CN106705842B - Vehicle body position detecting device for carwash - Google Patents
Vehicle body position detecting device for carwash Download PDFInfo
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- CN106705842B CN106705842B CN201611214546.2A CN201611214546A CN106705842B CN 106705842 B CN106705842 B CN 106705842B CN 201611214546 A CN201611214546 A CN 201611214546A CN 106705842 B CN106705842 B CN 106705842B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0025—Measuring of vehicle parts
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- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of vehicle body position detecting device for carwash, including measuring appliance 1, detector 3, image processor, electric control module 4, measuring appliance 1, detector 3 pass through route with image processor respectively and are connected with electric control module 4, and the camera 2 in measuring appliance 1, detector 3 and image processor is fixed on frame body 5, frame body 5 can be placed in movably forward and backward on carwash frame 8 by driving mechanism, and driving mechanism is connected with electric control module 4；Measuring appliance 1 includes transmitter 11 and receiver 12, and image processor includes camera 2, image recognition computing module, and camera 2 is fixed on 5 top of frame body and is located at 7 two side positions of top of automobile.The advantage is that: be capable of measuring the positional value of the protrusions such as reflective mirror on body contour, luggage carrier part, and measurement be by it is non-contact, quickly carry out in a manner of automation；Meanwhile measured the wheel position of foetus and wheelbase, tire specially can be cleaned accordingly, judge vehicle end to end and disengaging situation, auxiliary judgment vehicle.
Description
Technical field
The present invention relates to a kind of automobile washing field, a kind of especially vehicle body position detecting device for carwash.
Background technique
When developing computer car washer, need to measure several outer dimensions of automobile to be washed, so that the first-class work of high pressure water jets
Mechanism and vehicle body keep suitable distance.But how accurately to know, determine the dimensioning of the objects such as reflective mirror and roof-rack
Very little and location parameter is just the technical problem for failing to solve very well for a long time in industry, due to location parameter and geometric dimension data
Inaccurately, the cleaning effect of cleaning equipment is had a greatly reduced quality.In addition, the measurement demand of body contour has its spy for cleaning equipment
Different property: more than survey body contour, the location information also parked comprising measurement vehicle body；It is not necessarily required to know vehicle, bodywork surface
The location information of all the points, but must accurately know the position data of vehicle body protruding parts；The application of measurement result generally cannot
Based on PC, but realized on PLC, etc..It is difficult to cause many reality technologies for such measurement request.
A kind of existing Patent No. CN201510358826.X, entitled " the contour of the vehicle detection system for car washing installation
System and its detection method " Chinese invention patent disclose a kind of contour of the vehicle detection system for car washing installation, including wash
The top of car room, carwash room is equipped with car washing installation, and the bottom of car washing installation, the side wall of carwash room are equipped with 3 ultrasonic waves altogether
Sensor, the ultrasonic sensor are controlled by automobile equipment.The invention mainly utilizes the echo of ultrasonic sensor to survey
Position principle, detecting objects body and its orientation, solve present in conventional photoelectric sensor measurement method that structure is complicated therefore
The problems such as barrier rate is high.But by the range measurement principle of ultrasonic wave it is found that sensor emitted is conical beam, it is detecting and
Non- is the echo that the specified measured point in the beam projections area is reflected, and unit energy density increases with distance and reduced rapidly,
The detectivity that the bodywork surfaces such as luggage carrier, reflective mirror are locally protruded with pattern was not only weak but also unstable, and detection result also cannot
For accurately identifying the geometrical characteristic of the contour line at this on vehicle body cross section；In addition counted is certain reflection point and sensor
The distance between, the distance between perpendicular where being unable to get reflection point and sensor.Therefore, it is all demonstrate,proved from principle to practice
Real, ultrasonic sensor is difficult to meet the demand accurately measured that computer car washer proposes holding vehicle body short distance operation,
The wheel position of foetus can not be predicted and carry out targetedly cleaning action.
Summary of the invention
There is provided the technical problem to be solved by the present invention is to status in view of the above technology it is a kind of can Accurate Determining vehicle body with
The vehicle body position detecting device for carwash of tire location has measurement vehicle body precision high, easy to operate, makes the vehicle washed
Can short distance control under automate clean operation.
The present invention solves the above problems used technical solution are as follows: and this is used for the vehicle body position detecting device of carwash,
Be characterized in that: including for measuring bodywork height measuring appliance, measure tire location detector, for measuring body line
Image processor, electric control module, measuring appliance, detector and image processor pass through route and electric control module respectively
It is connected, and the camera in measuring appliance, detector and image processor is fixed on frame body, the frame body passes through driving mechanism
It can be placed in movably forward and backward on carwash frame, the driving mechanism is connected with electric control module；
Above-mentioned measuring appliance includes transmitter and receiver, and it is right outside automobile two sides that the transmitter is individually fixed in receiver
On the frame body answered, on transmitter with upper and lower interval, be linearly arranged with N number of light-emitting component, be equipped on receiver it is N number of with it is luminous
The corresponding receiving element of element, a light-emitting component is corresponding with one group of corresponding receiving element composition to have transmitting light
Beam, the element group for receiving photoelectric information, radiated element and receiving element in every set of pieces group are located in same level, described
N be greater than natural number；
Above-mentioned image processor includes camera, image recognition computing module, the camera be fixed on frame body top and
Two side position above automobile, image processor are generated the image of tested bodywork surface by camera acquisition, pass through image
Identification computing module analyzes image pixel to calculate the distance between bodywork surface specified point and image processor.
As an improvement, the frame body includes frame body cross bar and frame body vertical bar, the frame body vertical bar is two, and two frame bodies are perpendicular
The upper end of bar is individually fixed on the correspondence bottom at frame body cross bar both ends, and the transmitter is individually fixed in corresponding with receiver
Frame body vertical bar on, the both ends of the frame body cross bar can slidably be set on the both sides sliding rail on carwash frame, in the driving mechanism
Motor be fixed at the top of one end of frame body cross bar.
It being further improved, the quantity of the camera is at least two, when the quantity of camera is two, a camera shooting
Head is preferably placed in the top of a frame body vertical bar of transmitter, and another camera is placed in a frame body of receiver
The top of vertical bar, the camera are installed with horizontal plane θ at an acute angle downward respectively, and tested vehicle body cross section is calculated according to the following formula
On target point to perpendicular where image processing apparatus distance d:d=Lcos θ+α, in which: L be image processing apparatus extremely
The actual distance value of target point, α be the central axis of target point relative image processing unit clockwise or counterclockwise
Drift angle.
As an improvement, the detector is preferably made of the light-receiving device of light-beam transmitter and reception light beam, the light beam
Transmitter is fixed on the lower part of a frame body vertical bar, and the light-receiving device is fixed on the lower part of another frame body vertical bar, light beam hair
Emitter is located at same height with light-receiving device, respectively away from 2~10cm of ground.
As an improvement, the detector preferably has the photoelectric sensor that can emit setting length light beam, the photoelectric transfer
Sensor is located at the lower part of the frame body vertical bar of unilateral side or two sides outside tested vehicle body, and distance of the photoelectric sensor away from ground is 2
~10cm.
It is replaced as an improvement, the measuring appliance is measured light curtain, Measuring light screen is individually fixed in outside carwash frame two sides
On frame body vertical bar.
Compared with the prior art, the advantages of the present invention are as follows: measuring appliance is used, vehicle body side is scanned, accurately measures vehicle
Height degree shoots with video-corder the protruding parts such as bodywork surface, especially reflective mirror, empennage, luggage carrier using image processor, measures vehicle body
Profile；The orientation of preceding tire and rear tire is measured by detector and vehicle body wheelbase is obtained by calculation, and can be counted accordingly
It is specially cleaned according to tire, and is used for auxiliary judgment vehicle.Moreover, above-mentioned measurement is with contactless, automatic side
Formula quickly carries out, time saving and energy saving, and measurement efficiency is high, does not damage car surface.Therefore, the present invention can meet car washing installation well
The requirement of high-acruracy survey required for being cleaned close to vehicle body.
Detailed description of the invention
Fig. 1 is the application state figure of the embodiment of the present invention；
Fig. 2 is the front projection figure of Fig. 1；
Fig. 3 is the working method schematic diagram of measuring device and correlation type photoelectric sensor in Fig. 1；
Fig. 4 is the camera working method schematic diagram in Fig. 1.
Specific embodiment
The present invention will be described in further detail below with reference to the embodiments of the drawings.
As shown in Figures 1 to 4, the vehicle body position detecting device for carwash of the present embodiment, including for measuring vehicle body
The measuring appliance 1 of height, detector 3, the image processor for measuring body line, electrical control for measuring 71 position of tire
Module 4, measuring appliance 1, detector 3 pass through route with image processor respectively and are connected with electric control module 4, and measuring appliance 1,
Camera 2 in detector 3 and image processor is fixed on frame body 5, and the frame body 5 can be movably forward and backward by driving mechanism
It is placed on carwash frame 8, the driving mechanism is connected with electric control module 4；
Above-mentioned measuring appliance 1 includes transmitter 11 and receiver 12, and the transmitter 11 is individually fixed in vapour with receiver 12
Outside 7 two sides of vehicle on corresponding frame body 5, on transmitter 11 with upper and lower interval, be linearly arranged with N number of light-emitting component, receiver
N number of receiving element corresponding with light-emitting component is equipped on 12, a light-emitting component constitutes one with a corresponding receiving element
Group is corresponding to have the element group for emitting light beam, receiving photoelectric information, radiated element and receiving element position in every set of pieces group
In in same level, the N is the natural number greater than 2；
Above-mentioned image processor includes camera 2, image recognition computing module, and the camera 2 is fixed on 5 top of frame body
And it is located at 7 two side positions of top of automobile, image processor is generated the image of tested bodywork surface by the acquisition of camera 2, passed through
Image recognition computing module analyzes image pixel to calculate the distance between bodywork surface specified point and image processor.
Frame body 5 includes frame body cross bar 51 and frame body vertical bar 52, and the frame body vertical bar 52 is two, two frame body vertical bars 52
Upper end is individually fixed on the correspondence bottom at 51 both ends of frame body cross bar, and the transmitter 11 and receiver 12 are individually fixed in pair
On the frame body vertical bar 52 answered, the both ends of the frame body cross bar 51 can slidably be set on the both sides sliding rail on carwash frame 8, the driving
On motor 6 in mechanism is fixed at the top of one end of frame body cross bar 51.The quantity of the camera 2 is at least two, works as camera shooting
When first 2 quantity is two, a camera 2 is placed in the top of a frame body vertical bar 52 of transmitter 11, and another is taken the photograph
The top for a frame body vertical bar 52 for being placed in receiver 12 as first 2, the camera 2 respectively with horizontal plane θ at an acute angle downward
Installation, be calculated according to the following formula target point on tested vehicle body cross section to image processing apparatus place perpendicular distance d:
D=Lcos θ+α, in which: L is actual distance value of the image processing apparatus to target point, and α is target point relative image processing unit
Central axis drift angle clockwise or counterclockwise.The minimum value dmin in measured each d value is chosen, is cleaning
Lateral jet pipe needs to keep the control foundation of minimum range with vehicle body.Due to passenger car small again also always have basic height,
Width dimensions, when the sum of dmin that dmin or two 2 synchronization of camera that camera 2 measures measures is greater than some setting
When value, then it can determine that in measurement range herein without car body.One this occurs, can judge to learn headstock, the tailstock accordingly
Position.And the height h where the target point is: h=H '-Lsin (θ+α), in which: H ': the mounting height of image processor.Only
The measurement range top edge of image processor is wanted to be higher than the roof height of all kinds of vehicles being cleaned, dmin has at certain measurement moment
Effect, and the d that camera 2 measures be greater than some setting value (for example, d > 1.5m) when, then can determine that the measured point is located at vehicle body top
Portion, and take its h value as bodywork height value in turn.It is therefore desirable in the case where not high, the alternative measuring appliance 1 of image processor
To measure vehicle roof outline and overall height.Image processor is measured by the mode identification technology of 2 scanning imagery of camera, image
The distance of target point.After camera 2 acquires the image that testee surface reflection is formed, by image recognition computing module according to figure
As the displacement etc. of upper characteristic pixel is analyzed, the distance of any target point on measured object, scene depth are calculated
Measurement can be a variety of methods such as more mesh imagings, monocular translation.More mesh imaging modes are such as used, camera 2 refers to 2 or more
It is more that there are the combinations of the camera device of subtense angle.From light-source angle, the passive vision technology based on environment light can be,
It can be the active vision mode based on the actives projection source such as structure light.
The detector 3 is made of the light-receiving device 32 of light-beam transmitter 31 and reception light beam, and the light-beam transmitter 31 is solid
Due to the lower part of a frame body vertical bar 52, and the light-receiving device 32 is fixed on the lower part of another frame body vertical bar 52, beam emissions
Device 31 is located at same height with light-receiving device 32, respectively away from 2~10cm of ground.The detector 3, which has to emit, sets length light beam
Photoelectric sensor, the photoelectric sensor is located at the lower part of the frame body vertical bar 52 of unilateral side or two sides outside tested vehicle body, described
Distance of the photoelectric sensor away from ground is 2~10cm.Certain measuring appliance 1 can also be replaced with Measuring light screen, Measuring light screen point
It is not fixed on the frame body vertical bar 52 outside 8 two sides of carwash frame.Measuring light screen is a kind of well-known technique.
Hereinafter, the concrete operations with regard to the vehicle body position detecting device are described in detail.
By the coordinate system of Fig. 1, according to the instruction that electric control module 4 issues, driving mechanism drives frame body 5 along the x axis
Longitudinal movement is done, is passed through above automobile 7 to be measured, the X of 5 position of frame body at the 4 timing acquiring moment of electric control module
Coordinate.In any t moment, one-shot measurement can be carried out to corresponding vehicle body cross section: bodywork height be measured by measuring appliance 1, by scheming
The distance between the vertical line that 2 place of any point and camera on the contour line of the cross section is measured as processor, by examining
It surveys device 3 and measures tire location, by the front and back wheel dead reckoning wheelbase measured.Meanwhile electric control module 4 can be according to driving mechanism
Operating condition accurate recording frame body 5 position, namely: the coordinate position of vehicle body cross section.Specific measuring and calculating principle and method
It is:
1) automobile height, is measured: as shown in figure 3, measuring appliance 1 is for realizing the high-precision to vehicle body, online, quickly survey
Amount.The height value of corresponding one of each group of light beam itself, the height value of the light beam not interdicted of the top are i.e. close on measuring appliance 1
It is seemingly the overall height on the vehicle body cross section.In reality, the height of automobile luggage racks frame structure material, thickness all in 1cm or more,
The small measuring appliance 1 to 1cm or so of optical axis spacing can effectively capture its resemblance, be that the control unit auto-control of car washer is each
The operation height of action component provides accurate foundation.
If the light beam at a certain moment, measuring appliance 1 all turns on, and the beam section of moment measuring appliance 1 is interdicted before this,
Or vice versa, then illustrate be at the position automobile head or the front end of tail portion.
2) vehicle body side distance, is measured: as shown in figure 4, having and vehicle body cross for each image that camera 2 is shot
Intersect the image that a corresponding contour curve is formed in section.Image processor can measure distance L and drift angle α, it is known downward
In the case where the angle, θ of installation, the meter of the distance d of the perpendicular on contour curve where any one target point to camera 2
It is as follows to calculate formula:
D=Lcos (θ+α)
Wherein:
L: the target point depth value of image processor；
α: the clockwise direction drift angle of the central axis of target point relative image processor.
As long as it can be seen that camera 2 to be mounted on to the middle and upper part of 5 side of frame body, and choosing suitable setting angle θ, then take the photograph
There can be biggish overlay area as first 2, it is ensured that a camera 2 can capture the auto mirror of various height, adapt to
The detection of different automobile types needs.
By above-mentioned principle it is found that image processor can also be used for pattern at the top of measurement vehicle body, frame body cross bar need only be mounted on
On 51, camera 2 downward, is directed at tested vehicle, does not do expansion description herein.
The utilization of the above measurement result, it is only necessary to simple functional operation, it might even be possible to which trigonometric function is pressed power series again
Expansion mode carries out simplification and acquires engineering approximation result.Therefore, it without PC machine is depended on, can be realized using PLC.
Because the ranging of image processor is the range measurement mode based on image procossing, can with moment, simultaneously, disposably
Ground obtains the value of all the points on the contour line on the cross section of vehicle body somewhere, and measurement result is more accurately, more rapidly.Therefore, at image
Reason device is applied to have outstanding advantage on computer car washer.
3), the measurement wheel position of foetus: as shown in figure 4, the detector 3 is a kind of correlation type photoelectric sensor, light beam hair
Emitter 31, light-receiving device 32 are mounted at the height apart from ground 2 to 10cm, and aligned with each other.This mounting height is lower than various vehicles
Minimum ground clearance, it is ensured that (its type includes sightless infrared to the light between its light-beam transmitter 31, light-receiving device 32
Line) it is not blocked because of automobile chassis.When the light of correlation type photoelectric sensor is blocked, and continuous several times are blocked, i.e.,
Can determine that has tire at this.Electric control module 4 acquires the position initial value being continuously blocked under situation, final value, can calculate
To median, and in this, as hub centre position, the positioning to wheel is realized.According to the difference of front and back hub positions,
The wheelbase of tested vehicle can be calculated.
By the testing principle of aforementioned measuring appliance 1 it is found that since the Fundamentals of Measurement of measuring appliance 1 is to obtain every a pair of of light beam
Switching information, as long as therefore 1 long enough of measuring appliance, the beam distance ground of lower end is 2 to 10cm or so, then this group of light beam
After break-make situation sampling, data can be used to determine as correlation type photoelectric sensor the wheel position of foetus.Only, from economy
Property angle sees do not have the relative advantage in cost, does not do recommendatory arrangement in the present embodiment.
Due to measuring appliance 1, image processor, the installation site of detector 3 and its relative to work such as top spray bar, side spray bars
The relative position of mechanism is all known, therefore above-mentioned measurement result can directly convert and control as the position of each operating mechanism
Parameter processed, and be converted into turn as the control parameter of the power mechanisms such as each transmission mechanism or motor, it realizes to each operating mechanism position
That sets is precisely controlled.
Detector 3 as described in the embodiment above changes the photoelectric sensor apart from setting type into, and it is each to be mounted on unilateral or two sides
1 is filled, is another embodiment of the invention.The light emitters and light receiver of such photoelectric sensor are placed in one
Body, only detect set distance range (such as: the object in 0.2 to 2m), and will not being generated beyond the reflection light of measurement range
Switching signal can exclude interference caused by the object other than measurement range.The light-receiving device part of this kind of sensor usually has
Proportional photodiode or position detecting element are measured using diffusing for measured object surface.Use this kind of photoelectric transfer
When sensor, for mounting height apart from 2~10cm of ground, the maximum detecting distance selection of setting is slightly larger than the maximum distance of ipsilateral tire
?.In this way, detector 3 avoids only in the tire Shi Caiyou switching signal feedback for detecting this side because detecting to face wall
Wall etc. and malfunction.
There is testee when the photoelectric sensor continuous several times apart from setting type measure to limit in range, that is, can determine that at this
For tire.Electric control module 4 acquires the position initial value for continuously detecting obtained frame body 5, final value, and centre can be calculated
Value, and change to obtain hub centre into the positional value of X-direction with this, realize the positioning to wheel.According to front and back hub positions
The wheelbase of tested vehicle can be calculated in difference.
Due to automobile to be washed be substantially it is straight drive into car wash, therefore be believed that front and back wheel shaft is parallel with Y-axis, tire is ajusted
Forward.In this case, the unilateral wheel position of foetus that reflective photoelectric sensor measures is limited, it can be approximate as other side tire
Orientation, therefore only need unilateral side install 1 photoelectric sensor.Certainly, 1 can also be respectively filled in 5 two sides of frame body, measured respectively
The wheel position of foetus of vehicle body two sides is as a result more accurate.
Above embodiments as it can be seen that the detection device any cross-section of energy Accurate Determining vehicle body in height and horizontal direction
Extreme value judges the extreme position of the protrusion pattern such as reflective mirror, to avoid the running accident that scratches of equipment from providing foundation, and examines
Survey process fast response time, actual tests show that it can meet design requirement well.
Driving mechanism in the present invention can use ordinary motor, stepper motor, servo motor or other power sources, driving
Mechanism can be consolidated with frame body 5 and is servo-actuated, and be also possible to other transmission mechanisms independently of frame body 5, as long as can be in any measurement
Displacement or the position of accurate recording itself are carved, specific technical solution does not do expansion explanation.As for the specific of image processor
Principle and electrical arrangement have the Automation Specialty technology in terms of image steganalysis may be implemented, do not do deep description herein.
By the measuring principle of previous embodiment it is found that the detection device in the present invention does each cross-sectional profiles of vehicle
Measurement, rather than the general image based on disposable acquisition automobile can be detected in vehicle into and out of moment before and after car wash
Determine that vehicle enters and leaves situation, and therefore can be used for the entrance guard management of car wash, other derivation functions such as anti-personnel accidentally rush, do not do herein
It specifically describes.
Computer car washing installation in reality, there are many cleanings, the mechanism dried or air-dried, such as: wiper mechanism may
It is top spray bar, the mutually independent form of side spray bar, it is also possible to the inverted l-shaped structure of top spray bar, side spray bar disjunctor；Image procossing
Device, detector 3 can be fully consolidated on frame body 5, also may be mounted on the top spray bar or side spray bar of frame body 5 and can do therewith
The forms of motion such as rotation.Modification without departing from the spirit and scope of the present invention and perfect, should be included in aforesaid right and wants
Within the scope of asking.
The positional value of the protrusion such as reflective mirror, luggage carrier pattern, predicts tire side on energy precise measurement body contour of the present invention
Position judges vehicle end to end and disengaging situation, and measurement be by it is non-contact, quickly carry out in a manner of automation, can meet well
The requirement of high-acruracy survey required for clean operation is carried out close to vehicle body.
Claims (2)
1. a kind of vehicle body position detecting device for carwash, it is characterised in that: including the measuring appliance for measuring bodywork height
(1), detector (3), the image processor for measuring body line, electric control module of tire (71) position are measured
(4), measuring appliance (1), detector (3) pass through route respectively with image processor and are connected with electric control module (4), and measure
Camera (2) in device (1), detector (3) and image processor is fixed on frame body (5), and the frame body (5) passes through driving machine
Structure can be placed in movably forward and backward on carwash frame (8), and the driving mechanism is connected with electric control module (4)；
Above-mentioned measuring appliance (1) includes transmitter (11) and receiver (12), and the transmitter (11) and receiver (12) are solid respectively
Due on frame body (5) corresponding outside automobile (7) two sides, N number of shine is arranged with upper and lower interval, linearly on transmitter (11)
Element is equipped with N number of receiving element corresponding with light-emitting component on receiver (12), and a light-emitting component connects with corresponding one
It receives element and constitutes one group of corresponding element group that there is transmitting light beam, receive photoelectric information, the radiated element in every set of pieces group
It is located in same level with receiving element, the N is the natural number greater than 2；
Above-mentioned image processor includes camera (2), image recognition computing module, and the camera (2) is fixed on frame body (5)
Portion and it is located at two side positions above automobile (7), image processor generates the figure of tested bodywork surface by camera (2) acquisition
Picture analyzes image pixel by image recognition computing module to calculate between bodywork surface specified point and image processor (2)
Distance；
The measurement method of this vehicle body position detecting device are as follows:
1), measure automobile height: measuring appliance (1) is for realizing high-precision, the online, rapid survey to vehicle body；On measuring appliance (1)
The height value of corresponding one of each group of light beam itself, the height value of the light beam not interdicted of the top are approximately vehicle body cross
Overall height on section；In reality, all in 1cm or more, optical axis spacing is small to be arrived for the height of automobile luggage racks frame structure material, thickness
The measuring appliance (1) of 1cm or so can effectively capture its resemblance, be each action component of control unit auto-control of car washer
Operation height provides accurate foundation；
If a certain moment, the light beam of measuring appliance (1) is all turned on, and the beam section of moment measuring appliance (1) is interdicted before this,
Or vice versa, then illustrate be at the position automobile head or the front end of tail portion；
2) measure vehicle body side distance: for camera (2) shooting each image, have intersect with vehicle body cross section it is corresponding
The image that a piece contour curve is formed；Image processor can measure distance L and drift angle α, in the feelings of the known angle, θ installed downward
Under condition, the calculation formula of the distance d of the perpendicular on contour curve where any one target point to camera (2) is as follows:
d=Lcos(θ+α)
Wherein:
L: the target point depth value of image processor；
α: the clockwise direction drift angle of the central axis of target point relative image processor；
As long as it can be seen that camera (2) to be mounted on to the middle and upper part of frame body (5) side, and choosing suitable setting angle θ, then take the photograph
As head (2) can have biggish overlay area, it is ensured that a camera (2) can capture the auto mirror of various height,
The detection for adapting to different automobile types needs；Minimum value-the dmin in measured each d value is chosen, is that the lateral jet pipe of cleaning needs
The control foundation of minimum range is kept with vehicle body；Since passenger car small again also always has basic height, width dimensions, when taking the photograph
When the sum of dmin that dmin or two camera (2) synchronization measured as head (2) measures is greater than some setting value, then may be used
Determine in measurement range herein without car body；One this occurs, can judge the position for learning headstock, the tailstock accordingly；And it is somebody's turn to do
Height h where target point is: h=H '-Lsin (θ+α), in which: H ': the mounting height of image processor；As long as image procossing
The measurement range top edge of device is higher than the roof height of all kinds of vehicles being cleaned, and dmin is effective at certain measurement moment, and images
When the d that head (2) measures is greater than some setting value, then it can determine that the measured point is located at the top of vehicle body, and take its h value as vehicle in turn
Height angle value；
3) the measurement wheel position of foetus: the detector (3) is a kind of correlation type photoelectric sensor, photophore (31), light-receiving device
(32) it is mounted at the height apart from ground 2 to 10cm, and aligned with each other；This mounting height is liftoff lower than the minimum of various vehicles
Gap, it is ensured that the light between its light-beam transmitter (31), light-receiving device (32) is not blocked because of automobile chassis；When correlation type light
The light of electric transducer is blocked, and when continuous several times are blocked, that is, can determine that there is tire at this；Electric control module (4) is adopted
Median can be calculated in the continuous position initial value being blocked under situation of collection, final value, and in place in this, as hub centre institute
It sets, realizes the positioning to wheel；According to the difference of front and back hub positions, the wheelbase of tested vehicle can be calculated；The frame
Body (5) includes frame body cross bar (51) and frame body vertical bar (52), and the frame body vertical bar (52) is two, two frame body vertical bars (52)
Upper end is individually fixed on the correspondence bottom at frame body cross bar (51) both ends, and the transmitter (11) and receiver (12) are solid respectively
Due on corresponding frame body vertical bar (51), it is sliding that the both ends of the frame body cross bar (51) can slidably set the both sides on carwash frame (8)
On rail, the motor (6) in the driving mechanism is fixed on one end top of frame body cross bar (51)；The number of the camera (2)
Amount is at least two, and when the quantity of camera (2) is two, a camera (2) has been placed in (11) frame bodies of transmitter
The top of vertical bar (52), and another camera (2) is placed in the top of a frame body vertical bar (52) of receiver (12), it is described
Camera (2) is installed with horizontal plane θ at an acute angle downward respectively, and the target point being calculated according to the following formula on tested vehicle body cross section arrives
Distance d:d=Lcos (θ+α) of perpendicular where image processing apparatus；The detector (3) is by light-beam transmitter (31) and connects
Light-receiving device (32) composition of light beam is received, the light-beam transmitter (31) is fixed on the lower part of a frame body vertical bar (52), and described
Light-receiving device (32) is fixed on the lower part of another frame body vertical bar (52), and light-beam transmitter (31) is located at equally with light-receiving device (32)
Highly, respectively away from 2~10cm of ground；The detector (3) has the photoelectric sensor that can emit setting length light beam, the photoelectricity
Sensor is located at the lower part of the frame body vertical bar (52) of the unilateral side or two sides that are tested vehicle body (7) outside, and the photoelectric sensor is away from ground
Distance be 2~10cm.
2. vehicle body position detecting device according to claim 1, it is characterised in that: the measuring appliance (1) is measured light curtain
It is replaced, Measuring light screen is individually fixed on the frame body vertical bar (52) outside carwash frame (1) two sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611214546.2A CN106705842B (en) | 2016-12-20 | 2016-12-20 | Vehicle body position detecting device for carwash |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611214546.2A CN106705842B (en) | 2016-12-20 | 2016-12-20 | Vehicle body position detecting device for carwash |
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| CN106705842A CN106705842A (en) | 2017-05-24 |
| CN106705842B true CN106705842B (en) | 2019-10-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109211138A (en) * | 2018-09-30 | 2019-01-15 | 武汉无忧车智能科技有限公司 | A kind of appearance detection system and method |
| CN109668523B (en) * | 2019-02-14 | 2022-06-03 | 宁波中令清洁技术有限公司 | Detection apparatus for vehicle outline |
| CN110081833B (en) * | 2019-04-18 | 2024-06-18 | 辽宁省交通高等专科学校 | Movable vehicle contour measuring instrument |
| CN113063380A (en) * | 2021-02-25 | 2021-07-02 | 上海北玻自动化技术有限公司 | Vertical measuring device and measuring method thereof |
| CN113124820B (en) * | 2021-06-17 | 2021-09-10 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measurement method based on curved mirror |
| CN115355832B (en) * | 2022-10-18 | 2023-01-17 | 青岛日森机电有限公司 | Vehicle body measuring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201016845Y (en) * | 2007-03-16 | 2008-02-06 | 温厚勇 | Distance measuring equipment for measuring automobile putting angle by using laser scanning telemetry |
| CN201417141Y (en) * | 2009-07-06 | 2010-03-03 | 交通部公路科学研究院 | Outline, height difference and F/R suspension dynamic inspection system for automobiles and trains |
| CN202486981U (en) * | 2012-03-23 | 2012-10-10 | 广州市图之灵计算机技术有限公司 | Vehicle type identification device based on vehicle outline scanning |
| CN103453836B (en) * | 2013-09-03 | 2016-05-11 | 天津大学 | Based on machine vision and laser light curtain vehicle outer profile size measuring system and method |
| CN203489844U (en) * | 2013-09-03 | 2014-03-19 | 天津大学 | System for measuring size of outer profile of vehicle based on machine vision and laser light screen |
| CN103954222B (en) * | 2014-04-29 | 2017-03-29 | 南京理工大学 | A kind of vehicle's contour and wheelbase automatic measurement system and Measurement Algorithm |
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