CN103217100A - Online binocular vision measuring device of large bus compartment - Google Patents

本发明公开了一种大型客车车厢的在线双目视觉测量装置，双目视觉测量系统安装在滑动机构上，并在滑动机构上进行移动，用于检测大型车厢上的任何一个测量点，对多次测量的数据点进行测量转换和数据拼接，通过识别分析获取的空间物体图像计算出物体空间点坐标，获得大型车厢上的所有规格数据，并对大型车厢进行三维立体重构，实现了基本几何元素的测量，并完成尺寸公差评价，完成了平面度、直线度、平行度、同轴度和垂直度行为公差的检测，并符合最新国际标准，可根据用户需要建立参考坐标系，并能进行转站时坐标转换，可实时显示与自动评判测量结果，同时自动生成测试报告并根据需要进行选择打印，具有较强的推广与应用价值。

The invention discloses an online binocular vision measurement device for a large passenger car. The binocular vision measurement system is installed on a sliding mechanism and moves on the sliding mechanism to detect any measurement point on a large passenger car. The data points of the second measurement are used for measurement conversion and data splicing, and the object space point coordinates are calculated by identifying and analyzing the space object images obtained, and all the specification data on the large carriage are obtained, and the three-dimensional reconstruction of the large carriage is carried out to realize the basic geometry. The measurement of elements, and the evaluation of dimensional tolerances, the detection of behavioral tolerances of flatness, straightness, parallelism, coaxiality and perpendicularity, and in line with the latest international standards, can establish a reference coordinate system according to user needs, and can carry out Coordinate conversion when transferring stations, real-time display and automatic evaluation of measurement results, and automatic generation of test reports and optional printing according to needs, which has strong promotion and application value.

The online binocular vision measurement mechanism in a kind of motorbus compartment

Technical field

The invention belongs to motorbus compartment field of measuring technique, relate in particular to the online binocular vision measurement mechanism in a kind of motorbus compartment.

Background technology

In the trolley coach manufacturing,, in general be the comparison difficulty for the detection of the big parts of passenger car body.Because it is size long (about 25.5m) structurally, volume ratio is bigger, and anchor point is many, and needs on-the-spot the detection usually, can't detect with fixed three coordinate machine.Therefore mostly be to be used the time, it is detected with conventional measurer (as slide calliper rule, milscale, height gauge, straight steel ruler, steel tape) etc.So, the composition error of bringing in testing process on the one hand is bigger, just can't detect for the higher parts of ask for something ratio of precision; On the other hand, most of sizes are not all accomplished direct measurement, therefore in loss of accuracy, have brought many inconvenience to testing, and perhaps some measurement point simply can't detect.

The foreign study state of the art: to the research of the theory and the data processing thereof of morpheme error detecting system, external starting early.Detect some position, the straightness error of part starts with from research, detection till now to flatness error, deviation from circular from, cylinder error, experienced the time in about 100 years, advanced persons' such as its China and Britain, U.S., moral, day the research of industrial country in this field has reached higher level, has some idea of in instrument that its achievement in research each instrument manufacturing company home produces and the document of publishing.Wherein being applied to car body form and position error measurement means mainly contains: transit, laser tracker, large-scale three coordinate measuring machine and robot measurement, three-dimensional laser vision detection system etc.Its checkout equipment uses light, mechanical, electrical integrated technique in a large number, and has adopted computer measurement and control, has set up full-automatic detection apparatus.And along with rapid development of network technique and application, remote diagnosis will become the developing direction that passenger car body detects.Have in main method aspect Measurement and Data Processing and the morpheme error evaluation: Minimum Area method, approximate least square method, proper method and simplified method etc.Abroad least square method successfully is applied in the evaluation of product morpheme error decades ago, as sitting the detection limit device and companies such as famous German Leitz, Japanese Mitutoyo, the least square method that the Form and Position Errors process software all is to use in the coordinate measuring machine of its production to produce in the world.And the minimal condition Form Error Evaluation technology that meets 150 standards is also ripe day by day, still minimal condition is applied in the judgement of relevant benchmark ideal factor in the site error, does not carry out practical application as yet.

Domestic present Research: China's car body detection technique is especially weak at present, and pick-up unit falls behind.Main traditional measurement sample frame, large-scale three coordinate measuring machine and in-site measurement anchor clamps even the traditional artificial qualitative detection means of relying on of domestic system garage vehicle body workmanship control already.Adopt traditional artificial qualitative detection means, measure and detect methods such as sample frame as meter ruler, by manual record, reading, the loaded down with trivial details efficient of working is low.These classic methods not only require the technician that a large amount of experiences will be arranged, and measuring accuracy is not high yet.Measuring sample frame major part when stamping parts is checked all is by stamping parts surface configuration location.Because stamping parts itself exists inevitable resilience, defectives such as deflection, thus when detecting, can't accomplish accurate location, thereby also just can not accurately measure.Traditional large-scale three coordinate measuring machine and in-site measurement anchor clamps belong in the world seven, and the technology of the eighties because sampling rate and efficiency of measurement are lower, can only be carried out small sample and detect, for the easy omission of the fault of high frequency time; Particularly in-site measurement be can not carry out, thereby error trace diagnosis and quality control are not easy to.In the research of the theory of morpheme error evaluation and method, oneself is suitable with world level for the domestic research level that many aspects are arranged, some research even be in the first place in the world.The assessment method of morpheme error is except least square method and optimization commonly used at present, also have some comparatively novel, accurate methods, as: the method for minimum vector norm Form Error Evaluation, they are the tolerance definition according to national standard, " provided the mathematical model of vector norm minimization principle evaluation morpheme error, the minimum method of vector norm can obtain optimized evaluation result ".Above-mentioned research mainly concentrates in the evaluation of shape errors such as linearity, flatness, circularity, and as for to projects such as cylindricity, profile tolerance, right alignment, position degree, its evaluation is theoretical still dislikes not enough with method.At present, least square method evaluation morpheme error is own can to satisfy the general precision requirement through maturation, and its assessment method is simply quick, thereby is widely used in production field; Minimum Area method evaluation morpheme error is domestic delivers many optimized Algorithm, and verifies the precision that can reach separately, but does not apply in actual production as yet.

Summary of the invention

The invention provides the online binocular vision measurement mechanism in a kind of motorbus compartment, be intended to solve in the trolley coach manufacturing, because structurally size is long, volume ratio is big for the big parts of passenger car body, anchor point is many, usually need on-the-spot the detection, can't detect with fixed three coordinate machine, therefore in the time of most is to be used with conventional measurer to detect, the composition error of bringing in testing process on the one hand is bigger, just can't detect for the higher parts of ask for something ratio of precision; On the other hand, most of sizes are not accomplished direct measurement, in loss of accuracy, have brought many inconvenience to testing, the problem that some measurement point of while can't detect.

The object of the present invention is to provide the online binocular vision measurement mechanism in a kind of motorbus compartment, this online binocular vision measurement mechanism comprises:

Slide mechanism;

The binocular vision measuring system, be installed on the described slide mechanism, and on described slide mechanism, move, be used to detect any one measurement point on the large-scale compartment, the data point of repeatedly measuring is measured conversion and data splicing, the space object image calculation of obtaining by discriminance analysis goes out the object space point coordinate, obtains all specification data on the large-scale compartment, and large-scale compartment is carried out 3 D stereo reconstruct.

Further, described slide mechanism is that arc guide rail and an automatic sliding machine of 4 meters constitutes by two long line slideways of 20 meters, radius, and line slideway is welded on the both sides of arc guide rail.

Further, described binocular vision measuring system comprises: measuring pen, measuring pen receiver, industrial computer, PLC controller, mechanically actuated platform, camera door frame mobile controller, camera head controller, industrial camera, image pick-up card, workpiece transmit steady arm;

Described measuring pen is connected with described measuring pen receiver, described measuring pen receiver is connected with described industrial computer, described industrial computer and mechanically actuated platform are connected with described PLC controller, and described PLC controller transmits steady arm, camera door frame mobile controller and camera head controller with described workpiece and is connected;

Described measuring pen receiver also is connected with described image pick-up card, and described image pick-up card is connected with described industrial camera.

Further, be provided with portable three-dimensional coordinate vision measurement subsystem in the described binocular vision measuring system, this portable three-dimensional coordinate vision measurement subsystem is by a measuring light pen, the a pair of ccd video camera that is used to follow the trail of light pen orientation and attitude, one is used for calibrating block that light pen gauge head center is demarcated, one is used for ccd video camera is carried out scaling board and data processing terminal composition that stereoscopic vision is demarcated, on the positive front of a body of light pen, post three at least not at same white light echo reflective marker point and spheric probe that is exclusively used in contact type measurement above the straight line, light echo reflective marker point and spheric probe can not have the certain location relation, but in the process of whole measurement, the position of light echo reflective marker point and spheric probe must strictly be determined, can not be changed.

Further, be provided with space three-dimensional dynamic object machines gesture recognition subsystem in the described binocular vision measuring system, described space three-dimensional dynamic object machines gesture recognition subsystem comprises: image acquisition layer, Flame Image Process layer, parameter output layer;

Described image acquisition layer comprises: motion-control module, image collection module;

Described Flame Image Process layer comprises: Image Enhancement Based piece, image registration module, image co-registration module, image filtering module, characteristic extracting module, gesture recognition module, object module are set up module, Target Recognition locating module, image segmentation module;

Described parameter output layer comprises: measure the recognition data output module.

Further, be provided with shape error evaluation subsystem in the described binocular vision measuring system, described shape error evaluation subsystem comprises:

Metering system is selected module;

The universal measurement module selects module to be connected with described metering system, is used for 2 distances, linearity, flatness, verticality, the distance of putting face and two straight line parallel degree and measures;

Rule measurement module, described metering system select module to be connected, and are used for car body underframe, car body underframe distance, car door, car body end face, car body joint positioning shaft hole and car body butt joint locating surface and measure;

Described universal measurement module comprises:

2 distance-measurement module are used to carry out 2 range observations in space;

The straight line degree measurement module is used to carry out the distance of measurement point to straight line;

Measurement of planeness module is used to carry out the flatness calculating of space plane;

The squareness measurement module is used to carry out space line and space plane squareness measurement;

Point is used to carry out some range observation to the plane of space to the plan range measurement module;

Two straight line parallel degree measurement modules are used to carry out the straight line degree measurement of space two parallel lines;

Described regular measurement module comprises:

Compartment framework measurement module is used to measure the height of compartment framework, the horizontal tolerance of roof cross beam;

The underframe measurement module is used for the position degree of 8 sleeper beam datum holes of car body underframe and the measurement of paralleism of the range observation between the datum hole, two sides straight line degree measurement and both ends of the surface;

The car door measurement module is used for the measurement of planeness of car door, 4 limit measurements of paralleism of door and the range observation of doorframe;

Car body end surface measurement module is used for the measurement of planeness of car body end face.

The online binocular vision measurement mechanism in motorbus provided by the invention compartment, the binocular vision measuring system is installed on the slide mechanism, and on slide mechanism, move, be used to detect any one measurement point on the large-scale compartment, the data point of repeatedly measuring is measured conversion and data splicing, the space object image calculation of obtaining by discriminance analysis goes out the object space point coordinate, obtain all specification data on the large-scale compartment, and large-scale compartment carried out 3 D stereo reconstruct, realized the measurement of basic geometric element, and finish the dimensional tolerence evaluation, finished flatness, linearity, the depth of parallelism, the detection of right alignment and verticality behavior tolerance, and meet up-to-date international standard, can set up reference frame according to user's needs, and can change coordinate conversion when standing, can show in real time and the auto judge measurement result, automatically generate test report simultaneously and carry out selective printing as required, practical, have stronger popularization and using value.

Description of drawings

Fig. 1 is the structural representation of the online binocular vision measurement mechanism in the motorbus compartment that provides of the embodiment of the invention;

Fig. 2 is the structured flowchart of the binocular vision measuring system that provides of the embodiment of the invention;

Fig. 3 is the structured flowchart of the shape error evaluation subsystem that provides of the embodiment of the invention;

Fig. 4 is the structured flowchart of the portable three-dimensional coordinate vision measurement subsystem that provides of the embodiment of the invention;

Fig. 5 is the structured flowchart of the space three-dimensional dynamic object machines gesture recognition subsystem that provides of the embodiment of the invention;

Fig. 6 is the structural representation at the industrial computer main control interface that provides of the embodiment of the invention.

Among the figure: 1, slide mechanism; 11, line slideway; 12, arc guide rail; 13, automatic sliding machine; 2, binocular vision measuring system; 20, workpiece transmits steady arm; 21, measuring pen; 22, measuring pen receiver; 23, industrial computer; 24, PLC controller; 25, mechanically actuated platform; 26, camera door frame mobile controller; 27, camera head controller; 28, industrial camera; 29, image pick-up card; 3, shape error evaluation subsystem; 30, metering system is selected module; 31, universal measurement module; 310,2 distance-measurement module; 311, straight line degree measurement module; 312, measurement of planeness module; 313, squareness measurement module; 314, put the plan range measurement module; 315, two straight line parallel degree measurement modules; 32, regular measurement module; 321, compartment framework measurement module; 322, underframe measurement module; 323, car door measurement module; 324, car body end surface measurement module; 4, portable three-dimensional coordinate vision measurement subsystem; 41, light pen; 42, ccd video camera; 43, data processing terminal; 5, space three-dimensional dynamic object machines gesture recognition subsystem; 51, image acquisition layer; 511, motion-control module; 512, image collection module; 52, Flame Image Process layer; 521, Image Enhancement Based piece; 522, image registration module; 523, image co-registration module; 524, image filtering module; 525, characteristic extracting module; 526, gesture recognition module; 527, object module is set up module; 528, Target Recognition locating module; 529, image segmentation module; 53, parameter output layer; 531, measure the recognition data output module.

Embodiment

In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further described in detail below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in the qualification invention.

Fig. 1 shows the structure of the online binocular vision measurement mechanism in the motorbus compartment that the embodiment of the invention provides.For convenience of explanation, only show part related to the present invention.

This online binocular vision measurement mechanism comprises:

Metering system is selected module 30;

Universal measurement module 31 selects module 30 to be connected with metering system, is used for 2 distances, linearity, flatness, verticality, the distance of putting face and two straight line parallel degree and measures;

Rule measurement module 32, metering system select module 30 to be connected, and are used for car body underframe, car body underframe distance, car door, car body end face, car body joint positioning shaft hole and car body butt joint locating surface and measure;

Universal measurement module 31 comprises:

Rule measurement module 32 comprises:

Compartment framework measurement module 321 is used to measure the height of compartment framework, the horizontal tolerance of roof cross beam;

Underframe measurement module 322 is used for the position degree of 8 sleeper beam datum holes of car body underframe and the measurement of paralleism of the range observation between the datum hole, two sides straight line degree measurement and both ends of the surface;

Car door measurement module 323 is used for the measurement of planeness of car door, 4 limit measurements of paralleism of door and the range observation of doorframe;

Below in conjunction with drawings and the specific embodiments application principle of the present invention is further described.

The function that this binocular vision measurement mechanism is realized:

At the requirement of guide rail passenger car body morpheme error-detecting, groundwork has the following aspects.

(1) measurement of basic geometric element such as point, line, surface, circle, and finish the dimensional tolerence evaluation;

(2) finish the detection of behavior tolerances such as flatness, linearity, the depth of parallelism, right alignment and verticality, and meet up-to-date international standard;

(3) realization CAD drawing imports and obtains test event content and technical indicator automatically;

(4) coordinate conversion in the time of can setting up reference frame and can change the station according to user's needs;

(5) interface of Survey Software can arbitrarily be switched, and can carry out man-machine interaction well;

(6) the real-time demonstration and the auto judge of realization measurement result;

(7) the network data library management of realization measurement data;

(8), realize statistical study, production line quality management, and generate the industrial analysis report automatically by quality analysis system;

(9) realize generating test report automatically and carrying out selective printing as required.

The structure of the online binocular vision measurement mechanism in motorbus compartment:

Morpheme error evaluation in the project:

The morpheme error is meant the shape and the site error of mechanical component, and it is an important technology index of evaluation part workmanship.According to the regulation of GB GB1183-80, shape error comprises: linearity, flatness, circularity, cylindricity.And the shape error detection is the basis that the site error depth of parallelism, verticality, right alignment, position degree etc. detect.

Linearity definition and linearity assessment method: linearity is meant the variation of actual straight line to its ideal line, the position of ideal line should meet minimal condition, and straightness error is divided into: the straightness error in the given plane, the straightness error on the assigned direction, the straightness error on any direction;

Flatness definition and assessment method: with the numerical value that the width f of flatness minimum containment region represents, the assessment method of flatness error has: minimum containment region method, least square method, diagonal line planar process and three far point planar processes.The evaluation result of wherein minimum containment region method is less than or equal to other three kinds of methods, and this project adopts minimum containment region method to evaluate flatness error.

Verticality definition and verticality assessment method: verticality be two or more vertical key elements be 90 " state.Promptly two vertical key elements near 90 " degree.Press the multi-form of element to be measured and reference element, be divided into four kinds of verticality and require:

With the plane is benchmark: 1) plane is to the verticality on plane, 2) straight line is to the verticality on plane;

With the straight line is benchmark: 1) plane is to the verticality of straight line, 2) straight line is to the verticality of straight line;

Verticality is the same with the depth of parallelism, functional requirement according to element to be measured, when being benchmark with the plane, press possible direction and designing requirement that element to be measured relative datum key element produces the error of perpendicularity, can be on a direction or two mutually perpendicular directions and space any direction on given verticality requirement.But according to the actual needs of aluminium alloy passenger car body form and position error measurement, only need be to being that the verticality of benchmark is evaluated with the plane, reference field of this evaluation verticality is exactly the pillow face of passenger car body.

Symmetry definition and symmetry assessment method: symmetry be research tested in, the degree of center key element (central plane, middle sand from key element (central plane, center line or axis) relative datum from line or axis) coincidence.Because the influence of technological factors such as processing, measurement in the tested reality, can produce translation, inclination, bending or have both at the same time in the position of its reference center's key element relatively from the position of key element.Press the multi-form of element to be measured and reference element, be divided into four kinds of symmetries:

With face (central plane) is benchmark: 1) aspectant symmetry, 2) symmetry on line opposite;

With line (center line or axis) is benchmark: 1) in the face of the symmetry of line, the 2) symmetry of Line To Line;

According to the actual needs of passenger car body form and position error measurement, only need be to being that the symmetry of benchmark is evaluated with the plane, reference field of this evaluation symmetry is exactly the vertical plane of passenger car body pillow face.

Through conscientious inspection information, investigate repeatedly and try out, find that binocular vision measuring system 2 combines together with its advanced vision collecting, Flame Image Process, microprocessor and data recording equipment, have unique design, precision preferably, higher automaticity and more function are applicable to that very the big parts of car body detect.This detection system is based on machine vision binocular measuring system platform, and modular design can be carried out secondary development, is combined into the suitable machine vision measurement system voluntarily.

Adopt the binocular stereo vision principle, carry out discriminance analysis, calculate the object space point coordinate, mainly comprise technology: the pattern-recognition of testee and feature extraction by the space object image that the high-speed industrial digital camera is obtained; Space scaling method on a large scale; Binocular characteristics of image coupling; The resume of space coordinates and object are measured; Digital image processing techniques; Computer software technology.

When measuring, gauge head contact measured surface, fixedly left and right cameras is adjusted camera angle and is made its observation scope consistent as far as possible.Finish the demarcation of binocular stereo vision.With left video camera is main camera, the image of the light echo reflective marker point on the video camera picked-up handwriting; Right video camera is auxilliary video camera, finish the target detection under its visual field equally, video pictures in conjunction with left video camera, pattern-recognition and feature extraction by testee, finish binocular characteristics of image coupling, calculate the three-dimensional coordinate at spheric probe center by the particular model algorithm, that is the three-dimensional coordinate of gauge head contact point on the tested surface.More than work and send into calculator memory after gathering by 29 pairs of images of image pick-up card, the software with autonomous copyright by independent research carries out Flame Image Process again.

2) image capture module drives by capture card and receives the image that the CCD camera collects;

3) camera calibration and image pretreatment module are responsible for asking for of image demarcation and coordinate points;

4) the measurement result administration module is responsible for measurement result is imported the server network database;

5) the coordinate transform computing module is responsible for asking for the calculating of point coordinate and physical dimension;

7) auxiliary CAD drawing import feature after the geometric size calculation.

As shown in Figure 3, the data processing software design: in the data processing of shape error measuring subsystem, actual measurement mainly needs two parts: universal measurement module 31 and regular measurement module 32, wherein:

Universal measurement module 31 has fully satisfied the dirigibility in the engineering survey: can finish 2 distances, linearity, flatness, verticality, put the distance and the two straight line parallel degree surveying works of face;

Rule measurement module 32 is at the measurement requirement written program of passenger car body morpheme error reality, is used for special measuring task.Finish car body underframe, car body underframe distance, car door, car body end face, car body joint positioning shaft hole and car body butt joint locating surface surveying work.

In the performance history of software,, structural program design thought OO to these modules installations is developed one by one and is encapsulated, with the upgrading of assurance software and the independence between each functional module.It below is program general structure block diagram.

31 designs of universal measurement module: general master routine is realized different measurement functions by calling different measurement modules.Wherein universal measurement module 31 comprises:

32 designs of rule measurement module:

Rule measurement module 32 is measurement requirement written program according to reality, is used for special measuring task.

(1) compartment framework measurement module 321

Car door measurement module 323 is finished the surveying work of horizontal tolerance of height, the roof cross beam of compartment framework.

(2) the underframe measurement module 322

Underframe measurement module 322 is finished the position degree of 8 sleeper beam datum holes of car body underframe and the measurement of paralleism work of the range observation between the datum hole, two sides straight line degree measurement and both ends of the surface.Adopt the method at 3 substandard cloth stations to measure.

(3) the car door measurement module 323

Car door measurement module 323 is finished the measurement of planeness of car door, 4 limit measurements of paralleism of door and the range observation work of doorframe.

Online binocular vision measuring system 2 characteristics in large-scale compartment

Native system is discerned the location automatically to the target in the field range, can realize the on-site proving of system under the complicated background environment, and is convenient to operation.Image coordinate by unique point in the image of the left and right sides and binocular measuring principle realize the measurement of the three dimensional space coordinate of unique point.By analyzing relative distance equidimension information between the position that further obtains object, three-dimensional coordinate, attitude, the unique point to the identification of unique point location and to data.Principal feature has: binocular stereo vision is demarcated on a large scale; Binocular stereo vision is demarcated; Binocular three-dimensional measuring; Measurement data shows and output; Measuring accuracy is up to 0.02mm; Measuring speed 1 time/second; There is self-learning function in system, and learning process is simple to operate; System possesses communication function between LAN (Local Area Network); Operation interface is clear, and is simple, only needs simple setting can automatically perform measurement; The complete independent development of Survey Software and algorithm, system is with strong points; Measurement module, measurement range can be set flexibly; Compact conformation, easy operating, maintenance and expansion are installed simply; The reliability height, stable, be fit to various on-the-spot service conditions; Based on the PC platform, system expandability is strong, can expand other function based on the machine vision software platform.

Below only be preferred embodiment of the present invention,, all any modifications of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within protection scope of the present invention not in order to restriction the present invention.