior rearview mirror 22, then enter step g, otherwise enter step h;

g. When the simulated light source 12 shines on the exterior rear mirror 21, the controller 5 calculates all the areas that can be illuminated by the simulated light source 2 in a plurality of rotation angle points corresponding to a certain moving point and the rear-facing photoelectric receiving plate 33 The sum of the boundaries, and mark the sum of the boundaries of this area as the exterior rear mirror viewing area, and then move the simulated light source 12 to a plurality of exterior rear mirror viewing areas formed by different moving points and mark the smallest area as the first Indirect viewing area; when the simulated light source 12 shines on the interior rearview mirror 22, the controller 5 calculates that among the multiple rotation angle points of the simulated light source 2 at a corresponding certain moving point, all of them can be irradiated to the rear-facing photoelectric receiving board 33 area boundaries, and mark the sum of the area boundaries as the interior rear mirror viewing area, and then move the simulated light source 12 to a mark with the smallest area among the multiple interior rear mirror viewing areas formed by different moving points is the second indirect viewport; then enter step i;

h. The controller 5 calculates the sum of all the areas that can be irradiated to the forward photoreceiving plate 31 or the area that can be irradiated to the side photoelectric receiving plate 32 in multiple rotation angle points of the analog light source 2 at a corresponding certain moving point. The sum of the areas is marked as the forward view area or the side view area respectively, and the smallest area of the forward view areas of multiple moving points is marked as the first direct view area, and the side view area of multiple moving points is marked as the first direct view area. The mark with the smallest area in the area is the second direct viewing area, and the sum of the first direct viewing area and the second direct viewing area is marked as the direct viewing area; when the simulated light source 12 is irradiated to the A column, the forward photoelectric receiving plate 31 does not receive the direct viewing area all the time. The area where the light is received is recorded as the A-pillar binocular blind area; when the analog light source 12 is irradiated to the B-pillar, the area where the side photoelectric receiving plate 32 has not received light is recorded as the B-pillar binocular blind area; then enter step i;

i. The controller 5 imports the human eye ellipse three-dimensional model and position parameters in the three-dimensional software into the VR software to form a standard eye ellipse range; then enter step j;

The manual checking step includes the following steps carried out in sequence;

j. The tester wears the VR glasses 61 and sits on the test seat 62, eyes level and visually ahead, the camera 63 reads the position of the VR glasses 61 at this time, and the controller 5 calculates the position of the human eyes of the tester according to the position of the VR glasses 61 , when the human eye position of the tester is within the range of the standard eye ellipse, then enter step k, otherwise prompt to readjust the sitting posture, and repeat step j;

k. The tester moves his eyes back and forth, left and right, and rotates his head horizontally in the VR space, and uses the VR 3D model to observe the calibration object at a specific position outside the VR 3D model. If the calibration object can be seen, proceed to step m; if the calibration object cannot be seen object, enter step n;

The calibration object is a calibration object set at the corresponding position in the VR space according to the requirements of the direct field of view and indirect field of view in the relevant field of view verification regulations. For the traffic situation at 60m behind point H, in the VR space, use the human eye position of the tester to calculate the final H point position according to the relevant formula, and set a virtual indicator light at 60m behind the last H point. Utilize the VR model of the interior rearview mirror 22 to observe whether the virtual indicator light can be seen, and if it can be seen, it means that the design of the interior rearview mirror 22 meets the requirements; Therefore, the observation effect is good, and environmental factors such as lighting conditions can be freely designed in the VR space, and the placement position of the calibration object can also have high precision, which greatly improves the test accuracy and accurate determination of the manual calibration step. .

m. End of test;

n. The controller 5 adds the human eye position of the tester to the multiple moving points at this time, and then proceeds from step c to step k again.

A better implementation is: in the step k, if the tester's human eye position exceeds the standard eye ellipse range when observing, it will prompt that the human eye range exceeds, and step k will be performed again.

Since the exterior rearview mirror 21 and the interior rearview mirror 22 can be adjusted left and right, up and down during use, in order to improve the checking accuracy of the first indirect viewing zone and the second indirect viewing zone, a better implementation mode is: In the step g, when the gripper 13 rotates to a certain rotation angle point, the exterior rearview mirror 21 moves to the left, right, and up and down respectively to limit positions, or the interior rearview mirror 22 respectively rotates to the left, right, and up and down to limit positions , and then the jaw 13 rotates to the next rotation angle.

Since observing the calibration object can only judge whether the design of the interior rearview mirror 22 or the A-pillar conforms to the specification, but cannot judge the degree of pros and cons of the corresponding design, so for more skilled testers, a better implementation method is: In the step i, the controller 5 marks the boundary lines of the first indirect viewing area and the second indirect viewing area obtained in the step g in the VR three-dimensional model, and marks the boundary line of the direct viewing area obtained in the step h, and The boundary lines of A-pillar binocular blind area and B-pillar binocular blind area are marked in the VR 3D model to form a standard boundary line;

In the step k, the tester uses the VR handle or controller to draw the direct viewing area, the A-pillar binocular blind area, the B-pillar binocular blind area, the first indirect viewing area, and the second indirect viewing area in the VR three-dimensional model. Virtual borderlines; controller 5 compares these virtual borderlines with stored standard borderlines, if the virtual borderlines are outside the standard borderlines, then enter step m; if the virtual borderlines are within a certain range within the standard borderlines, Then go to step n.

At the same time, the controller 5 can also compare the closeness between the virtual boundary line and the standard boundary line, so as to compare the advantages and disadvantages of the field of vision among a plurality of different types of vehicles to be tested.

Claims (3)

1. a kind of automobile ergonomics view verification system, described nucleus correcting system includes automobile to be measured, in automobile to be measured Fixed support is set on pilot set, set on fixed support can longitudinally along an automobile, laterally, the multiaxis machine of vertical direction movement Horizontally disposed clamping jaw (13) is installed in tool hand (11), the end of manipulator (11) upper end；

It is characterized in that：The clamping jaw (13) can rotate around by the vertical axis of the central point of itself, the outer end of clamping jaw (13) Two analog light sources (12) being parallel to each other, horizontal positioned are set, and analog light source (12) is the ellipse consistent with human eye size Shape spherical shell, the central spot of analog light source (12) set illuminator (14), and the housing of analog light source (12) is towards vehicle front A part is the transparent area (15) being made by transparent material, on the upper surface of the analog light source (12), lower surface respectively In-car first laser scanner (51), in-car second laser scanner (52) are set；

The motor vehicle environment to be measured sets light receiver device (30), and light receiver device (30) includes being located at automobile to be measured respectively Front, side, the forward direction photoelectricity receiver board (31) at rear, lateral photoelectricity receiver board (32), backward opto-electronic receiver plate (33), it is described Light receiver device (30) in relevant position the outer first laser scanner (53) of multiple cars is set；The automobile to be measured just on Side set can direction movement longitudinally along an automobile the outer second laser scanner (54) of car；The in-car first laser scanner (51), in-car second laser scanner (52), the outer first laser scanner (53) of car, the outer second laser scanner (54) of car are common Form laser scanning device (50)；

The multi-spindle machining hand (11), analog light source (12), laser scanning device (50), light receiver device (30) respectively with control Device (5) processed is communicated to connect by wired or wireless way；

The controller (5) also communicates to connect with artificial equipment (60) of checking, and the artificial check equipment (60) can including one The test seat (62) of its inclination of the seat backrest, the size of test seat (62) and the driver of automobile to be measured are controlled by controller (5) Seat size is consistent；The camera (63) that test seat (62) is nearby set communicates with VR glasses (61), makes camera (63) can To shoot position of the VR glasses (61) relative to test seat (62).

A kind of 2. automobile ergonomics view verification system according to claim 1, it is characterised in that：Two simulated lights The distance between source (12) central point is 65mm, the rotary middle point at two analog light source (12) line midpoints to clamping jaw (13) Horizontal range is 99mm.

A kind of 3. automobile ergonomics view verification system according to claim 1, it is characterised in that：The transparent area (15) scope be using analog light source central point as origin and pass through analog light source (12) central point, respectively forwardly top, it is front lower Side tilts the upper and lower border that 45 ° of the first inclined-plane is formed with the intersection on analog light source (12) surface；With analog light source (12) center Point is origin and passes through analog light source central point, tilts 60 ° of the second inclined-plane and analog light source to left front, right front respectively (12) intersection on surface forms left and right border, and the quadrilateral area that the upper and lower border is connected to form with left and right border is i.e. For transparent area (15)；First inclined-plane is vertical with the vertical plane where automobile longitudinal center, second inclined-plane and horizontal plane Vertically.