CN111693567A - Automobile exhaust detection device and detection method based on thermal imaging positioning - Google Patents
Automobile exhaust detection device and detection method based on thermal imaging positioning Download PDFInfo
- Publication number
- CN111693567A CN111693567A CN202010395452.XA CN202010395452A CN111693567A CN 111693567 A CN111693567 A CN 111693567A CN 202010395452 A CN202010395452 A CN 202010395452A CN 111693567 A CN111693567 A CN 111693567A
- Authority
- CN
- China
- Prior art keywords
- detection
- sampling probe
- image
- thermal imaging
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/20—Investigating or analyzing materials by the use of thermal means by investigating the development of heat, i.e. calorimetry, e.g. by measuring specific heat, by measuring thermal conductivity
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to the technical field of automobile exhaust detection, in particular to an automobile exhaust detection device and a detection method based on thermal imaging positioning, and the device comprises a main body device and a chassis dynamometer used for bearing a vehicle to be detected, wherein the main body device comprises a bottom moving device, a movement detection device, a thermal imaging positioning device and an information collection and control system; the mobile detection device is accurately butted with a tail gas port of an automobile exhaust pipe through movement and positioning in the y direction and the z direction; the thermal imaging positioning device continuously generates, transmits back and analyzes and processes a thermodynamic image of the tail end of the automobile to be detected, and calibrates the space coordinate of the tail gas port of the automobile to be detected in real time; the information collecting and controlling system is connected with each device and drives each device to normally run.
Description
Technical Field
The invention relates to the technical field of automobile exhaust detection, in particular to an automobile exhaust detection device and method based on thermal imaging positioning.
Background
Automobile exhaust has become one of the main pollution sources of atmospheric pollution. From the medical point of view, because the tail gas discharged by the automobile is just about 1.5 m higher than the respiratory zone of the human body, the long-term inhalation of the automobile tail gas can not only cause respiratory system diseases, conjunctivitis and neurasthenia, but also can cause canceration of liver and lung tissues of the human body, even cause complex diseases such as genetic variation and the like, and has great harm to the health of the human body, so the special treatment work of the tail gas discharge pollution of the motor vehicle is urgent. The detection of the automobile exhaust is an important part in the treatment work, which is beneficial to promoting the elimination of high-emission vehicles and controlling and reducing the emission of pollutants of the automobile in use.
At present automobile exhaust detection device mainly has two kinds of hand-held type probes and L type return bend, but all need the manual work to fix a position and connect it when detecting, and when manual operation device got into the tail gas mouth, the adherence phenomenon of different degrees often appears apart from the distance uncontrollable of tail gas pipe wall in sampling probe, and the tail gas purity that gathers fluctuates greatly, influences and detects the precision. Meanwhile, when the automobile tail gas detector is used for detection, workers need to squat to the position near the tail gas port for operation, the automobile tail gas is breathed for a long time, great harm is brought to the health of the detector, and the automobile tail gas detector does not accord with the idea of humanized design.
Automobile exhaust detection device that appears in the existing market, if ZL201711336723.9 discloses a visual automobile exhaust detection device, remote monitoring, operation when having realized automobile exhaust and having detected and carry out data processing's function, nevertheless to different shapes, the blast pipe of different bent angles then can't realize detecting. The market urgent need is developing a can realize automatic identification, location tail gas mouth, and on-the-spot unmanned operation, automated operation's automobile exhaust detection device to the condition such as different heights, different shapes, different bent angles of the blast pipe that adapts to multiple motorcycle type.
Disclosure of Invention
The invention provides an automobile exhaust detection device and method based on thermal imaging positioning, which are suitable for conditions of different heights, different bend angles and the like of exhaust pipes of various automobile types and aims to solve the problem that detection cannot be realized by the existing exhaust pipes with different bend angles in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a thermal imaging positioning-based automobile exhaust detection device comprises a main body device and a chassis dynamometer used for bearing a vehicle to be detected, wherein the main body device comprises a bottom moving device, a movement detection device, a thermal imaging positioning device and an information collection and control system, and the bottom moving device carries the movement detection device to move and position in the x direction; the mobile detection device is accurately butted with a tail gas port of an automobile exhaust pipe through movement and positioning in the y direction and the z direction; the thermal imaging positioning device continuously generates, transmits back and analyzes and processes a thermodynamic image of the tail end of the automobile to be detected, and calibrates the space coordinate of the tail gas port of the automobile to be detected in real time; the information collecting and controlling system is connected with each device and drives each device to normally operate.
Further, bottom mobile device include bottom platform and bottom moving mechanism, bottom moving mechanism include sliding guide, lead screw motor and support, the bottom platform slide and set up on sliding guide, lead screw parallel arrangement is in the middle of two sliding guide, bottom platform bottom be fixed with lead screw complex screw nut, the tip of lead screw is installed on the support, lead screw motor is connected with screw drive.
Furthermore, the movement detection device comprises a detection mechanism, an arc-shaped track, a detection platform and a detection platform moving mechanism; arc track is every side through two backup pad welding at bottom platform central authorities, arc track back mounted has rack and rack protection groove, testing platform moving mechanism is including fixing the supporting platform in the testing platform bottom, supporting platform on rotate and be connected with the axis of rotation, axis of rotation end fixing have with rack toothing's gear, the gear meshes with arc track rack mutually, testing platform includes testing platform base face and testing platform rotating panel, testing platform base face on the fixed testing platform motor that is used for driving axis of rotation pivoted, testing platform on still be fixed with the bracing piece, the bracing piece both ends are rotated and are connected with the pulley, have the guide way on the arc track, the pulley rolls in arc orbital guide way.
Furthermore, two thermal imaging cameras are symmetrically arranged on the base surface of the detection platform; detection platform rotates the panel and is less than detection platform basal plane, and detection platform rotates the panel and sets up on detection platform basal plane through rotating servo motor, and detection platform rotates the panel, will adjust sampling probe's inclination as detection mechanism's base, and detection mechanism includes flexible arm, is used for driving flexible electric putter of flexible arm, sampling probe, actuating mechanism, fixes the sleeve on sampling probe and is used for driving the flexible actuating mechanism of sampling probe, flexible arm including the flexible pipe of flexible upper end, the flexible pipe of middle-end and the flexible pipe of lower extreme that each other nests flexible, detection platform rotates and is provided with the bayonet socket in the middle of the panel, bayonet socket and lower extreme flexible pipe interference fit, a horn mouth pipe is connected on the flexible pipe top of upper end, horn mouth pipe upper portion arrange useful and detect and accomplish the clear soft brush that realizes sampling probe after the completion.
Furthermore, the sampling probe is connected with a collecting pipe, a metal spring wire is installed at the lower end of the sampling probe, and the metal spring wire is tightly attached to the collecting pipe.
Further, the sleeve comprises a support barrel, a heat tracing band, a pressure sensor, a spring wheel and a sleeve control mechanism, the sleeve is arranged at the front end part of the sampling probe, the initial position of the sleeve is located at the center of the bell mouth pipe, the support barrel is fixed on the upper part of the sampling probe, the heat tracing band is adhered to the outer wall of the support barrel, the pressure sensor is adhered to the upper part of the heat transfer band, the heat tracing band is uniformly distributed on the circumference of the outer wall of the support barrel, the length of the heat tracing band is the same as that of the support barrel, the pressure sensor is arranged on the upper part of the heat tracing band, the pressure sensor converts touch information of the upper part of the sleeve and the inner.
Furthermore, the bottom of the side wall of the support cylinder is provided with three openings, spring wheels are correspondingly arranged at the positions of the openings, the spring wheels are installed on a spring wheel base, the spring wheel base is made of magnets, the spring wheels are in a fastening state when not receiving signals transmitted by the pressure sensor, the sleeve control mechanism is in a power-on working state, when the sleeve control mechanism receives pressure signals generated by collision between the pressure signals and the inner wall of the exhaust pipe from the pressure sensor, power supply is stopped, the spring wheels are released, the spring wheels extend under the action of spring force to be in a release state, the spring wheels can be tightly attached to the inner wall of the exhaust pipe under the action of spring force, after detection is finished, the driving mechanism retracts the sampling probe, the spring wheels are pressed by the inner wall of the bell mouth pipe, the springs are compressed, the sleeve control mechanism is powered on to attract the spring wheel base, the spring wheels return to the, the sleeve control mechanism is provided with three groups of electromagnets which are arranged on the inner wall of the support barrel and correspond to the positions of the spring wheels, each group of sleeve control mechanism is provided with two electromagnets which are respectively positioned on two sides of the opening, the electromagnets generate magnetic attraction to the spring wheel base after being electrified, the spring wheels are in a fastening state, and the spring wheels are in a release state when the electromagnets are not electrified.
Further, the bottom of the electric push rod is fixed on the rotary panel of the detection platform, the upper part of the electric push rod is connected with the upper end telescopic pipe, the driving mechanism comprises a driving servo motor, a gear and a driving rack, the driving servo motor is arranged on the sampling probe and connected with a driving gear, and the driving rack is installed on the inner wall of the upper end telescopic pipe.
Furthermore, the thermal imaging positioning device comprises a thermal imaging camera, an image recognition system and an image processing system, wherein the two thermal imaging cameras are arranged on the base surface of the detection platform in a bilateral symmetry manner, are fixed relative to the detection platform, and continuously generate and transmit back thermodynamic images of the tail end of the automobile to be detected; the image information recognition system and the image processing system receive and store thermodynamic images returned by the thermal imaging camera, analyze and process image information, and calibrate the spatial coordinates of the exhaust port of the automobile to be detected in real time.
The detection method of the automobile exhaust detection device based on thermal imaging positioning comprises the following steps:
step 1, a vehicle to be detected enters a designated position, a thermal imaging camera shoots thermodynamic images of a tail gas port part of the vehicle to be detected, the images comprise a left image L and a right image R, an image recognition system and an image processing system preprocess the images, divide image areas, compare the images with stored thermodynamic images of the conventional common tail gas ports of the vehicle, and select a target image to further determine the position coordinates of the tail gas ports;
step 4, calculating the corrected left and right images by using a parallel SGM algorithm to obtain a disparity map, carrying out post-processing on the obtained disparity map by using an information collection and control system, removing noise by using a median filtering method, independently searching a hot spot by using a thermal imaging node, namely an image node with the temperature of 30-50 ℃ is the hot spot, calculating the relative position coordinate of the hot spot after one node detects the hot spot, transmitting the relative position coordinate to a bottom moving mechanism, and driving a lead screw motor to work so as to realize the movement in the x direction;
step 5, starting the work of the screw motor, starting the movement of the bottom platform from the initial position, stopping the operation when the screw motor moves to the coordinate position in the x direction which is the same as the hot point, and stopping the movement of the bottom platform;
step 6, after the bottom moving mechanism stops operating, the detection platform is located at the initial position of the highest position of the arc-shaped track, the thermal imaging camera shoots, the shot thermodynamic image is transmitted to the image recognition system and the image processing system to be compared with the stored data, and the four situations of the shot image are respectively rectangular, circular, elliptical or trapezoidal;
and 7, according to the four conditions obtained by shooting, carrying out different motions on the detection platform moving mechanism and the detection mechanism, and further moving to corresponding y and z coordinates:
case a: when the graph formed by the first shooting is circular, the detection platform moving mechanism does not need to move, the coordinate in the z direction is determined, the position of the tail gas port is found, the electric push rod part of the detection mechanism starts to extend and operate to push the sampling probe, in the process, the thermal imaging camera carries out shooting every 0.1s, the position of the sleeve with the heat tracing band is detected, when the thermodynamic image detects that the sleeve enters the tail gas port, the electric push rod stops working, the driving mechanism in the telescopic arm starts to operate to continuously push the sampling probe and time, if the sampling probe is coincidently parallel to the tail gas pipe, the pressure sensor cannot be triggered after the time exceeds 2s, and at the moment, the sleeve control mechanism releases the spring wheel to be attached to the inner wall of the tail gas pipe and stops the operation of the driving mechanism; if the sampling probe is not exactly parallel to the tail gas pipe, the pressure sensor is triggered within 2s, the pressure sensor is triggered, the sleeve control mechanism releases the spring wheel to be attached to the inner wall of the tail gas pipe and stops the driving mechanism to run after running for 5s, the position in the y direction is determined, and the sampling probe starts to acquire data for detection;
case b: the graph formed by the first shooting is rectangular, the fact that a 90-degree bend angle exists in the tail gas pipe is shown, the detection platform moving mechanism starts to work and moves to the bottommost end of the arc-shaped track, the detection platform moving mechanism stops working when moving to the bottommost end, the position in the y direction is determined, the electric push rod part of the detection mechanism starts to extend and operate to push the sampling probe, the electric push rod stops operating after the pressure sensor senses pressure generated by collision, the driving mechanism in the telescopic arm starts to operate to continuously push the sampling probe and starts to time, the gear rack mechanism stops operating after 4s, the position in the z direction is determined, and the sampling probe starts to acquire data for detection;
the image formed by the first shooting is oval, the fact that the tail gas pipe has a bend angle with a certain angle is shown, the angle is 0-90 degrees, the detection platform mechanism starts to operate, the image is shot every 0.1s, when the image is circular after being processed, the detection platform moving mechanism stops operating, the position in the y direction is determined, the electric push rod part of the detection mechanism starts to extend and operate, the sampling probe is pushed, the electric push rod stops operating after the pressure sensor senses the pressure generated by collision, the driving mechanism in the telescopic arm starts to operate, the sampling probe is continuously pushed, the timing is started, the driving mechanism stops operating after 4s, the position in the z direction is determined, and the sampling probe starts to acquire data for detection;
case d: when an image recognition system and an image processing system detect that the tail gas enters the tail gas port according to thermodynamic images, a driving mechanism in a telescopic arm starts to operate to continuously push the sampling probe and time, if the sampling probe is coincidently parallel to the tail gas pipe, the time exceeds 2s, a pressure sensor cannot be triggered, and at the moment, a sleeve control mechanism releases a spring wheel to be attached to the inner wall of the tail gas pipe and stops operating the driving mechanism after the sampling probe and the tail gas pipe operate for 5 s; if the sampling probe is not exactly parallel to the tail gas pipe, the pressure sensor is triggered within 2s, the pressure sensor is triggered, the sleeve control mechanism releases the spring wheel to be attached to the inner wall of the tail gas pipe and stops the driving mechanism to run after running for 5s, the position in the y direction is determined, and the sampling probe starts to acquire data for detection;
step 8, transmitting the data collected during detection to an information collection and control system to obtain a detection result;
and 9, after the detection is finished, the electric push rod is contracted, the driving mechanism in the telescopic arm drives the sampling probe to partially return to the middle position of the bell mouth pipe, the sleeve control mechanism is electrified to attract the spring wheel, the spring wheel is in a fastening state, the detection platform motor drives the detection platform to recover to the highest position of the arc-shaped track, the lead screw motor rotates to drive the bottom platform to return to the initial position, and the device recovers to the initial position.
Has the advantages that: the automobile exhaust detection device based on thermal imaging positioning can realize automatic identification and positioning of exhaust ports, field unmanned operation and automatic operation, and is suitable for the conditions of different heights, different shapes, different bend angles and the like of exhaust pipes of various types of automobiles.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic overall view;
FIG. 2 is a schematic view of the main body apparatus;
FIG. 3 is a schematic view of a bottom mobile device:
fig. 4 is a schematic view of a movement detection device:
FIG. 5 is a schematic view of a moving mechanism of the detecting platform:
FIG. 6 is a schematic view of a detection platform:
FIG. 7 is a schematic view of a thermal imaging positioning apparatus:
FIG. 8 is a schematic view of a detection mechanism:
fig. 9 is a schematic view of the detection mechanism:
FIG. 10 is a schematic view of a detection mechanism:
FIG. 11 is a schematic view of a detection mechanism:
FIG. 12 is a flow chart of the detection of automobile exhaust.
Wherein, 1, a main body device, 1-1, a bottom moving device, 3-1, a bottom platform, 3-2, a bottom moving mechanism, 3-2-1, a sliding guide rail, 3-2-2, a screw rod motor, 3-2-3, a screw rod, 3-2-4, a support, 1-2, a movement detection device, 4-1, a detection mechanism, 8-1, a telescopic arm, 9-1, an upper telescopic tube, 9-2, a middle telescopic tube, 9-3, a lower telescopic tube, 9-4, a bell mouth tube, 9-5, a soft brush, 8-2, an electric push rod, 8-3, a driving mechanism, 9-6, a driving servo motor, 9-7, a driving rack, 11-1, a support barrel, 11-6 and an opening, 11-2 parts of heat tracing band, 11-3 parts of pressure sensor, 11-4 parts of spring wheel, 11-7 parts of spring wheel base, 11-5 parts of sleeve control mechanism, 8-5 parts of sampling probe, 10-1 parts of metal spring wire, 10-2 parts of collecting pipe, 10-3 parts of sleeve, 4-2 parts of arc track, 4-3 parts of detection platform, 6-1 parts of detection platform base surface, 6-2 parts of detection platform rotating panel, 6-3 parts of detection platform rotating servo motor, 6-4 parts of bayonet, 4-4 parts of bayonet, detection platform moving mechanism, 5-1 parts of supporting platform, 5-2 parts of pulley, 5-3 parts of supporting rod, 5-4 parts of gear, 5-5 parts of arc track rack, 4-5 parts of supporting plate, 4-7 parts of rack protecting groove, 4-8 parts of a guide groove, 1-3 parts of a thermal imaging positioning device, 7-1 parts of a thermal imaging camera, 7-2 parts of an image recognition system, 7-3 parts of an image processing system, 1-4 parts of an information collection and control system, 2 parts of a chassis dynamometer, 3 parts of a vehicle to be detected.
Detailed Description
Referring to fig. 1-2, an automobile exhaust detection device based on thermal imaging positioning comprises a main body device 1 and a chassis dynamometer 2 for bearing a vehicle 3 to be detected, wherein the main body device 1 comprises a bottom moving device 1-1, a movement detection device 1-2, a thermal imaging positioning device 1-3 and an information collection and control system 1-4, and the bottom moving device 1-1 carries the movement detection device 1-2 to move and position in the x direction; the mobile detection device 1-2 is accurately butted with an exhaust port of an automobile exhaust pipe through movement and positioning in the y direction and the z direction; the thermal imaging positioning device 1-3 continuously generates, transmits back and analyzes and processes a thermodynamic image of the tail end of the automobile to be detected, and calibrates the space coordinate of the tail gas port of the automobile to be detected in real time; the information collection and control system 1-4 is connected with each device and drives the normal operation of each device.
Referring to fig. 3, the bottom moving device 1-1 comprises a bottom platform 3-1 and a bottom moving mechanism 3-2, the bottom moving mechanism 3-2 comprises a sliding guide rail 3-2-1, a lead screw 3-2-3, a lead screw motor 3-2-2 and a bracket 3-2-4, the bottom platform 3-1 is slidably arranged on the sliding guide rail 3-2-1, the screw rod 3-2-3 is arranged in parallel between the two sliding guide rails 3-2-1, a screw rod nut matched with the screw rod 3-2-3 is fixed at the bottom of the bottom platform 3-1, the end part of the screw rod 3-2-3 is arranged on the bracket 3-2-4, the screw motor 3-2-2 is in transmission connection with the screw 3-2-3. The bottom platform 3-1 is rectangular, and the initial position of the bottom platform 3-1 is set at the positions 200mm and 100mm behind the chassis dynamometer 2, namely the position at the left rear of the automobile. The slide guide rail is located 5cm below the ground surface and arranged parallel to the drum mechanism axis of the chassis dynamometer 2. The screw rod 3-2-3 and the bottom platform 3-1 are connected in a rotating fit manner through 2 screw rod nuts and are respectively positioned at two side parts of the bottom platform 3-1 and the screw rod 3-2-3 in the same direction, so that the stable movement is ensured; two ends of the screw rod 3-2-3 are fixed by a bracket 3-2-4; the lead screw motor 3-2-2 rotates to drive the bottom platform 3-1 to move along the x direction.
As shown in fig. 4, the movement detection device 1-2 comprises a detection mechanism 4-1, an arc-shaped track 4-2, a detection platform 4-3 and a detection platform moving mechanism 4-4; each side of the arc-shaped track 4-2 is welded at the center of the bottom platform 3-1 through two support plates 4-5, a rack and a rack protection groove 4-7 are arranged on the back of the arc-shaped track 4-2, as shown in figure 5, the detection platform moving mechanism 4-4 comprises a support platform 5-1 fixed at the bottom of the detection platform 4-3, a rotating shaft is rotatably connected on the support platform 5-1, a gear 5-4 meshed with the rack is fixed at the end part of the rotating shaft, the gear 5-4 is meshed with the arc-shaped track rack 5-5 to ensure the precision of the transmission distance, the detection platform 4-3 comprises a detection platform base surface 6-1 and a detection platform rotating panel 6-2, and a detection platform 4-3 motor for driving the rotating shaft to rotate is fixed on the detection platform base surface 6-1, the detection platform 4-3 is further fixed with a support rod 5-3, two ends of the support rod 5-3 are rotatably connected with pulleys 5-2, the arc-shaped track 4-2 is provided with a guide groove 4-8, and the pulleys 5-2 roll in the guide groove 4-8 of the arc-shaped track 4-2, so that the detection platform 4-3 is kept stable in the moving process. The arc-shaped track 4-2 is composed of two 1/4 arc-shaped tracks with the radius of 400mm,
as shown in fig. 6-7, two thermal imaging cameras 7-1 are symmetrically arranged on the detection platform base surface 6-1; the detection platform rotating panel 6-2 is smaller than the detection platform base surface 6-1, the detection platform rotating panel 6-2 is arranged on the detection platform base surface 6-1 through a rotating servo motor 6-3, the detection platform rotating panel 6-2 is used as a base of the detection mechanism 4-1 to adjust the inclination angle of the sampling probe 8-5, as shown in the figure 8-9, the detection mechanism 4-1 comprises a telescopic arm 8-1, an electric push rod 8-2 for driving the telescopic arm 8-1 to stretch, the sampling probe 8-5, a driving mechanism 8-3, a sleeve 10-3 fixed on the sampling probe 8-5 and a driving mechanism 8-3 for driving the sampling probe 8-5 to stretch, and the telescopic arm 8-1 comprises an upper end telescopic pipe 9-1, a lower end telescopic pipe 9-1, a, The middle end extension tube 9-2 and the lower end extension tube 9-3, a bayonet 6-4 is arranged in the middle of the detection platform rotating panel 6-2, the bayonet 6-4 is in interference fit with the lower end extension tube 9-3, the top end of the upper end extension tube 9-1 is connected with a flare opening tube 9-4, and a soft brush 9-5 for cleaning the sampling probe 8-5 after detection is finished is arranged at the upper part of the flare opening tube 9-4. The rotary servo motor 6-3 is arranged in a groove arranged in the center of the base surface 6-1 of the detection platform. The upper end telescopic tube 9-1, the middle end telescopic tube 9-2 and the lower end telescopic tube 9-3 have different inner diameters and the same length, and meet the requirement that the inner diameter of the upper end telescopic tube 9-1 is less than the inner diameter of the middle end telescopic tube 9-2 is less than the inner diameter of the lower end telescopic tube 9-3, wherein the upper end telescopic tube 9-1 is nested in the middle end telescopic tube 9-2, the middle end telescopic tube 9-2 is nested in the lower end telescopic tube 9-3, a driving mechanism 8-3 is arranged in the upper end telescopic tube 9-1, the middle end telescopic tube 9-2 plays a role of connecting the upper end telescopic tube 9-1 with the lower end telescopic tube 9-3, and the lower end telescopic tube 9-3 is fixed in the center of the detection platform rotating; the angle of the bell mouth pipe 9-4 is 30 degrees, and the upper part of the bell mouth pipe 9-4 is provided with a soft brush 9-5 which is used for cleaning the sampling probe by 8-5 degrees after the detection is finished, thereby ensuring the accuracy of the detection result.
As shown in the figures 10-11, the sampling probe 8-5 is connected with a collecting tube 10-2, a metal spring wire 10-1 is arranged at the lower end of the sampling probe 8-5, and the metal spring wire 10-1 is tightly attached to the collecting tube 10-2. The metal spring wire 10-1 is tightly attached to the sampling probe collecting pipe 10-2 to ensure that the collecting pipe 10-2 has good elasticity and can avoid the collecting pipe 10-2 from colliding with the wall of the tail gas pipe in the operation process, and the installation mode can ensure that the collecting pipe 10-2 can be repeatedly bent and keep elasticity, so that the detection of the tail gas pipe can be realized by penetrating into the tail gas pipe for many times, and the service life is prolonged.
The sleeve 10-3 comprises a support barrel 11-1, heat tracing bands 11-2, pressure sensors 11-3, spring wheels 11-4 and a sleeve control mechanism 11-5, the sleeve 10-3 is arranged at the front end part of the sampling probe 8-5, the initial position of the sleeve 10-3 is located at the center of a bell mouth pipe 9-4, the support barrel 11-1 is fixed at the upper part of the sampling probe 8-5, the number of the heat tracing bands 11-2 is three, and the sleeves are uniformly and circumferentially adhered to the outer wall of the support barrel 11-1, so that errors of measurement results caused by condensation of water vapor in tail gas are avoided, and the precision of detection results can be effectively improved; the pressure sensor 11-3 is adhered to the upper portion of the heat transfer belt, the heat tracing belt 11-2 is evenly distributed on the circumference of the outer wall of the support barrel 11-1, the length of the heat tracing belt 11-2 is the same as that of the support barrel 11-1, the pressure sensor is arranged on the upper portion of the heat tracing belt 11-2, the pressure sensor converts touch information of the upper portion of the sleeve 10-3 and the inner wall of the exhaust pipe into an electric signal, and the signal is transmitted to the electric push rod 8-2 and the sleeve control mechanism 11-5.
Three openings 11-6 are uniformly distributed at the bottom of the side wall of the support barrel 11-1 in the circumferential direction, spring wheels 11-4 are correspondingly arranged at the positions of the openings 11-6, the length of each opening is 5mm longer than the diameter of each spring wheel, the width of each opening is 4mm wider than the thickness of each spring wheel, each spring wheel 11-4 is installed on a spring wheel base 11-7, each spring wheel base 11-7 is made of a magnet, each spring wheel 11-4 is in a fastening state when not receiving a signal transmitted by a pressure sensor 11-3, a sleeve control mechanism 11-5 is in an electrified working state, when the sleeve control mechanism 11-5 receives a pressure signal generated by collision between the pressure sensor 11-3 and the inner wall of the exhaust pipe, power supply is stopped, the spring wheels 11-4 are released, and the spring wheels 11-4 are in a release state when being extended under the action of, the spring wheel 11-4 can be tightly attached to the inner wall of the exhaust pipe under the action of the spring elasticity, after the detection is finished, the driving mechanism 8-3 withdraws the sampling probe 8-5, the spring wheel 11-4 is pressed by the inner wall of the bell mouth pipe 9-4, the spring is compressed, the sleeve control mechanism 11-5 is electrified to attract the spring wheel base 11-7, the spring wheel 11-4 returns to a fastening state, the sleeve control mechanism 11-5 consists of a circuit and electromagnets, can generate stronger magnetism when electrified and attract the spring wheel base 11-7, does not have magnetism when not electrified and does not attract the spring wheel base 11-7, three groups of the sleeve control mechanisms 11-5 are arranged on the inner wall of the support cylinder 11-1 and correspond to the positions of the spring wheel 11-4, two electromagnets of each group of the sleeve control mechanisms 11-5 are respectively arranged on two sides of the opening 11-6, the electromagnet is electrified to generate magnetic attraction to the spring wheel base 11-7, the spring wheel 11-4 is in a fastening state, and when the electromagnet is not electrified, the spring wheel 11-4 is in a releasing state. Three groups of sleeve control mechanisms 11-5 are uniformly distributed on the circumference of the inner wall of the support frame barrel 11-1 at intervals of 120 degrees and correspond to the positions of the spring wheels 11-4, and each group of sleeve control mechanisms 11-5 is provided with two electromagnets which are respectively positioned at two sides of the opening.
The bottom of the electric push rod 8-2 is fixed on the rotating panel 6-2 of the detection platform, the upper part of the electric push rod 8-2 is connected with the upper end telescopic tube 9-1, the driving mechanism 8-3 comprises a driving servo motor 9-6, a gear 5-4 and a driving rack 9-7, the driving servo motor 9-6 is arranged on the sampling probe 8-5 and connected with a driving gear, and the driving rack 9-7 is installed on the inner wall of the upper end telescopic tube 9-1. When the pressure sensor senses touch information and then sends an electric signal, the electric push rod stops working, the servo motor drives the gear to rotate, and the gear and the rack are meshed with each other to continuously push the sampling probe to move.
As shown in fig. 7, the thermal imaging positioning device 1-3 includes a thermal imaging camera 7-1, an image recognition system 7-2 and an image processing system 7-3, two thermal imaging cameras 7-1 are symmetrically arranged on the detection platform base surface 6-1, and are fixed in position relative to the detection platform 4-3, and generate and transmit back thermodynamic images of the tail end of the vehicle to be detected continuously; the image information recognition system and the image processing system 7-3 receive and store the thermodynamic image returned by the thermal imaging camera 7-1, analyze and process the image information, and calibrate the spatial coordinates of the exhaust port of the automobile to be detected in real time.
Referring to fig. 12, a detection method of the automobile exhaust detection device based on thermal imaging positioning as above includes the following steps:
step 1, a vehicle to be detected enters an appointed position, a thermal imaging camera shoots a thermodynamic image of a tail gas port part of the vehicle to be detected, the thermodynamic image comprises a left image L and a right image R, an image recognition system 7-2 and an image processing system 7-3 preprocess the image, divide an image area, compare the image with a stored thermodynamic image of a conventional common tail gas port of the vehicle, and select a target image to further determine the position coordinate of the tail gas port;
step 4, calculating the corrected left and right images by using a parallel SGM algorithm to obtain a disparity map, carrying out post-processing on the obtained disparity map by using an information collection and control system 1-4, removing noise by using a median filtering method, independently searching a hot spot by using a thermal imaging node, namely an image node with the temperature of 30-50 ℃ is a hot spot, calculating the relative position coordinate of the hot spot after one node detects the hot spot, transmitting the relative position coordinate to a bottom moving mechanism 3-2, and driving a lead screw motor 3-2-2 to work so as to realize the movement in the x direction;
step 5, the lead screw motor 3-2-2 starts to work, the bottom platform 3-1 starts to move from the initial position, when the lead screw motor 3-2-2 moves to the coordinate position in the x direction which is the same as the hot spot, the operation is stopped, and the bottom platform 3-1 stops moving;
step 6, after the bottom moving mechanism 3-2 stops operating, the detection platform 4-3 is located at the initial position of the highest position of the arc-shaped track 4-2, the thermal imaging camera 7-1 shoots, the shot thermodynamic image is transmitted to the image recognition system 7-2 and the image processing system 7-3 to be compared with stored data, and the four situations of the shot image are respectively rectangular, circular, elliptical or trapezoidal;
and 7, according to the four conditions obtained by shooting, carrying out different motions on the detection platform moving mechanism 4-4 and the detection mechanism 4-1, and further moving to corresponding y and z coordinates:
case a: when the figure formed by the first shooting is circular, the moving mechanism 4-4 of the detection platform does not need to move, the coordinate in the z direction is determined, the position of the tail gas port is found, the electric push rod 8-2 part of the detection mechanism 4-1 starts to extend and operate, the sampling probe 8-5 is pushed, the thermal imaging camera 7-1 performs shooting every 0.1s in the process, the position of the sleeve 10-3 with the heat tracing band 11-2 is detected, when the thermodynamic image detects that the sleeve 10-3 enters the tail gas port, the electric push rod 8-2 stops working, the driving mechanism 8-3 in the telescopic arm 8-1 starts to operate, the sampling probe 8-5 is pushed continuously, the time is counted, if the sampling probe 8-5 is exactly parallel to the tail gas pipe, the pressure sensor 11-3 cannot be triggered after the time exceeds 2s, at the moment, the sleeve control mechanism 11-5 releases the spring wheel 11-4 to be attached to the inner wall of the tail gas pipe and stops the driving mechanism 8-3 after running for 5 seconds; if the sampling probe 8-5 is not exactly parallel to the tail gas pipe, the pressure sensor 11-3 is triggered within 2s, the pressure sensor 11-3 is triggered, the sleeve control mechanism 11-5 releases the spring wheel 11-4 to be attached to the inner wall of the tail gas pipe and stops the driving mechanism 8-3 to run after running for 5s, the position in the y direction is determined, and the sampling probe 8-5 starts to acquire data for detection;
case b: the figure formed by the first shooting is a rectangle, which indicates that the tail gas pipe has a 90-degree bend angle, the detection platform moving mechanism 4-4 starts to work and moves to the bottom end of the arc-shaped track 4-2, when the detection platform moving mechanism 4-4 stops working when moving to the bottommost end, the position in the y direction is determined, the electric push rod 8-2 part of the detection mechanism 4-1 starts to extend and run, the sampling probe 8-5 is pushed, when the pressure sensor 11-3 senses the pressure generated by collision, the electric push rod 8-2 stops running, the driving mechanism 8-3 in the telescopic arm 8-1 starts running to continuously push the sampling probe 8-5, timing is started, the gear 5-4 rack mechanism stops running after 4s, the position in the z direction is determined, and the sampling probe 8-5 starts to acquire data for detection;
c, the image formed by the first shooting is oval, which indicates that the tail gas pipe has a bend angle with a certain angle, the angle is 0-90 degrees, the detection platform 4-3 mechanism starts to operate, the image is shot every 0.1s, when the image is processed to be circular, the detection platform moving mechanism 4-4 stops operating, the position in the y direction is determined, the electric push rod 8-2 part of the detection mechanism 4-1 starts to extend and operate to push the sampling probe 8-5, when the pressure sensor 11-3 senses the pressure generated by collision, the electric push rod 8-2 stops operating, the driving mechanism 8-3 in the telescopic arm 8-1 starts to operate to continuously push the sampling probe 8-5 and starts to time, the driving mechanism 8-3 stops operating after 4s, the position in the z direction is determined, and the sampling probe 8-5 starts to acquire data, carrying out detection;
case d: the first shot image is trapezoidal, the tail gas port is trapezoidal, the tail gas pipe is arranged in parallel to the ground, the position in the z direction is determined, the electric push rod 8-2 part of the detection mechanism 4-1 starts to extend and operate under the condition, the sampling probe 8-5 is pushed to move, the thermal imaging camera 7-1 is shot every 0.1s in the process, the position of the sleeve 10-3 is detected, when the image recognition system 7-2 and the image processing system 7-3 detect that the tail gas enters the tail gas port according to thermodynamic images, the driving mechanism 8-3 in the telescopic arm 8-1 starts to operate to continuously push the sampling probe 8-5 and time, if the sampling probe 8-5 is exactly parallel to the tail gas pipe, the pressure sensor 11-3 cannot be triggered when the pressure exceeds 2s, and at the moment, the sleeve control mechanism 11-5 releases the spring wheel 11-4 to be attached to the inner wall of the tail gas pipe and stops driving after the sampling probe 8- The moving mechanism 8-3 operates; if the sampling probe 8-5 is not exactly parallel to the tail gas pipe, the pressure sensor 11-3 is triggered within 2s, the pressure sensor 11-3 is triggered, the sleeve control mechanism 11-5 releases the spring wheel 11-4 to be attached to the inner wall of the tail gas pipe and stops the driving mechanism 8-3 to run after running for 5s, the position in the y direction is determined, and the sampling probe 8-5 starts to acquire data for detection;
step 8, transmitting the data collected during detection to the information collection and control system 1-4 to obtain a detection result;
and 9, after the detection is finished, the electric push rod 8-2 contracts, the driving mechanism 8-3 in the telescopic arm 8-1 drives the sampling probe 8-5 to partially return to the middle position of the bell mouth pipe 9-4, the sleeve control mechanism 11-5 is electrified to attract the spring wheel 11-4 to enable the sampling probe to be in a fastening state, the motor of the detection platform 4-3 drives the detection platform 4-3 to return to the highest position of the arc-shaped track 4-2, the screw motor 3-2-2 rotates to drive the bottom platform 3-1 to return to the initial position, and the device returns to the initial position.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. The automobile exhaust detection device based on thermal imaging positioning is characterized by comprising a main body device (1) and a chassis dynamometer (2) used for bearing a vehicle (3) to be detected, wherein the main body device (1) comprises a bottom moving device (1-1), a moving detection device (1-2), a thermal imaging positioning device (1-3) and an information collection and control system (1-4), and the bottom moving device (1-1) carries the moving detection device (1-2) to move and position in the x direction; the mobile detection device (1-2) is accurately butted with an exhaust port of an automobile exhaust pipe through movement and positioning in the y direction and the z direction; the thermal imaging positioning device (1-3) continuously generates, transmits back and analyzes and processes a thermodynamic image of the tail end of the automobile to be detected, and calibrates the space coordinate of the tail gas port of the automobile to be detected in real time; the information collecting and controlling system (1-4) is connected with each device and drives each device to normally operate.
2. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 1, wherein: the bottom moving device (1-1) comprises a bottom platform (3-1) and a bottom moving mechanism (3-2), the bottom moving mechanism (3-2) comprises a sliding guide rail (3-2-1), a screw rod (3-2-3), a screw rod motor (3-2-2) and a support (3-2-4), the bottom platform (3-1) is arranged on the sliding guide rail (3-2-1) in a sliding mode, the screw rod (3-2-3) is arranged between the two sliding guide rails (3-2-1) in parallel, a screw rod nut matched with the screw rod (3-2-3) is fixed at the bottom of the bottom platform (3-1), and the end portion of the screw rod (3-2-3) is installed on the support (3-2-4), the screw motor (3-2-2) is in transmission connection with the screw (3-2-3).
3. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 2, wherein: the mobile detection device (1-2) comprises a detection mechanism (4-1), an arc-shaped track (4-2), a detection platform (4-3) and a detection platform moving mechanism (4-4); each side of the arc-shaped track (4-2) is welded at the center of the bottom platform (3-1) through two supporting plates (4-5), a rack and a rack protection groove (4-7) are installed on the back of the arc-shaped track (4-2), the detection platform moving mechanism (4-4) comprises a supporting platform (5-1) fixed at the bottom of the detection platform (4-3), a rotating shaft is connected to the supporting platform (5-1) in a rotating mode, a gear (5-4) meshed with the rack is fixed at the end portion of the rotating shaft, the gear (5-4) is meshed with the arc-shaped track rack (5-5), the detection platform (4-3) comprises a detection platform base surface (6-1) and a detection platform rotating panel (6-2), and the detection platform (4) used for driving the rotating shaft to rotate is fixed on the detection platform base surface (6-1) 3) The detection device comprises a motor, wherein a support rod (5-3) is further fixed on the detection platform (4-3), pulleys (5-2) are rotatably connected to two ends of the support rod (5-3), a guide groove (4-8) is formed in the arc-shaped track (4-2), and the pulleys (5-2) roll in the guide groove (4-8) of the arc-shaped track (4-2).
4. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 3, wherein: two thermal imaging cameras (7-1) are symmetrically arranged on the detection platform base surface (6-1); the detection platform rotating panel (6-2) is smaller than the detection platform base surface (6-1), the detection platform rotating panel (6-2) is arranged on the detection platform base surface (6-1) through a rotating servo motor (6-3), the detection platform rotating panel (6-2) is used as a base of the detection mechanism (4-1) to adjust the inclination angle of the sampling probe (8-5), the detection mechanism (4-1) comprises a telescopic arm (8-1), an electric push rod (8-2) used for driving the telescopic arm (8-1) to stretch, the sampling probe (8-5), a driving mechanism (8-3), a sleeve (10-3) fixed on the sampling probe (8-5) and a driving mechanism (8-3) used for driving the sampling probe (8-5) to stretch, the telescopic arm (8-1) comprises an upper end telescopic pipe (9-1), a middle end telescopic pipe (9-2) and a lower end telescopic pipe (9-3) which are mutually nested and telescopic, a bayonet (6-4) is arranged in the middle of a rotary panel (6-2) of the detection platform, the bayonet (6-4) is in interference fit with the lower end telescopic pipe (9-3), the top end of the upper end telescopic pipe (9-1) is connected with a bell mouth pipe (9-4), and a soft brush (9-5) for cleaning the sampling probe (8-5) after detection is completed is arranged at the upper part of the bell mouth pipe (9-4).
5. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 4, wherein: the sampling probe (8-5) is connected with a collecting pipe (10-2), a metal spring wire (10-1) is installed at the lower end of the sampling probe (8-5), and the metal spring wire (10-1) is tightly attached to the collecting pipe (10-2).
6. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 5, wherein: the sleeve (10-3) comprises a support barrel (11-1), heat tracing bands (11-2), pressure sensors (11-3), spring wheels (11-4) and a sleeve control mechanism (11-5), the sleeve (10-3) is arranged at the front end part of the sampling probe (8-5), the initial position of the sleeve (10-3) is located at the center of the bell mouth pipe (9-4), the support barrel (11-1) is fixed at the upper part of the sampling probe (8-5), the heat tracing bands (11-2) are adhered to the outer wall of the support barrel (11-1), the pressure sensors (11-3) are adhered to the upper part of the heat transfer bands, the heat tracing bands (11-2) are uniformly distributed on the circumference of the outer wall of the support barrel (11-1), the length of the heat tracing bands (11-2) is the same as that of the support barrel (11-1), the pressure sensor is arranged on the upper portion of the heat tracing band (11-2), and the pressure sensor converts touch information of the upper portion of the sleeve (10-3) and the inner wall of the exhaust pipe into an electric signal and transmits the signal to the electric push rod (8-2) and the sleeve control mechanism (11-5).
7. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 6, wherein: the bottom of the side wall of the support barrel (11-1) is provided with three openings (11-6), spring wheels (11-4) are correspondingly arranged at the positions of the openings (11-6), the spring wheels (11-4) are installed on spring wheel bases (11-7), the spring wheel bases (11-7) are made of magnets, the spring wheels (11-4) are in a fastening state when not receiving signals transmitted by a pressure sensor (11-3), a sleeve control mechanism (11-5) is in an electrified working state, when the sleeve control mechanism (11-5) receives pressure signals generated by collision between the pressure sensor (11-3) and the inner wall of the exhaust pipe, power supply is stopped, the spring wheels (11-4) are released, and the spring wheels (11-4) are in a release state when extending under the action of spring force, the spring wheel (11-4) can be tightly attached to the inner wall of the exhaust pipe under the action of the spring elasticity, after the detection is finished, the driving mechanism (8-3) withdraws the sampling probe (8-5), the spring wheel (11-4) is compressed by the pressure of the inner wall of the bell mouth pipe (9-4), the spring is compressed, the sleeve control mechanism (11-5) is electrified to attract the spring wheel base (11-7), the spring wheel (11-4) returns to the fastening state, the sleeve control mechanism (11-5) consists of a circuit and an electromagnet, strong magnetism can be generated when the sleeve control mechanism is electrified, the spring wheel base (11-7) is attracted, no magnetism exists when the spring wheel is not powered, the spring wheel base (11-7) is not attracted, three groups of the sleeve control mechanism (11-5) are arranged on the inner wall of the support cylinder (11-1) and correspond to the position of the spring wheel (, each group of sleeve control mechanism (11-5) is provided with two electromagnets which are respectively positioned at two sides of the opening (11-6), the electromagnets generate magnetic attraction to the spring wheel base (11-7) after being electrified, the spring wheel (11-4) is in a fastening state, and when the electromagnets are not electrified, the spring wheel (11-4) is in a releasing state.
8. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 7, wherein: the bottom of the electric push rod (8-2) is fixed on the rotary panel (6-2) of the detection platform, the upper portion of the electric push rod (8-2) is connected with the upper end telescopic tube (9-1), the driving mechanism (8-3) comprises a driving servo motor (9-6), a gear (5-4) and a driving rack (9-7), the driving servo motor (9-6) is arranged on the sampling probe (8-5) and connected with a driving gear, and the driving rack (9-7) is installed on the inner wall of the upper end telescopic tube (9-1).
9. The automobile exhaust detection device based on thermal imaging positioning as claimed in claim 4, wherein: the thermal imaging positioning device (1-3) comprises a thermal imaging camera (7-1), an image recognition system (7-2) and an image processing system (7-3), wherein the two thermal imaging cameras (7-1) are arranged on the detection platform base surface (6-1) in a bilateral symmetry mode, are fixed in position relative to the detection platform (4-3), and continuously generate and return thermodynamic images of the tail end of the automobile to be detected; the image information recognition system and the image processing system (7-3) receive and store thermodynamic images returned by the thermal imaging camera (7-1), analyze and process image information, and calibrate the spatial coordinates of the exhaust port of the automobile to be detected in real time.
10. The detection method of the automobile exhaust detection device based on the thermal imaging positioning as claimed in any one of claims 1 to 9, characterized in that:
the method comprises the following steps:
step 1, a vehicle (3) to be detected enters an appointed position, a thermal imaging camera shoots a thermodynamic image of a tail gas port part of the vehicle to be detected, the thermodynamic image comprises a left image L and a right image R, an image recognition system (7-2) and an image processing system (7-3) preprocess the image, divide an image area, compare the image with a stored thermodynamic image of the conventional common tail gas port of the vehicle, and select a target image to further determine the position coordinate of the tail gas port;
step 2, calibrating the left image L and the right image R through Zhang calibration to obtain internal and external parameters of the left camera and the right camera;
step 3, correcting the left image L and the right image R through the internal and external parameters of the camera so as to remove distortion of the left image and the right image and align polar lines of the two images;
step 4, calculating the corrected left and right images by using a parallel SGM algorithm to obtain a disparity map, carrying out post-processing on the obtained disparity map by using an information collection and control system (1-4), removing noise by using a median filtering method, independently searching a hot spot by using a thermal imaging node, namely an image node with the temperature of 30-50 ℃ is a hot spot, calculating the relative position coordinate of the hot spot after one node detects the hot spot, transmitting the relative position coordinate to a bottom moving mechanism (3-2), and driving a lead screw motor (3-2-2) to work so as to realize the movement in the x direction;
step 5, the lead screw motor (3-2-2) starts to work, the bottom platform (3-1) starts to move from the initial position, when the lead screw motor (3-2-2) moves to the coordinate position in the x direction which is the same as the hot spot, the operation is stopped, and the bottom platform (3-1) stops moving;
step 6, after the bottom moving mechanism (3-2) stops operating, the detection platform (4-3) is located at the initial position of the highest position of the arc-shaped track (4-2), the thermal imaging camera (7-1) shoots, the shot thermodynamic image is transmitted to the image recognition system (7-2) and the image processing system (7-3) and is compared with stored data, and four conditions of the shot image are respectively rectangular, circular, elliptical or trapezoidal in processing;
and 7, according to the four conditions obtained by shooting, carrying out different motions on the detection platform moving mechanism (4-4) and the detection mechanism (4-1) so as to move to corresponding y and z coordinates:
case a: when the graph formed by the first shooting is circular, the detection platform moving mechanism (4-4) does not need to move, the coordinate in the z direction is determined, the position of the tail gas port is found, the electric push rod (8-2) part of the detection mechanism (4-1) starts to extend and operate, the sampling probe (8-5) is pushed, in the process, the thermal imaging camera (7-1) carries out shooting every 0.1s, the position of the sleeve (10-3) with the heat tracing band (11-2) is detected, when the thermodynamic image detects that the sleeve (10-3) enters the tail gas port, the electric push rod (8-2) stops working, the driving mechanism (8-3) in the telescopic arm (8-1) starts to operate to continuously push the sampling probe (8-5) and times, if the sampling probe (8-5) is exactly parallel to the tail gas pipe, the pressure sensor (11-3) cannot be triggered after 2s is exceeded, at the moment, the sleeve control mechanism (11-5) releases the spring wheel (11-4) to be attached to the inner wall of the exhaust pipe and stops the driving mechanism (8-3) after running for 5 seconds; if the sampling probe (8-5) is not exactly parallel to the tail gas pipe, the pressure sensor (11-3) is triggered within 2s, the pressure sensor (11-3) is triggered, the sleeve control mechanism (11-5) releases the spring wheel (11-4) to be attached to the inner wall of the tail gas pipe and stops the driving mechanism (8-3) to operate after the sleeve control mechanism operates for 5s, the position in the y direction is determined, and the sampling probe (8-5) starts to acquire data for detection;
case b: the graph formed by the first shooting is rectangular, the situation that the tail gas pipe has a 90-degree bend angle is shown, the detection platform moving mechanism (4-4) starts to work and moves to the bottommost end of the arc-shaped track (4-2), the detection platform moving mechanism (4-4) stops working when the tail gas pipe moves to the bottommost end, the position in the y direction is determined, the electric push rod (8-2) part of the detection mechanism (4-1) starts to extend and run to push the sampling probe (8-5), the electric push rod (8-2) stops running after the pressure sensor (11-3) senses the pressure generated by collision, the driving mechanism (8-3) in the telescopic arm (8-1) starts to run to continuously push the sampling probe (8-5) and starts to time, the gear (5-4) stops running after 4s, and the position in the z direction is determined, the sampling probe (8-5) starts to collect data for detection;
c, the image formed by the first shooting is oval, the fact that a certain angle of bend exists in the tail gas pipe is shown, the angle is 0-90 degrees, the detection platform (4-3) mechanism starts to operate, images are shot every 0.1s, when the images are processed to be circular, the detection platform moving mechanism (4-4) stops operating, the position in the y direction is determined, the electric push rod (8-2) part of the detection mechanism (4-1) starts to extend and operate to push the sampling probe (8-5), when the pressure sensor (11-3) senses the pressure generated by collision, the electric push rod (8-2) stops operating, the driving mechanism (8-3) in the telescopic arm (8-1) starts to operate to continuously push the sampling probe (8-5) and starts to time, and the driving mechanism (8-3) stops operating after 4s, determining the position in the z direction, and starting to acquire data by a sampling probe (8-5) for detection;
case d: when an electric push rod (8-2) of the detection mechanism (4-1) starts to extend to operate and push the sampling probe (8-5) to move in the process, the thermal imaging camera (7-1) performs shooting every 0.1s in the process, the position of the sleeve (10-3) is detected, when the image recognition system (7-2) and the image processing system (7-3) detect that the tail gas enters the tail gas port according to thermodynamic images, the driving mechanism (8-3) in the telescopic arm (8-1) starts to operate to continuously push the sampling probe (8-5) and time, if the sampling probe (8-5) is exactly parallel to the tail gas pipe, the pressure sensor (11-3) cannot be triggered after 2s is exceeded, at the moment, the sleeve control mechanism (11-5) releases the spring wheel (11-4) to be attached to the inner wall of the exhaust pipe and stops the driving mechanism (8-3) after running for 5 seconds; if the sampling probe (8-5) is not exactly parallel to the tail gas pipe, the pressure sensor (11-3) is triggered within 2s, the pressure sensor (11-3) is triggered, the sleeve control mechanism (11-5) releases the spring wheel (11-4) to be attached to the inner wall of the tail gas pipe and stops the driving mechanism (8-3) to operate after the sleeve control mechanism operates for 5s, the position in the y direction is determined, and the sampling probe (8-5) starts to acquire data for detection;
step 8, transmitting the data collected during detection to an information collection and control system (1-4) to obtain a detection result;
and 9, after the detection is finished, the electric push rod (8-2) contracts, the driving mechanism (8-3) in the telescopic arm (8-1) drives the sampling probe (8-5) to partially return to the middle position of the bell mouth pipe (9-4), the sleeve control mechanism (11-5) is electrified to attract the spring wheel (11-4) to enable the sampling probe to be in a fastening state, the motor of the detection platform (4-3) drives the detection platform (4-3) to recover to the highest position of the arc-shaped track (4-2), the lead screw motor (3-2-2) rotates to drive the bottom platform (3-1) to return to the initial position, and the device recovers to the initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010395452.XA CN111693567B (en) | 2020-05-12 | 2020-05-12 | Automobile exhaust detection device and detection method based on thermal imaging positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010395452.XA CN111693567B (en) | 2020-05-12 | 2020-05-12 | Automobile exhaust detection device and detection method based on thermal imaging positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111693567A true CN111693567A (en) | 2020-09-22 |
| CN111693567B CN111693567B (en) | 2023-04-28 |
Family
ID=72477666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010395452.XA Active CN111693567B (en) | 2020-05-12 | 2020-05-12 | Automobile exhaust detection device and detection method based on thermal imaging positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111693567B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113503974A (en) * | 2021-09-09 | 2021-10-15 | 江苏沃泰冶金设备有限公司 | Thermal imaging detection system and method based on PID and gas ash conveying device |
| CN114148771A (en) * | 2022-01-07 | 2022-03-08 | 安徽瑞佑自动化科技有限公司 | A shipment pier for stereoscopic warehouse |
| CN115128221A (en) * | 2022-09-02 | 2022-09-30 | 运易通科技有限公司 | Carbon emission continuous detection device of remote transportation equipment and detection method thereof |
| CN116773674A (en) * | 2023-08-23 | 2023-09-19 | 烟台星辉劳斯堡液压机械有限公司 | Device and method for testing bending fatigue performance of hydraulic cylinder piston rod coating |
| CN116929862A (en) * | 2023-07-18 | 2023-10-24 | 北京博科测试系统股份有限公司 | Automatic detection system and detection method for automobile exhaust |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003261528A1 (en) * | 2002-11-12 | 2004-05-27 | United Group Rail Pty Ltd | Detection and identification of vehicles with excess particulates in exhaust gases |
| JP2010237075A (en) * | 2009-03-31 | 2010-10-21 | Mitsubishi Motors Corp | Exhaust gas measuring device |
| CN207232144U (en) * | 2017-10-09 | 2018-04-13 | 天津天滨瑞成环境技术工程有限公司 | A kind of vehicle exhaust automatic detection device |
| CN108020430A (en) * | 2017-12-14 | 2018-05-11 | 中国计量大学 | One kind visualization automobile exhaust gas checking apparatus |
| CN108918780A (en) * | 2018-08-10 | 2018-11-30 | 安徽悦众车身装备有限公司 | A kind of automobile exhaust gas checking apparatus |
| CN109342434A (en) * | 2018-11-30 | 2019-02-15 | 大连德欣新技术工程有限公司 | Vehicle emission measurement system and method |
| CN110187057A (en) * | 2019-05-13 | 2019-08-30 | 江苏金猫机器人科技有限公司 | A kind of robot workstation and its detection method for kart Tail gas measuring |
| CN110988273A (en) * | 2019-12-27 | 2020-04-10 | 长安大学 | Automatic tail gas detection device |
-
2020
- 2020-05-12 CN CN202010395452.XA patent/CN111693567B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003261528A1 (en) * | 2002-11-12 | 2004-05-27 | United Group Rail Pty Ltd | Detection and identification of vehicles with excess particulates in exhaust gases |
| JP2010237075A (en) * | 2009-03-31 | 2010-10-21 | Mitsubishi Motors Corp | Exhaust gas measuring device |
| CN207232144U (en) * | 2017-10-09 | 2018-04-13 | 天津天滨瑞成环境技术工程有限公司 | A kind of vehicle exhaust automatic detection device |
| CN108020430A (en) * | 2017-12-14 | 2018-05-11 | 中国计量大学 | One kind visualization automobile exhaust gas checking apparatus |
| CN108918780A (en) * | 2018-08-10 | 2018-11-30 | 安徽悦众车身装备有限公司 | A kind of automobile exhaust gas checking apparatus |
| CN109342434A (en) * | 2018-11-30 | 2019-02-15 | 大连德欣新技术工程有限公司 | Vehicle emission measurement system and method |
| CN110187057A (en) * | 2019-05-13 | 2019-08-30 | 江苏金猫机器人科技有限公司 | A kind of robot workstation and its detection method for kart Tail gas measuring |
| CN110988273A (en) * | 2019-12-27 | 2020-04-10 | 长安大学 | Automatic tail gas detection device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113503974A (en) * | 2021-09-09 | 2021-10-15 | 江苏沃泰冶金设备有限公司 | Thermal imaging detection system and method based on PID and gas ash conveying device |
| CN113503974B (en) * | 2021-09-09 | 2021-11-23 | 江苏沃泰冶金设备有限公司 | Thermal imaging detection system and method based on PID and gas ash conveying device |
| CN114148771A (en) * | 2022-01-07 | 2022-03-08 | 安徽瑞佑自动化科技有限公司 | A shipment pier for stereoscopic warehouse |
| CN114148771B (en) * | 2022-01-07 | 2023-10-20 | 安徽瑞佑自动化科技有限公司 | A shipment pier for stereoscopic warehouse |
| CN115128221A (en) * | 2022-09-02 | 2022-09-30 | 运易通科技有限公司 | Carbon emission continuous detection device of remote transportation equipment and detection method thereof |
| CN116929862A (en) * | 2023-07-18 | 2023-10-24 | 北京博科测试系统股份有限公司 | Automatic detection system and detection method for automobile exhaust |
| CN116773674A (en) * | 2023-08-23 | 2023-09-19 | 烟台星辉劳斯堡液压机械有限公司 | Device and method for testing bending fatigue performance of hydraulic cylinder piston rod coating |
| CN116773674B (en) * | 2023-08-23 | 2023-11-03 | 烟台星辉劳斯堡液压机械有限公司 | Device and method for testing bending fatigue performance of hydraulic cylinder piston rod coating |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111693567B (en) | 2023-04-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111693567A (en) | Automobile exhaust detection device and detection method based on thermal imaging positioning | |
| CN111693566B (en) | Automobile exhaust detection device and detection method based on infrared thermal imaging technology | |
| JP2008504478A5 (en) | ||
| JP3626724B2 (en) | Self-propelled vacuum cleaner | |
| CN104626204B (en) | robot autonomous charging docking system and method | |
| CN100453375C (en) | On-line dynamic detecting device of locomotive wheel lset exterior size | |
| JP2002073170A (en) | Movable working robot | |
| EP2112468A1 (en) | Parameter detection system and control method | |
| CN103342101A (en) | Induction type non-contact charging locating aligning device and locating method thereof | |
| KR101834678B1 (en) | Autonomous traveling body | |
| CN110988273A (en) | Automatic tail gas detection device | |
| CN104267725A (en) | Indoor navigation and positioning system for autonomous charging of sweeping robot | |
| CN103376289A (en) | Internal detection method for weak magnetism at stress concentration area of long oil and gas pipeline | |
| CN209012719U (en) | Telescopic smoke dust sampling opium pipe bracket | |
| CN2910707Y (en) | On-line dynamic testing equipment for shape and size of rolling stock wheel set | |
| CN106969923B (en) | Vehicle channel circular track testing system and method | |
| CN102981148A (en) | Positioning system and method thereof | |
| CN114136217B (en) | Steel plate flexibility detection system and method | |
| CN204178236U (en) | The indoor navigation positioning system of sweeping robot recharging | |
| CN216208951U (en) | Automobile exhaust detection device | |
| KR101710397B1 (en) | Cleaner | |
| CN112904845A (en) | Robot jamming detection method, system and chip based on wireless distance measurement sensor | |
| CN210322928U (en) | Robot workstation for detecting tail gas of small car | |
| JP2001357488A (en) | Vehicle dimension measuring device | |
| CN111972701B (en) | Cigarette appearance and object measurement integrated comprehensive test bench |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |