摘要：【中文】本发明公开了一种优化双目相机外参数的方法，即通过双目相机拍摄棋盘格图像，求解双目相机的内外参数和畸变系数，对棋盘格图像去畸变和极线校正，使用抛物线法+EEC亚像素估计算法求出左右图像重合区域中角点的亚像素级坐标，计算出新外参用于优化双目相机的外参数，重复该过程几次直到双目相机外参数稳定即可完成双目相机外参数的优化。该方法简单，易于实现；利用EEC法重新进行角点检测，求出左右图像共同角点的亚像素级角点坐标，进而可以对原始外参进行优化调整；求出的外参数与未优化之前的外参数相比，更加准确。 【EN】The invention discloses a method for optimizing external parameters of a binocular camera, which comprises the steps of shooting a checkerboard image through the binocular camera, solving internal and external parameters and distortion coefficients of the binocular camera, carrying out distortion removal and polar line correction on the checkerboard image, solving sub-pixel level coordinates of corner points in a left image overlapping area and a right image overlapping area by using a parabola method and an EEC sub-pixel estimation algorithm, calculating new external parameters for optimizing the binocular camera, and repeating the process for several times until the external parameters of the binocular camera are stable to complete the optimization of the external parameters of the binocular camera. The method is simple and easy to realize; carrying out corner detection again by using an EEC method, solving sub-pixel level corner coordinates of a common corner of the left image and the right image, and further carrying out optimization adjustment on the original external parameters; the calculated extrinsic parameters are more accurate than extrinsic parameters before optimization.

摘要：【中文】本发明公开了一种棋盘格亚像素级角点自适应检测的方法。即通过在棋盘格上标记初始单位栅格位置，利用初始单位栅格四个角点在像素坐标系中的像素坐标以及世界坐标系中的世界坐标求出的单应性矩阵H向外扩展，在向外扩展的过程中自适应调整迭代窗口大小，最终发散到整个棋盘格区域完成棋盘格亚像素级角点自适应检测。该方法程序简单，易于实现；对于低分辨率或者畸变较大的棋盘格图像，能动态调整亚像素级角点的迭代窗口大小，降低亚像素级角点检测的错误率；角点检测速度快，不受棋盘格不完整影响，采集的图片拍到设定的标识即可；能将棋盘格图像完全覆盖满整个相机的视场角并提取边缘区域的特征点，标定出来的相机内外参更加准确。 【EN】The invention discloses a checkerboard sub-pixel level corner point self-adaptive detection method. The method comprises the steps of marking an initial unit grid position on a checkerboard, expanding outwards by utilizing a homography matrix H obtained by pixel coordinates of four corner points of the initial unit grid in a pixel coordinate system and world coordinates in a world coordinate system, adaptively adjusting the size of an iteration window in the process of expanding outwards, and finally dispersing to the whole checkerboard area to finish checkerboard sub-pixel level corner point adaptive detection. The method has simple procedure and is easy to realize; for a checkerboard image with low resolution or large distortion, the size of an iteration window of a sub-pixel-level corner point can be dynamically adjusted, and the error rate of sub-pixel-level corner point detection is reduced; the angular point detection speed is high, the influence of incomplete checkerboard is avoided, and the acquired picture can be photographed to a set identifier; the chessboard pattern image can completely cover the field angle of the whole camera and extract the characteristic points of the edge area, and the calibrated internal and external parameters of the camera are more accurate.

摘要：【中文】本发明涉及一种减速器试验装置，包括试验台、振动机构和扭矩加载机构，被测减速器固定在试验台上，扭矩加载机构与被测减速器的输入端连接，振动机构与试验台相连接。扭矩加载机构能够向被测减速器的输入轴施加一定的扭矩，能够模拟被测减速器在车辆上的实际内部受力情况，而且，振动机构带动试验台振动，进而带动被测减速器振动，模拟被测减速器在车辆上的真实的振动情况。因此，通过向被测减速器施加一定的扭矩以及带动被测减速器振动能够更加真实地模拟被测减速器的运行环境，降低试验环境与实际环境之间的误差，提升被测减速器的试验准确性。 【EN】The invention relates to a reducer testing device which comprises a testing table, a vibrating mechanism and a torque loading mechanism, wherein a reducer to be tested is fixed on the testing table, the torque loading mechanism is connected with the input end of the reducer to be tested, and the vibrating mechanism is connected with the testing table. The torque loading mechanism can apply certain torque to the input shaft of the tested speed reducer, the actual internal stress condition of the tested speed reducer on the vehicle can be simulated, and the vibrating mechanism drives the test bed to vibrate so as to drive the tested speed reducer to vibrate and simulate the real vibration condition of the tested speed reducer on the vehicle. Therefore, the running environment of the tested speed reducer can be simulated more truly by applying certain torque to the tested speed reducer and driving the tested speed reducer to vibrate, the error between the test environment and the actual environment is reduced, and the test accuracy of the tested speed reducer is improved.

摘要：【中文】本发明公开了一种整体发泡系统及方法，发泡系统包括发泡平台和发泡模具，发泡平台包括上层平台、下层平台和升降组件，发泡模具包括上模具和下模具，上模具与上层平台连接，上层平台通过升降组件驱动而升降，实现发泡件支撑、发泡时压紧保压；下模具可沿发泡平台的长度方向在上层平台与下层平台之间穿越，进入或者移出发泡平台，实现连续进料和出料。本发明提供的整体发泡系统采用了纵向移动方式，使用多个下模具即可实现连续、批量化生产，设备闲置率低，同时也适用于产品试制及小批量生产，柔性化程度高。制备得到的发泡件是发泡保温材料与安装区域的外板一起发泡成为整体，发泡件隔热性能好。 【EN】The invention discloses an integral foaming system and a method, wherein the foaming system comprises a foaming platform and a foaming mould, the foaming platform comprises an upper platform, a lower platform and a lifting assembly, the foaming mould comprises an upper mould and a lower mould, the upper mould is connected with the upper platform, and the upper platform is driven by the lifting assembly to lift, so that the supporting and the pressure maintaining of a foaming piece during foaming are realized; the lower die can penetrate between the upper platform and the lower platform along the length direction of the foaming platform, and enters or moves out of the foaming platform, so that continuous feeding and discharging are realized. The integral foaming system provided by the invention adopts a longitudinal moving mode, can realize continuous and batch production by using a plurality of lower dies, has low equipment idle rate, is also suitable for product trial production and small-batch production, and has high flexibility. The prepared foaming piece is formed by foaming the foaming heat-insulating material and the outer plate of the mounting area into a whole, and the foaming piece has good heat-insulating property.