A method for detecting the shape and position of key vehicle components based on line laser detection technology

Abstract

A method for detecting the shape and position of key vehicle components based on line laser detection technology, involving the field of rail transit, includes the following steps: S1, selecting a key vehicle part A to be detected; S2, selecting at least one reference object B at A, and A has a positional relationship change relative to B; S3, emitting the same line laser to A and B; S4, the distance from the line laser to the surface of A and B constitutes a two-dimensional contour curve; S5, obtaining the initial two-dimensional contour curve at the initial position of A and B and the real-time two-dimensional contour curve of the real-time position of A and B; S6, at the same position, the positional relationship of A relative to B on the initial two-dimensional contour curve is D0, and the positional relationship of A relative to B on the real-time two-dimensional contour curve is Di, and the difference between Di and D0 is the positional change of A. The implementation method of the present invention is simple and operable, and can directly determine whether the key vehicle components are loose, dislocated, displaced, etc., which are manifested as changes in shape and positional relationship.

Description

Technical Field

[0001] The present invention relates to the field of rail transportation, and more specifically, to a method for detecting the shape and position of key vehicle components based on line laser detection technology. Background Art

[0002] The key components of subways, trains and other vehicles, such as running components, brake systems, and wire pipes, have strict positional relationships. However, due to long-term vibration during vehicle operation, they may become loose, dislocated, or displaced, which may result in changes in positional relationships such as shape and position, seriously affecting driving safety. There are currently two methods: the first is on-site confirmation and inspection by workers, and the second is to check the images after taking them.

[0003] The first method of on-site worker confirmation and inspection is to first locate the key parts of the vehicle at different inspection levels according to the importance of the key parts of the vehicle and the frequency and size of the changes in the positional relationship of the key components. It can be mainly divided into daily inspection and weekly inspection. For each subway or train, there are many key parts, and it is often necessary to equip at least 100 human resources, and at least 100 people are divided into regular shifts and unplanned shifts to deal with daily inspections and surprise situations. When using manpower for inspection, it is necessary to mark the anti-loosening line on the key parts in advance, and observe whether the anti-loosening line is displaced by naked eyes or hands to determine whether the positional relationship of the key parts has changed. There are two problems with this method. First, since the positional relationship of the key parts does not change frequently, once it occurs, it may cause a major safety accident. Therefore, regular inspections are required, which wastes a lot of manpower; second, long-term repetitive and monotonous work, and most of the time the positional relationship of the key parts has not changed, will also form heavy repetitive labor for the inspection staff. Fatigue and inertia make the inspection staff make more mistakes or false alarms, delaying the normal operation of the vehicle.

[0004] The second method is to check the image after taking the image. In recent years, with the development of image detection technology, in order to meet the production needs of the operation site, many units have carried out the development of vehicle full 360° technology based on image detection, some using area array cameras, and some using high-speed linear array cameras. There are two modes of application of technology. Mode 1 is that the detection system equipment obtains the image, and the image is observed manually to check whether the vehicle parts are normal; Mode 2 is that the detection equipment obtains the image, and the subsequent software performs automatic image analysis and reports the analysis results. Among them, Mode 1 requires the establishment of a special image viewing studio, equipped with large screens and other equipment, and the staff also has the problem of inaccurate judgment or misjudgment due to the huge workload of image viewing; the installation conditions of the detection equipment in Mode 2 are limited by the complex on-site conditions when the vehicle is running, such as the loosening of the bolts on the vehicle chassis, etc., and there are problems such as small installation space, and high requirements are placed on the image shooting accuracy and recognition algorithm. In addition, the periodicity and false alarm rate of image recognition are also difficult to meet the needs of actual applications. Summary of the invention

[0005] The present invention aims to overcome at least one defect of the above-mentioned prior art and provides a method for detecting the shape and position of key vehicle components based on line laser detection technology. The method is simple and easy to implement, does not require manual timed viewing, and does not require high-demand image shooting and algorithm recognition. It can directly determine whether the key vehicle components are loose, dislocated, etc., which is manifested as changes in shape and position relationships.

[0006] The technical solution adopted by the present invention is a method for detecting the shape and position of key vehicle components based on line laser detection technology, comprising the following steps:

[0007] S1. Select a key part A of a vehicle to be inspected;

[0008] S2. Select at least one reference object B at A, and the positional relationship of A relative to B changes;

[0009] S3, emit the same line of laser to A and B;

[0010] S4, the distances reached by the line laser to the surfaces A and B constitute a two-dimensional profile curve;

[0011] S5. Obtain the initial two-dimensional contour curve when A and B are in their initial positions and the real-time two-dimensional contour curve when A and B are in their real-time positions; S6. When they are in the same position, the position relationship of A relative to B on the initial two-dimensional contour curve is D0, and the position relationship of A relative to B on the real-time two-dimensional contour curve is Di, and the difference between Di and D0 is the position change of A.

[0012] In this technical solution, the following coordinate system is established: the direction of vehicle travel is the positive direction of the X-axis, the emission direction of the line laser is the positive direction of the Y-axis, and the direction from the vehicle chassis to the roof is the positive direction of the Z-axis. The positional relationship changes of the key part A of the vehicle relative to the reference object B include loosening, loosening, displacement, etc. of A relative to B. The laser range of the line laser needs to be able to cover the maximum outer contour of A and B, so that there is an intersection between the line laser and the outer contours of A and B. The selected reference object B will not cause obvious loosening, displacement, etc. When A and B are installed, when they pass through the line laser for the first time, the line laser cuts the contours of A and B to form an initial two-dimensional contour curve, from which the positional relationship D0 of A relative to B can be read; when A and B at the same position pass through the line laser for the i-th time, a real-time two-dimensional contour curve of the real-time position of A and B is formed, from which the positional relationship Di of A relative to B can be read. Since reference object B will not be obviously loosened or displaced, when A is loosened, displaced or other positional relationship changes relative to B, there will be a difference between Di and D0, and this difference is the positional change of A. When the positional relationship changes, the staff can be reminded to check by means of linkage alarm. Therefore, the method of the present invention only needs to be able to emit line lasers and read the data measured by line lasers, and does not require high-demand image shooting and algorithm recognition. The implementation method is simple and operable, and does not require manual regular checking, and can directly determine whether the key components of the vehicle are loose, displaced, etc., which are manifested as changes in the shape and positional relationship.

[0013] Furthermore, in order to reduce the errors in the detection and to exclude the influence that the change of the positional relationship of A relative to B is caused by the looseness of B, the positional relationship of the selected reference object B relative to the emission point of the line laser remains unchanged.

[0014] Furthermore, in order to help the inspection workers to judge the real change of the position relationship of the key part A of the vehicle relative to B in many aspects, the real-time 2D image of the key part A of the vehicle can also be taken to form a one-to-one correspondence with the real-time two-dimensional contour curve, that is, when A and B at the same position pass through the line laser for the i-th time, when the line laser cuts the contours of A and B, the real-time 2D image of A at this position is taken at the same time. Only when the position relationship of A relative to B changes to a certain extent, it is necessary to stop the vehicle for inspection. In order to reduce the loss caused by parking, it is set that when the difference between Di and D0 exceeds the threshold C, the real-time 2D image is retrieved, and the curve change and the real-time image are comprehensively judged to reduce false alarms and improve the accuracy of detection.

[0015] Furthermore, as the demand for inspection increases, the more intuitive the presentation of image results is, the better. Therefore, the method also includes: S7, according to the vehicle's driving speed, the real-time two-dimensional contour curve is restored into a 3D image. The three-dimensional stereo image is convenient for inspection workers to view intuitively, and when conducting on-site verification, the unit image can be directly matched with the real scene on site, thereby improving maintenance efficiency.

[0016] Furthermore, the restoration process comprises the following steps:

[0017] S71, emitting a linear laser along the Z axis to the vehicle, and the vehicle moves forward along the X axis at a speed V;

[0018] S72, establishing map coordinates on the vehicle according to the vehicle's speed V and the position of the line laser emission point;

[0019] S73, the contour edge of the key part A and the reference object B passes through the line laser along the X axis at a speed V;

[0020] S74, the width of the key part A and the reference object B along the X axis can be obtained according to the time point and speed V of the line laser cutting contour edge;

[0021] S75. Combining the real-time two-dimensional contour curves of the real-time positions of A and B, a 3D image of A and B can be obtained.

[0022] According to the above, the two-dimensional curves of the key part A and the reference object B in the YZ plane are known, that is, the initial two-dimensional contour curve and the real-time two-dimensional contour curve, but the width along the X-axis is unknown. In this technical solution, the map coordinates are first established on the vehicle, that is, according to the position of the line laser emission point and the speed V of the train, it can be known that the width of the line laser that passes through the X-axis in time ti is Li. According to the time point when the vehicle passes the line laser emission point, the maximum width of the key part A and the reference object B in the X-axis can be obtained, that is, the width of the initial two-dimensional contour curve and the real-time two-dimensional contour curve along the X-axis. In this way, the 3D images of the initial two-dimensional contour curve and the real-time two-dimensional contour curve are obtained, and the 3D images of A and B are obtained. The speed of the vehicle can be obtained through the train driving information, and the position of the line laser emission point is fixed. Therefore, the method of restoring the two-dimensional curve to a 3D image is simple and easy to operate, and each parameter is easy to obtain, and the entire technical solution is easy to implement.

[0023] Furthermore, in order to avoid deviations in 3D restoration caused by non-uniform travel of the vehicle, the travel speed may be corrected according to the acceleration of the vehicle, thereby correcting the 3D image.

[0024] Furthermore, the correction step includes: the contour edge is cut by the line laser at an acceleration a, the width of the contour edge along the X-axis is stretched or compressed by ΔL, and the width of the contour edge of the key part A and the reference object B is compressed or stretched by ΔL according to the time point of cutting, thereby correcting the 3D image. In other words, the width Li on the X-axis that passes through the line laser successively within the time ti is stretched or compressed by ΔL under the acceleration a, then the compression or stretching ΔL corresponding to Li within the time ti is used to correspond to the correction width Li, and the real Li is obtained, thereby obtaining a corrected 3D image, and obtaining a true 3D image, which is convenient for inspection personnel to view.

[0025] Furthermore, the line laser measures the distances reached by A and B by a laser 3D detection sensor.

[0026] Furthermore, a slight position change of the key part A of the vehicle relative to the reference object B may cause a serious operation safety accident. Therefore, the detection accuracy of the laser 3D detection sensor is selected to be 0.5-1.5 mm to improve the detection accuracy.

[0027] Furthermore, the detection method further comprises a laser 3D detection sensor, a data acquisition device and a data analysis system connected in sequence, and further comprises a control system connected to the laser 3D detection sensor, and a data management system connected to the data acquisition device and the data analysis system;

[0028] The laser 3D detection sensor is used to measure the distance from the line laser to A and B;

[0029] The data acquisition device is used to collect multiple data measured by the laser 3D detection sensor and transmit the data to the data analysis system and the data management system;

[0030] The data analysis system is used to process a plurality of data to form an initial two-dimensional contour curve or a real-time two-dimensional contour curve;

[0031] The data management system is used for storing the data and forming the initial two-dimensional contour curve or the real-time two-dimensional contour curve;

[0032] The control system is used to control the emission of line lasers and the laser 3D detection sensor to measure distances.

[0033] When the two-dimensional laser emitter emits a line laser to the detection object A and the reference object B, the line laser cuts the contour and surface of the detection object A and the reference object B, forming different distance values. The control system controls the laser 3D detection sensor to measure the distance value and transmits it to the data acquisition device. After the data acquisition device collects a series of distance values, it matches them with different measurement time points, and then transmits the matched parameter group to the data analysis system and the data management system. The data analysis system fits the parameter group into a two-dimensional curve at different times. At the same time, the curve and time points are also backed up and stored in the data management system. In this technical solution, by setting the connection method of each system and device, the system forms a smooth and complete detection system.

[0034] The data acquisition device is used to collect data transmitted by the laser 3D detection sensor and transmit the data to the control system and the data analysis system. The data analysis system is also used to process the data to form an initial two-dimensional contour curve and a real-time two-dimensional contour curve, and combine the map established on the vehicle and the position of the line laser emission point to obtain the difference between Di and D0 of the key part A and the reference object B detected by the line laser. When the difference between Di and D0 exceeds the threshold C, the control system controls and retrieves the real-time 2D image of the key part A of the vehicle to make a comprehensive judgment; the data transmitted by the laser 3D detection sensor, each alarm, and the call of the real-time 2D image are all stored in the data management system as a historical record query.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] (1) The present invention only needs to be able to emit line lasers and read laser data, and does not require high-level image capture and algorithm recognition. The implementation method is simple and operable, and does not require manual regular inspection. It can directly determine whether key vehicle components are loose, dislocated, or displaced, which is manifested as changes in shape and position relationship;

[0037] (2) The present invention can realize the combination of real-time two-dimensional contour curve or restored 3D image and 2D image, give full play to their respective effectiveness, improve recognition accuracy, and reduce labor intensity;

[0038] (3) The present invention can correct 3D images, improve image display restoration, and facilitate intuitive observation by inspection personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a measurement schematic diagram of the present invention.

[0040] Figure 2 Schematic diagram of the distance between the line laser of the present invention and the key part A and the reference object B.

[0041] Figure 3 It is the initial two-dimensional contour curve in the present invention.

[0042] Figure 4 It is the real-time two-dimensional contour curve in the present invention. DETAILED DESCRIPTION

[0043] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted.

[0044] Example

[0045] A method for detecting the shape and position of key vehicle components based on line laser detection technology comprises the following steps:

[0046] S1. Select a key part A of a vehicle to be inspected;

[0047] S2. Select at least one reference object B at A, and the positional relationship of A relative to B changes;

[0048] S3, emit the same line of laser to A and B;

[0049] S4, the distances reached by the line laser to the surfaces A and B constitute a two-dimensional profile curve;

[0050] S5. Obtain the initial two-dimensional contour curve when A and B are in their initial positions and the real-time two-dimensional contour curve when A and B are in their real-time positions; S6. When they are in the same position, the position relationship of A relative to B on the initial two-dimensional contour curve is D0, and the position relationship of A relative to B on the real-time two-dimensional contour curve is Di, and the difference between Di and D0 is the position change of A.

[0051] In this embodiment, if Figure 1 and Figure 2 As shown, the key part A of the vehicle is the four bolts on the end of the wheel shaft of the vehicle, and the reference object B is the end face of the wheel shaft of the vehicle that will not be obviously loosened or displaced. The positional relationship change of the key part A of the vehicle relative to the reference object B includes the loosening, loosening, and displacement of A relative to B. First, the following coordinate system is established: the direction of vehicle travel is the positive direction of the X axis, the emission direction of the line laser is the positive direction of the Y axis, and the direction from the vehicle chassis to the roof is the positive direction of the Z axis. Figure 1 and Figure 2The middle dotted line represents the line laser, from which it can be seen that the laser range of the line laser needs to be able to cover the maximum outer contour of A and B, so that there is an intersection between the line laser and the outer contour of A and B. The selected reference object B will not be obviously loose or displaced. When A and B are installed, the line laser cuts the contours of A and B when they pass through the line laser for the first time, forming an initial two-dimensional contour curve, from which the position relationship D0 of A relative to B can be read; when A and B at the same position pass through the line laser for the i-th time, a real-time two-dimensional contour curve of the real-time position of A and B is formed, from which the position relationship Di of A relative to B can be read.

[0052] like Figure 3 As shown in the figure, on the initial two-dimensional contour curve, the distances between the key part A of the vehicle and the reference object B from the line laser are D01, D02, D03, D04, and D05 respectively; Figure 4 As shown, on the real-time two-dimensional contour curve, the distances between the key part A of the vehicle and the reference object B from the line laser are Di1, Di2, Di3, Di4, and Di5 respectively; relative positions, such as the position relationship D0 between D01 and D02, or D02 and D03, etc., and the position relationship Di between Di1 and Di2, or Di2 and Di3, etc., when A changes in position relationship such as loosening, displacement, etc. relative to B, there will be a difference between Di and D0, and this difference is the position change of A. When the position relationship changes, the staff can be reminded to check by means of linkage alarm. Therefore, through the method of the present invention, it is only necessary to be able to emit line lasers and read laser data, without requiring high-demand image shooting and algorithm recognition, the implementation method is simple and operable, and no manual regular viewing is required, and it can directly determine whether the key parts of the vehicle are loose, dislocated, displaced, etc., which are manifested as changes in shape and position relationship.

[0053] Furthermore, in order to reduce the errors in the detection and to exclude the influence that the change of the positional relationship of A relative to B is caused by the looseness of B, the positional relationship of the selected reference object B relative to the emission point of the line laser remains unchanged.

[0054] Furthermore, in order to help the inspection workers to judge the real change of the position relationship of the key part A of the vehicle relative to B in many aspects, the real-time 2D image of the key part A of the vehicle can also be taken to form a one-to-one correspondence with the real-time two-dimensional contour curve, that is, when A and B at the same position pass through the line laser for the i-th time, when the line laser cuts the contours of A and B, the real-time 2D image of A at this position is taken at the same time. Only when the position relationship of A relative to B changes to a certain extent, it is necessary to stop the vehicle for inspection. In order to reduce the loss caused by parking, it is set that when the difference between Di and D0 exceeds the threshold C, the real-time 2D image is retrieved, and the curve change and the real-time image are comprehensively judged to reduce false alarms and improve the accuracy of detection.

[0055] Furthermore, as the demand for inspection increases, the more intuitive the presentation of image results is, the better. Therefore, the method also includes: S7, according to the vehicle's driving speed, the real-time two-dimensional contour curve is restored into a 3D image. The three-dimensional stereo image is convenient for inspection workers to view intuitively, and when conducting on-site verification, the unit image can be directly matched with the real scene on site, thereby improving maintenance efficiency.

[0056] Furthermore, the restoration process comprises the following steps:

[0057] S71, emitting a linear laser along the Z axis to the vehicle, and the vehicle moves forward along the X axis at a speed V;

[0058] S72, establishing map coordinates on the vehicle according to the vehicle's speed V and the position of the line laser emission point;

[0059] S73, the contour edge of the key part A and the reference object B passes through the line laser along the X axis at a speed V;

[0060] S74, the width of the key part A and the reference object B along the X axis can be obtained according to the time point and speed V of the line laser cutting contour edge;

[0061] S75. Combining the real-time two-dimensional contour curves of the real-time positions of A and B, a 3D image of A and B can be obtained.

[0062] According to the above, the two-dimensional curves of the key part A and the reference object B in the YZ plane are known, that is, the initial two-dimensional contour curve and the real-time two-dimensional contour curve, but the width along the X axis is unknown. In this embodiment, the map coordinates are first established on the vehicle, that is, according to the position of the line laser emission point and the speed V of the train, it can be known that Figure 1 As shown, the width of the line laser that passes through the time ti is Li on the X-axis. According to the time point when the vehicle passes the line laser emission point, the maximum width of the key part A and the reference object B on the X-axis can be obtained, that is, the width of the initial two-dimensional profile curve and the real-time two-dimensional profile curve along the X-axis direction is obtained, so that the 3D image of the initial two-dimensional profile curve and the real-time two-dimensional profile curve is obtained, and the 3D image of A and B is obtained. The speed of the vehicle can be obtained through the train driving information, and the position of the line laser emission point is fixed. Therefore, the method of restoring the two-dimensional curve to a 3D image is simple and easy to operate, and each parameter is easy to obtain, and the entire embodiment is easy to implement.

[0063] Furthermore, in order to avoid deviations in 3D restoration caused by non-uniform travel of the vehicle, the travel speed may be corrected according to the acceleration of the vehicle, thereby correcting the 3D image.

[0064] Furthermore, the correction step includes: the contour edge is cut by the line laser at an acceleration a, the width of the contour edge along the X-axis is stretched or compressed by ΔL, and the width of the contour edge of the key part A and the reference object B is compressed or stretched by ΔL according to the time point of cutting, thereby correcting the 3D image. In other words, the width Li on the X-axis that passes through the line laser successively within the time ti is stretched or compressed by ΔL under the acceleration a, then the compression or stretching ΔL corresponding to Li within the time ti is used to correspond to the correction width Li, and the real Li is obtained, thereby obtaining a corrected 3D image, and obtaining a true 3D image, which is convenient for inspection personnel to view.

[0065] Furthermore, the line laser is a line laser, and the distance of the line laser to A or B is measured by a laser 3D detection sensor. The distance of the key part A and the reference object B detected by the line laser is transmitted by the laser 3D detection sensor, and a data acquisition device and a control system, a data analysis system and a data management system are also connected to the laser 3D detection sensor. The data acquisition device is used to collect the data transmitted by the laser 3D detection sensor, and then transmit the data to the control system and the data analysis system. The data analysis system is used to process each data to form an initial two-dimensional contour curve and a real-time two-dimensional contour curve, and combine the map established on the vehicle and the position of the line laser emission point to obtain the difference between Di and D0 of the key part A and the reference object B detected by the line laser. When the difference between Di and D0 exceeds the threshold C, the control system starts the alarm, and controls and retrieves the real-time 2D image of the key part A of the vehicle for comprehensive judgment; the data transmitted by the laser 3D detection sensor, each alarm, and the call of the real-time 2D image are stored in the data management system as a historical record query.

[0066] Furthermore, a slight position change of the key part A of the vehicle relative to the reference object B may cause a serious operation safety accident. Therefore, the detection accuracy of the laser 3D detection sensor is selected to be 0.5-1.5 mm to improve the detection accuracy.

[0067] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A method for detecting the shape and position of key vehicle components based on line laser detection technology comprises the following steps: S1. Select a key part A of a vehicle to be inspected; S2. Select at least one reference object B at A, and the positional relationship of A relative to B changes; S3, emit the same line of laser to A and B; S4, the distances reached by the line laser to the surfaces A and B constitute a two-dimensional profile curve; S5, obtaining an initial two-dimensional contour curve when A and B are at their initial positions and a real-time two-dimensional contour curve when A and B are at their real-time positions; S6. At the same position, the position relationship of A relative to B on the initial two-dimensional contour curve is D0, and the position relationship of A relative to B on the real-time two-dimensional contour curve is Di. The difference between Di and D0 is the position change of A. The method further comprises: Take a real-time 2D image of the key part A of the vehicle, and form a one-to-one correspondence with the real-time two-dimensional contour curve. When the difference between Di and D0 exceeds the threshold C, retrieve the real-time 2D image and make a comprehensive judgment; The method further comprises: S7, restoring the real-time two-dimensional contour curve into a 3D image according to the driving speed of the vehicle; The restoration process comprises the following steps: S71, emitting a linear laser along the Z axis to the vehicle, and the vehicle moves forward along the X axis at a speed V; S72, establishing map coordinates on the vehicle according to the vehicle's speed V and the position of the line laser emission point; S73, the contour edge of the key part A and the reference object B passes through the line laser along the X axis at a speed V; S74, the width of the key part A and the reference object B along the X axis can be obtained according to the time point and speed V of the line laser cutting contour edge; S75. Combining the real-time two-dimensional contour curves of the real-time positions of A and B, a 3D image of A and B can be obtained.

2. The method for detecting the shape and position of key vehicle components based on line laser detection technology according to claim 1 is characterized in that: The positional relationship of the reference object B relative to the emission point of the line laser remains unchanged.

3. The method for detecting the shape and position of key vehicle components based on line laser detection technology according to claim 2 is characterized in that: According to the acceleration of the vehicle, the driving speed is corrected to correct the 3D image.

4. The method for detecting the shape and position of key vehicle components based on line laser detection technology according to claim 3 is characterized in that: The correction step includes: the contour edge is cut by a linear laser at an acceleration a, the width of the contour edge along the X-axis is stretched or compressed by ΔL, and the width of the contour edge of the key part A and the reference object B is compressed or stretched by ΔL according to the time point of cutting, thereby correcting the 3D image.

5. The method for detecting the shape and position of key vehicle components based on line laser detection technology according to claim 1 is characterized in that: The line laser measures the distances reached by A and B by a laser 3D detection sensor.

6. The method for detecting the shape and position of key vehicle components based on line laser detection technology according to claim 5 is characterized in that: The detection accuracy of the laser 3D detection sensor is 0.5-1.5 mm.

7. The method for detecting the shape and position of key vehicle components based on line laser detection technology according to claim 5 or 6, characterized in that: The detection method also includes a laser 3D detection sensor, a data acquisition device and a data analysis system connected in sequence, and also includes a control system connected to the laser 3D detection sensor, and a data management system connected to the data acquisition device and the data analysis system; The laser 3D detection sensor is used to measure the distance from the line laser to A and B; The data acquisition device is used to collect multiple data measured by the laser 3D detection sensor and transmit the data to the data analysis system and the data management system; The data analysis system is used to process a plurality of data to form an initial two-dimensional contour curve or a real-time two-dimensional contour curve; The data management system is used to store data and the formed initial two-dimensional contour curve or real-time two-dimensional contour curve; The control system is used to control the emission of line lasers and the laser 3D detection sensor to measure distances.

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