CN114549426A - Tire bulge detection and analysis method and system - Google Patents
Tire bulge detection and analysis method and system Download PDFInfo
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- CN114549426A CN114549426A CN202210102272.7A CN202210102272A CN114549426A CN 114549426 A CN114549426 A CN 114549426A CN 202210102272 A CN202210102272 A CN 202210102272A CN 114549426 A CN114549426 A CN 114549426A
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- G01M17/00—Testing of vehicles
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Abstract
The invention discloses a method and a system for detecting and analyzing a tire bulge, wherein the method comprises the following steps: step 1, obtaining a swing displacement curve of any measuring point of a non-bulge tire; step 2, acquiring a swing displacement curve of any measuring point of the tire to be measured through image acquisition; step 3, comparing the swing displacement curve of any measuring point of the tire to be measured obtained in the step 2 with the swing displacement curve of the measuring point corresponding to the non-bulge tire obtained in the step 1, and judging that the measuring point corresponding to the bulge position of the tire to be measured is a target measuring point; and 4, establishing a local coordinate system, converting the coordinates of the target measuring point in the world coordinate system into the local coordinate system, and calculating to obtain the strain tensor of the target measuring point. The disclosed system includes a binocular image acquisition system for acquiring tire images and a data processing system for implementing the method. The method can obtain the strain data of the tire surface at the position where the bulge appears, and has no false alarm problem caused by tire swinging.
Description
Technical Field
The invention relates to the field of tire detection methods, in particular to a tire bulge detection analysis method and a tire bulge detection analysis system.
Background
Tires are important parts of automobiles, and tires that look simple are complex to start with. Various bulges can occur in the actual tire during use, and the reasons for the bulges are various, most of which are caused by unexpected strong impact during use. A series of tests are performed on the tire prior to shipment.
The tire bulge not only influences the driving, but also has the danger of tire burst, and is a great hidden danger of vehicle driving. Most of the existing detection methods are observed by naked eyes. However, in actual high-speed testing, the entire process may be difficult to observe by the human eye at a short instant, perhaps from the beginning of the tire bulging to the explosion. And it is difficult to perform an effective analysis of the material.
In order to solve the problem that the condition of the bulge of the tire is difficult to know by human eyes, the device for detecting the bulge of the tire of the wheel, which is disclosed in chinese patent No. 201110334203.0, describes that the bulge is detected by means of hardware, and the bulge is judged by placing fixed clamps on both sides of the tire. The technical scheme disclosed by the patent has the defects that the automation degree is not high enough, and the bulge detection is carried out in a hardware mode: 1) the bulge can give an alarm when reaching a certain threshold value; 2) the vibration influence caused by the high-speed movement process of the tire cannot be resisted, and the misjudgment can be caused by the vibration.
In a system for detecting a tire bulge based on a high-speed camera and a multi-line laser, a chinese patent with application number 202010808325.8 describes that the bulge is detected by a high-speed camera line-laser, and whether a failure occurs on the surface of the tire is determined by the curvature change of the laser line in the shot image. The technical scheme just opened in the patent can only obtain results but cannot analyze the whole process, actually, more useful information is strain analysis in the whole process from the beginning to the final explosion of the bulge, the tire material can be better analyzed through analysis of the whole bulge process data, and therefore the improvement of the tire is improved, and the patent cannot obtain the strain analysis results before and after the bulge is formed.
Disclosure of Invention
The invention aims to provide a tire bulge detection and analysis method and system, which aim to solve the problems that in the prior art, the vibration during tire bulge detection causes misjudgment and the strain analysis result is difficult to obtain.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a tire drum detection analysis method, comprising the steps of:
step 2, obtaining an image of the outer tire surface of the tire to be measured during high-speed rotation, and obtaining a swing displacement curve of any measuring point of the outer tire surface of the tire to be measured during high-speed rotation according to the collected image;
and 4, taking the measuring point of the bulge of the tire to be measured determined in the step 3 as a target measuring point, establishing a local coordinate system by taking the target measuring point as an original point according to the image of the outer tread of the tire to be measured obtained in the step 2, converting the coordinate of the target measuring point in the world coordinate system into the local coordinate system, and calculating the strain tensor of the target measuring point according to the coordinate of the target measuring point in the local coordinate system.
Furthermore, in step 1, a plurality of sub-areas are divided on the outer tread of the non-bulge tire, each sub-area is respectively used as a measuring point of the non-bulge tire, and correspondingly, in step 2, a plurality of same sub-areas are divided on the outer tread of the tire to be measured, and each sub-area is used as a measuring point of the tire to be measured.
Further, in step 2, images of the outer tire surface of the tire to be measured during high-speed rotation are acquired based on a binocular measurement principle.
Further, in step 2, the position of each measuring point in the tire tread image to be measured is firstly determined, and then a curve formed by the displacement of each measuring point along with the change of time is determined, namely the curve of the swing displacement of each measuring point.
Further, in step 3, an amplitude difference threshold value is preset in step 3, and when the amplitude of the swing displacement curve position of a certain measurement point of the tire to be measured changes to be lower than the amplitude of the swing displacement curve of the measurement point corresponding to the tire without the bulge, and the amplitude difference is greater than the preset amplitude difference threshold value, it is determined that the measurement point is the bulge occurrence position of the tire to be measured.
Further, in step 4, a rotation matrix and a translation vector of the local coordinate system and the world coordinate system are calculated, and then coordinates of the target measurement point in the world coordinate system are converted into the local coordinate system through the rotation matrix and the translation vector.
Further, in step 4, a displacement field function is obtained by quadratic surface fitting based on the coordinates converted from the target measurement point to the local coordinate system, and then the strain tensor of the target measurement point is obtained by calculation through the displacement field function.
A tire detection system for a tire bulge detection analysis method comprises a binocular image acquisition system and a data processing system, wherein the binocular image acquisition system is a binocular camera which respectively acquires images of an outer tire tread of a non-bulge tire and an outer tire tread of a tire to be detected, the binocular camera is in data transmission connection with the data processing system, and the binocular camera transmits the acquired image data to the data processing system; program instructions are provided in the data processing system, which when executed perform the method of tire bulge detection and analysis of any one of claims 1-6.
Compared with the prior art, the invention has the advantages that:
the prior art basically stays in a final bulge detection result, and the tire surface strain process before and after the whole bulge appears cannot be analyzed for a while, so that a strain field of the bulge in the whole process is obtained. The method can complete the analysis of the complete process before and after the bulge occurs and obtain the strain data of the tire surface at the bulge position through analysis.
Meanwhile, in the prior art, when a tire detection experiment is carried out, the high-speed rotation of the tire can lead to the swinging of two sides of the tire, and the false alarm during the detection of the bulge can be caused. The invention can realize the detection of the tire bulge by using the tire swing displacement curve based on the time-domain tire swing displacement curve through binocular image acquisition, and converts the factors causing false alarm in the prior art into detection elements, so that the problem of false alarm caused by tire swing does not exist.
Drawings
FIG. 1 is a block flow diagram of the method of the present invention.
Fig. 2 is a working principle diagram of the binocular image acquisition system of the present invention.
FIG. 3 is a local coordinate system O of the present inventioneWith the world coordinate system Xw-Ow-ZwSchematic representation.
FIG. 4 is a schematic diagram of the detection system of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1, the method for detecting and analyzing a tire bulge of the present invention includes the following steps:
In order to solve the problem, the invention models the swing of the tire without bulges at a fixed speed to obtain a swing displacement curve of the tire tread, and the swing displacement curve is used for eliminating the influence caused by the swing in the actual tire bulge detection process.
In actual modeling, a number of 32x32 sub-regions may be divided into the non-bulging tire tread, each sub-region containing a plurality of points, with each sub-region being a measurement point, and the individual sub-regions being numbered to facilitate distinguishing the different sub-regions.
The present invention assumes a non-bulging tire single-order vibration curve of x ═ f (ω t), where,
at high speed, it can be assumed that the non-bulging tire is in periodic motion, and the vibration is a high-order vibration, so that the oscillation model of the outer tread of the non-bulging tire is obtained as shown in formula (1):
in equation (1): x is a curve of the oscillatory displacement of any one measurement point of the non-bulging tire, and represents the displacement of the measurement point relative to the equilibrium position with time tt; a. the0Representing an initial amplitude value; a'kRepresenting the amplitude corresponding to each order frequency; b'kRepresenting the amplitude corresponding to each order frequency; ω represents the angular velocity; t is time; k is a constant coefficient.
Where k 1 is fundamental frequency vibration, and k harmonic frequency vibration is collectively called k resonance. In the invention, the motion curve of the non-bulge tire along with time can be well described by setting k to 3, and the accurate swing model of any measuring point of the outer tread of the non-bulge tire is obtained. And obtaining a swing displacement curve of any measuring point of the outer tread of the non-bulge tire according to the swing model of any measuring point of the outer tread of the non-bulge tire.
And 2, acquiring an image of the outer tire surface of the tire to be measured during high-speed rotation, and acquiring a swing displacement curve of any measuring point of the outer tire surface of the tire to be measured during high-speed rotation according to the acquired image.
When the method is used for specifically acquiring images, a plurality of sub-areas which are the same as those in the step 1 can be arranged on each side of the tire to be measured as measuring points, and the same numbering is carried out on the sub-areas.
According to the invention, the binocular image acquisition system formed by the binocular camera can acquire the image of the outer tire tread of the tire to be detected during high-speed rotation, and then the swing displacement curve of the outer tire tread of the tire to be detected is acquired according to the image acquired by the binocular image acquisition system. The binocular image acquisition system is as shown in fig. 2, two high-speed cameras 2.1 and 2.2 are respectively arranged on the left side and the right side of a tire 1 to be measured to form a binocular camera, and the two high-speed cameras 2.1 and 2.2 on the outer tire surface acquire images of the corresponding side of the tire to be measured during high-speed rotation based on a binocular measurement principle.
During measurement, two markers can be sprayed on the outer tread of the tire to be measured: 1) mark point, which is used for implementing distance measurement of the binocular camera; 2) random speckle is mainly used for forming a plurality of sub-area measuring points so as to carry out stress and strain analysis on the surface subsequently. The calibration algorithm of the binocular camera is very mature, and the method adopts the Zhang calibration method for calibration.
After the calibration of the double cameras is completed, data after three-dimensional reconstruction can be obtained according to internal parameters and external parameters of the cameras, and then an initial vibration curve of each sub-area, namely a measurement point, is established.
The displacement of each measurement point can be obtained by binocular calculation of the measured image and the three-dimensional reconstructed data. Specifically, according to the measured image and the data obtained by three-dimensional reconstruction, a displacement point cloud picture of the tire to be measured can be established, xy coordinates of the displacement point cloud picture are uv coordinates of the single shot image respectively, and z coordinates are displacement obtained by calculation.
For a sub-area In, after a tire rotates one circle, the sub-area In can be found at the same position, and after N circles, the position of the sub-area In can also be found, so that a displacement timing chart of displacement of each sub-area (measuring point) along with time can be obtained. The invention adopts an image matching algorithm, which comprises the following steps:
wherein, M is the radius of the sub-area, x and y represent the horizontal and vertical positions of the sub-area, x ', y' represent the sub-area at the next position, f (x, y) and g (x ', y') are the gray values of each point in the reference sub-area and the target sub-area respectively. The functionThe degree of difference between the reference and target sub-regions is described, and when the function takes a minimum value of 0, it can be considered that the reference and target sub-regions do not differ, i.e. are the best matches.
The shape function is a parameter of a first order or a multiple order function describing the deformation of the reference region and the target region.
Theoretically, the time-displacement curve of each sub-area should be a horizontal straight line, but since the tire can cause vibration in both the horizontal and vertical directions during high-speed rotation of the tire, the actually obtained curve of each sub-area is a periodic curve, namely, a swing displacement curve of the sub-area (measurement point).
And 3, comparing the swing displacement curve of any measuring point of the tire to be measured obtained in the step 2 with the swing displacement curve of the measuring point corresponding to the non-bulge tire obtained in the step 1, and if the swing displacement curve of a certain measuring point of the tire to be measured in the step 2 is changed compared with the swing displacement curve of the measuring point corresponding to the non-bulge tire in the step 1, judging that the measuring point is the bulge position of the tire to be measured.
According to the formula (2) in the step 2, theoretically, the displacement value of the sub-area at the next moment can be predicted according to the displacement of the current sub-area, but if the tire to be measured has a bulge, the displacement value of the sub-area where the bulge is located is abnormal, the displacement value of the sub-area is continuously increased along with the time, and based on the result, it can be judged that the bulge occurs in the sub-area, that is, the measurement point.
If a certain measuring point of the tire to be measured is bulged, the measuring point of the tire to be measured is changed correspondingly (the amplitude is lowered). Therefore, when the amplitude of a certain measuring point of the tire to be measured changes to be lower than the amplitude of the corresponding position of the swing displacement curve of the corresponding side of the non-bulge tire, the measuring point is judged to be a bulge occurrence position. Specifically, an amplitude difference threshold may be preset, and when the amplitude difference is greater than the preset amplitude difference threshold, it is determined that the measurement point is the position where the bulge appears.
And 4, taking the measuring point of the bulge of the tire to be measured determined in the step 3 as a target measuring point, establishing a local coordinate system by taking the target measuring point as an original point according to the image of the outer tread of the tire to be measured obtained in the step 2, converting the coordinate of the target measuring point in the world coordinate system into the local coordinate system, and calculating the strain tensor of the target measuring point according to the coordinate of the target measuring point in the local coordinate system.
In the invention, the strain tensor calculation is mainly based on the acquired three-dimensional reconstructed coordinates of the image, and the process is as follows:
1. establishing a local coordinate system:
because the surface of the tire to be measured is a curved surface, the surface movement comprises in-plane movement and out-of-plane movement, therefore, the target measuring point P of the tire to be measured is calculatedwThe strain tensor of (a) first needs to establish a local coordinate system Oe。
The establishing process comprises the following steps: first, assume a target measurement point PwAll sub-regions in the field S are in the same plane Q, a least square fitting is used for the plane equation, and then translation is carried out to ensure that the plane passes through a point PwFinally obtaining the shape as Zw＝AXw+BYwThe equation of + C, i.e. the initial surface equation. Then, with PwEstablishing a local coordinate system O by taking the point as an origineSelecting the direction perpendicular to the surface of the object as ZeIn the positive axial direction, Z can be directly obtained from the above-mentioned plane equationeThe direction of the axis is (-A, -B,1) or (A, B, -1). Finally, determine the X in the planeeAnd YeAxial direction, since the selection of the in-plane coordinate axis is not unique, one of the more typical selection methods is to use the original world coordinate system Xw-Ow-ZwThe intersection of plane Q and plane XeThe axis, vector (1,0, A), ensures that it is aligned with XwThe included angle in the positive direction is an acute angle; y iseAxis passing through ZeAxis and XeVector outer product is obtained in the axial direction to ensure YeAxis and ZeAxial vertical, XeThe axis is vertical. Determining a local coordinate system OeThen, a local coordinate system O is calculatedeRotation matrix with world coordinate systemReAnd translation vector Te。
2. Translation calculation
And transforming the three-dimensional coordinates and the displacement of the grid points in the target measurement point neighborhood in a world coordinate system into a plane Q.
First, P is calculatedwThe three-dimensional displacement of all grid points in the neighborhood S of (a), as shown in equation (3):
in the formula (3), the first and second groups,
and
respectively three-dimensional space coordinates of the target measurement point before and after the swing displacement curve deformation occurs,
is a displacement vector.
Then, passing the three-dimensional coordinates and the displacement vector of the grid point in the world coordinate system before deformation through ReAnd TeTransformation to a local coordinate system OeIn (1) obtaining
And (U)e,Ve,We) Wherein
For conversion into a local coordinate system OeCorresponding coordinate of (U)e,Ve,We) Is a displacement vector.
3. Strain tensor calculation
And (4) obtaining a displacement field function by using quadric surface fitting, and calculating a strain tensor by using the field function. First, fitting results in three field functions as shown in equation (4):
in the formula (4), the first and second groups,
and
respectively, the field function coefficients.
Then, the strain tensor of the target surface is calculated by the formula (5):
ε in formula (5)xy、εyz、εzxI.e. the strain tensor of the target measurement point.
The logic of the method is to establish a displacement vibration curve of each subarea before deformation, then compare the displacement vibration curve of each subarea with the displacement vibration curve established initially during actual measurement, if the vibration curve during actual measurement deviates from the initial curve and exceeds a preset threshold value, the bulge is shown, and when the bulge occurs, strain calculation needs to be added to calculate the strain tensor of the subarea.
The invention has completed the whole process of tyre bulging and detection, and can be used for further analysis of the material in the following process of strain at the bulge. For analyzing the defect problem of the material, so as to further improve the material. For different application fields, different analysis requirements may be met, for example, some scenes need to obtain a stress-strain curve, some scenes need to obtain an elastic modulus, and the like, and details are not repeated in the patent.
As shown in fig. 4, the invention also discloses a tire detection system for realizing the tire bulge detection analysis method, which comprises the binocular image acquisition system and a data processing system, wherein the data processing system adopts a computer 3, the high-speed cameras 2.1 and 2.2 forming the binocular cameras in the binocular image acquisition system are respectively connected with the computer 3 in a data transmission way, and the high-speed cameras 2.1 and 2.2 transmit the image data acquired respectively to the computer 3. The memory of the computer 3 stores program instructions, and when the processor of the computer 3 calls and runs the program instructions from the memory, the tire bulge detection method of the present invention is executed according to steps 1 to 4.
The embodiments of the present invention are described only for the preferred embodiments of the present invention, and not for the limitation of the concept and scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall into the protection scope of the present invention, and the technical content of the present invention which is claimed is fully set forth in the claims.
Claims (8)
1. A tire drum detection and analysis method is characterized by comprising the following steps:
step 1, establishing a swing displacement curve model of any measuring point of the outer tire surface of the non-bulge tire during high-speed rotation, thereby obtaining a swing displacement curve of any measuring point of the non-bulge tire;
step 2, obtaining an image of the outer tread of the tire to be measured during high-speed rotation, and obtaining a swing displacement curve of any measuring point on the tire to be measured during high-speed rotation according to the collected image;
step 3, comparing the swing displacement curve of any measuring point of the tire to be measured obtained in the step 2 with the swing displacement curve of the measuring point corresponding to the non-bulge tire obtained in the step 1, and if the swing displacement curve of a certain measuring point of the tire to be measured in the step 2 is changed compared with the swing displacement curve of the measuring point corresponding to the non-bulge tire in the step 1, judging that the measuring point is the bulge position of the tire to be measured;
and 4, taking the measuring point of the bulge of the tire to be measured determined in the step 3 as a target measuring point, establishing a local coordinate system by taking the target measuring point as an original point according to the image of the outer tread of the tire to be measured obtained in the step 2, converting the coordinate of the target measuring point in the world coordinate system into the local coordinate system, and calculating the strain tensor of the target measuring point according to the coordinate of the target measuring point in the local coordinate system.
2. The method for detecting and analyzing the tire bulge according to claim 1, wherein in step 1, the outer tread of the non-bulge tire is divided into a plurality of sub-areas, each sub-area is used as a measuring point of the non-bulge tire, and in step 2, the outer tread of the tire to be measured is divided into the same plurality of sub-areas, and each sub-area is used as a measuring point of the tire to be measured.
3. The method for detecting and analyzing the tire bulge according to claim 1, wherein in the step 2, the image of the tire tread to be detected in high-speed rotation is acquired based on a binocular measurement principle.
4. The method for detecting and analyzing the tire bulge according to claim 1, wherein in step 2, the position of each measuring point in the tire tread image to be measured is determined, and then the curve formed by the displacement of each measuring point along the time is determined, namely the curve of the swing displacement of each measuring point.
5. The method for detecting and analyzing the tire bulge according to claim 1, wherein in step 3, a threshold value of amplitude difference is preset in step 3, and when the amplitude of the swing displacement curve of a certain measuring point of the tire to be measured changes to be lower than the amplitude of the swing displacement curve of the corresponding measuring point of the tire without bulge, and the amplitude difference is greater than the preset threshold value of amplitude difference, the measuring point is determined as the bulge position of the tire to be measured.
6. The method for detecting and analyzing the tire drum package according to claim 1, wherein in step 4, the rotation matrix and the translation vector of the local coordinate system and the world coordinate system are calculated, and then the coordinates of the target measurement point in the world coordinate system are converted into the local coordinate system through the rotation matrix and the translation vector.
7. The tire drum detection and analysis method according to claim 1, wherein in step 4, a displacement field function is obtained by quadratic surface fitting based on the coordinates of the target measurement point converted into the local coordinate system, and then a strain tensor of the target measurement point is obtained by calculation through the displacement field function.
8. The tire detection system for the tire bulge detection and analysis method according to any one of claims 1 to 7, which is characterized by comprising a binocular image acquisition system and a data processing system, wherein the binocular image acquisition system is a binocular camera for respectively acquiring images of the outer tire tread of the non-bulge tire and the outer tire tread of the tire to be detected, the binocular camera is in data transmission connection with the data processing system, and the binocular camera transmits the respectively acquired image data to the data processing system; program instructions are provided in the data processing system, which when executed perform the method of tire bulge detection and analysis of any one of claims 1-6.
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| CN112945125A (en) * | 2021-03-26 | 2021-06-11 | 中国人民解放***箭军工程大学 | Non-contact type tire rolling deformation characteristic testing method |
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2022
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| JP2011027509A (en) * | 2009-07-23 | 2011-02-10 | Yokohama Rubber Co Ltd:The | System and method for analyzing tire |
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