A device and method for drawing complex parts of a car collision dummy

Abstract

The present invention relates to the field of automobile collision safety testing, and in particular, to a device and method for drawing complex parts of automobile collision dummies. The device includes a frame assembly, including a frame body, and an infrared sensor and a camera arranged on the frame body; a complex part clamping assembly, including a telescopic bracket, a first rotating motor, a first telescopic device, a clamping plate and a radius variable support; a complex part placement assembly, including mutually connected pillars and a support platform, the pillars are also connected to the frame body, and also includes a clamping device, the clamping device is connected to the support platform, and the clamping device includes mutually connected movable devices and rubber clamping devices. The present invention can realize non-contact measurement of complex parts, and the method is simple, efficient and high in measurement accuracy.

Description

Technical Field

[0001] The invention relates to the field of automobile collision safety testing, and in particular to a device and method for drawing complex parts of an automobile collision dummy. Background Art

[0002] At present, the two-dimensional drawings of complex parts are usually drawn manually. At the same time, the corresponding measuring instrument of this method is often a three-coordinate measuring machine. This measuring instrument is subject to restrictions such as location and size. When it comes to parts with irregular surfaces such as deep holes, the measurement accuracy is low, and there are problems such as long drawing time and low efficiency.

[0003] The applicant found that the patent with publication number CN103591890A "A large curved surface product mapping device and mapping method" designed a large workbench, combined with laser rangefinders in the three directions of x, y, and z, to obtain the three-dimensional coordinates of the measuring point. The device has a simple structure and reduces the labor intensity of the operators, but it cannot measure complex parts with deep holes, concave surfaces, etc., and the measurement speed is slow. The patent with publication number CN212512857U "Workpiece curved surface mapping device" designed a workpiece curved surface mapping device, which obtains the trajectory by moving the measuring head on the workpiece curved surface. The disadvantage of this method is that the measuring head and the workpiece will wear, and if the workpiece is soft, the measurement result error is large.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for drawing complex parts of a car collision dummy, so as to solve the problems of low measurement efficiency, large measurement error and inability to measure complex parts in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a device for drawing complex parts of a car collision dummy, comprising:

[0008] A frame assembly, comprising a frame body, and an infrared sensor and a camera arranged on the frame body;

[0009] A complex part clamping assembly, comprising a telescopic bracket, a first rotating motor, a first telescopic device, a clamping plate and a variable radius support, wherein the telescopic bracket is respectively connected to the frame body and the first rotating motor, the first rotating motor is respectively connected to the first telescopic device and the variable radius support, and the first telescopic device is also connected to the clamping plate;

[0010] A complex parts placement assembly includes mutually connected pillars and a support platform, wherein the pillars are also connected to the frame body, and also includes a clamping device, wherein the clamping device is connected to the support platform, and the clamping device includes a movable device and a rubber clamping device that are connected to each other, wherein the movable device is arranged in the support platform, and the rubber clamping device is arranged above the support platform through an opening on the support platform.

[0011] As a further preferred technical solution, the infrared sensor includes a first infrared sensor and a second infrared sensor, the camera includes a first camera and a second camera; the frame assembly also includes a first movable support assembly and a second movable support assembly connected to the frame body;

[0012] The first movable support assembly includes a first support column, a second support column, a first support plate, a first motor and a first conveyor belt, the first support column and the second support column are connected, the first support plate is arranged on the second support column, the first motor is used to drive the first conveyor belt to move, the first conveyor belt is also connected to the first support plate, and the first infrared sensor and the first camera are arranged on the first support plate;

[0013] The second movable support assembly includes a third support column, a fourth support column, a second support plate, a second motor and a second conveyor belt, the third support column is connected to the fourth support column, the second support plate is arranged on the fourth support column, the second motor is used to drive the second conveyor belt to move, the second conveyor belt is also connected to the second support plate, and the second infrared sensor and the second camera are arranged on the second support plate.

[0014] As a further preferred technical solution, the complex part clamping assembly further includes a third motor, a fourth motor, a worm mechanism, a retractable device housing, a second rotating motor, a rotatable device and a second retractable device;

[0015] The third motor, the worm mechanism and the telescopic bracket are connected in sequence; the fourth motor is connected to the second rotating motor, the telescopic device housing is connected to the first rotating motor and the second rotating motor respectively, and the second rotating motor is also connected to the first telescopic device;

[0016] The rotatable device and the second telescopic device are respectively arranged on both sides of the first telescopic device, and the clamping plate is connected to the second telescopic device.

[0017] As a further preferred technical solution, the complex part clamping assembly further includes a hydraulic box, and the hydraulic box is used to adjust the radius of the variable radius support.

[0018] As a further preferred technical solution, the complex parts placement assembly also includes a hydraulic column, which is respectively connected to the pillar and the support platform, and the rubber clamping device includes a first section of rubber clamp and a second section of rubber clamp, the first section of rubber clamp is vertically arranged relative to the support platform, and the second section of rubber clamp is inclined relative to the support platform.

[0019] In a second aspect, the present invention provides a method for drawing complex parts of a car collision dummy, using the above-mentioned drawing device for drawing, comprising:

[0020] Placing the complex parts of the automobile collision dummy on the supporting platform of the complex parts placement assembly and fixing them with the clamping device, and then clamping the complex parts of the automobile collision dummy with the complex parts clamping assembly;

[0021] Acquire pictures of the complex parts of the automobile collision dummy taken by the camera at multiple angles and information of the holes measured by the variable radius support;

[0022] Performing grayscale processing and filtering processing on the image to obtain a preprocessed image;

[0023] Extracting contour features from the preprocessed image to obtain contour features; the contour features include peripheral contour features and internal contour features;

[0024] According to the outline feature, a contour is drawn; the contour includes an outer contour and an inner contour;

[0025] The hole is drawn according to the contour and the hole information.

[0026] As a further preferred technical solution, the grayscale processing and filtering processing are performed on the image to obtain a preprocessed image, including:

[0027] The image is gray-scaled using formula (1); wherein H represents the brightness value of the gray-scale image, R represents the red component value of the color image, G represents the green component value of the color image, and B represents the blue component value of the color image;

[0028] H=0.229R+0.588G+0.144B (1);

[0029] The image is filtered using formula (2); wherein f(xi,yj) is the pixel value of the image before filtering, g(x,y) is the pixel value of the image after filtering, and W is a two-dimensional filtering template;

[0030] g(x,y) = median{f(xi,yj),(i,j)∈W}Equation (2).

[0031] As a further preferred technical solution, extracting contour features from the preprocessed image to obtain contour features includes:

[0032] Using the Sobel operator edge detection method to determine the edge of the preprocessed image, thereby obtaining a target image and extracting the coordinate value of the external contour;

[0033] The internal characteristic curve is constructed by using improved morphological processing and improved random center displacement method.

[0034] As a further preferred technical solution, the step of drawing a contour according to the contour feature includes:

[0035] Determine the actual coordinates of the image according to the contour features and the parameters of the camera in the world coordinate system; wherein the parameters include position and orientation;

[0036] Controlling the infrared sensor to perform coordinate search based on the actual coordinates and determine search results;

[0037] Based on the search results, a contour is drawn.

[0038] As a further preferred technical solution, the controlling the infrared sensor to perform coordinate search according to the actual coordinates and determine the search result includes:

[0039] Determine the search probability in the x direction and in the y direction according to the current position of the infrared sensor and the position of the last point tracked in the actual coordinates;

[0040] Determining a search direction according to the search probability;

[0041] The infrared sensor is controlled to move in the search direction to determine the search result.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The complex parts drawing device for automobile collision dummies provided by the present invention can shoot complex parts through a camera, obtain the three-dimensional coordinates of feature points through an infrared sensor, and adopt a complex parts clamping component and a complex parts placing device with a specific structure to stably clamp and place the parts without deformation of the parts.

[0044] The method for drawing complex parts of a car collision dummy provided by the present invention adopts the above-mentioned drawing device for drawing, and can realize non-contact measurement through reasonable operation and processing. The method is simple, efficient and has high measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 It is a schematic diagram of the overall structure of the drawing device provided by the present invention;

[0047] Figure 2 yes Figure 1 One of the structural schematic diagrams of the first movable support assembly;

[0048] Figure 3 yes Figure 1 The second structural diagram of the first movable support assembly;

[0049] Figure 4 yes Figure 1 A schematic structural diagram of the second movable support assembly;

[0050] Figure 5 yes Figure 1 One of the structural diagrams of the complex part clamping assembly;

[0051] Figure 6 yes Figure 1 The second structural diagram of the complex parts clamping assembly;

[0052] Figure 7 yes Figure 1 A schematic diagram of the structure of a medium radius variable support;

[0053] Figure 8 yes Figure 1 One of the structural diagrams of the complex part placement assembly;

[0054] Fig. 9 yes Figure 1 The second structural diagram of the complex parts placement assembly;

[0055] Fig.10 yes Figure 1 Schematic diagram of the structure of the clamping device. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0057] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0058] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] Example 1

[0060] like Figure 1-Figure 10 As shown, this embodiment provides a complex parts drawing device for a car collision dummy, comprising:

[0061] The frame assembly 1 includes a frame body, and an infrared sensor and a camera arranged on the frame body;

[0062] The complex part clamping assembly 2 comprises a telescopic bracket 203, a first rotating motor 204, a first telescopic device 208, a clamping plate 211 and a variable radius support 213, wherein the telescopic bracket 203 is respectively connected to the frame body and the first rotating motor 204, the first rotating motor 204 is respectively connected to the first telescopic device 208 and the variable radius support 213, and the first telescopic device 208 is also connected to the clamping plate 211;

[0063] The complex part placement assembly 3 includes mutually connected pillars 303 and a support platform 301, the pillars 303 are also connected to the frame body, and also includes a clamping device, the clamping device is connected to the support platform 3, the clamping device includes a mutually connected movable device 306 and a rubber clamping device 305, the movable device 306 is arranged in the support platform 301, and the rubber clamping device 305 is arranged above the support platform 301 through an opening on the support platform 301.

[0064] Further, the infrared sensor includes a first infrared sensor 109 and a second infrared sensor 117, the camera includes a first camera 110 and a second camera 118; the frame assembly also includes a first movable support assembly and a second movable support assembly connected to the frame body;

[0065] The first movable support assembly includes a first support column 101, a second support column 106, a first support plate 108, a first motor 104 and a first conveyor belt 107, the first support column 101 is connected to the second support column 106, the first support plate 108 is arranged on the second support column 106, the first motor 104 is used to drive the first conveyor belt 107 to move, the first conveyor belt 107 is also connected to the first support plate 108, and the first infrared sensor 109 and the first camera 110 are arranged on the first support plate 108;

[0066] The second movable supporting assembly includes a third supporting column 111, a fourth supporting column 113, a second supporting plate 114, a second motor 115 and a second conveyor belt 116. The third supporting column 111 is connected to the fourth supporting column 113. The second supporting plate 114 is arranged on the fourth supporting column 113. The second motor 115 is used to drive the second conveyor belt 116 to move. The second conveyor belt 116 is also connected to the second supporting plate 114. The second infrared sensor 117 and the second camera 118 are arranged on the second supporting plate 114.

[0067] Optionally, the first support column 101 and the second support column 106 are connected via a fixing member 105 , and the first motor 104 is disposed on the fixing member 105 .

[0068] Optionally, the complex part clamping device further includes a fifth motor 102 and a third conveyor belt 103 , wherein the fifth motor 102 is used to drive the third conveyor belt 103 to move, and the fifth motor 102 is connected to the first support column 101 .

[0069] Optionally, the complex part clamping device further includes a third support plate 112 , and the third support plate 112 is used to connect the third support column 111 and the fourth support column 113 .

[0070] Optionally, the complex part clamping assembly further includes a motor 119 , and the motor 119 is used to drive the third support plate 112 to move.

[0071] Further, the complex part clamping assembly further includes a third motor 201, a fourth motor 206, a worm mechanism 202, a retractable device housing 205, a second rotating motor 207, a rotatable device 209 and a second retractable device 210;

[0072] The third motor 201, the worm mechanism 203 and the telescopic bracket 203 are connected in sequence; the fourth motor 206 is connected to the second rotating motor 207, the telescopic device housing 205 is connected to the first rotating motor 204 and the second rotating motor 207 respectively, and the second rotating motor 207 is also connected to the first telescopic device 208;

[0073] The rotatable device 209 and the second retractable device 210 are respectively arranged on both sides of the first retractable device 208 , and the clamping plate 211 is connected to the second retractable device 210 .

[0074] Furthermore, the complex part clamping assembly also includes a hydraulic box 212 , and the hydraulic box 212 is used to adjust the radius of the variable radius support 213 .

[0075] Furthermore, the complex part placement assembly also includes a hydraulic column 302, which is respectively connected to the support column 303 and the support platform 301, and the rubber clamping device 305 includes a first section rubber clamp 3051 and a second section rubber clamp 3052, the first section rubber clamp 3051 is vertically arranged relative to the support platform 301, and the second section rubber clamp 3052 is inclined relative to the support platform 301.

[0076] Optionally, the complex part placement assembly further includes a rotating device 304 , and the rotating device 304 is used to drive the support column 303 to rotate.

[0077] The method of using the above-mentioned complex parts drawing device for automobile collision dummies is as follows: place the object on the support platform and adjust it through the complex parts clamping assembly. Specifically, when the object is placed on the support platform 301, the third motor 201 drives the worm mechanism 202 to move forward and backward, the telescopic bracket 203 is adjusted to a position suitable for clamping the object, and the second rotating motor 207 is driven by the fourth motor 206 to reach a suitable position. The second rotating motor 207 rotates the first telescopic device 208, and the first telescopic device 208 drives the rotatable device 209 and the second telescopic device 210, so that the clamping plate and the clamping plate 211 of the rotatable device 209 can support the object in a suitable position, and the hydraulic column 302 enables the support platform 301 to support the lower plane of the object through telescopic means. In addition, the rubber clamping device 305 is close to the inside of the skin through the movement of the movable device 306, and is fixed so that the skin part will not be deformed. Generally, the first rubber clip 3051 is used to fix the inside of the skin. If the skin piece is too high, the second rubber clip 3052 is activated to position it more firmly without affecting the appearance of the skin piece.

[0078] When one side is measured, the rotating device 304 is rotated to measure the other side.

[0079] After the infrared sensor has finished measuring, the first rotating motor 204 drives the variable radius support 213 to adjust to the circular hole position, penetrates the variable radius support 213 into the circular hole, and records the penetration distance. The radius of the variable radius support 213 is adjusted by the hydraulic box 212. When the variable radius support 213 completely contacts the hole of the object, the radius of the hole is recorded.

[0080] Example 2

[0081] This embodiment provides a method for drawing complex parts of a car collision dummy, which uses the drawing device of Embodiment 1 to draw, and includes:

[0082] Placing the complex parts of the automobile collision dummy on the supporting platform of the complex parts placement assembly and fixing them with the clamping device, and then clamping the complex parts of the automobile collision dummy with the complex parts clamping assembly;

[0083] Acquire pictures of the complex parts of the automobile collision dummy taken by the camera at multiple angles and information of the holes measured by the variable radius support;

[0084] Performing grayscale processing and filtering processing on the image to obtain a preprocessed image;

[0085] Extracting contour features from the preprocessed image to obtain contour features; the contour features include peripheral contour features and internal contour features;

[0086] According to the outline feature, a contour is drawn; the contour includes an outer contour and an inner contour;

[0087] The hole is drawn according to the contour and the hole information.

[0088] Furthermore, the grayscale processing and filtering processing are performed on the image to obtain a preprocessed image, including:

[0089] The image is gray-scaled using formula (1); wherein H represents the brightness value of the gray-scale image, R represents the red component value of the color image, G represents the green component value of the color image, and B represents the blue component value of the color image;

[0090] H=0.229R+0.588G+0.144B (1);

[0091] The image is filtered using formula (2); wherein f(xi,yj) is the pixel value of the image before filtering, g(x,y) is the pixel value of the image after filtering, and W is a two-dimensional filtering template;

[0092] g(x,y) = median{f(xi,yj),(i,j)∈W}Equation (2).

[0093] The coefficients before the three RGB components in formula (1) are empirical weighted values. The values ​​of the weighted coefficients are based on the visual model of the human eye. A larger weight is taken for green, which is more sensitive to the human eye; a smaller weight is taken for blue, which is less sensitive to the human eye. The grayscale image converted by this formula can better reflect the brightness information of the original image. Since the camera will be affected by noise interference and the skin itself when collecting pictures, the quality of the obtained pictures is not ideal. Therefore, before extracting features from the pictures, it is necessary to detect, improve the quality of the pictures, and remove irrelevant interference factors. Therefore, it is necessary to filter the pictures.

[0094] Furthermore, extracting contour features from the preprocessed image to obtain contour features includes:

[0095] Using the Sobel operator edge detection method to determine the edge of the preprocessed image, thereby obtaining a target image and extracting the coordinate value of the external contour;

[0096] The internal characteristic curve is constructed by using improved morphological processing and improved random center displacement method.

[0097] Specifically, let f(i,j) be the grayscale value of the pixel at point (i,j) in the input image f(x,y), is the average gray value of the adjacent pixels at point (i, j) in f(x, y), and the new gray value of the pixel at point (i, j) in f(x, y) is

[0098] Formula (3)

[0099] Where a, b, c are weighting factors, and a, b>0, c>1.

[0100] Apply the structural element B(i,j) of point (i,j) to the opening and closing operations, so that

[0101] Formula (4)

[0102] The pixel gray value f(i,j) is divided into two parts, and its expression is

[0103] Formula (5)

[0104] Since in formula (5) The part contains the edge information of the pixel point f(i, j). The pixel size is smaller than the pixel size of the structural element B(i, j). Set a=1, b=2, c=2 and combine (3) and (4) to get:

[0105] Formula (6)

[0106] In the case of image noise and blur, the operator in the mathematical morphology edge detection method is used to extract the edge information of the pixel point f(i,j) in equation (5). Part, its operator expression is:

[0107] Formula (7)

[0108] Due to the excessive complexity of the internal contours of certain specific parts, an identification area will be formed. For the over-identified area, the k-nearest neighbor classification method is used to characterize the shape of the internal contour by the regional center line.

[0109] In addition, machine learning is used to train and judge over-identified areas and holes.

[0110] Further, drawing the contour according to the contour feature includes:

[0111] Determine the actual coordinates of the image according to the contour features and the parameters of the camera in the world coordinate system; wherein the parameters include position and orientation;

[0112] Controlling the infrared sensor to perform coordinate search based on the actual coordinates and determine search results;

[0113] Based on the search results, a contour is drawn.

[0114] Further, the controlling the infrared sensor to perform coordinate search according to the actual coordinates to determine the search result includes:

[0115] Determine the search probability in the x direction and in the y direction according to the current position of the infrared sensor and the position of the last point tracked in the actual coordinates;

[0116] Determining a search direction according to the search probability;

[0117] The infrared sensor is controlled to move in the search direction to determine the search result.

[0118] Among them, because there are two infrared sensors, namely the first infrared sensor 109 and the second infrared sensor 117, the x-direction and y-direction of the two infrared sensors are defined respectively (one of the two sensors is used to draw the front view and the other is used to draw the top view): the x-direction of the first infrared sensor 109 is the second support column 106, and the y-direction is the first support column 101; the x-direction of the second infrared sensor 117 is the fourth support column 113, and the y-direction is the third support column 111.

[0119] Specifically, the above-identified pixel points are transformed according to internal parameters such as distortion and focal length of the camera lens and external parameters such as the position and orientation of the camera in the world coordinate system, so as to obtain the actual coordinates of the picture under actual conditions. Then the infrared sensor scans along the path according to the coordinates of these pixel points (the path refers to the path formed by the coordinate points of the picture after processing and projection to the real world).

[0120] Because the coordinate points extracted from the image are somewhat different from the shape of the actual object, the infrared sensor needs to search within a certain range on this coordinate to obtain the actual coordinates of the actual object. The coordinate search method is divided into two parts: searching at the edge and searching at the internal contour.

[0121] 1. The edge search method is as follows:

[0122] The location of the infrared sensor is indicated in the image Position, the actual position of the last point tracked is , then its slope is .

[0123] Based on this, the way to search its range is as follows: ; where α represents the probability of the infrared sensor searching in the y direction, and β represents the probability of the infrared sensor searching in the x direction. When α>β, the infrared sensor searches in the y direction, and when α<β, the infrared sensor searches in the x direction.

[0124] Based on this search logic, when the infrared sensor is moving and the z value of the direction it measures changes suddenly, the coordinates to which the sensor moves are The external contour points of the complex component are actually drawn based on this logic.

[0125] 2. The internal contour search method is as follows:

[0126] The infrared sensor is located at Position, the actual position of the last point tracked is , then its slope is .

[0127] Based on this, the way to search its range is as follows: ; where α represents the probability of the infrared sensor searching in the y direction, and β represents the probability of the infrared sensor searching in the x direction. When α>β, the infrared sensor searches in the y direction, and the coordinates of the infrared sensor measurement point during the search are , the new coordinate when moving along the y direction is , whose slope in the yz direction is The z direction is the direction in which the second infrared sensor 117 emits infrared rays.

[0128] when When the sensor moves to the coordinate It represents the internal contour points of complex components in actual situations. Based on this logic, the internal contour points are drawn.

[0129] Furthermore, after the outline is drawn based on the above logic, according to the determined hole position, the variable radius support 213 is pushed into the hole through the variable radius support 213, and the hole depth H is recorded when the bottom is reached. The radius of the variable radius support 213 is controlled by the hydraulic box 212, and when the radius reaches the inner surface, the hole radius R is recorded. When recording the radius of the hole, the distance moved by the variable radius support 213 is the center point of the circle.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for drawing complex parts of a car collision dummy, characterized in that: Drawing is performed using a drawing device, including: Placing the complex parts of the automobile collision dummy on the supporting platform of the complex parts placement assembly and fixing them with the clamping device, and then clamping the complex parts of the automobile collision dummy with the complex parts clamping assembly; Acquire pictures of the complex parts of the automobile collision dummy taken by the camera at multiple angles and information of the holes measured by the variable radius support; Performing grayscale processing and filtering processing on the image to obtain a preprocessed image; Extracting contour features from the preprocessed image to obtain contour features; the contour features include peripheral contour features and internal contour features; According to the outline feature, a contour is drawn; the contour includes an outer contour and an inner contour; Drawing a hole according to the contour and the hole information; The drawing device comprises: A frame assembly, comprising a frame body, and an infrared sensor and a camera arranged on the frame body; A complex part clamping assembly, comprising a telescopic bracket, a first rotating motor, a first telescopic device, a clamping plate and a variable radius support, wherein the telescopic bracket is respectively connected to the frame body and the first rotating motor, the first rotating motor is respectively connected to the first telescopic device and the variable radius support, and the first telescopic device is also connected to the clamping plate; A complex part placement assembly, comprising mutually connected pillars and a support platform, wherein the pillars are also connected to the frame body, and further comprising a clamping device, wherein the clamping device is connected to the support platform, wherein the clamping device comprises a movable device and a rubber clamping device that are connected to each other, wherein the movable device is disposed in the support platform, and wherein the rubber clamping device is disposed above the support platform through an opening on the support platform; Drawing the contour according to the contour feature comprises: Determine the actual coordinates of the image according to the contour features and the parameters of the camera in the world coordinate system; wherein the parameters include position and orientation; Controlling the infrared sensor to perform coordinate search based on the actual coordinates and determine search results; Based on the search results, a contour is drawn.

2. The method for drawing complex parts of a car collision dummy according to claim 1, characterized in that: The grayscale processing and filtering processing are performed on the image to obtain a preprocessed image, including: The image is gray-scaled using formula (1); wherein H represents the brightness value of the gray-scale image, R represents the red component value of the color image, G represents the green component value of the color image, and B represents the blue component value of the color image; H=0.229R+0.588G+0.144B (1); The image is filtered using formula (2); wherein f(xi,yj) is the pixel value of the image before filtering, g(x,y) is the pixel value of the image after filtering, and W is a two-dimensional filtering template; g(x,y) = median{f(xi,yj),(i,j)∈W}Equation (2).

3. The method for drawing complex parts of a car collision dummy according to claim 1, characterized in that: The extracting contour features from the preprocessed image to obtain contour features includes: Using the Sobel operator edge detection method to determine the edge of the preprocessed image, thereby obtaining a target image and extracting the coordinate value of the external contour; The internal characteristic curve is constructed by using improved morphological processing and improved random center displacement method.

4. The method for drawing complex parts of a car collision dummy according to claim 1, characterized in that: The controlling the infrared sensor to perform coordinate search according to the actual coordinates and determining search results includes: Determine the search probability in the x direction and in the y direction according to the current position of the infrared sensor and the position of the last point tracked in the actual coordinates; Determining a search direction according to the search probability; The infrared sensor is controlled to move in the search direction to determine the search result.

5. The method for drawing complex parts of a car collision dummy according to claim 1, characterized in that: The infrared sensor includes a first infrared sensor and a second infrared sensor, and the camera includes a first camera and a second camera; the frame assembly also includes a first movable support assembly and a second movable support assembly connected to the frame body; The first movable support assembly includes a first support column, a second support column, a first support plate, a first motor and a first conveyor belt, the first support column and the second support column are connected, the first support plate is arranged on the second support column, the first motor is used to drive the first conveyor belt to move, the first conveyor belt is also connected to the first support plate, and the first infrared sensor and the first camera are arranged on the first support plate; The second movable support assembly includes a third support column, a fourth support column, a second support plate, a second motor and a second conveyor belt, the third support column is connected to the fourth support column, the second support plate is arranged on the fourth support column, the second motor is used to drive the second conveyor belt to move, the second conveyor belt is also connected to the second support plate, and the second infrared sensor and the second camera are arranged on the second support plate.

6. The method for drawing complex parts of a car collision dummy according to claim 1, characterized in that: The complex part clamping assembly further includes a third motor, a fourth motor, a worm mechanism, a retractable device housing, a second rotary motor, a rotatable device, and a second retractable device; The third motor, the worm mechanism and the telescopic bracket are connected in sequence; the fourth motor is connected to the second rotating motor, the telescopic device housing is connected to the first rotating motor and the second rotating motor respectively, and the second rotating motor is also connected to the first telescopic device; The rotatable device and the second telescopic device are respectively arranged on both sides of the first telescopic device, and the clamping plate is connected to the second telescopic device.

7. The method for drawing complex parts of a car collision dummy according to claim 1, characterized in that: The complex part clamping assembly further comprises a hydraulic box, which is used to adjust the radius of the variable radius support.

8. The method for drawing complex parts of a car collision dummy according to claim 1, characterized in that: The complex parts placement assembly also includes a hydraulic column, which is respectively connected to the pillar and the support platform. The rubber clamping device includes a first section of rubber clamp and a second section of rubber clamp. The first section of rubber clamp is vertically arranged relative to the support platform, and the second section of rubber clamp is inclined relative to the support platform.

Images