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图像辅助汽车制动主缸补偿孔法线测量

赵长福 丁红昌 曹国华 侯翰

赵长福, 丁红昌, 曹国华, 侯翰. 图像辅助汽车制动主缸补偿孔法线测量[J]. 中国光学, 2021, 14(5): 1212-1223. doi: 10.37188/CO.2020-0219
引用本文: 赵长福, 丁红昌, 曹国华, 侯翰. 图像辅助汽车制动主缸补偿孔法线测量[J]. 中国光学, 2021, 14(5): 1212-1223. doi: 10.37188/CO.2020-0219
ZHAO Chang-fu, DING Hong-chang, CAO Guo-hua, HOU Han. Image aided measurement of the automotive brake master cylinder compensation hole normal line[J]. Chinese Optics, 2021, 14(5): 1212-1223. doi: 10.37188/CO.2020-0219
Citation: ZHAO Chang-fu, DING Hong-chang, CAO Guo-hua, HOU Han. Image aided measurement of the automotive brake master cylinder compensation hole normal line[J]. Chinese Optics, 2021, 14(5): 1212-1223. doi: 10.37188/CO.2020-0219

图像辅助汽车制动主缸补偿孔法线测量

doi: 10.37188/CO.2020-0219
基金项目: 国家重大科学仪器设备开发项目(No. 2017YFF0105304);吉林省科技发展计划重点研发项目(No. 20200401117GX);吉林省省级产业创新专项资金项目(No. 2018C038-4)
详细信息
    作者简介:

    赵长福(1991—),男,吉林松原人,博士研究生,2015年于长春理工大学获得学士学位,主要从事在线检查,机器视觉和自动控制的研究。E-mail: a15714401502@163.com

    丁红昌(1980—),男,辽宁抚顺人,博士,副教授,博士生导师,分别于2006年、2009年和2016年在长春理工大学获得学士、硕士和博士学位。主要从事在线检测,机器视觉及自动控制方面的研究。E-mail:dinghc@cust.edu.cn

    曹国华(1965—),男,黑龙江桦南人,博士,教授,博士生导师,1988年于东北重型机械学院获得学士学位,1991年于长春光学精密机械学院获得硕士学位,2009年于长春理工大学获得博士学位,现为长春理工大学机电工程学院教授,主要从事在线检测,机电系统控制,机器视觉及自动控制方面的研究。E-mail:caogh@cust.edu.cn

    侯 翰(1994—),男,吉林长春人,博士研究生,在2016年获得长春理工大学的学士学位,同年考取长春理工大学机电工程学院研究生,成为2016级机械工程专业研究生,在2017年申请长春理工大学硕博连读,成为长春理工大学机电工程学院2018级博士研究生。主要从事编码器检测,机电系统控制,自动控制方面的研究。E-mail:345094896@qq.com

  • 中图分类号: TP23

Image aided measurement of the automotive brake master cylinder compensation hole normal line

Funds: Supported by the National Major Scientific Instruments and Equipment Development Project (No. 2017YFF0105304); Key Research and Development Project of Jilin Province Science and Technology Development Plan (No. 20200401117GX); Jilin Province Provincial Industrial Innovation Special Fund Project (No. 2018C038-4)
More Information
  • 摘要: 随着道路上汽车的增多,汽车制动系统的可靠性受到越来越多的关注,基于机器视觉的汽车制动主缸补偿孔参数检测精度,是决定汽车安全性和停车可靠性的关键技术,补偿孔作为汽车制动主缸的重要组成部分,可以起到调节汽车制动主缸储液罐与压力室中制动液的重要作用,其尺寸精度和加工质量受到严格的控制,因此如何准确的获取补偿孔的图像是补偿孔参数检测的首要问题。通过将飞机钻铆孔法线找正的方法引入到图像获取中,将四点微平面法线检测方法与图像处理相结合,实现高效高精度的法线找正。实验表明,本文算法法线找正精度高于0.05°,优于传统检测精度的0.5°,检测时间小于1 s。本文提出的算法在满足精度要求的情况下,算法简单,实时性高,同时具有较好的鲁棒性,满足制动主缸生产工业现场对于检测速度和精度的要求。
  • 图  1  制动主缸剖面图

    Figure  1.  Sectional view of a brake master cylinder

    图  2  (a)制动主缸实物图和(b)制动主缸检测系统示意图

    Figure  2.  (a) Real picture of brake master cylinder and (b) schematic diagram of brake master cylinder detection system

    图  3  图像采集和测距系统

    Figure  3.  Image acquisition and ranging system

    图  4  曲面法相测量示意图

    Figure  4.  Schematic diagram of surface normal phase measurement

    图  5  主缸补偿孔处四点微平面。(a)无误差;( b)有误差;( c)图(b)的侧视图

    Figure  5.  Four-point micro-plane at the compensation hole of the main cylinder. (a) Error free; (b) with error; (c) side view of (b)

    图  6  补偿孔法线检测剖面图

    Figure  6.  Normal detection profile of compensation hole

    图  7  补偿孔中心和四边形中心检测图

    Figure  7.  Compensation hole center and quadrilateral center inspection diagram

    图  8  汽车制动主缸补偿孔法线找正流程图

    Figure  8.  Flow chart of normal alignment correction for the compensation hole of an automobile’s brake master cylinder

    图  9  汽车制动主缸补偿孔光电检测系统实物图

    Figure  9.  Prototype of photoelectric detection system for compensation hole in an automobile’s brake master cylinder

    图  10  补偿孔中心位置与四边形中心位置偏差

    Figure  10.  Deviation between the center of the compensation hole and the center of the quadrilateral

    图  11  实验现场图片

    Figure  11.  Experimental site

    图  12  软件界面显示测量结果

    Figure  12.  Measurement results displayed in software interface

    图  13  多次测量汽车制动主缸补偿孔法线找正精度

    Figure  13.  Multiple measurements of the normal alignment accuracy of the compensation hole of the automobile’s brake master cylinder

    图  14  未经过法线找正图像

    Figure  14.  Uncorrected image

    图  15  四点微平面法线找正图像

    Figure  15.  Normal alignment image by four-point microplane method

    图  16  曲面拟合法线找正算法

    Figure  16.  Normal alignment image by curved surface fitting algorithm

    图  17  本文算法图像

    Figure  17.  Normal alignment image by proposed method

    表  1  4种汽车制动主缸补偿方法的孔不圆度、误差大小和时间

    Table  1.   Out-of-roundness, error and time of compensating hole of automobile brake master cylinder by four methods

    Detection parameterThe elliptical coefficient
    A,B,C,D,E,F
    Maximum radius
    ${R_{\max } }/{\rm{pixel}}$
    Minimum radius
    ${R_{\min } }/{\rm{pixel}}$
    Out of roundness
    $\delta {\rm{/}}$%
    The normal
    error /(°)
    Time $t/{\rm{ms} }$
    Taken directly(0.5,0,0.9,−269.8,−437.4,64727)220.284175.1470.22760.4572120
    Micro plane(0.6,0,0.8,−320.1,−401.2,68722)195.672174.6870.11330.1871680
    Surface fitting(0.7,0,0.7,−372.6,−345.2,70916)180.547176.3980.02320.08571276
    Proposed algorithm(0.7,0,0.7,−366.6,−359.8,71460)176.536175.2480.00730.0124710
    下载: 导出CSV
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  • 收稿日期:  2020-12-28
  • 修回日期:  2021-01-07
  • 网络出版日期:  2021-07-13
  • 刊出日期:  2021-09-18

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