CN105675318B - The full-automatic calibrating installation of fuel charger and leveling, liquid level image-recognizing method - Google Patents
The full-automatic calibrating installation of fuel charger and leveling, liquid level image-recognizing method Download PDFInfo
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- CN105675318B CN105675318B CN201511009511.0A CN201511009511A CN105675318B CN 105675318 B CN105675318 B CN 105675318B CN 201511009511 A CN201511009511 A CN 201511009511A CN 105675318 B CN105675318 B CN 105675318B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
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Abstract
The invention discloses the full-automatic calibrating installation of fuel charger and leveling, liquid level image-recognizing methods.Including three parts：Sensor and executing agency, embedded ARM processor, host computer verification system.The device utilizes embedded technology and sensor technology, the uninterrupted for realizing the automatic leveling of fuel charger calibrating installation, automatically switching size criteria measuring device, automatically adjusting refueling nozzle；Oil product liquid level, temperature are read automatically by camera and temperature sensor, and serial ports is sent to host computer, compensation calculation obtains practical oil product capacity in host computer, and compared with fuel charger indicating value, obtains the error of indication of fuel charger；Realize fuel charger it is small, in, big flow disposably examine and determine, signal sent out by host computer after the completion of calibrating solenoid valve and oil drain pump controlled by controller and carry out disposable oil extraction, finally preserved original record and print probation redport.
Description
Technical field
The present invention relates to a kind of full-automatic calibrating installation of fuel charger and leveling, liquid level image-recognizing methods, are suitable for
The calibrating of all oil product fuel chargers fast and automatically changed, belongs to electric automatization detection field.
Background technology
Fuel charger is one of most important measurement instrument of product oil field of circulation trade settlement, accuracy requirement
0.3 grade.To ensure that the accurate metering of oil product, the calibration operation of fuel charger are even more important.Domestic measurement technology mechanism is adopted more
With the error of indication of Static Volumetric Method detecting fuel dispenser, that is, use standard capacity measure standard set-up detecting fuel dispenser.
The calculating of standard capacity measure capability value depends primarily on temperature in metering neck liquid level and standard capacity measure, measures neck
Liquid level and temperature value are measured to be carried out by the way of artificial reading metering neck scale and thermometer, therefore original static volume
Three major defects existing for method fuel charger calibrating installation：
1) by drum levelling device, inaccurately, and survey crew's manual adjustment screw, workload are heavy；
2) often examine and determine a fuel charger, all need manually to read temperature in measuring device, fuel charger outlet temperature and
Neck liquid level is measured, it is inaccurate, unreliable, efficiency is low；
3) difficulty in computation is big, because after gas station's execute-in-place, artificial acquisition liquid level and temperature value, need to manually calculate
The orthobaric volume of oil product, amount of calculation are big at 20 DEG C, it has not been convenient to, error-prone, working efficiency is low.
Invention content
In order to solve the above technical problem, the present invention provides a kind of high degree of automation, combustions efficient, accuracy of detection is high
The full-automatic calibrating installation of oily fuel charger and leveling, liquid level image-recognizing method.It includes mainly five parts：Leveling module adds
Oil gun flow self-adjustment module, liquid level picture recognition module, temperature collecting module and host computer verification system.
The technical scheme is that：A kind of full-automatic calibrating installation of fuel charger, including refueling nozzle flow are adjusted automatically
Save module, standard capacity measure, leveling module, liquid level picture recognition module, temperature collecting module, embedded ARM processor, on
Position machine verification system；The import of the refueling nozzle flow self-adjustment module is connected with oil inlet pipe；The refueling nozzle flow is automatic
The outlet of adjustment module is connected by flowline with standard capacity measure upper end import；The embedded ARM processor point
It is not examined and determine with refueling nozzle flow self-adjustment module, leveling module, liquid level picture recognition module, temperature collecting module, host computer
System is connected；The refueling nozzle flow self-adjustment module is connected with embedded ARM processor, host computer verification system successively,
It realizes the automatic control and adjustment to refueling nozzle flow, can also realize the selection for selecting large, medium and small range or other to fix range；
The leveling module is mounted on the standard capacity measure bottom end, and the embedded ARM processor people having the same aspiration and interest flat-die block is connected, passes through
SPI communication acquires the inclination value of double-shaft tilt angle sensor, is calculated by PID, sends out direction control signal and pulse signal control
Two stepper motor realization device automatic levelings；The liquid level picture recognition module includes being mounted on standard capacity measure upper end neck
Portion shows liquid pipe and camera；The embedded ARM processor is connected with camera, and oil is acquired by embedded ARM processor
Bit image carries out gray processing, filtering, binaryzation, edge detection, liquid level extraction by openCV, is calculated using to system calibrating
It is converted into actual liquid level height；The temperature collecting module includes measuring device mouth temperature sensor, temperature sensor in measuring device；It is described
Embedded ARM processor acquires the temperature value of temperature sensor in measuring device mouth temperature sensor and measuring device by A/D conversions；Institute
It states host computer verification system with embedded ARM processor to be connected, using labview upper computer softwares, is used for real-time display standard
Metal tank top base temperature and level height, and obtained data are saved as into EXCLE original records, pass through coefficient
Compensation calculation obtains the actual volume of final oil, and whether automatic decision is qualified, and prints calibration certificate.
Further, the leveling module includes：Double-shaft tilt angle sensor, X-axis stepper motor, X-axis sliding screw, fixed branch
Foot, y-axis stepper motor, Y-axis sliding screw；The shaft and X-axis sliding screw of X-axis stepper motor are linked by turntable, X-axis stepping
Motor rotation can drive X-axis sliding screw to rotate, to realize that sliding screw moves up and down；The shaft and Y-axis of y-axis stepper motor
Sliding screw is linked by turntable, and y-axis stepper motor rotation can drive Y-axis sliding screw to rotate, to realize on sliding screw
Lower movement.
Further, the refueling nozzle flow self-adjustment module includes：Oil gun fixed case, adjusts trigger at oiling oil gun
Device；Case lid is equipped on front side of the oil gun fixed case, oil inlet nozzle, the oil inlet nozzle are reserved in the side of the oil gun fixed case
Pass through for the oiling oil gun oil pipe, the other side of the oil gun fixed case is equipped with oil outlet, the oiling oil gun
Muzzle faces the oil outlet, and the oil outlet connects flowline, and the flowline is equipped with triangle electromagnetic valve；
The adjusting trigger gear is arranged inside the oil gun fixed case, including stepper motor, stepper motor driver,
Slide plate, connecting rod stir device, and the output shaft end of the stepper motor is cased with round slide plate, and output shaft and the slide plate are solid
Fixed connection；One end of the connecting rod is welded on slide plate circumference side, and the other end connection of the connecting rod is described to dial
Dynamic device；The stepper motor drives the connecting rod rotation on slide plate so that stirs device and fiddles with the oiling oil gun
Oil gun trigger, realize oil gun trigger opening and closing.
Further, the embedded ARM processor can send out different pulses to the stepper motor driver, to
Fuel charger gun trigger is driven to turn to corresponding range area by double plectrums；The embedded ARM processor and triangle electricity
Magnet valve door, for controlling uninterrupted.
Further, the device of stirring is double plectrums, and double plectrums are welded in the connecting rod, the oil gun trigger
It is limited between double plectrums, and double plectrums are perpendicular to the plane where the oil gun trigger.
Further, the slide plate is circular foil member.
Further, further include solenoid valve control module, sending out signal by host computer verification system after the completion of calibrating passes through
Arm processor controls solenoid valve and oil drain pump carries out disposable oil extraction.
A kind of liquid level image-recognizing method of the full-automatic calibrating installation of fuel charger, includes the following steps：
Step 1, show that liquid pipe and camera are enclosed in camera bellows, show liquid pipe with strip source irradiation, put on the top of camera bellows
Two sources of parallel light, light can reflect light from air image concave meniscus, the image of camera shooting had at concave meniscus one it is black
The outer wall concave line of color；
Step 2, show liquid pipe oil level line image using using camera acquisition, obtain after liquid level image in arm processor device
In the image of acquisition is handled in real time：Image gray processing is handled first, then is made of the two-dimentional discrete Gaussian function of zero-mean
Smoothing filter is to image real time transfer；Then use edge detection into the measurement of the grey scale change of row image, detection and positioning,
Using the detection of the realization liquid level of the Canny edge detection algorithms in openCV；Calculate liquid level pixels tall, finally pass through pair
Camera calibration calculating is converted into actual liquid level height.
Further, the Canny edge detection algorithms are as follows：
Step 2.1, picture smooth treatment：, to image filtering, the noise in image is removed with Gaussian filter；
Step 2.2, gradient algorithm is sought：The gradient spoke value of each pixel is obtained using derivative operator | G | and direction e, that is, it asks
Go out intensity and its direction at edge：
F is filtered image；
Step 2.3, non-maximum value inhibition is carried out to gradient；
Step 2.4, all marginal points after the inhibition of non-maximum value are handled using double thresholds methods；
Step 2.5, edge connects.
A kind of leveling method of the full-automatic calibrating installation of fuel charger, embedded ARM processor in the leveling module
Execute following steps：
Step a, the double-shaft tilt angle that SPI communication mode is opened with function fd1=open ("/dev/SPI ", O_RDWR) sense
Device collecting device, fd1 are the filec descriptors returned after double-shaft tilt angle sensor collecting device is opened；With function fd1=open
It is the filec descriptor returned after I/O port equipment is opened that ("/dev/GPIO ", O_RDWR), which opens I/O port equipment fd2,；
Step b reads the inclination value of double-shaft tilt angle sensor using read (fd1, buffer, 8) function；
Step c, with if () function judge X-axis and Y-axis inclination value whether (the acquisition between ± 0.5 ° i.e. 1020-1030
It is horizontal reference value to 1024)；
Step d, if the value X ＞ 1030 of acquisition, are managed GPB5 by function iotrl (fd2, GPB5_ON, GPB6)
Foot sets a high position, and left Y-axis stepper motor is made to rotate forward, and 10* (x-1024) a pulse, left Y-axis stepping electricity are sent to GPB6 pins
Machine rotates the distance of corresponding deviation；If the value X ＜ 1020 of acquisition, pass through function iotrl (fd2, GPB5_OFF, GPB6)
GPB5 pins are set low into position, stepper motor is made to invert, 10* (x-1024) a pulse, stepper motor rotation are sent to GPB6 pins
The distance of corresponding deviation；If the value Y ＞ 1030 of acquisition, by function iotrl (fd2, GPB7_ON, GPB8) by GPB7
Pin sets a high position, and right side X-axis stepper motor is made to rotate forward, and 10* (x-1024) a pulse, stepper motor rotation are sent to GPB8 pins
Corresponding distance；If the value Y ＜ 1020 of acquisition, by function iotrl (fd2, GPB7_OFF, GPB8) by GPB7 pins
Set low position, make right side X-axis stepper motor reversion, to GPB8 pins send 10* (x-1024) pulse, rotate corresponding deviation away from
From；Cycle-index completes levelling function；
Step e is in leveling state when 1020 ＜ X ＜ 1030 (± 0.5 °) of value of acquisition, finally uses close ()
Function pass hull closure, exits the program.
The present invention technique effect be：By theoretical calculation and laboratory investment, the automatic Verification of fuel charger is confirmed
System entirety uncertainty is better than 0.05%, can carry out the measurement verification work for the fuel charger that class of accuracy is 0.3%
Make, while its structure and handling comply fully with real work needs.The system can be in the calibrating field of fuel charger
Significant role is played, intensity of workers is effectively reduced, improves working efficiency.In addition to this, what the present invention also had has
Beneficial effect includes the following：
1) it uses double-shaft tilt angle sensor to replace drum method, and passes through stepper motor automatic leveling, instead of artificial leveling, save
Go heavy operation.
2) it uses camera to acquire oil level image, and liquid level is obtained by graphics process, adopted using temperature sensor
Collect temperature, instead of manually reading, and precision is high.
3) the automatic compensation calculation of upper computer software obtains practical oil product capacity, and compared with fuel charger indicating value, obtains
To the error of indication of fuel charger, instead of manually calculating, accuracy is high.
4) when detecting oiling machine, oiling oil gun is put by oil inlet nozzle in oil gun fixed case, in oil gun fixed case
Fixinig plate clamps oiling oil gun, closes case lid, fixed oiling oil gun；The output shaft end of stepper motor is fixed with slide plate to be connected
It connects, one end of bar, the double plectrums of other end connection of connecting rod is welded to connect on slide plate circumference side, stepper motor drives on slide plate
Connecting rod rotation so that double plectrums fiddle with the oil gun trigger of oiling oil gun, realize the opening and closing of oil gun trigger；
Oiling oil gun trigger is arranged inside oil gun fixed case, and by the opening and closing of step motor control oil gun trigger,
To hold oiling oil gun instead of human hand, the volatilization of oil is avoided to damage the body of testing person.
5) in fuel charger verification process, the inspection to the large, medium and small flow of oiling oil gun is realized by arm processor
It is fixed；The LCD interfaces of arm processor are connected with touch screen by data line, and touch screen is equipped with large, medium and small flow switch button, when
When examining and determine large, medium and small flow, large, medium and small flow button is pressed, large, medium and small flow is opened；In addition, the GPIO of arm processor
Pin and triangle electromagnetic valve control uninterrupted by triangle electromagnetic valve；The GPIO pins and stepper motor of arm processor
Driver is connected, for controlling stepper motor；Uninterrupted is adjusted by arm processor, oil gun need not be manually pulled and pull
Machine is adjusted, and is improved the accuracy of injection flow, is substantially increased the working efficiency of staff.
Description of the drawings
Fig. 1 is the model schematic of the full-automatic calibrating installation of invention fuel charger.
In figure：1. printer, 2.ARM processors, 3. master systems, 4. triangle solenoid valves, 5. measuring device mouth temperature sensing
Device, 6. refueling nozzle flow automatic adjusting mechanisms, 7. show liquid pipe, 8. cameras, temperature sensor in 9. measuring devices, 10. standard metals
Measuring device, 11. double-shaft tilt angle sensors, 12. explosion-proof solenoid valves, 13.X shaft step motors, 14.X axis sliding screws, 15. fix branch
Foot, 16.Y shaft step motors, 17.Y axis sliding screws, 18. explosion-proof oil drain pumps.
Fig. 2 is the structure chart of the full-automatic calibrating installation of invention fuel charger.
In figure：7. show liquid pipe, 8. cameras, temperature sensor in 9. measuring devices, 10. standard capacity measures, 12. explosion-proof electromagnetics
Valve, 13.X shaft step motors, 14.X axis sliding screws, 15. fixing legs, 16.Y shaft step motors, 17.Y axis sliding screws,
19. oil extraction valve, 20 measuring device oilers.
Fig. 3 is device leveling flow chart.
Fig. 4 is to call camera image process chart.
Fig. 5 temperature acquisition flow charts.
Fig. 6 refueling nozzle automatic flow rate adjusting device schematic diagrames.
In figure：21. oil gun fixed case, 22. stepper motors, 23. oil pipe mouths, 24. pairs of plectrums, 25. oil gun triggers, 26. is solid
Stator, 27 oiling oil guns, 28. case lids, 29. triangle electromagnetic valve, 30. slide plate, 31 connecting rods.
Fig. 7 oil levels acquire camera bellows structural schematic diagram.
In figure：7. show liquid pipe, 8. cameras, 41. camera bellows, 42. strip sources.
Fig. 8 is oil level image recognition design sketch；In figure：(a) original level image, (b) gray processing handling result (c) are filtered
As a result, (d) edge detection results, (e) result after liquid level line drawing after wave.
Fig. 9 is that position LabVIEW host computers examine and determine picture.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
System structure is as shown in Figs. 1-2.The full-automatic calibrating installation of fuel charger based on embedded technology is made with ARM9
Core in order to control, including：Refueling nozzle flow self-adjustment module, standard capacity measure, leveling module, liquid level image recognition mould
Block, temperature collecting module, embedded ARM processor, host computer verification system；The refueling nozzle flow self-adjustment module into
Mouth is connected with oil inlet pipe；The outlet of the refueling nozzle flow self-adjustment module passes through on flowline and the standard capacity measure
Import is held to be connected；The embedded ARM processor respectively with refueling nozzle flow self-adjustment module, leveling module, liquid level image
Identification module, temperature collecting module, host computer verification system are connected；The refueling nozzle flow self-adjustment module is successively and embedded
Formula arm processor, host computer verification system are connected, and realize to the automatic control and adjustment of refueling nozzle flow, can also realize selection it is big,
In, small-range or other fix ranges selection；The leveling module is mounted on the standard capacity measure bottom end, the insertion
Formula arm processor people having the same aspiration and interest flat-die block is connected, and the inclination value of double-shaft tilt angle sensor 11 is acquired by SPI communication, is counted by PID
It calculates, sends out direction control signal and pulse signal controls two stepper motor realization device automatic levelings；The liquid level image is known
Other module includes showing liquid pipe 7 and camera 8 mounted on standard capacity measure upper end neck；The embedded ARM processor is same
Camera 8 be connected, by embedded ARM processor 2 acquire oil level image, by openCV carry out gray processing, filtering, binaryzation,
Edge detection, liquid level extraction are converted into actual liquid level height using to system calibrating calculating；The temperature collecting module includes
Temperature sensor 9 in measuring device mouth temperature sensor 5, measuring device；The embedded ARM processor 2 acquires measuring device by A/D conversions
The temperature value of temperature sensor 9 in mouth temperature sensor 5 and measuring device；The host computer verification system and embedded ARM processor
It is connected, using labview upper computer softwares, is used for real-time display standard capacity measure top base temperature and level height,
And obtained data are saved as into EXCLE original records, the actual volume of final oil is calculated by compensating coefficient, automatically
Judge whether qualification, and prints calibration certificate.
The leveling module includes：Double-shaft tilt angle sensor 11, X-axis stepper motor 13, X-axis sliding screw 14, fixed branch
Foot 15, y-axis stepper motor 16, Y-axis sliding screw 17；The shaft and X-axis sliding screw 14 of X-axis stepper motor 13 pass through turntable chain
It connects, the rotation of X-axis stepper motor 13 can drive X-axis sliding screw 14 to rotate, to realize that sliding screw 14 moves up and down；Y-axis walks
The shaft and Y-axis sliding screw 17 of stepper motor 16 are linked by turntable, and the rotation of y-axis stepper motor 16 can drive Y-axis sliding screw
17 rotations, to realize that sliding screw 17 moves up and down.
The refueling nozzle flow self-adjustment module includes：Oil gun fixed case 21, oiling oil gun 27 adjust trigger dress
It sets；The front side of the oil gun fixed case 21 is equipped with case lid 28, and oil inlet nozzle 23 is reserved in the side of the oil gun fixed case 21, it is described into
Oil pipe mouth 23 passes through for 27 oil pipe of oiling oil gun, and the other side of the oil gun fixed case 21 is equipped with oil outlet, described
The muzzle of oiling oil gun 27 faces the oil outlet, and the oil outlet connects flowline, and the flowline is equipped with triangle
Electromagnetic valve 29；The adjusting trigger gear is arranged inside the oil gun fixed case 21, including stepper motor 22, stepper motor
Driver 23, connecting rod 21, stirs device 24 at slide plate 20, and the output shaft end of the stepper motor 22 is cased with round slide plate 30, and
Output shaft is fixed with the slide plate 30 and is welded；One end of the connecting rod 31 is welded on 30 circumference side of the slide plate, described
Device 24 is stirred described in the other end connection of connecting rod 31；The stepper motor 22 drives the connecting rod 21 on slide plate 30 to rotate,
It fiddles with the oil gun trigger 25 of the oiling oil gun 27 so that stirring device 24, realizes unlatching and the pass of oil gun trigger 25
It closes.
The embedded ARM processor 2 can send out different pulses to the stepper motor driver 23, to pass through
Double plectrums drive fuel charger gun trigger to turn to corresponding range area；The embedded ARM processor 2 and the triangle solenoid valve
Door 29, for controlling uninterrupted.
It is double plectrums that the present invention was preferably implemented, which stirs device, and double plectrums are welded in the connecting rod 31, described
Oil gun trigger 25 is limited between double plectrums, and double plectrums are perpendicular to the plane where the oil gun trigger 25.
The slide plate 30 is circular foil member.Double plectrums can be one end that two iron plates are welded on connecting rod 31, two iron
Certain gap is reserved between piece, the size in gap can just accommodate the handle thickness of oil gun trigger, and oiling oil gun 27 is pulled
Machine 25 is limited between double plectrums, and double plectrums are perpendicular to the plane where oil gun trigger 25；The connecting rod 31 and described
The plane that slide plate 30 is formed is parallel with the plane where the oil gun trigger 25.
1. being based on Embedded levelling mechanism module
As the preferred embodiment of the present invention, which is placed in two standard capacity measures (20L and 100L) in babinet,
Obliquity sensor is housed on babinet, the inclination value of obliquity sensor is acquired using processor and carries out PID calculating, sends out pulse letter
Number control two stepper motor realization device automatic levelings.
Leveling module in Fig. 1 can be made of ARM+LINUX embedded modules, SCA100T double-shaft tilt angle sensors, stepping
Motor and stepper motor driver, adjustable leading screw composition.Wherein in ARM+LINUX embedded modules, ARMS3C2440 is selected
Core in order to control, Linux are operating system.ARM+LINUX embedded modules acquire double-shaft tilt angle sensor 11 by SPI communication
Inclination value (X-axis and Y-axis), calculated by PID, send out direction control signal and pulse signal and control two stepper motors and realize
Device automatic leveling；Leveling flow is as shown in Figure 3.Leveling step is as follows：
1. the double-shaft tilt angle sensor for opening SPI communication mode with function fd1=open ("/dev/SPI ", O_RDWR) is adopted
Collect equipment, fd1 is the filec descriptor returned after double-shaft tilt angle sensor collecting device is opened；With function fd1=open ("/
Dev/GPIO ", O_RDWR) to open I/O port equipment fd2 be the filec descriptor that returns after I/O port equipment is opened；
2. reading inclining for double-shaft tilt angle sensor (SCA100T obliquity sensors) using read (fd1, buffer, 8) function
Angle value；
3. judging whether the inclination value of X-axis and Y-axis (collects between ± 0.5 ° i.e. 1020-1030 with if () function
1024 be horizontal reference value)；
4. if the value X ＞ 1030 of acquisition, are set GPB5 pins by function iotrl (fd2, GPB5_ON, GPB6)
A high position makes left Y-axis stepper motor rotate forward, and sends 10* (x-1024) a pulse to GPB6 pins, left Y-axis stepper motor turns
Move the distance of corresponding deviation；It, will by function iotrl (fd2, GPB5_OFF, GPB6) if the value X ＜ 1020 of acquisition
GPB5 pins set low position, and stepper motor is made to invert, and send 10* (x-1024) a pulse to GPB6 pins, stepper motor rotates phase
Answer the distance of deviation；If the value Y ＞ 1030 of acquisition, are managed GPB7 by function iotrl (fd2, GPB7_ON, GPB8)
Foot sets a high position, and right side X-axis stepper motor is made to rotate forward, and sends 10* (x-1024) a pulse to GPB8 pins, stepper motor rotates phase
The distance answered；If the value Y ＜ 1020 of acquisition, are set GPB7 pins by function iotrl (fd2, GPB7_OFF, GPB8)
Low level makes right side X-axis stepper motor reversion, sends 10* (x-1024) pulse to GPB8 pins, rotate the distance of corresponding deviation；
Cycle-index completes levelling function；
5. when 1020 ＜ X ＜ 1030 (± 0.5 °) of value of acquisition, it is in leveling state, finally uses close () function
Pass hull closure exits the program.
2. being based on Embedded refueling nozzle flow self-adjustment module
As shown in fig. 6, the adjusting trigger gear is arranged inside oil gun fixed case 21, including stepper motor 22, slide plate
30, connecting rod 31, double plectrums 24；The output shaft end of stepper motor 22 is cased with slide plate 30, and output shaft is fixedly connected with slide plate 30, sliding
30 circumference side of piece is welded with one end of connecting rod 31, and the other end of connecting rod 31 is vertically fixedly connected with double plectrums 24, double plectrums
The trigger 25 of oiling oil gun 27 is accompanied between 24, and double plectrums 24 are perpendicular to the plane where trigger；When oiling, by refueling nozzle
It is put into an oil gun fixed case 21, is clamped by fixinig plate 26 and add oiling oil gun 27, close case lid 28, it is big when needing to examine and determine
When flow, in host computer verification system click wide range button, then arm processor GPIO pins can send out 500 pulses to
Stepper motor driver, stepper motor driver are rotated according to umber of pulse Driving Stepping Motor, are added to be driven by double plectrums
Oil machine gun trigger turns to wide range area；In needing to examine and determine when flow, the middle span push buttons in host computer are clicked, then at ARM
Reason device GPIO pins can send out 300 pulses to stepper motor driver, and stepper motor driver drives stepping according to umber of pulse
Motor rotates, to drive fuel charger gun trigger to turn to middle range area by double plectrums；When needing to examine and determine small flow, click
Small range in host computer, then arm processor GPIO pins can send out 100 pulses to stepper motor driver, stepper motor drives
Dynamic device is rotated according to umber of pulse Driving Stepping Motor, to drive fuel charger gun trigger to turn to small-range area by double plectrums；
Dividing for above-mentioned range area can judge according to the press degree of control oil gun trigger, such as wide range area acute pyogenic infection of finger tip oil gun trigger
It is pressed into utmostly, other ranges and so on.
As the embodiment of the present invention, the refueling nozzle flow self-adjustment module being equipped on device passes through stepper motor tune
Amount of restriction size opens small flow, and select small measuring device (20L) by triangle valve when examining and determine small flow, when the big stream of calibrating
When amount, big flow is opened, and big measuring device (100L) is selected by triangle valve.
3. being based on Embedded liquid level picture recognition module
If Fig. 7 will show that liquid pipe 7 and camera 8 are enclosed in camera bellows 41, show liquid pipe with the irradiation of strip source 42, thinner
Glass shows in liquid pipe liquid level gauge, and due to the suction-operated of oil and glass inside pipe wall, the liquid level at edge is higher by a bit than intermediate level,
Lower concave paraboloid is totally presented in liquid level, and two sources of parallel light are put on the top of camera bellows, and light can reflect light from air image concave meniscus,
The image of camera shooting has the outer wall concave line of a black at concave meniscus.Show liquid pipe oil level using using the acquisition of camera 8
Line image, Image Acquisition flow chart using open ("/dev/vido0 ") as shown in figure 4, open camera device file, use
Ioctl (grab_fd, VIDIOCGBBUF , ＆grab_cap) function obtains facility information, then maps mmap () letter with memory
Number, equipment buffering is mapped to memory headroom again use read_frame (s ＆m_camera, m_image.bits ()) function acquisition work as
Previous frame figure.The image of acquisition is handled in real time in arm processor device 2 after obtaining liquid level image：
1. image gray processing
Since picture to be detected includes a large amount of colouring information, but these information are nonsensical to the identification of image
, it is therefore desirable to gray processing is carried out to it to filter out the data unrelated with identification information, and formula is used in openCV：
RGB=B*0.114+G*0.587+R*0.299 (1)
Gray processing is carried out to original image with cvCvtColor operators in openCV, image 8 (b) is to carry out gray scale to image
Result after change.
2. image filtering
Image is easily influenced by various environmental disturbances, is shown and be will appear noise on picture, in order to reduce the negative of grass
Face is rung, it is necessary to use noise filter to image real time transfer.Contain various interference informations, system in Fig. 8 (b) images
Removed using the method for gaussian filtering.Gaussian filter is the linear smoothing that weights are selected according to the shape of Gaussian function
Filter, Gaussian filter have good effect to the noise for removing Normal Distribution.For image, two dimension is commonly used
The discrete Gaussian function of zero-mean makees smoothing filter, and function expression is as follows：
CvSmooth operators are called to carry out gaussian filtering in openCV.Shown in its handling result such as Fig. 8 (c), Gao Siping
Filter slide is highly effective for inhibiting the noise of Normal Distribution.
3. edge detection
The edge of image refers to the significant part of image regional area brightness change, and the gray scale section in the region generally can be with
Regard a step as.Edge detection is mainly measurement, detection and the positioning of the grey scale change of image.Article uses in openCV
Canny algorithms realization liquid level detection.Canny edge detection algorithms are as follows：
(1) image smoothing：, to image filtering, the noise in image is removed with Gaussian filter；
(2) gradient algorithm is sought：The gradient spoke value of each pixel is obtained using derivative operator | G | and direction e, that is, find out edge
Intensity and its direction：
F is filtered image.
(3) non-maximum value inhibition is carried out to gradient；
(4) all marginal points after the inhibition of non-maximum value are handled using double thresholds methods；
(5) edge connects.
Treated for it shown in image such as Fig. 8 (d).
4. calculating the pixels tall of liquid level
Two calibration point coordinates and liquid level concave meniscus center of gravity point coordinates (i.e. concave meniscus minimum point) up and down, subscript are found out first
The difference for pinpointing concave meniscus coordinate points Y-axis pixel value is exactly to show liquid pipe liquid level pixels tall.The liquid level and ginseng extracted in Fig. 8 (d)
Examination point figure is not regular figure, to find out the barycentric coodinates point of irregular figure, first calculates liquid level and reference point is irregular
The square of figure, using the square in region shared by target as shape description parameter.Square can be used for two-value or the region of gray level is retouched
It states.For discrete intensity image x (i, j), p+q rank moment of the origns are defined as
Wherein i, j, p, q are the coordinates (pixel coordinate in digital picture) of region point.Enable XC, YCIndicate regional barycenter
Coordinate, then：
XC=M10/M00 (6)
YC=M01/M00 (7)
In the case of bianry image, M00Indicate the area in region.
In OpenCV, the feature square of polygonal region can be very easily calculated, letter cvMoments operators can be used
To calculate the square information of bianry image.Image such as Fig. 8 of barycentric coodinates point and corresponding Y axis coordinate line is obtained after image procossing
(e) shown in.
Finally by being converted into actual liquid level height to camera calibration calculating.
4. being based on Embedded temperature collecting module
Oil temperature needs to acquire twice, the oil temperature in oil temperature (oil temperature of the gas station's oil storage tank) acquisition of oiling muzzle and measuring device
Acquisition, is respectively adopted temperature sensor 9 in measuring device mouth temperature sensor 5 and measuring device, is PT100 temperature sensors, and precision ±
It is 0.2 DEG C, specific to acquire the as shown in flow chart 5 using open ("/dev/ADC "), ADC device file is opened, read is then used
(fd, buffer, sizeofbuffer-1) function reads temperature value.Camera and temperature sensing are filled on above-mentioned each measuring device
Device, when calibrating, oil product liquid level, the temperature of acquisition are sent to host computer by controller by serial ports.
5. the host computer verification system based on LabVIEW
As shown in figure 9, device uses LabVIEW as host computer, communicated with slave computer ARM by serial ports, real-time display
Measuring device top base temperature and level height, and obtained data are saved as into EXCLE original records, pass through compensating coefficient
The actual volume of final oil is calculated, whether automatic decision is qualified, and prints calibration certificate.
As an embodiment of the present invention, set in Fig. 9 two kinds for inspection standard capacity measure, one is
100L, one is 20L, after pressing corresponding measuring device threshold switch (100L, 20L or other ranges) on host computer picture, is refueled
Rifle flow self-adjustment module can realize the opening and closing of oil gun trigger 25, export corresponding range for examining and determine.
In addition, the present invention is additionally provided with explosion-proof solenoid valve control module, sending out signal by host computer after the completion of calibrating passes through
Arm processor controls solenoid valve and oil drain pump carries out disposable oil extraction.It often examines and determine a refueling nozzle and needs (large, medium and small amount three times
Journey) calibrating, if it is every time that the anti-gas station's fuel tank that is discharged to of oil is cumbersome, therefore fuel reserve tank and anti-explosion electric would be installed on device
Magnet valve 12 and explosion-proof oil drain pump 18 once just control explosion-proof solenoid valve in host computer click oil extraction button when having examined and determine by ARM
12 are first discharged to oil in fuel reserve tank, and after the completion of a refueling nozzle calibrating three times, host computer clicks oil drain pump control button, passes through
ARM controls explosion-proof bat oil pump, is discharged to the oil of fuel reserve tank is counter in gas station's fuel reserve tank.
To sum up, the invention discloses the full-automatic calibrating installation of fuel charger and leveling, liquid level image-recognizing methods.The dress
It sets and utilizes embedded technology and sensor technology, realize the automatic leveling of fuel charger calibrating installation, automatically switch size criteria amount
Device, the uninterrupted for automatically adjusting refueling nozzle；Oil product liquid level, temperature are read automatically by camera and temperature sensor, and are gone here and there
Mouthful be sent to host computer verification system, compensation calculation obtains practical oil product capacity in host computer, and with fuel charger indicating value
It compares, obtains the error of indication of fuel charger；Realize fuel charger it is small, in, big flow disposably examine and determine, it is logical after the completion of calibrating
It crosses host computer and sends out signal by arm processor control solenoid valve and the disposable oil extraction of oil drain pump progress, finally preserve original note
It records and prints probation redport.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent.
Claims (8)
1. a kind of full-automatic calibrating installation of fuel charger, it is characterised in that：Including refueling nozzle flow self-adjustment module, standard
Metal tank, leveling module, liquid level picture recognition module, temperature collecting module, embedded ARM processor, host computer calibrating system
System；The import of the refueling nozzle flow self-adjustment module is connected with oil inlet pipe；The refueling nozzle flow self-adjustment module
Outlet is connected by flowline with standard capacity measure upper end import；The embedded ARM processor is respectively and refueling nozzle
Flow self-adjustment module, leveling module, liquid level picture recognition module, temperature collecting module, host computer verification system are connected；
The refueling nozzle flow self-adjustment module is connected with embedded ARM processor, host computer verification system successively, realization pair
The automatic control and adjustment of refueling nozzle flow can also realize the selection for selecting large, medium and small range or other to fix range；
The leveling module is mounted on the standard capacity measure bottom end, and the embedded ARM processor people having the same aspiration and interest flat-die block is connected,
The inclination value that double-shaft tilt angle sensor (11) is acquired by SPI communication, calculates by PID, sends out direction control signal and pulse
Signal controls two stepper motor realization device automatic levelings；
The liquid level picture recognition module includes showing liquid pipe (7) and camera (8) mounted on standard capacity measure upper end neck；
The same camera of embedded ARM processor (8) is connected, and oil level image is acquired by embedded ARM processor (2), by
OpenCV carries out gray processing, filtering, binaryzation, edge detection, liquid level extraction, and reality is converted into using to system calibrating calculating
Liquid level；
The temperature collecting module includes measuring device mouth temperature sensor (5), temperature sensor (9) in measuring device；The embedded-type ARM
Processor (2) acquires the temperature value of temperature sensor (9) in measuring device mouth temperature sensor (5) and measuring device by A/D conversions；
The host computer verification system is connected with embedded ARM processor, using labview upper computer softwares, for aobvious in real time
Show standard capacity measure top base temperature and level height, and obtained data are saved as into EXCLE original records, leads to
The actual volume that final oil is calculated in compensating coefficient is crossed, whether automatic decision is qualified, and prints calibration certificate；
The leveling module includes：Double-shaft tilt angle sensor (11), X-axis stepper motor (13), X-axis sliding screw (14) are fixed
Stabilizer blade (15), y-axis stepper motor (16), Y-axis sliding screw (17)；The shaft and X-axis sliding screw of X-axis stepper motor (13)
(14) it is connected by turntable, X-axis stepper motor (13) rotation can drive X-axis sliding screw (14) to rotate, to realize sliding silk
Bar (14) moves up and down；The shaft of y-axis stepper motor (16) is connected with Y-axis sliding screw (17) by turntable, y-axis stepper motor
(16) rotation can drive Y-axis sliding screw (17) to rotate, to realize that sliding screw (17) moves up and down；
The refueling nozzle flow self-adjustment module includes：Oil gun fixed case (21), oiling oil gun (27) adjust trigger dress
It sets；Case lid (28) is equipped on front side of the oil gun fixed case (21), oil inlet nozzle is reserved in the side of the oil gun fixed case (21)
(23), the oil inlet nozzle (23) passes through for oiling oil gun (27) oil pipe, the oil gun fixed case (21) it is another
Side is equipped with oil outlet, and the muzzle of the oiling oil gun (27) faces the oil outlet, and the oil outlet connects flowline, institute
It states flowline and is equipped with triangle electromagnetic valve (29)；
The adjusting trigger gear setting is internal in the oil gun fixed case (21), including stepper motor (22), stepper motor drive
Dynamic device (23), connecting rod (21), stirs device (24) at slide plate (20), and the output shaft end of the stepper motor (22) is cased with circle
Slide plate (30), and output shaft is fixedly connected with the slide plate (30)；One end of the connecting rod (31) is welded on the slide plate
(30) on circumference side, device (24) is stirred described in the other end connection of the connecting rod (31)；Stepper motor (22) band
Connecting rod (21) rotation on dynamic slide plate (30) so that stir device (24) and fiddle with the oil gun of the oiling oil gun (27)
Trigger (25) realizes the opening and closing of oil gun trigger (25).
2. the full-automatic calibrating installation of a kind of fuel charger according to claim 1, it is characterised in that：It is described embedded
Arm processor (2) can send out different pulses to the stepper motor driver (23), refuel to be driven by double plectrums
Machine gun trigger rotation is to corresponding range area；The embedded ARM processor (2) and the triangle electromagnetic valve (29), are used for
Control uninterrupted.
3. the full-automatic calibrating installation of a kind of fuel charger according to claim 1, it is characterised in that：It is described to stir device
(24) it is double plectrums, double plectrums are welded in the connecting rod (31), and the oil gun trigger (25) is limited in described double
Between plectrum, and double plectrums are perpendicular to the plane where the oil gun trigger (25).
4. the full-automatic calibrating installation of a kind of fuel charger according to claim 1, it is characterised in that：The slide plate (30)
For circular foil member.
5. the full-automatic calibrating installation of a kind of fuel charger according to claim 1, it is characterised in that：It further include solenoid valve
Control module sends out signal by host computer verification system after the completion of calibrating and controls solenoid valve (12) and row by arm processor
Oil pump (18) carries out disposable oil extraction.
6. a kind of liquid level image-recognizing method of the full-automatic calibrating installation of fuel charger according to claim 1, special
Sign is, includes the following steps：
Step 1, it is inner to show that liquid pipe (7) and camera (8) are enclosed in camera bellows (41), shows liquid pipe (7) with strip source (42) irradiation,
Two sources of parallel light are put on the top of camera bellows, and light can reflect light from air directive concave meniscus, and the image of camera shooting is in concave meniscus
Place has the outer wall concave line of a black；
Step 2, show liquid pipe oil level line image using camera (8) acquisition, it is right in arm processor (2) after liquid level image to obtain
The image of acquisition is handled in real time：Image gray processing is handled first, then is made smoothly of the two-dimentional discrete Gaussian function of zero-mean
Filter is to image real time transfer；Then it uses edge detection into the measurement of the grey scale change of row image, detection and positioning, uses
Canny edge detection algorithms in openCV realize the detection of liquid level；The pixels tall of liquid level is calculated, is finally passed through to camera
Calibrated and calculated is converted into actual liquid level height.
7. a kind of liquid level image-recognizing method of the full-automatic calibrating installation of fuel charger according to claim 6, special
Sign is that the Canny edge detection algorithms are as follows：
Step 2.1, picture smooth treatment：, to image filtering, the noise in image is removed with Gaussian filter；
Step 2.2, gradient algorithm is sought：The gradient spoke value of each pixel is obtained using derivative operator | G | and direction e, that is, find out side
The intensity of edge and its direction：
F is filtered image；
Step 2.3, non-maximum value inhibition is carried out to gradient；
Step 2.4, all marginal points after the inhibition of non-maximum value are handled using dual threshold method；
Step 2.5, edge connects.
8. a kind of leveling method of the full-automatic calibrating installation of fuel charger according to claim 1, which is characterized in that institute
It states embedded ARM processor in leveling module and executes following steps：
Step a, the double-shaft tilt angle sensor that SPI communication mode is opened with function fd1=open ("/dev/SPI ", O_RDWR) are adopted
Collect equipment, fd1 is the filec descriptor returned after double-shaft tilt angle sensor collecting device is opened；With function fd2=open ("/
Dev/GPIO ", O_RDWR) to open I/O port equipment fd2 be the filec descriptor that returns after I/O port equipment is opened；
Step b reads the inclination value of double-shaft tilt angle sensor using read (fd1, buffer, 8) function；
Whether step c, the inclination value for judging X-axis and Y-axis with if () function collect between ± 0.5 ° i.e. 1020-1030
1024 be horizontal reference value；
Step d, if the value X of acquisition>1030, then GPB5 pins are set by function iotrl (fd2, GPB5_ON, GPB6)
A high position makes left Y-axis stepper motor rotate forward, and sends 10* (x-1024) a pulse to GPB6 pins, left Y-axis stepper motor turns
Move the distance of corresponding deviation；If the value X of acquisition<1020, then will by function iotrl (fd2, GPB5_OFF, GPB6)
GPB5 pins set low position, and stepper motor is made to invert, and send 10* (x-1024) a pulse to GPB6 pins, stepper motor rotates phase
Answer the distance of deviation；If the value Y of acquisition>1030, then by function iotrl (fd2, GPB7_ON, GPB8) by GPB7 pins
A high position is set, right side X-axis stepper motor is made to rotate forward, sends 10* (y-1024) a pulse to GPB8 pins, stepper motor rotation is corresponding
Distance；If the value Y of acquisition<1020, then GPB7 pins are set low by function iotrl (fd2, GPB7_OFF, GPB8)
Position makes right side X-axis stepper motor reversion, sends 10* (y-1024) pulse to GPB8 pins, rotate the distance of corresponding deviation；It follows
Ring number completes levelling function；
Step e, when the value 1020 of acquisition<X<1030,1020<Y<When 1030 (± 0.5 °), it is in leveling state, is finally used
Close () function pass hull closure, exits the program.
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| CN108996460A (en) * | 2018-09-05 | 2018-12-14 | 广州联新机电设备有限公司 | Tank service truck |
| CN110081954A (en) * | 2019-04-18 | 2019-08-02 | 上海大学 | A kind of self-positioning level readings of volume tank and temperature measurement integrated device and method |
| CN110524118B (en) * | 2019-08-15 | 2023-09-05 | 重庆欣维尔玻璃有限公司 | System and method for manufacturing glass gauge |
| CN110501048B (en) * | 2019-08-15 | 2024-07-02 | 重庆欣维尔玻璃有限公司 | Measuring system and measuring method of glass gauge |
| CN110775929B (en) * | 2019-11-08 | 2020-11-10 | 丽水新贝蕾科技有限公司 | Oil leakage state monitoring platform and method for oil gun and storage medium |
| CN111814784B (en) * | 2020-06-11 | 2023-07-07 | 浙江大华技术股份有限公司 | Liquid level identification method and related device based on image processing |
| CN112729482A (en) * | 2020-12-21 | 2021-04-30 | 赣州久创科技有限公司 | Automatic verification system for oiling machine |
| CN112729483A (en) * | 2020-12-21 | 2021-04-30 | 赣州久创科技有限公司 | Oil storage tank body for automatic calibrating device of oiling machine |
| CN115174629B (en) * | 2022-07-08 | 2024-03-19 | 慧之安信息技术股份有限公司 | Mine safety monitoring method based on edge calculation |
| CN116281820B (en) * | 2023-02-15 | 2023-10-10 | 江苏丰仪同创互联科技有限公司 | Vehicle-mounted intelligent compensation type fuel filling quantity verification device and verification method |
| CN117433613A (en) * | 2023-12-08 | 2024-01-23 | 中国计量科学研究院 | Automatic verification system for fuel dispenser |
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