图像辅助汽车制动主缸补偿孔法线测量 -

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图像辅助汽车制动主缸补偿孔法线测量

doi:10.37188/CO.2020-0219

赵长福^1,,
丁红昌^{1, 2,,},
曹国华^{1, 2,,},
侯翰^1,

1.
长春理工大学机电工程学院，吉林长春 130022
2.
长春理工大学重庆研究院，重庆 401135

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

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出版历程
- 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

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

ZHAO Chang-fu^1,,
DING Hong-chang^{1, 2,,},
CAO Guo-hua^{1, 2,,},
HOU Han^1,

1.
Mechanical Engineering, Changchun University of Science and Technology, Changchun 130022, China
2.
Chongqing Research Institute, Changchun University of Science and Technology, Chongqing 401135, China

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

Corresponding author:dinghc@cust.edu.cn;caogh@cust.edu.cn

摘要

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。
- 测距/
- 法线检测/
- 梯度霍夫变换/
- 椭圆拟合
Abstract:With the increase in cars on the road, the reliability of automobile braking systems has received increasing attention. The detection accuracy of the compensation hole’s parameters of an automobile’s brake master cylinder based on machine vision is key to determining automobile safety and the reliability of parking technology. As an important part of automobile brake master cylinders, the compensation hole can play an important role in regulating the brake fluid in its reservoir and pressure chamber. Its dimensional accuracy and processing quality are strictly controlled, so accurately obtaining an image of the compensation hole is a priority in compensation hole parameter detection. By introducing the correction method of plane drilling rivet hole normal line into the image acquisition process, the four-point micro-plane normal line detection method is combined with image processing to realize high-efficiency and high-precision normal line correction. Experiments show that the algorithm's normal alignment accuracy is higher than 0.05°, which is better than the traditional detection accuracy of 0.5°, and the detection time is less than 1 s. The algorithm proposed in this paper is simple and has good real-time performance while meeting accuracy requirements. It also has good robustness and meets the requirements of the brake master cylinder production industry for detection speed and accuracy.
- laser ranging/
- normal detection/
- gradient hough transform/
- ellipse fitting

HTML全文

图 1制动主缸剖面图

Figure 1.Sectional view of a brake master cylinder

下载: 全尺寸图片幻灯片

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

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图 3图像采集和测距系统

Figure 3.Image acquisition and ranging system

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图 4曲面法相测量示意图

Figure 4.Schematic diagram of surface normal phase measurement

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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)

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图 6补偿孔法线检测剖面图

Figure 6.Normal detection profile of compensation hole

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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

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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

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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

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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

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图 11实验现场图片

Figure 11.Experimental site

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图 12软件界面显示测量结果

Figure 12.Measurement results displayed in software interface

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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

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图 14未经过法线找正图像

Figure 14.Uncorrected image

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图 15四点微平面法线找正图像

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

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图 16曲面拟合法线找正算法

Figure 16.Normal alignment image by curved surface fitting algorithm

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图 17本文算法图像

Figure 17.Normal alignment image by proposed method

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表 14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 parameter	The 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)	220.284	175.147	0.2276	0.4572	120
Micro plane	(0.6,0,0.8,−320.1,−401.2,68722)	195.672	174.687	0.1133	0.1871	680
Surface fitting	(0.7,0,0.7,−372.6,−345.2,70916)	180.547	176.398	0.0232	0.0857	1276
Proposed algorithm	(0.7,0,0.7,−366.6,−359.8,71460)	176.536	175.248	0.0073	0.0124	710

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