CN104019740A - Method for acquiring outer surface data of automobile body and system thereof - Google Patents
Method for acquiring outer surface data of automobile body and system thereof Download PDFInfo
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- CN104019740A CN104019740A CN201410220224.3A CN201410220224A CN104019740A CN 104019740 A CN104019740 A CN 104019740A CN 201410220224 A CN201410220224 A CN 201410220224A CN 104019740 A CN104019740 A CN 104019740A
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Abstract
The invention provides a method for acquiring outer surface data of an automobile body and a system thereof, wherein the method for acquiring the outer surface data of the automobile body comprises the steps of: according to a maximal scanning radius of an articulated arm and an automobile body size, setting scanning areas, and forming a common area between two adjacent scanning areas; in each common area, respectively placing a reference object in partial area outside the automobile body; scanning the outer surface data of the automobile body in a scanning area where the articulated arm is located by the articulated arm, and measuring a coordinate position relationship between the reference object and the end of the articulated arm; calculating the position relationship among the circle centers of a plurality of scanning areas through the coordinate position relationship between the reference object and the end of the articulated arm; and performing whole-automobile data splicing on the automobile body data in a plurality of scanning areas according to the position relationship among circle centers of a plurality of scanning areas and the automobile body data in the plurality of scanning areas. The method of the invention effectively settles a problem of large error in scanning the outer surface data of the automobile body in prior art.
Description
Technical field
In particular, the present invention relates to a kind of for gathering the method and system of vehicle body outside surface data.
Background technology
When utilizing joint arm laser scanner to carry out car load scanning, due to the defect (sweep limit is at 3m) of instrument, car load exterior surface area can not complete by one-off scanning greatly, just needs blocked scan,
The acquisition step explanation of prior art: first stick a plurality of anchor points on vehicle body, carry out in order blocked scan.When blocked scan, all to be with a plurality of anchor points for every, after having scanned (every is independent coordinate system), after scanning, enter the reverse softwares such as Imageware and carry out the vehicle body outside surface data that data amalgamation, each separate modular (passing through anchor point) amalgamation connect into a car load, owing to splicing often, add the own error of software (+﹣ 0.2), multiple bearing measuring error and repeatedly amalgamation error of software cause error larger.
Summary of the invention
An object of the present invention is to provide a kind of for gathering the method and system of vehicle body outside surface data, the policy in prior art that solved scans the large problem of error in vehicle body outside surface data.
According to an aspect of the present invention, provide a kind of for gathering the method for vehicle body outside surface data, comprised the following steps: be provided with a scanister, scanister has comprised a joint arm and has been positioned at the scanner of joint arm end; According to the maximum scan radius of joint arm and vehicle body size, three above scanning areas are set, a plurality of scanning areas cover upper whole vehicle body outside surface, between every two adjacent scanning areas, have formed public domain; In each public domain, an object of reference is placed respectively in the subregion being positioned at outside vehicle body; The end of joint arm is positioned the circle centre position of scanning area, and scans the vehicle body outside surface data in the scanning area at its place, and records the coordinate position relation of the end of object of reference and joint arm; The coordinate position relation of the end by object of reference and joint arm calculates the position relationship between the center of circle of a plurality of scanning areas; According to the vehicle body data in the position relationship between the center of circle of a plurality of scanning areas and a plurality of scanning area, carry out the amalgamation of car load data.
Further, scanning area is for take the arc area that joint arm is radius along maximum scan radius.
Further, scanning area is four, and four scanning areas scan respectively the part of headstock part, tail part and the vehicle body both sides of vehicle body.
Further, object of reference comprises the inconsistent standard ball of a plurality of height, and every two standard ball stagger mutually; Joint arm, is got standard ball to ask the center of circle ready during this scanning area in scanning, by calculating the position relationship between the end of joint arm and the center of circle of standard ball, obtains the position relationship between the circle centre position of a plurality of scanning areas.
Further, joint arm scans the vehicle body outside surface data in scanning area successively seriatim.
According to another aspect of the present invention, provide a kind of for gathering the system of vehicle body outside surface data, comprise scanister, object of reference and data processing equipment for scanning, scanister comprises joint arm and the scanner that is positioned at joint arm end, and scanner is connected with data processing equipment data; According to the maximum scan radius of joint arm and vehicle body size, three above scanning areas are set, a plurality of scanning areas cover upper whole vehicle body outside surface, between every two adjacent scanning areas, have formed public domain; In each public domain, an object of reference is placed respectively in the subregion being positioned at outside vehicle body; The end of joint arm is arranged on the circle centre position of scanning area, and scans the vehicle body outside surface data in the scanning area at its place, and scanner records the coordinate position relation of the end of object of reference and joint arm; The coordinate position relation of data processing equipment by the end of object of reference and joint arm calculates the position relationship between the center of circle of a plurality of scanning areas, and carries out the amalgamation of car load data according to the vehicle body data in the position relationship between the center of circle of a plurality of scanning areas and a plurality of scanning area.
Further, object of reference comprises the inconsistent standard ball of a plurality of height, and every two standard ball stagger mutually.
Further, scanning area is for take the arc area that joint arm is radius along maximum scan radius, and scanning area is four, and four scanning areas scan respectively the part of headstock part, tail part and the vehicle body both sides of vehicle body.
Further, joint arm carries out the vehicle body outside surface data in scanning area successively seriatim.
Because the sweep limit of joint arm is fixed, be that scanning area is determined, can directly several scanning areas be carried out to direct splicing according to the coordinate position between the center of circle by software, vehicle body outside surface data in producing intersection region can cover to avoid repetition, because the vehicle body outside surface data in each scanning area belong in same coordinate system, saved the process that several independent coordinate systems in prior art splice data, reduce the job step of knowing clearly, avoided the personal error and the soft-error that in follow-up splicing work, cause.
According to the detailed description to the specific embodiment of the invention by reference to the accompanying drawings below, those skilled in the art will understand above-mentioned and other objects, advantage and feature of the present invention more.
Accompanying drawing explanation
Hereinafter in exemplary and nonrestrictive mode, describe specific embodiments more of the present invention in detail with reference to the accompanying drawings.In accompanying drawing, identical Reference numeral has indicated same or similar parts or part.It should be appreciated by those skilled in the art that these accompanying drawings may not draw in proportion.In accompanying drawing:
Fig. 1 is according to an embodiment of the invention for gathering the schematic diagram of the method for vehicle body outside surface data;
Fig. 2 divides schematic diagram for gathering the scanning local of the method for vehicle body outside surface data shown in Fig. 1;
Fig. 3 is according to an embodiment of the invention for gathering the structural representation of object of reference of the system of vehicle body outside surface data;
Fig. 4 is the schematic top plan view of object of reference shown in Fig. 3.
Embodiment
Fig. 1 is according to an embodiment of the invention for gathering the schematic diagram of the method for vehicle body outside surface data.The present embodiment for gathering the method for vehicle body outside surface data, comprise the following steps:
S10 a: scanister is set, and described scanister comprises a joint arm and is positioned at the scanner of described joint arm end;
S20: according to the maximum scan radius of joint arm and vehicle body size, three above scanning areas are set, a plurality of described scanning areas cover upper whole described vehicle body outside surface, have formed public domain between every two adjacent described scanning areas;
S30: in public domain, an object of reference is placed respectively in the subregion being positioned at outside described vehicle body described in each;
S40: the end of described joint arm is positioned the circle centre position of described scanning area, and scan the vehicle body outside surface data in the described scanning area at its place, and record the coordinate position relation of the end of described object of reference and described joint arm;
S50: the coordinate position relation of the end by described object of reference and described joint arm calculates the position relationship between the center of circle of a plurality of scanning areas;
S60: carry out the amalgamation of car load data according to the vehicle body data in the position relationship between the center of circle of a plurality of scanning areas and a plurality of described scanning area.
In the present embodiment, described scanning area is for take the arc area that described joint arm is radius along maximum scan radius.The scanning area arranging in the present embodiment is four, and four described scanning areas scan respectively the part of headstock part, tail part and the vehicle body both sides of described vehicle body.Described joint arm scans the vehicle body outside surface data in described scanning area successively seriatim.In other embodiment, scanning area is selected three regions or five regions as required, can be more.
Referring to Fig. 2, rectangular area is the vehicle body region 10 of car load, four scanning areas be take respectively the end of joint arm as the center of circle, the maximum scan radius of joint arm of take be radius arc area A, B, C, D, public domain G1, the G2, G3 and the G4 that between adjacent two scanning areas, form respectively, in Fig. 2, can find out, in public domain, some and vehicle body region 10 are overlapping, consider that object of reference placement location should not affect the scan-data of vehicle body outside surface, so be placed in public domain in the subregion outside vehicle body with reference to thing.
In conjunction with Fig. 2, method to the present embodiment is further described, first, the end of joint arm is placed on to the center of circle in A district, joint arm scans A district, scan the object of reference that is positioned at G1 region and G2 region simultaneously, calculate the coordinate position relation between joint arm end (scanner, the i.e. center of circle, A district) and object of reference.
Again scanister is moved to the circle centre position in B district, by joint arm, the vehicle body outside surface data in B district are scanned, in the time of scanning, scan the object of reference in G2 region and G3 region, calculate the coordinate position relation between the center of circle, B district and G2 region and G3 region internal reference thing, now, by the coordinate position relation in the object of reference in G2 region and the center of circle, A district, and the coordinate position relation in the object of reference in G2 region and the center of circle, B district, can calculate like this coordinate position relation between the center of circle, A district and the center of circle, B district, computation process belongs to routine techniques means, repeat no more herein.
Then scanister is placed into successively to C district circle centre position and D district circle centre position, scans respectively C district and D district, and the object of reference in scanning G4 region.By the coordinate position relation between the object of reference in G3 and B district and C district, calculate the position relationship between the center of circle, B district and the center of circle, C district.By the coordinate position relation between the object of reference in G4 and C district and D district, calculate the position relationship between the center of circle, C district and the center of circle, D district.
Like this, the coordinate position relation between the center of circle in scanning area A, B, C, tetra-regions of D can be built up in these four centers of circle in same coordinate system after determining.Because the sweep limit of joint arm is fixed, be that scanning area is determined, can directly several scanning areas be carried out to direct splicing according to the coordinate position between the center of circle by software, vehicle body outside surface data in producing intersection region can cover to avoid repetition, because the vehicle body outside surface data in each scanning area belong in same coordinate system, saved the process that several independent coordinate systems in prior art splice data, reduce the job step of knowing clearly, avoided the personal error and the soft-error that in follow-up splicing work, cause.Amalgamation work all can be used software to carry out, and as Imageware or Geomagic Studio, for surface data splicing amalgamation work, belongs to art technology general knowledge, repeats no more herein.
Simultaneously, above-mentioned method has improved precision and work efficiency effectively, when scanning different automobile types, can select according to vehicle size the quantity of scanning area, in the method for scanning collection vehicle body data, have more versatility, because each scanning area can be thought, divide selection, degree of freedom is very high, has also saved the great number cost that standardization brings.
Further preferably, object of reference has comprised the inconsistent standard ball of a plurality of height to the present embodiment, and every two described standard ball stagger mutually; Described joint arm, is got described standard ball to ask the center of circle ready during described scanning area in scanning, by calculating the position relationship between the end of described joint arm and the center of circle of described standard ball, obtains the position relationship between the circle centre position of a plurality of described scanning areas.Standard ball is got ready to step and the technology of asking the center of circle, self software of scanister has this function, and this function is very common in this area, repeats no more herein.
It is a kind of for gathering the embodiment of the system of vehicle body outside surface data that the present invention also provides, native system is for realizing the method for above-described embodiment, the present embodiment for gathering the system of vehicle body outside surface data, comprise scanister, object of reference and the data processing equipment for scanning.Described scanister comprises joint arm and the scanner that is positioned at described joint arm end, and described scanner is connected with described data processing equipment data.According to the maximum scan radius of joint arm and vehicle body size, three above scanning areas are set, a plurality of described scanning areas cover upper whole described vehicle body outside surface, between every two adjacent described scanning areas, have formed public domain.Described in each, in public domain, a described object of reference is placed respectively in the subregion being positioned at outside described vehicle body.The end of described joint arm is arranged on the circle centre position of described scanning area, and scans the vehicle body outside surface data in the described scanning area at its place, and described scanner records the coordinate position relation of the end of described object of reference and described joint arm.The coordinate position relation of described data processing equipment by the end of described object of reference and described joint arm calculates the position relationship between the center of circle of a plurality of scanning areas, and carries out the amalgamation of car load data according to the vehicle body data in the position relationship between the center of circle of a plurality of scanning areas and a plurality of described scanning area.
Referring to Fig. 3 and Fig. 4, described object of reference comprises the inconsistent standard ball 20 of a plurality of height and base 30, and every two described standard ball 20 stagger mutually, and standard ball 20 is fixedly installed on base 30, standard ball 20 is staggered mutually and can facilitate visual discrimination.
Described scanning area is for take the arc area that described joint arm is radius along maximum scan radius, and described scanning area is four, and four described scanning areas scan respectively the part of headstock part, tail part and the vehicle body both sides of described vehicle body.Described joint arm is one, and described joint arm carries out the vehicle body outside surface data in described scanning area successively seriatim.
So far, those skilled in the art will recognize that, although detailed, illustrate and described a plurality of exemplary embodiment of the present invention herein, but, without departing from the spirit and scope of the present invention, still can directly determine or derive many other modification or the modification that meets the principle of the invention according to content disclosed by the invention.Therefore, scope of the present invention should be understood and regard as and cover all these other modification or modifications.
Claims (9)
1. for gathering a method for vehicle body outside surface data, comprise the following steps:
Be provided with a scanister, described scanister comprises a joint arm and is positioned at the scanner of described joint arm end;
According to the maximum scan radius of joint arm and vehicle body size, three above scanning areas are set, a plurality of described scanning areas cover upper whole described vehicle body outside surface, between every two adjacent described scanning areas, have formed public domain;
Described in each, in public domain, an object of reference is placed respectively in the subregion being positioned at outside described vehicle body;
The end of described joint arm is positioned the circle centre position of described scanning area, and scans the vehicle body outside surface data in the described scanning area at its place, and records the coordinate position relation of the end of described object of reference and described joint arm;
The coordinate position relation of the end by described object of reference and described joint arm calculates the position relationship between the center of circle of a plurality of scanning areas;
According to the vehicle body data in the position relationship between the center of circle of a plurality of scanning areas and a plurality of described scanning area, carry out the amalgamation of car load data.
2. acquisition method according to claim 1, is characterized in that,
Described scanning area is for take the arc area that described joint arm is radius along maximum scan radius.
3. acquisition method according to claim 2, is characterized in that, described scanning area is four, and four described scanning areas scan respectively the part of headstock part, tail part and the vehicle body both sides of described vehicle body.
4. acquisition method according to claim 3, is characterized in that,
Described object of reference comprises the inconsistent standard ball of a plurality of height, and every two described standard ball stagger mutually;
Described joint arm, is got described standard ball to ask the center of circle ready during described scanning area in scanning, by calculating the position relationship between the end of described joint arm and the center of circle of described standard ball, obtains the position relationship between the circle centre position of a plurality of described scanning areas.
5. according to the acquisition method described in any one in claim 1 to 4, it is characterized in that, described joint arm scans the vehicle body outside surface data in described scanning area successively seriatim.
6. one kind for gathering the system of vehicle body outside surface data, comprise scanister, object of reference and data processing equipment for scanning, described scanister comprises joint arm and the scanner that is positioned at described joint arm end, and described scanner is connected with described data processing equipment data;
According to the maximum scan radius of joint arm and vehicle body size, three above scanning areas are set, a plurality of described scanning areas cover upper whole described vehicle body outside surface, between every two adjacent described scanning areas, have formed public domain;
Described in each, in public domain, a described object of reference is placed respectively in the subregion being positioned at outside described vehicle body;
The end of described joint arm is arranged on the circle centre position of described scanning area, and scans the vehicle body outside surface data in the described scanning area at its place, and described scanner records the coordinate position relation of the end of described object of reference and described joint arm;
The coordinate position relation of described data processing equipment by the end of described object of reference and described joint arm calculates the position relationship between the center of circle of a plurality of scanning areas, and carries out the amalgamation of car load data according to the vehicle body data in the position relationship between the center of circle of a plurality of scanning areas and a plurality of described scanning area.
7. system according to claim 6, is characterized in that, described object of reference comprises the inconsistent standard ball of a plurality of height, and every two described standard ball stagger mutually.
8. system according to claim 6, it is characterized in that, described scanning area is for take the arc area that described joint arm is radius along maximum scan radius, described scanning area is four, and four described scanning areas scan respectively the part of headstock part, tail part and the vehicle body both sides of described vehicle body.
9. system according to claim 6, is characterized in that, described joint arm is one, and described joint arm carries out the vehicle body outside surface data in described scanning area successively seriatim.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410220224.3A CN104019740B (en) | 2014-05-22 | 2014-05-22 | Method and system for gathering vehicle body outside surface data |
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| CN201410220224.3A CN104019740B (en) | 2014-05-22 | 2014-05-22 | Method and system for gathering vehicle body outside surface data |
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| CN104019740B CN104019740B (en) | 2017-06-06 |
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Cited By (1)
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