CN105719286A - Method and system for measuring tire - Google Patents
Method and system for measuring tire Download PDFInfo
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- CN105719286A CN105719286A CN201610032751.0A CN201610032751A CN105719286A CN 105719286 A CN105719286 A CN 105719286A CN 201610032751 A CN201610032751 A CN 201610032751A CN 105719286 A CN105719286 A CN 105719286A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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Abstract
The invention provides a method and a system for measuring a tire. The method comprises steps of by detecting positions of a target installed on a tire of an automobile, once the position of the target on the tire of the automobile is in a shooting region, acquiring a moving image of the tire; judging feature points of the image, carrying out further analysis according to the feature points of the image and turning to measure the angle of the tire of the automobile, thereby achieving effects that angle measurement can be carried out on the tire of the automobile with no need for stopping operation of forward and backward pushing of the automobile or left and right turning of a steering wheel during a moving process of the automobile; and then, during the measuring process of the tire, requiring images without a stop, extracting feature points for analysis so that obtained data is not liable to distort, and carrying out all-directional measurement on movement and all angles of the tire of the automobile.
Description
Technical field
The invention belongs to tire field of measuring technique, particularly relate to the method and system that a kind of tire is measured.
Background technology
In the design of Hyundai Motor, in order to ensure stability and the comfortableness of galloping, the commonly used four-wheel independent suspension of vehicle.In order to automatically keep straight-line travelling when ensureing running car, tyre revolution backward can self-return, the deflecting roller of automobile devises many angles, such as toe-in of front wheel, trailing wheel is prenex, front wheel camber, trailing wheel flare, front-wheel reverse caster and introversion, thrust angle, shrink back angle etc., in actual use procedure, because by External Force Acting, tire and part replacement or tire will be caused that these angles change, in turn result in vehicle self-return function to reduce, affect the straight-line travelling ability of automobile, the angle of tire changes can handling to vehicle, comfortableness, safety, oil consumption etc. bring very big harm, and the angle change of tire cannot distinguish and analyze by human eye, it is thus desirable to the angle by equipment Inspection tire changes, then provide data to repair technician and be adjusted reference.
The technology of current existing measurement tyre angle is " pause measurement technology ", so-called " pause measurement technology ", need promoting the starting point of automobile, terminal, the beginning and end of beating steering wheel to be required for some seconds of pausing, pause in order that static collection picture.When go-cart pauses, the operation of operator is required significantly high, somewhat movable, measure and be easy for losing efficacy, it is necessary to redo；Pause go-cart and beat steering wheel, the picture number collected is few, and pilot process does not gather picture and is analyzed, it is impossible to simulate whole movement locus, it is impossible to provide the real conditions of tire motion and all angles, the easy distortion of measurement data.
Summary of the invention
Present invention aim at the method and system providing a kind of tire to measure, aim to solve the problem that the data distortion that prior art needs pause to measure and static collection image causes, and whole movement locus can not be simulated, it is impossible to the problem providing the real conditions of tire motion and all angles.
The invention provides a kind of method that tire is measured, the method that described tire is measured includes:
The position of the target that detection is arranged on the tire of automobile；
When the position of the target on the tire of described automobile is positioned at shooting area, gather the image of tire motion in described motor racing process；
Judge the characteristic point of described image；
Characteristic point according to described image is further analysed, and is converted into the angular surveying of tire to described automobile.
Present invention also offers the system that a kind of tire is measured, the system that described tire is measured includes:
Detection module, for detecting the position of the target on the tire being arranged on automobile；
Acquisition module, for when the position of the target on the tire of described automobile is positioned at shooting area, gathering the image of tire motion in described motor racing process；
Judge module, for judging the characteristic point of described image；
Analysis module, for being further analysed according to the characteristic point of described image, is converted into the angular surveying of tire to described automobile.
In sum, the method and system that a kind of tire that the embodiment of the present invention provides is measured, by detecting the position of the target being arranged on the tire of automobile, position once the target on the tire when described automobile is positioned at shooting area, gather the image of tire motion in described motor racing process, then the characteristic point of described image is judged, and the characteristic point according to described image is further analysed, it is converted into the angular surveying of tire to described automobile, automobile or left and right is promoted all not to need quiescent operation when beating steering wheel before and after when achieving motor racing process, the tire of automobile can be carried out the effect of angular surveying；Secondly, in the measurement process of tire, do not stop to gather image and extract characteristic point simultaneously and be analyzed, the data obtained are not easy distortion, and the motion of the tire of automobile and all angles can be carried out comprehensive measurement, solve the measurement data distortion that prior art needs pause to measure and static collection image causes, and whole movement locus can not be simulated, it is impossible to the problem providing the real conditions of tire motion and all angles.
Accompanying drawing explanation
The flow chart of steps of the method that Fig. 1 measures for a kind of tire that the embodiment of the present invention provides.
The schematic diagram that in the method for a kind of tire measurement that Fig. 2 provides for the embodiment of the present invention, tyre angle positional parameter is asked for.
The modular structure schematic diagram of the system that Fig. 3 measures for a kind of tire that another embodiment of the present invention provides.
The operation principle schematic diagram of the system that Fig. 4 measures for a kind of tire that another embodiment of the present invention provides.
Detailed description of the invention
In order to make the technical problem to be solved in the present invention, technical scheme and beneficial effect clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Fig. 1 illustrates the steps flow chart of the method that a kind of tire that the embodiment of the present invention proposes measures, and illustrates in order to convenient, illustrate only the part relevant to the embodiment of the present invention.
A kind of method that tire is measured, the method that described tire is measured includes:
Step S11, the position of the target that detection is arranged on the tire of automobile；
Step S12, when the position of the target on the tire of described automobile is positioned at shooting area, gathers the image of tire motion in described motor racing process；
Step S13, it is judged that the characteristic point of described image；
Step S14, is further analysed according to the characteristic point of described image, is converted into the angular surveying of tire to described automobile.
As one embodiment of the invention, in step s 11, detect in the position of the target being arranged on the tire of automobile and relate to world coordinate system, camera coordinate system and three kinds of coordinate systems of image coordinate system；
Described world coordinate system (Xw, Yw, Zw) is the frame of reference selected in the environment, is used for describing camera position, it is possible to freely choose according to principles such as description and convenience of calculation.For some camera model, select suitable world coordinate system can be greatly simplified the mathematic(al) representation of vision mode.
Camera coordinate system (Xc, Yc, Zc) is with camera lens photocentre Oc for zero, and Xc, Yc axle is parallel to imaging plane, and Zc axle is perpendicular to imaging plane, and its intersection point is (u0, v0), i.e. video camera principal point at the coordinate that image coordinate is fastened.
Image coordinate system is defined in the rectangular coordinate system on two dimensional image, divides in units of pixel and with physical length (such as millimeter) for unit two kinds, here respectively with (u, v) with (x y) represents.Being most commonly used that the coordinate system in units of pixel, generally its zero generally defines the upper left corner at image.
If the physical size that each pixel of described video camera is in X-axis with Y direction is (dx, dy), by described image coordinate system it can be seen that pixel value (u on image, v) with coordinate (x, the relation homogeneous coordinates between y) and matrix table are shown as:
As one embodiment of the invention, in step s 12, judging that the position of the target on the tire of described automobile is positioned at shooting area is the principle adopting perspective projection, first, pin-hole model is derived by pinhole imaging system principle, is add the linear camera model that the rotation of rigid body translation and rigid body obtains with translation on simple central projection basis.It is left out the distortion of various camera lens, but it but can well simulate actual camera, is the basis of other model and scaling method.
If P is space point, its coordinate under camera coordinate system is (Xc, Yc, Zc), and q is the corresponding point on P imaging plane, the coordinate of q be (x, y), if f is focal length of camera, according to the proportionate relationship of perspective projection be then:
Thus going to the position determining the target on the tire of described automobile to be positioned at shooting area, then it is acquired in described motor racing process the image of tire motion.
As one embodiment of the invention, in step s 13, the characteristic point of described image is four summits of described image, judge the characteristic point of described image be first rapid preliminary choose the approximate region of image, then at four effective vertex positions of described approximate region secondary locking, finally all coordinate points of described four effective vertex positions are carried out three-dimensional coordinate extraction, and then carry out the acquisition of characteristic point three-dimensional coordinate fast and effectively, whole process does not need the stationary picture of any pause and obtains image, the extraction concrete grammar of its image characteristic point is as follows: one, first position target, screen useful target region；Two, four summits of described target are obtained；Three, the pixel coordinate of each target is obtained.
As one embodiment of the invention, in step S14, obtain the world coordinates of target characteristic point by extracting the pixel coordinate of characteristic point on its image, and on the basis of pin-hole model, set up the transformational relation between world coordinates and ideal image pixel coordinate.
The geometric properties of known target target target surface and rule, be based upon world coordinate system on described target target surface, can set known features point world coordinates and Zw=0；If wherein 1 P (Xw, Yw, Zw) coordinate under camera coordinate system is (Xc, Yc, Zc), imaging in camera coordinate system plane after shooting, if its imaging point coordinate is (x, y), its image pixel coordinates correspond to (u, v).
Being followed by the conversion of space coordinates, according to theory on computer vision, rigid motion can be analyzed to the synthesis rotating and translating.World coordinate system can be transformed into camera coordinate system and be transformed to homogeneous coordinates.
The motion of vapour tire can be regarded as rigid motion, and the Kinematic Decomposition of certain point on tire (owing to target is identical with tire motion, our research be integrally fixed on the target on tire certain point) becomes a rotation around rotating shaft and translation.
If a pair corresponding point before and after tire (target) motion are P and P ', their world coordinate system coordinate is (Xw, Yw, Zw) T and (Xw ', Yw ', Zw ') T respectively, then transformation for mula is:
Wherein R, T are for describing the conversion process in different spatial, and the θ in R puts on tire around rotating shaft rotational angle, if (n1, n2, n3) is the space vector of tire rotating shaft.
According to calculated coordinate transformation relation, the extraterrestrial target target world coordinates before and after motion is obtained by its image coordinate, then obtain rotating shaft vector (n1, n2, n3) of tire motion.This vector and each angle α between coordinate axes Xw, Yw, Zw in world coordinate system, beta, gamma.And then utilize angle can obtain positional parameter.
Explain in order to convenient, Fig. 2 illustrates that in the method that a kind of tire that the embodiment of the present invention proposes is measured, tyre angle positional parameter is asked for, if Zw is automobile direction of advance, Xw points to automobile left side, Yw is perpendicular to vehicle body plane, N tire rotating shaft vector, the translation that N ' is N, × 1800/ π is toe-in angle for then β-900 is camber angle, arctan | cos γ/cos α |.
By same method, shooting automobile rotates an image during angle to the left or to the right, seek out the space vector of stub, and then obtain kingpin inclination and back rake angle, so reach the characteristic point according to described image to be further analysed, being converted into the effect of the angular surveying of tire to described automobile, comparison of computational results is direct, and easily realizes stable being accurately positioned.
Fig. 3 illustrates the modular structure of the system that a kind of tire that another embodiment of the present invention proposes measures, and illustrates in order to convenient, illustrate only the part relevant to the embodiment of the present invention.
Based on the method that above-mentioned tire is measured, the system that a kind of tire is measured, the system that described tire is measured includes:
Detection module 101, for detecting the position of the target on the tire being arranged on automobile；
Acquisition module 102, for when the position of the target on the tire of described automobile is positioned at shooting area, gathering the image of tire motion in described motor racing process；
Judge module 103, for judging the characteristic point of described image；
Analysis module 104, for being further analysed according to the characteristic point of described image, is converted into the angular surveying of tire to described automobile.
As another embodiment of the present invention, in acquisition module 102, described motor racing process includes automobile each state at starting point, pushing course, terminal and when beating steering wheel.
As another embodiment of the present invention, described analysis module 104 specifically includes:
Detection unit, for detecting the change in location of described characteristic point；
Computing unit, for calculating the Space Rotating vector of tire according to the change in location of described characteristic point, and then is drawn the positional parameter of tire by the relation of described Space Rotating vector with each coordinate axes of space coordinates；
Measuring unit, for being converted into the angular surveying of the tire to described automobile.
Fig. 4 illustrates the operation principle of the system that a kind of tire that another embodiment of the present invention proposes measures, and illustrates in order to convenient, illustrate only the part relevant to the embodiment of the present invention.
The system that a kind of tire is measured, also includes:
Imaging sensor 201, secondary light source 202, camera lens 203 and target 204；
First, the tire of automobile is placed four targets respectively, visual system is sent instructions to by computer software, described imaging sensor 201 (video camera, band frame buffer function, can so that image returns to computer in order and accurately) receive instruction after, under the auxiliary of described secondary light source 202 and camera lens 203, described target 204 is not stopped and takes pictures, then automobile and left and right is promoted to beat steering wheel before and after, and return to computer by data wire, image is then analyzed by the image processing system of computer, the actual angle of the tire of automobile is shown on screen, the initial data that dispatches from the factory of comparison tire, it is supplied to the master worker that repairs with reference to adjusting.So, namely the process once gathering image and image procossing terminates.
In sum, the method and system that a kind of tire that the embodiment of the present invention provides is measured, by detecting the position of the target being arranged on the tire of automobile, position once the target on the tire when described automobile is positioned at shooting area, gather the image of tire motion in described motor racing process, then the characteristic point of described image is judged, and the characteristic point according to described image is further analysed, it is converted into the angular surveying of tire to described automobile, automobile or left and right is promoted all not to need quiescent operation when beating steering wheel before and after when achieving motor racing process, the tire of automobile can be carried out the effect of angular surveying；Secondly, in the measurement process of tire, do not stop to gather image and extract characteristic point simultaneously and be analyzed, the data obtained are not easy distortion, and the motion of the tire of automobile and all angles can be carried out comprehensive measurement, solve the measurement data distortion that prior art needs pause to measure and static collection image causes, and whole movement locus can not be simulated, it is impossible to the problem providing the real conditions of tire motion and all angles.The embodiment of the present invention realizes simple, it is not necessary to increases extra hardware, can effectively reduce cost, have stronger usability and practicality.
One of ordinary skill in the art will appreciate that: the step or the part steps that realize said method embodiment can be completed by the hardware that programmed instruction is relevant, aforesaid program can be stored in computer read/write memory medium, this program is upon execution, perform to include the step of said method embodiment, and aforesaid storage medium includes: the various media that can store program code such as ROM, RAM, magnetic disc or CD.
Embodiment described above only in order to technical scheme to be described, is not intended to limit；Although the present invention being described in detail with reference to previous embodiment, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent replacement；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of each embodiment technical scheme of the embodiment of the present invention.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (8)
1. the method that a tire is measured, it is characterised in that the method that described tire is measured includes:
The position of the target that detection is arranged on the tire of automobile；
When the position of the target on the tire of described automobile is positioned at shooting area, gather the image of tire motion in described motor racing process；
Judge the characteristic point of described image；
Characteristic point according to described image is further analysed, and is converted into the angular surveying of tire to described automobile.
2. the method that a kind of tire as claimed in claim 1 is measured, it is characterised in that described motor racing process includes automobile each state at starting point, pushing course, terminal and when beating steering wheel.
3. the method that a kind of tire as claimed in claim 2 is measured, it is characterised in that the characteristic point of described image is four summits of described image.
4. the method that a kind of tire as claimed in claim 3 is measured, it is characterised in that the described characteristic point according to described image is further analysed, and the step of the angular surveying being converted into the tire to described automobile specifically includes:
Detect the change in location of described characteristic point；
Change in location according to described characteristic point calculates the Space Rotating vector of tire, and then is drawn the positional parameter of tire by the relation of described Space Rotating vector with each coordinate axes of space coordinates；
It is converted into the angular surveying of tire to described automobile.
5. the system that a tire is measured, it is characterised in that the system that described tire is measured includes:
Detection module, for detecting the position of the target on the tire being arranged on automobile；
Acquisition module, for when the position of the target on the tire of described automobile is positioned at shooting area, gathering the image of tire motion in described motor racing process；
Judge module, for judging the characteristic point of described image；
Analysis module, for being further analysed according to the characteristic point of described image, is converted into the angular surveying of tire to described automobile.
6. the system that a kind of tire as claimed in claim 5 is measured, it is characterised in that described motor racing process includes automobile each state at starting point, pushing course, terminal and when beating steering wheel.
7. the system that a kind of tire as claimed in claim 6 is measured, it is characterised in that the characteristic point of described image is four summits of described image.
8. the system that tire as claimed in claim 7 is measured, it is characterised in that described analysis module specifically includes:
Detection unit, for detecting the change in location of described characteristic point；
Computing unit, for calculating the Space Rotating vector of tire according to the change in location of described characteristic point, and then is drawn the positional parameter of tire by the relation of described Space Rotating vector with each coordinate axes of space coordinates；
Measuring unit, for being converted into the angular surveying of the tire to described automobile.
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| CN201610032751.0A CN105719286A (en) | 2016-01-18 | 2016-01-18 | Method and system for measuring tire |
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| CN201610032751.0A CN105719286A (en) | 2016-01-18 | 2016-01-18 | Method and system for measuring tire |
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Cited By (4)
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| CN109377482A (en) * | 2018-09-29 | 2019-02-22 | 中国石油大学(华东) | A kind of tire angle nature examination method based on point cloud data |
| CN111062912A (en) * | 2019-11-20 | 2020-04-24 | 杭州睿眼科技有限公司 | Feature extraction and detection positioning method for tire section key target |
| CN111220399A (en) * | 2019-12-31 | 2020-06-02 | 的卢技术有限公司 | Method and system for measuring toe angle of wheel based on image |
| CN114549426A (en) * | 2022-01-27 | 2022-05-27 | 合肥富煌君达高科信息技术有限公司 | Tire bulge detection and analysis method and system |
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