CN112394035A - Intelligent automobile chassis detection method and device - Google Patents
Intelligent automobile chassis detection method and device Download PDFInfo
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Abstract
The invention discloses an intelligent automobile chassis detection method and device, wherein the method comprises the following steps: moving the vehicle to be detected to enable the transverse first connecting shaft to be located above the clearance gauge; carrying out visual detection on the chassis according to the vehicle information; performing mechanical detection on the transverse first connecting shaft according to vehicle information, and after the mechanical detection is completed, positioning a left sliding platform of the clearance gauge at a first preset position on the left side and positioning a right sliding platform at a first preset position on the right side, wherein the transverse first connecting shaft is in a stretching state; under the condition that the transverse first connecting shaft is kept in a stretching state, the detected vehicle is moved to enable the transverse second connecting shaft to be located above the clearance gauge, and the mechanical detection is carried out on the transverse first connecting shaft in the moving process of the detected vehicle; and carrying out mechanical detection on the transverse second connecting shaft. The invention can carry out mechanical detection on the moving vehicle, thereby realizing dynamic analysis of the vehicle chassis defect, and the detection is more comprehensive and accurate.
Description
Technical Field
The invention relates to the technical field of automobile detection, in particular to an intelligent automobile chassis detection method and an intelligent automobile chassis detection device.
Background
With the development of automobiles, the importance of automobile driving safety is more and more emphasized, and particularly, the driving safety is greatly influenced by the performance of an automobile chassis. The inspection of the vehicle chassis parts is regulated according to national standards GB 21861-2014 motor vehicle safety technology inspection projects and methods, GB18565-2016 road transport vehicle comprehensive performance requirements and inspection methods and published standard GB 38900-2020 motor vehicle safety technology inspection projects and methods.
The existing inspection method is as follows: a sinking trench with the depth of more than 1.7m is specially built so that workers can enter the sinking trench; the vehicle is parked at a designated position above the sunken trench, and the worker uses a tool such as a special hammer to check. The inspection process is manual visual inspection, the inspection result depends on personal experience and feeling of workers, the detection efficiency is not high, and the subjective judgment component of the workers is high; and after the inspection is finished, the inspection item result is input through input equipment, but the inspection result only has qualified/unqualified description and has no traceable record in the inspection process.
In addition, in practical application, the state of a vehicle chassis connecting shaft of a moving vehicle (in the rotating process of wheels) is constantly changed, and partial chassis defects may not be captured in the stationary process of the vehicle. The existing detection methods are all used for carrying out static detection on a parked vehicle, the chassis condition in the dynamic moving process (in the wheel rotating process) is not detected, the detection means is single, and the flexibility is weak.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent automobile chassis detection method and device, which can be used for carrying out mechanical detection on a moving vehicle, thereby realizing dynamic analysis on defects of the automobile chassis and realizing more comprehensive and accurate detection.
In order to solve the technical problem, the invention provides an intelligent automobile chassis detection method, which comprises the following steps: collecting license plate information of a detected vehicle entering a detection station, and identifying the vehicle information of the detected vehicle according to the license plate information; moving the detected vehicle to enable a transverse first connecting shaft of the detected vehicle to be located above a clearance gauge, wherein at the moment, a left sliding platform of the clearance gauge is located at a left initial position, a right sliding platform of the clearance gauge is located at a right initial position, and the transverse first connecting shaft is in an initial state; starting a visual detection system to perform visual detection on the chassis of the detected vehicle according to the vehicle information; starting a mechanical detection system to perform mechanical detection on a transverse first connecting shaft on the clearance gauge according to the vehicle information, wherein after the mechanical detection is completed, a left sliding platform of the clearance gauge is located at a left first preset position and a right sliding platform of the clearance gauge is located at a right first preset position, the transverse first connecting shaft is in a stretching state under the action of the clearance gauge, and the distance between the left initial position and the right initial position is smaller than the distance between the left first preset position and the right first preset position; under the condition that the transverse first connecting shaft is kept in a stretching state, the detected vehicle is moved so that the transverse second connecting shaft of the detected vehicle is positioned above the gap gauge, and a mechanical detection system is started to perform mechanical detection on the transverse first connecting shaft in the moving process of the detected vehicle so as to acquire a tension signal of the transverse first connecting shaft in the rotating process of the wheel in real time and identify the chassis defect of the detected vehicle according to the tension signal; starting a mechanical detection system to perform mechanical detection on a transverse second connecting shaft on the clearance gauge according to the vehicle information; and storing the results of the visual detection and the mechanical detection.
As an improvement of the above solution, the step of identifying the chassis defect of the inspected vehicle according to the tension signal comprises: dividing the tension signal into a plurality of tension signal sections; respectively calculating the tension change frequency of each tension signal section to generate a plurality of tension change frequencies; weighting the tension change frequency according to a preset weight coefficient to generate and output a defect value, wherein the smaller the tension change frequency is, the larger the preset weight coefficient is; and comparing the defect value with a preset defect type to identify the chassis defect.
As an improvement of the above solution, the step of starting the visual inspection system to visually inspect the chassis includes: starting a chassis illuminating lamp to illuminate the chassis of the detected vehicle; starting a bottom camera, and carrying out video recording processing on a bottom working area; starting a chassis camera, carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle; and identifying the chassis defect of the detected vehicle according to the captured image.
As an improvement to the above, the step of activating the mechanical detection system to mechanically detect the transverse first connecting shaft includes: driving a left sliding platform and a right sliding platform of the clearance gauge to move towards a preset direction; the wheels corresponding to the transverse first connecting shaft move along with the left sliding platform and the right sliding platform and pull a chassis connecting rod of the detected vehicle; collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time; and identifying the chassis defect of the detected vehicle according to the tension signal.
As an improvement of the above solution, the step of starting the mechanical detection system to mechanically detect the transverse second connecting shaft includes: driving a left sliding platform and a right sliding platform of the clearance gauge to return the left sliding platform and the right sliding platform to initial positions; wheels corresponding to the transverse second connecting shaft move along with the left sliding platform and the right sliding platform and pull the chassis connecting rod; collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time; and identifying the chassis defect of the detected vehicle according to the tension signal.
As an improvement of the above scheme, the moving paths of the left sliding platform and the right sliding platform moving to the preset direction are as follows: the left sliding platform and the right sliding platform simultaneously move towards two sides along the width direction of the detected vehicle so as to enable the left sliding platform to move to a first left preset position and the right sliding platform to move to a first right preset position, then the left sliding platform moves to a second left preset position along the height direction of the detected vehicle, moves to a third left preset position along the length direction of the detected vehicle, sequentially moves to a fourth left preset position and a fifth left preset position along the height direction of the detected vehicle, sequentially moves to a sixth left preset position and a seventh left preset position along the length direction of the detected vehicle, sequentially moves to an eighth left preset position and a ninth left preset position along the height direction of the detected vehicle, and returns to the first left preset position; the moving paths of the left sliding platform and the right sliding platform returning to the initial positions are as follows: the left sliding platform moves to a left second preset position along the height direction of the detected vehicle, moves to a left third preset position along the length direction of the detected vehicle, moves to a left fourth preset position and a left fifth preset position along the height direction of the detected vehicle in sequence, moves to a left sixth preset position and a left seventh preset position along the length direction of the detected vehicle in sequence, moves to a left eighth preset position and a left ninth preset position along the height direction of the detected vehicle in sequence, returns to the left first preset position, and then returns to the initial position.
As an improvement of the above aspect, the step of moving the subject vehicle so that the lateral first connecting shaft of the subject vehicle is located above the clearance gauge includes: the detected vehicle moves along the detection station; when the wheel of the detected vehicle drives above the clearance gauge, the detected vehicle stops moving; and the in-place detector on the clearance gauge judges whether the detected vehicle is in place in real time, prompts the detected vehicle to move forwards if the in-place detector judges that the detected vehicle is not in place, and indicates that the transverse first connecting shaft of the detected vehicle is positioned above the clearance gauge if the in-place detector judges that the detected vehicle is not in place.
Correspondingly, the invention also provides an intelligent automobile chassis detection device, which comprises a vehicle identification system, a bottom working area, a clearance instrument, a visual detection system, a mechanical detection system and a processing system, wherein the clearance instrument is arranged above the bottom working area; the vehicle identification system is used for collecting the license plate information of the detected vehicle entering the detection station and identifying the vehicle information of the detected vehicle according to the license plate information; the visual detection system is arranged in the bottom working area and is used for carrying out visual detection on the chassis of the detected vehicle according to the vehicle information; the mechanical detection system is arranged on the clearance gauge and is used for carrying out mechanical detection on the transverse first connecting shaft and the transverse second connecting shaft on the clearance gauge according to the vehicle information; and the processing system is respectively connected with the visual detection system and the mechanical detection system and is used for storing the results of the visual detection and the mechanical detection.
As an improvement of the above, the visual inspection system includes: the chassis illuminating lamp is used for illuminating the chassis of the detected vehicle; the bottom camera is used for carrying out video recording processing on the bottom working area; the chassis camera is used for carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle; and the vision recognizer is used for recognizing the chassis defect of the detected vehicle according to the snapshot image.
As an improvement of the above scheme, the clearance gauge comprises a left sliding platform and a right sliding platform; the mechanical detection system comprises a tension sensor and a mechanical recognizer, the tension sensor is arranged on the clearance gauge and used for acquiring tension signals in the moving process of the left sliding platform and the right sliding platform in real time, and the mechanical recognizer is used for recognizing the chassis defect of the detected vehicle according to the tension signals; when the mechanical detection system performs mechanical detection on the transverse first connecting shaft, the left sliding platform and the right sliding platform move towards a preset direction, wheels corresponding to the transverse first connecting shaft move along with the left sliding platform and the right sliding platform, and a chassis connecting rod of the detected vehicle is pulled; when the mechanical detection system performs mechanical detection on the transverse second connecting shaft, the left sliding platform and the right sliding platform return to the initial positions, and wheels corresponding to the transverse second connecting shaft move along with the left sliding platform and the right sliding platform and pull the chassis connecting rod.
As an improvement of the scheme, the clearance gauge is also provided with an in-place detector; the in-place detector is used for judging whether the detected vehicle is in place in real time, when the in-place detector detects that the detected vehicle is not in place, the detected vehicle is prompted to move forwards, and when the in-place detector detects that the detected vehicle is in place, the transverse first connecting shaft of the detected vehicle is positioned above the gap instrument.
The implementation of the invention has the following beneficial effects:
the invention introduces a visual detection system and a mechanical detection system to detect the chassis of the detected vehicle, overcomes the defect of single detection method in the prior art, and specifically comprises the following steps:
according to the invention, through a mechanical detection system, under the condition that the transverse first connecting shaft is ensured to be in a stretching state, the detected vehicle is moved to enable the wheel to rotate, the tension signal of the transverse first connecting shaft in the wheel rotating process is collected in real time, and the force change data of the wheel rotating and the transverse first connecting shaft under stress is analyzed, so that the defect that only a static vehicle is detected in the prior art is overcome, and meanwhile, the chassis state is more finely evaluated through dynamic detection of the chassis; in addition, the invention also automatically controls the movement of the clearance gauge through a mechanical detection system so as to realize the displacement change of the wheels, obtain the thrust/tension of the clearance gauge, analyze the force change data of the wheels during moving, calculate and analyze the connection quality of chassis parts, judge the chassis result and reduce manual operation.
According to the invention, by adopting the visual detection system, the parts and defects of the vehicle chassis are judged in an intelligent image recognition mode, so that the artificial influence is reduced; the whole process of the vehicle chassis inspection adopts imaging and video recording, so that original data can be effectively stored;
furthermore, the invention also introduces a unique tension signal identification method, realizes prediction by adopting a dynamic weight flexible configuration mode, can reflect the chassis state from the side and has higher accuracy.
Drawings
FIG. 1 is a flow chart of a first embodiment of the intelligent vehicle chassis inspection method of the present invention;
FIG. 2 is a flow chart of a second embodiment of the intelligent vehicle chassis inspection method of the present invention;
FIG. 3 is a flow chart of a third embodiment of the intelligent vehicle chassis inspection method of the present invention;
FIG. 4 is a schematic diagram of a moving path of a left-sliding platform in the intelligent automobile chassis detection method of the invention;
FIG. 5 is a flow chart of a fourth embodiment of the intelligent vehicle chassis inspection method of the present invention;
FIG. 6 is a schematic structural diagram of an intelligent vehicle chassis inspection device according to the present invention;
fig. 7 is a sectional view of the intelligent automobile chassis detection device of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 shows a flowchart of a first embodiment of the intelligent vehicle chassis inspection method of the present invention, which includes:
s101, collecting license plate information of a detected vehicle entering a detection station, and identifying the vehicle information of the detected vehicle according to the license plate information;
specifically, the vehicle information of the detected vehicle may be obtained by recognizing/inputting the license plate information, and the vehicle information may be, but is not limited to, a model of the detected vehicle, a layout of a chassis, structural characteristics of chassis components, and the like.
S102, the detected vehicle is moved so that the transverse first connecting shaft of the detected vehicle is positioned above the clearance gauge.
At this time, the left sliding platform of the clearance gauge is located at the left initial position and the right sliding platform of the clearance gauge is located at the right initial position, and the transverse first connecting shaft is in an initial state, namely the transverse first connecting shaft is not influenced by tension.
And S103, starting a vision detection system to perform vision detection on the chassis of the detected vehicle according to the vehicle information.
And S104, starting a mechanical detection system to perform mechanical detection on the transverse first connecting shaft on the clearance gauge according to the vehicle information.
It should be noted that, after the mechanical detection is completed, the left sliding platform of the clearance gauge is located at the first preset position on the left side and the right sliding platform of the clearance gauge is located at the first preset position on the right side, at this time, the transverse first connecting shaft is in a stretching state under the action of the clearance gauge, and the distance between the initial position on the left side and the initial position on the right side is smaller than the distance between the first preset position on the left side and the first preset position on the right side.
S105, moving the detected vehicle to enable the transverse second connecting shaft of the detected vehicle to be located above the clearance gauge, starting a mechanical detection system to perform mechanical detection on the transverse first connecting shaft in the moving process of the detected vehicle so as to acquire a tension signal of the transverse first connecting shaft in the rotating process of the wheel in real time, and identifying the chassis defect of the detected vehicle according to the tension signal.
And under the condition that the transverse first connecting shaft is kept in a stretching state, the detected vehicle is moved, so that when the transverse second connecting shaft of the detected vehicle is positioned above the gap gauge, a mechanical detection system is started to perform mechanical detection on the transverse first connecting shaft in the moving process of the detected vehicle, so that a tension signal of the transverse first connecting shaft in the wheel rotating process is collected in real time, and the chassis defect of the detected vehicle is identified according to the tension signal.
It should be noted that, when the detected vehicle is moved, the left sliding platform is located at a first left preset position (non-initial position) and the right sliding platform is located at a first right preset position (non-initial position), and at this time, the transverse first connecting shaft is still in a stressed state, so that dynamic detection of the pulling force in the wheel rotation process can be effectively achieved by collecting the pulling force signal in the movement (i.e., wheel rotation) process of the detected vehicle.
Specifically, the step of identifying the chassis defect of the detected vehicle according to the tension signal comprises the following steps:
(1) dividing the tension signal into a plurality of tension signal sections;
(2) respectively calculating the tension change frequency of each tension signal section to generate a plurality of tension change frequencies;
(3) weighting the tension change frequency according to a preset weight coefficient to generate and output a defect value;
(4) and comparing the defect value with a preset defect type to identify the chassis defect.
Preferably, the tension signal can be divided into five tension signal segments according to a time sequence, wherein the tension change frequency corresponding to the first tension signal segment is k1, the tension change frequency corresponding to the second tension signal segment is k2, the tension change frequency corresponding to the third tension signal segment is k3, the tension change frequency corresponding to the fourth tension signal segment is k4, and the tension change frequency corresponding to the fifth tension signal segment is k 5; the defect value is represented by S, and a, b, c, d, and e are weight coefficients, respectively, S = a × k1+ b × k 2+ c × k 3+ d × k 4+ e × k 5. The values of the weight coefficients are 1, 2, 3, 4 and 5 respectively, and the smaller the tension change frequency is, the larger the weight coefficient is. For example, if k 2< k1 < k3< k4< k5, then a =4, b =5, c =3, d =2, e = 1.
It should be noted that the smaller the tension change frequency is, the slower the tension change is, the weighting coefficient is properly increased, the proportion of the change frequency can be effectively increased, and the defect state can be comprehensively reflected.
Therefore, the method realizes prediction by adopting a dynamic weight flexible configuration mode, reflects the vehicle chassis state from the side, and has higher accuracy. Correspondingly, the defect value can be compared with a preset defect type, and when the defect value falls into the chassis looseness, the chassis defect type is represented as the chassis looseness.
In summary, the invention moves the detected vehicle to rotate the wheel by the mechanics detection system under the condition of ensuring that the transverse first connecting shaft is in the stretching state, collects the tension signal of the transverse first connecting shaft in the wheel rotating process in real time, and analyzes the force change data when the wheel rotates and the transverse first connecting shaft is stressed.
And S106, starting a mechanical detection system to perform mechanical detection on the transverse second connecting shaft on the clearance gauge according to the vehicle information.
It should be noted that, step S104-106 may be performed at the same time as step S103, so as to ensure that the visual inspection system and the mechanical inspection system operate synchronously.
In the mechanical detection process, the detected vehicle is divided into two parts by taking the transverse first connecting shaft and the transverse second connecting shaft as reference objects, and the two parts are respectively detected step by step, so that the detection process is more precise and accurate.
And S107, storing results of the visual detection and the mechanical detection.
Compared with the prior art, the invention simultaneously introduces the vision detection system and the mechanics detection system to detect the chassis of the detected vehicle, overcomes the defect of single detection method in the prior art, respectively analyzes the defects of the vehicle chassis in two dimensions of vision and mechanics, and has more comprehensive and accurate detection.
Referring to fig. 2, fig. 2 shows a flowchart of a second embodiment of the intelligent vehicle chassis inspection method of the present invention, which includes:
s201, collecting license plate information of a detected vehicle entering a detection station, and identifying the vehicle information of the detected vehicle according to the license plate information;
s202, moving the detected vehicle to enable the transverse first connecting shaft of the detected vehicle to be located above the clearance gauge.
S203, starting a chassis illuminating lamp, and illuminating the chassis of the detected vehicle;
s204, starting a bottom camera, and carrying out video recording processing on a bottom working area;
the bottom working area can be a trench or the ground, but is not limited in sequence, and the bottom working area can be an area which is convenient for workers or robots to detect.
S205, starting a chassis camera, carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle;
because the manual visual inspection has the influence of human factors, and the inspection result only has the qualified/unqualified description, no traceable record of the inspection process exists. Different from the prior art, the invention can record the whole detection process through the bottom camera and the chassis camera and form a traceable record.
Meanwhile, the whole automatic inspection process can be visually checked by an inspector in the bottom working area, and remote inspection can also be carried out through equipment.
And S206, identifying the chassis defect of the detected vehicle according to the snapshot image.
It should be noted that the invention can learn the three-dimensional data of the qualified vehicle or the original data capacity imported into the garage through the machine, and can also learn the fault data of various problem vehicles. In the process of identifying the defects of the chassis, the images captured in real time can be synchronously compared with pre-learned reference data, and when the errors or system similar faults are found, the images can be automatically marked, so that manual further judgment is facilitated.
For example, the shape and the number of chassis wheel connecting parts can be analyzed by capturing images, and the shape of the part is analyzed and compared with preset reference data to judge whether the surface features have defects (such as cracks, fractures, missing, etc.).
In addition, the above-mentioned identification method can be adopted to perform segmentation and weighted identification on the tension signal.
And S207, starting a mechanical detection system to perform mechanical detection on the transverse first connecting shaft on the clearance gauge according to the vehicle information.
S208, the detected vehicle is moved to enable the transverse second connecting shaft of the detected vehicle to be located above the gap gauge, and a mechanical detection system is started to perform mechanical detection on the transverse first connecting shaft in the moving process of the detected vehicle, so that tension signals of the transverse first connecting shaft in the wheel rotating process are collected in real time, and the chassis defect of the detected vehicle is identified according to the tension signals.
S209, starting a mechanical detection system to mechanically detect the transverse second connecting shaft on the clearance gauge according to the vehicle information.
It should be noted that, step S207-209 may be performed at the same time as step S203-206, so that the whole process of recording and detecting by the bottom camera and the chassis camera is started in real time during the mechanical detection of the vehicle to be detected by the mechanical detection system.
And S210, storing the results of the visual detection and the mechanical detection.
Therefore, the invention records the original state of the automobile chassis through an automatic image photographing technology, analyzes the characteristics of the parts of the automobile chassis through an intelligent image recognition technology and judges the parts and the defects of the automobile chassis. Meanwhile, videos are recorded in the mechanical detection process, images are recorded and analyzed in different detection positions, and whole-process recording and intelligent judgment in the whole detection process are achieved.
Referring to fig. 3, fig. 3 shows a flowchart of a third embodiment of the intelligent vehicle chassis inspection method of the present invention, which includes:
s301, collecting license plate information of a detected vehicle entering a detection station, and identifying the vehicle information of the detected vehicle according to the license plate information;
s302, the detected vehicle is moved so that the transverse first connecting shaft of the detected vehicle is positioned above the clearance gauge.
S303, starting a chassis illuminating lamp to illuminate the chassis of the detected vehicle;
s304, starting a bottom camera, and carrying out video recording processing on a bottom working area;
s305, starting a chassis camera, carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle;
and S306, identifying the chassis defect of the detected vehicle according to the captured image.
S307, driving a left sliding platform and a right sliding platform of the clearance gauge to enable the left sliding platform and the right sliding platform to move towards a preset direction;
it should be noted that the left sliding platform and the right sliding platform in the clearance gauge can move independently or synchronously, wherein the moving direction of the left sliding platform or the right sliding platform can be independent transverse movement, independent longitudinal movement, independent vertical movement or oblique movement (i.e. simultaneous transverse movement, longitudinal movement or vertical movement), and the left sliding platform and the right sliding platform can be moved along different preset directions according to specific test requirements, so that the transverse first connecting shaft and the chassis connecting rod can move under stress.
In the invention, mechanical detection and visual detection can be simultaneously carried out, and when the left sliding platform and the right sliding platform move to specific positions, the key positions of the chassis of the detected vehicle can be subjected to image snapshot processing through the chassis camera.
As shown in fig. 4, the moving paths of the left sliding platform and the right sliding platform moving to the preset direction are as follows: the left sliding platform and the right sliding platform simultaneously move towards two sides along the width direction of the detected vehicle so that the left sliding platform moves to a left first preset position B1 and the right sliding platform moves to a right first preset position, then the left sliding platform moves to a left second preset position B2 along the height direction of the detected vehicle, moves to a left third preset position B3 along the length direction of the detected vehicle, moves to a left fourth preset position B4 and a left fifth preset position B5 along the height direction of the detected vehicle in sequence, moves to a left sixth preset position B6 and a left seventh preset position B7 along the length direction of the detected vehicle in sequence, moves to a left eighth preset position B8 and a left ninth preset position B9 along the height direction of the detected vehicle in sequence, and returns to a left first preset position B1;
it should be noted that, by adopting the above-mentioned moving strategy, it can be ensured that the forces generated at 9 preset positions are detected at fixed points respectively in the state that the connecting rod is subjected to the transverse tension, and the forces generated in the moving process are tracked in the whole course, so that the stress state of the connecting rod of the detected vehicle under the conditions of turning, rolling and the like can be effectively simulated, and the mechanical detection can be realized in all directions. Meanwhile, in the detection process, the moving path of the left sliding platform is not repeated, so that one-time continuous detection is realized, and the time is saved. In addition, the left sliding platform and the right sliding platform move in a mode of uniformly accelerating and then uniformly decelerating, so that the force and the change speed are changed from multiple aspects, and the detection is more specific and specific.
S308, wheels corresponding to the transverse first connecting shafts move along with the left sliding platform and the right sliding platform, and a chassis connecting rod of the detected vehicle is pulled;
s309, collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time;
and S310, identifying the chassis defect of the detected vehicle according to the tension signal.
It should be noted that the movement of the clearance gauge causes the wheels to move, and the wheels move and pull the chassis link. When the linkage is reliably connected, the wheel movement mainly causes tire deformation, and the tension is a smooth curve; when the connecting rod is connected with the looseness, the change of the measured tension in the moving process of the wheel is sudden change, so that whether the connecting rod is connected with the looseness or unreliability can be effectively judged. In addition, the steps S307-309 can be adopted to detect the reference vehicles of the same model in advance to form a reference tension signal, and then the reference tension signal is compared with the tension signal of the detected vehicle to obtain the abnormal condition of the tension, so that the defect of the chassis is determined.
S311, moving the detected vehicle to enable the transverse second connecting shaft of the detected vehicle to be located above the clearance gauge, starting a mechanical detection system to perform mechanical detection on the transverse first connecting shaft in the moving process of the detected vehicle, so as to acquire a tension signal of the transverse first connecting shaft in the wheel rotating process in real time, and identifying the chassis defect of the detected vehicle according to the tension signal.
S312, driving a left sliding platform and a right sliding platform of the clearance gauge to return the left sliding platform and the right sliding platform to initial positions;
s313, the wheels corresponding to the transverse second connecting shaft move along with the left sliding platform and the right sliding platform, and the chassis connecting rod is pulled;
in the invention, mechanical detection and visual detection can be simultaneously carried out, and when the left sliding platform and the right sliding platform move to the initial positions, the key positions of the chassis of the detected vehicle can be subjected to image snapshot processing by the chassis camera.
As shown in fig. 4, the moving paths of the left sliding platform and the right sliding platform returning to the initial positions are as follows: the left sliding platform moves to a left second preset position B2 along the height direction of the detected vehicle, moves to a left third preset position B3 along the length direction of the detected vehicle, moves to a left fourth preset position B4 and a left fifth preset position B5 along the height direction of the detected vehicle in sequence, moves to a left sixth preset position B6 and a left seventh preset position B7 along the length direction of the detected vehicle in sequence, moves to a left eighth preset position B8 and a left ninth preset position B9 along the height direction of the detected vehicle in sequence, returns to the left first preset position B1, and then returns to the initial positions.
S314, collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time;
and S315, identifying the chassis defect of the detected vehicle according to the tension signal.
And S316, storing the results of the visual detection and the mechanical detection.
It should be noted that steps S307-315 may be performed at the same time as steps S303-306, so as to ensure that the visual inspection is started synchronously during the mechanical inspection, so as to ensure that the whole process of the vehicle chassis inspection adopts imaging and video recording.
Therefore, the mechanical detection system can automatically control the clearance gauge of the vehicle chassis, analyze and calculate the stress process data when the wheels move, and judge the quality performance of the vehicle chassis component.
Referring to fig. 5, fig. 5 shows a flowchart of a fourth embodiment of the intelligent vehicle chassis inspection method of the present invention, which includes:
s401, collecting license plate information of a detected vehicle entering a detection station, and identifying the vehicle information of the detected vehicle according to the license plate information;
s402, moving the detected vehicle along a detection station;
s403, when the wheel of the detected vehicle is driven above the clearance gauge, the detected vehicle stops moving;
s404, the in-place detector on the clearance gauge judges whether the detected vehicle is in place in real time, if not, the detected vehicle is prompted to move forwards, and if yes, the transverse first connecting shaft of the detected vehicle is indicated to be positioned above the clearance gauge.
Therefore, the effective positioning of the detected vehicle can be realized through the steps S402-404, the transverse first connecting shaft of the detected vehicle is ensured to be positioned above the gap gauge, and the mechanical detection is convenient.
S405, starting a chassis illuminating lamp, and illuminating the chassis of the detected vehicle;
s406, starting a bottom camera, and carrying out video recording processing on the bottom working area;
s407, starting a chassis camera, carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle;
and S408, identifying the chassis defect of the detected vehicle according to the captured image.
S409, driving a left sliding platform and a right sliding platform of the clearance gauge to move towards a preset direction;
s410, moving wheels corresponding to the transverse first connecting shaft along with the left sliding platform and the right sliding platform, and pulling a chassis connecting rod of the detected vehicle;
s411, collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time;
and S412, identifying the chassis defect of the detected vehicle according to the tension signal.
S413, moving the subject vehicle so that the lateral second connecting shaft of the subject vehicle is located above the clearance gauge.
S414, driving a left sliding platform and a right sliding platform of the clearance gauge to return the left sliding platform and the right sliding platform to initial positions;
s415, wheels corresponding to the transverse second connecting shaft move along with the left sliding platform and the right sliding platform, and the chassis connecting rod is pulled;
s416, collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time;
and S417, identifying the chassis defect of the detected vehicle according to the tension signal.
And S418, storing the results of the visual detection and the mechanical detection.
From the above, the present invention has the following advantages:
1. by means of the visual detection system, parts and defects of the vehicle chassis are judged in an intelligent image recognition mode, and human influence is reduced.
2. Through the visual detection system, the whole process of the vehicle chassis inspection adopts imaging and video recording, and original data can be effectively stored.
3. Through mechanics detecting system, the motion of automatic control gap appearance reduces manual operation.
4. Through a mechanics detection system, the wheel displacement change is carried out by utilizing the clearance gauge, the thrust/tension of the clearance gauge is obtained, the force change data of the wheel during moving is analyzed, the connection quality of chassis parts is calculated and analyzed, and the chassis result is judged.
Referring to fig. 6 and 7, fig. 6 and 7 show a specific structure of the intelligent vehicle chassis detection device of the present invention, which includes a vehicle identification system 1, a bottom working area 9, a clearance gauge, a visual detection system, a mechanical detection system and a processing system, wherein the clearance gauge is disposed above the bottom working area 9, and the clearance gauge includes a left sliding platform 8 and a right sliding platform 3;
the vehicle identification system 1 is used for collecting license plate information of a detected vehicle entering a detection station and identifying the vehicle information of the detected vehicle according to the license plate information. Preferably, the vehicle identification system 1 includes a license plate identification camera and an MES system, wherein the license plate identification camera can acquire license plate information of a detected vehicle entering the detection station in real time, the MES system can find vehicle information of the detected vehicle according to the license plate information, and the vehicle information may be a model of the detected vehicle, a layout of a chassis, structural characteristics of chassis components, and the like, but is not limited thereto.
The vision detection system is arranged in the bottom working area 9 and used for carrying out vision detection on the chassis of the detected vehicle according to the vehicle information. The bottom working area 9 may be a trench or a ground, but is not limited in sequence, and may be any area that is convenient for a worker or a robot to perform detection work.
The mechanical detection system is arranged on the clearance gauge and used for carrying out mechanical detection on the transverse first connecting shaft and the transverse second connecting shaft on the clearance gauge according to the vehicle information.
And the processing system is respectively connected with the visual detection system and the mechanical detection system and is used for storing the results of the visual detection and the mechanical detection.
When the system works, the vehicle identification system 1 collects the license plate information of a detected vehicle entering a detection station, and identifies the vehicle information of the detected vehicle according to the license plate information; moving the detected vehicle so that a transverse first connecting shaft of the detected vehicle is positioned above the clearance gauge; then, carrying out visual detection on the chassis of the detected vehicle through a visual detection system, and carrying out mechanical detection on a transverse first connecting shaft on the clearance gauge through a mechanical detection system; then, moving the detected vehicle to enable a transverse second connecting shaft of the detected vehicle to be located above the clearance gauge, and mechanically detecting the transverse second connecting shaft on the clearance gauge through a mechanical detection system; and finally, storing the results of the visual detection and the mechanical detection.
Compared with the prior art, the invention simultaneously introduces the vision detection system and the mechanics detection system to detect the chassis of the detected vehicle, overcomes the defect of single detection method in the prior art, respectively analyzes the defects of the vehicle chassis in two dimensions of vision and mechanics, and has more comprehensive and accurate detection.
Further, the visual inspection system includes:
and the chassis illuminating lamp is used for illuminating the chassis of the detected vehicle. Wherein, the chassis light includes left chassis light 7 and right chassis light 5, can guarantee that the light on chassis is sufficient, promotes detection accuracy.
And the bottom camera 2 is used for carrying out video recording processing on the bottom working area.
And the chassis camera is used for carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle. The chassis camera comprises a left chassis camera 6 and a right chassis camera 4, so that all-around video recording and photographing of the vehicle chassis can be guaranteed, and omission of key information is avoided.
And the vision recognizer is used for recognizing the chassis defect of the detected vehicle according to the snapshot image. It should be noted that the vision recognizer can learn the three-dimensional data of the qualified vehicle or the original data capability imported into the car factory through the machine, and can also learn the fault data of various problem vehicles. In the process of identifying the defects of the chassis, the images captured in real time can be synchronously compared with pre-learned reference data, and when the errors or system similar faults are found, the images can be automatically marked, so that manual further judgment is facilitated.
Because the manual visual inspection has the influence of human factors, and the inspection result only has the qualified/unqualified description, no traceable record of the inspection process exists. Different from the prior art, the invention can record the whole detection process through the bottom camera 2 and the chassis camera and form a traceable record. Meanwhile, the whole automatic inspection process can be visually checked by an inspector in the bottom working area, and remote inspection can also be carried out through equipment.
Therefore, the invention records the original state of the automobile chassis through an automatic image photographing technology, analyzes the characteristics of the parts of the automobile chassis through an intelligent image recognition technology and judges the parts and the defects of the automobile chassis. Meanwhile, videos are recorded in the mechanical detection process, images are recorded and analyzed in different detection positions, and whole-process recording and intelligent judgment in the whole detection process are achieved.
In addition, the clearance gauge comprises a left sliding platform 8 and a right sliding platform 3. It should be noted that the left sliding platform 8 and the right sliding platform 3 in the clearance gauge can move independently or synchronously, wherein the moving direction of the left sliding platform 8 or the right sliding platform 3 can be independent transverse movement, independent longitudinal movement, independent vertical movement or oblique movement (i.e. simultaneously transverse movement, longitudinal movement or vertical movement), and the left sliding platform 8 and the right sliding platform 3 can be moved along different preset directions according to specific test requirements, so that the transverse first connecting shaft, the transverse second connecting shaft and the chassis connecting rod are forced to move.
When the mechanical detection system performs mechanical detection on the transverse first connecting shaft, the left sliding platform 8 and the right sliding platform 3 move towards a preset direction, and the wheels 10 corresponding to the transverse first connecting shaft move along with the left sliding platform 8 and the right sliding platform 3 and pull the chassis connecting rod of the detected vehicle.
When the mechanics detection system performs mechanics detection on the transverse second connecting shaft, the left sliding platform 8 and the right sliding platform 3 return to the initial positions, and the wheels 10 corresponding to the transverse second connecting shaft move along with the left sliding platform 8 and the right sliding platform 3 and pull the chassis connecting rod.
As shown in fig. 4, the moving paths of the left sliding platform 8 and the right sliding platform 3 moving to the preset direction are: the left sliding platform 8 and the right sliding platform 3 move towards two sides along the width direction of the detected vehicle simultaneously, so that the left sliding platform 8 moves to a left first preset position B1 and the right sliding platform 3 moves to a right first preset position, then the left sliding platform 8 moves to a left second preset position B2 along the height direction of the detected vehicle, moves to a left third preset position B3 along the length direction of the detected vehicle, moves to a left fourth preset position B4 and a left fifth preset position B5 along the height direction of the detected vehicle in sequence, moves to a left sixth preset position B6 and a left seventh preset position B7 along the length direction of the detected vehicle in sequence, moves to a left eighth preset position B8 and a left ninth preset position B9 along the height direction of the detected vehicle in sequence, and returns to the left first preset position B1. Accordingly, the moving paths of the left sliding platform 8 and the right sliding platform 3 returning to the initial positions are as follows: the left sliding platform 8 moves to a left second preset position B2 along the height direction of the detected vehicle, moves to a left third preset position B3 along the length direction of the detected vehicle, moves to a left fourth preset position B4 and a left fifth preset position B5 along the height direction of the detected vehicle, moves to a left sixth preset position B6 and a left seventh preset position B7 along the length direction of the detected vehicle, moves to a left eighth preset position B8 and a left ninth preset position B9 along the height direction of the detected vehicle, returns to the left first preset position B1, and then the left sliding platform 8 and the right sliding platform 3 return to the initial positions.
Therefore, flexible displacement of the wheels 10 can be realized through the left sliding platform 8 and the right sliding platform 3, and when the left sliding platform 8 and the right sliding platform 3 move to specific positions, the key positions of the chassis of the detected vehicle can be subjected to image capturing processing through the chassis camera.
Accordingly, the mechanical detection system comprises:
the tension sensor is arranged on the clearance gauge and is used for acquiring tension signals of the left sliding platform 8, the right sliding platform 3 and the detected vehicle in the moving process in real time;
and the mechanical identifier is used for identifying the chassis defect of the detected vehicle according to the tension signal.
It should be noted that the movement of the clearance gauge causes the wheels 10 to move, and the movement of the wheels 10 pulls the chassis link. When the linkage is secure, the wheel 10 movement is primarily responsible for tire deformation, and the pull force is a smooth curve; when the link connection is loose, the change in the measured tension during the movement of the wheel 10 is a sudden change, so that it can be effectively judged whether the link connection is loose or unreliable. Therefore, the mechanical detection system can automatically control the clearance gauge of the vehicle chassis, analyze and calculate stress process data when the wheels 10 move, and judge the quality performance of the vehicle chassis parts.
Preferably, the gap gauge is also provided with an in-place detector; the in-place detector is used for judging whether the detected vehicle is in place in real time, when the in-place detector detects that the detected vehicle is not in place, the detected vehicle is prompted to move forwards, and when the in-place detector detects that the detected vehicle is in place, the transverse first connecting shaft of the detected vehicle is positioned above the gap instrument.
Therefore, the in-place detector can effectively position the detected vehicle, ensure that the transverse first connecting shaft of the detected vehicle is positioned above the gap instrument and facilitate mechanical detection.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An intelligent automobile chassis detection method is characterized by comprising the following steps:
collecting license plate information of a detected vehicle entering a detection station, and identifying the vehicle information of the detected vehicle according to the license plate information;
moving the detected vehicle to enable a transverse first connecting shaft of the detected vehicle to be located above a clearance gauge, wherein at the moment, a left sliding platform of the clearance gauge is located at a left initial position, a right sliding platform of the clearance gauge is located at a right initial position, and the transverse first connecting shaft is in an initial state;
starting a visual detection system to perform visual detection on the chassis of the detected vehicle according to the vehicle information;
starting a mechanical detection system to perform mechanical detection on a transverse first connecting shaft on the clearance gauge according to the vehicle information, wherein after the mechanical detection is completed, a left sliding platform of the clearance gauge is located at a left first preset position and a right sliding platform of the clearance gauge is located at a right first preset position, the transverse first connecting shaft is in a stretching state under the action of the clearance gauge, and the distance between the left initial position and the right initial position is smaller than the distance between the left first preset position and the right first preset position;
under the condition that the transverse first connecting shaft is kept in a stretching state, the detected vehicle is moved so that the transverse second connecting shaft of the detected vehicle is positioned above the gap gauge, and a mechanical detection system is started to perform mechanical detection on the transverse first connecting shaft in the moving process of the detected vehicle so as to acquire a tension signal of the transverse first connecting shaft in the rotating process of the wheel in real time and identify the chassis defect of the detected vehicle according to the tension signal;
starting a mechanical detection system to perform mechanical detection on a transverse second connecting shaft on the clearance gauge according to the vehicle information;
and storing the results of the visual detection and the mechanical detection.
2. The intelligent vehicle chassis inspection method according to claim 1, wherein the step of identifying the chassis defect of the inspected vehicle according to the tension signal comprises:
dividing the tension signal into a plurality of tension signal sections;
respectively calculating the tension change frequency of each tension signal section to generate a plurality of tension change frequencies;
weighting the tension change frequency according to a preset weight coefficient to generate and output a defect value, wherein the smaller the tension change frequency is, the larger the preset weight coefficient is;
and comparing the defect value with a preset defect type to identify the chassis defect.
3. The intelligent vehicle chassis inspection method of claim 1, wherein the step of initiating a visual inspection system to visually inspect the chassis comprises:
starting a chassis illuminating lamp to illuminate the chassis of the detected vehicle;
starting a bottom camera, and carrying out video recording processing on a bottom working area;
starting a chassis camera, carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle;
and identifying the chassis defect of the detected vehicle according to the captured image.
4. The intelligent vehicle chassis inspection method of claim 1,
the step of starting the mechanical detection system to perform mechanical detection on the transverse first connecting shaft comprises the following steps:
driving a left sliding platform and a right sliding platform of the clearance gauge to move towards a preset direction;
the wheels corresponding to the transverse first connecting shaft move along with the left sliding platform and the right sliding platform and pull a chassis connecting rod of the detected vehicle;
collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time;
identifying the chassis defect of the detected vehicle according to the tension signal;
the step of starting the mechanical detection system to perform mechanical detection on the transverse second connecting shaft comprises the following steps of:
driving a left sliding platform and a right sliding platform of the clearance gauge to return the left sliding platform and the right sliding platform to initial positions;
wheels corresponding to the transverse second connecting shaft move along with the left sliding platform and the right sliding platform and pull the chassis connecting rod;
collecting tension signals in the moving process of the left sliding platform and the right sliding platform in real time;
and identifying the chassis defect of the detected vehicle according to the tension signal.
5. The intelligent vehicle chassis inspection method of claim 4,
the moving paths of the left sliding platform and the right sliding platform moving towards the preset direction are as follows: the left sliding platform and the right sliding platform simultaneously move towards two sides along the width direction of the detected vehicle so as to enable the left sliding platform to move to a first left preset position and the right sliding platform to move to a first right preset position, then the left sliding platform moves to a second left preset position along the height direction of the detected vehicle, moves to a third left preset position along the length direction of the detected vehicle, sequentially moves to a fourth left preset position and a fifth left preset position along the height direction of the detected vehicle, sequentially moves to a sixth left preset position and a seventh left preset position along the length direction of the detected vehicle, sequentially moves to an eighth left preset position and a ninth left preset position along the height direction of the detected vehicle, and returns to the first left preset position;
the moving paths of the left sliding platform and the right sliding platform returning to the initial positions are as follows: the left sliding platform moves to a left second preset position along the height direction of the detected vehicle, moves to a left third preset position along the length direction of the detected vehicle, moves to a left fourth preset position and a left fifth preset position along the height direction of the detected vehicle in sequence, moves to a left sixth preset position and a left seventh preset position along the length direction of the detected vehicle in sequence, moves to a left eighth preset position and a left ninth preset position along the height direction of the detected vehicle in sequence, returns to the left first preset position, and then returns to the initial position.
6. The intelligent vehicle chassis inspection method of claim 1, wherein the step of moving the inspected vehicle such that the transverse first connecting axis of the inspected vehicle is located above the clearance gauge comprises:
the detected vehicle moves along the detection station;
when the wheel of the detected vehicle drives above the clearance gauge, the detected vehicle stops moving;
the in-place detector on the clearance gauge judges whether the detected vehicle is in place in real time,
if not, prompting the detected vehicle to move forward,
if the vehicle clearance is judged to be yes, the transverse first connecting shaft of the detected vehicle is positioned above the clearance gauge.
7. An intelligent automobile chassis detection device is characterized by comprising a vehicle identification system, a bottom working area, a clearance instrument, a visual detection system, a mechanical detection system and a processing system, wherein the clearance instrument is arranged above the bottom working area;
the vehicle identification system is used for collecting the license plate information of the detected vehicle entering the detection station and identifying the vehicle information of the detected vehicle according to the license plate information;
the visual detection system is arranged in the bottom working area and is used for carrying out visual detection on the chassis of the detected vehicle according to the vehicle information;
the mechanical detection system is arranged on the clearance gauge and is used for carrying out mechanical detection on the transverse first connecting shaft and the transverse second connecting shaft on the clearance gauge according to the vehicle information;
and the processing system is respectively connected with the visual detection system and the mechanical detection system and is used for storing the results of the visual detection and the mechanical detection.
8. The intelligent vehicle chassis inspection device of claim 7, wherein the vision inspection system comprises:
the chassis illuminating lamp is used for illuminating the chassis of the detected vehicle;
the bottom camera is used for carrying out video recording processing on the bottom working area;
the chassis camera is used for carrying out video recording processing on the chassis of the detected vehicle and carrying out image snapshot processing on the key position of the chassis of the detected vehicle;
and the vision recognizer is used for recognizing the chassis defect of the detected vehicle according to the snapshot image.
9. The intelligent vehicle chassis inspection device of claim 7, wherein the clearance gauge comprises a left slide platform and a right slide platform;
the mechanical detection system comprises a tension sensor and a mechanical recognizer which are arranged on the clearance gauge, the tension sensor is used for acquiring tension signals of the left sliding platform, the right sliding platform and the detected vehicle in the moving process in real time, and the mechanical recognizer is used for recognizing the chassis defect of the detected vehicle according to the tension signals;
when the mechanical detection system performs mechanical detection on the transverse first connecting shaft, the left sliding platform and the right sliding platform move towards a preset direction, wheels corresponding to the transverse first connecting shaft move along with the left sliding platform and the right sliding platform, and a chassis connecting rod of the detected vehicle is pulled;
when the mechanical detection system performs mechanical detection on the transverse second connecting shaft, the left sliding platform and the right sliding platform return to the initial positions, and wheels corresponding to the transverse second connecting shaft move along with the left sliding platform and the right sliding platform and pull the chassis connecting rod.
10. The intelligent vehicle chassis detecting device according to claim 9, wherein an in-place detector is further provided on the clearance gauge;
the in-place detector is used for judging whether the detected vehicle is in place in real time, when the in-place detector detects that the detected vehicle is not in place, the detected vehicle is prompted to move forwards, and when the in-place detector detects that the detected vehicle is in place, the transverse first connecting shaft of the detected vehicle is positioned above the gap instrument.
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