CN112649570A - Tail gas detection device and method based on infrared thermal imaging double vision and ultrasonic positioning - Google Patents
Tail gas detection device and method based on infrared thermal imaging double vision and ultrasonic positioning Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 86
- 238000001931 thermography Methods 0.000 title claims abstract description 53
- 208000003164 Diplopia Diseases 0.000 title claims abstract description 51
- 208000029444 double vision Diseases 0.000 title claims abstract description 51
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- 210000001503 joint Anatomy 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 57
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- 239000002245 particle Substances 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000000295 complement effect Effects 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 4
- XSQUKJJJFZCRTK-UHFFFAOYSA-N Urea Chemical compound NC(N)=O XSQUKJJJFZCRTK-UHFFFAOYSA-N 0.000 claims description 3
- 239000004202 carbamide Substances 0.000 claims description 3
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- 238000003331 infrared imaging Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 6
- 239000004205 dimethyl polysiloxane Substances 0.000 description 4
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 description 4
- -1 Polydimethylsiloxane Polymers 0.000 description 2
- 238000009529 body temperature measurement Methods 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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Abstract
The invention discloses a tail gas detection device and method based on infrared thermal imaging double vision and ultrasonic positioning, wherein the detection device comprises: the device comprises a tail gas acquisition device, a mobile detection device, an infrared thermal imaging double-vision positioning module, an ultrasonic positioning module, a tail gas detection device and a processor module. The invention obtains the space coordinate of the automobile exhaust port by utilizing thermal infrared imaging, positions relative position information by ultrasonic waves, controls the butt joint of the exhaust collecting part and the automobile exhaust pipe by the processor module, introduces the exhaust into the exhaust detecting device and realizes the exhaust detection. The invention not only effectively guarantees the health of personnel, but also realizes the automatic detection of the exhaust emission.
Description
Technical Field
The invention relates to the technical field of automobile exhaust detection, in particular to an exhaust detection device and method based on infrared thermal imaging double vision and ultrasonic positioning.
Background
1. Automobile exhaust has become one of the main pollution sources of atmospheric pollution. The harm of the automobile exhaust gas sucked for a long time to the human health is great, and the automobile exhaust gas detection is taken as an important part in the renovation work, so that sufficient attention should be paid.
2. At present, infrared thermal imaging and temperature measurement technology is applied to various industries, and the main form of the infrared thermal imaging and temperature measurement technology is that an infrared thermal imaging instrument and a visible light camera are combined to form a complementary monitoring platform, the infrared thermal imaging instrument senses infrared rays emitted by the surface of an object, converts the infrared thermal imaging instrument into a thermal energy signal, and the visible light camera is used for assisting in identifying and positioning a target.
3. The automobile exhaust detection device that appears in the existing market, like the automobile exhaust detection device based on thermal imaging technology that ZL202010395397.4 disclosed, remote monitoring, operation and data processing's function when having realized automobile exhaust detection, nevertheless because the nearly single thermal imaging technology that adopts, probably produce and can't effectively discern and fix a position inaccurate problem, consequently adopt infrared and visible light complementary discernment and location, can improve discernment accuracy and positioning accuracy greatly.
Disclosure of Invention
In order to solve the problems, the invention provides an automobile exhaust detection device and method based on infrared thermal imaging double-vision and ultrasonic positioning, which realize automatic identification and positioning of an exhaust port, field unmanned operation and automatic operation through an exhaust collection device, a mobile detection device, an infrared thermal imaging double-vision positioning module, an ultrasonic positioning module, an exhaust detection device, a purifier and a processor module, and have the characteristics of high identification accuracy and high reliability.
The invention mainly adopts the technical scheme that:
a kind of tail gas checkout gear based on infrared thermal imaging double vision and ultrasonic wave location, including: the device comprises a tail gas acquisition device, a mobile detection device, an infrared thermal imaging double-vision positioning module, an ultrasonic positioning module, a tail gas detection device, a purifier and a processor module. The mobile detection device realizes the search with the tail gas port through the movement and the positioning in the horizontal direction; the tail gas acquisition device is in butt joint with a tail gas pipe through vertical movement, the infrared thermal imaging double-vision positioning module continuously generates, transmits back, analyzes and processes thermodynamic images, and spatial coordinates of a tail gas port of the automobile to be detected are calibrated in real time; the ultrasonic positioning module completes relative position determination to facilitate butt joint of the tail gas acquisition device and the tail gas pipe; the mobile detection device is connected with the tail gas detection device, the tail gas detection device is connected with the purifier, and the processor module is connected with each device and drives each device to normally operate.
Further, the tail gas collecting device comprises a tail gas collecting pipe, a rotating support and an electric telescopic rod. The tail gas collecting pipe is made of a thermal stable and flexible material, Polydimethylsiloxane (PDMS), and is installed on the rotary support, the rotary support can enable the tail gas collecting pipe to freely rotate in a vertical plane, the front end of the tail gas collecting pipe is fixedly connected with the heat-resistant rubber gradually-expanding pipe, the heat-resistant rubber gradually-expanding pipe can enable the tail gas collecting pipe to be better attached to an automobile tail gas port, environmental pollution caused by overflow of automobile tail gas is reduced, the rotary support and the heat-resistant rubber gradually-expanding pipe can be designed on the premise of guaranteeing sealing connection, the tail gas collecting pipe can be adapted to an automobile with an inclined exhaust pipe and can be smoothly matched with tail gas pipes with different calibers, and therefore the application range of the tail gas collecting pipe is further improved. Electric telescopic handle can adjust the tail gas acquisition pipe mouth of pipe height in vertical direction, and electric telescopic handle installs the position that is close to the car afterbody before two monitors, and electric telescopic handle has the control of processor module, accomplishes concertina movement.
Further, the movement detection device comprises a bottom platform, a bottom platform moving mechanism, an object carrying platform and an object carrying platform moving mechanism. The bottom platform and the carrying platform are both of cuboid structures. Install cargo platform and cargo platform moving mechanism on the platform of bottom, install tail gas collection system on the cargo platform, infrared thermal imaging looks orientation module, ultrasonic wave orientation module, tail gas detection device and processor module doubly.
Furthermore, the bottom platform moving mechanism consists of a sliding guide rail, a lead screw motor and two support plates; the sliding guide rail is positioned below the ground and is parallel to a roller mechanism (belonging to a necessary mechanism for the existing tail gas detection) of the chassis dynamometer, and the axis of the sliding guide rail is arranged; the lead screw and the lead screw motor are arranged in the middle of the sliding guide rail in parallel and are on the same horizontal plane with the sliding guide rail; the sliding guide rails are arranged at two sides below the bottom platform and are connected in a sliding fit manner, and the lead screw is connected with the bottom platform in a rotating fit manner through a lead screw nut; two ends of the lead screw are fixed by a bracket; the support plates are symmetrically arranged on two sides of the screw rod along the X axis; the lead screw motor is installed on the lead screw, and the lead screw motor rotates to drive the bottom platform to reciprocate along the X direction.
Further, cargo platform and cargo platform moving mechanism are located bottom platform top, cargo platform moving mechanism comprises a cargo support plate, two cargo slide rails and cargo platform driving piece, two cargo slide rails are fixed on the bottom platform, connect cargo platform on the cargo slide rails, still are fixed with the cargo platform driving piece on the cargo support plate, and the cargo platform driving piece is the cylinder for it realizes Y direction reciprocating motion to drive cargo platform.
Furthermore, the automobile exhaust detection device based on the infrared thermal imaging double-vision technology and the ultrasonic positioning technology is characterized in that the infrared thermal imaging double-vision positioning module consists of a natural light supplementary lighting device and a double-vision monitor. The natural light supplementing device is arranged near a rear wheel rotating drum of the chassis dynamometer, and is used for supplementing light intensity irradiated at an exhaust port when light conditions are poor, so that good working conditions are provided for the visible light camera. The double-view monitor is installed in parallel by an infrared camera and a visible light camera and fixed in the center of the loading platform, is arranged obliquely upwards, and realizes the identification and the positioning of the tail gas port through a double-view same-view image identification and correction algorithm. And in the working process, the infrared image and the visible light image are transmitted to the processor system, and the processor system sends an instruction to control the operation of the bottom platform moving mechanism and the loading platform moving mechanism, so that the horizontal working position of the device is determined. The ultrasonic positioning module is fixed on one side of the rotating support through relative position information acquired by an image generated by the sensor, so that the electric telescopic rod is driven to work. And converting the information of the two modules into an electric signal, and calibrating the coordinates of the automobile exhaust pipe in real time until the tail gas collecting pipe enters the automobile exhaust pipe.
Further, by adopting the above technical solution, the implementation principle of this embodiment is as follows: under the drive of the bottom platform moving mechanism, the loading platform moving mechanism and the electric telescopic rod, the tail gas collecting device is moved in a three-dimensional space. The mobile site is determined by an infrared thermal imaging double-vision positioning module and an ultrasonic positioning module, the processor module receives a visual image and an infrared image of the tail gas port and receives an image generated by the ultrasonic positioning module, the three images are intermittently acquired, an electric signal is generated according to site information, and the mechanism is controlled to operate.
Further, tail gas detection device includes tail gas storage jar, particle detector, composition detector, gaseous check valve. Gas tail gas storage jar and tail gas acquisition union coupling, particle detector, composition detector all set up in the tail gas storage jar, and particle detector, composition detector can accomplish the detection to tail gas, and the tail gas storage jar passes through gaseous check valve and is connected with the clarifier, and gaseous check valve allows gaseous from tail gas storage jar flow direction clarifier, can prevent that too big damage of tail gas storage jar internal pressure from causing the instrument also can prevent that the clarifier from absorbing tail gas too fast and causing the testing result inaccurate, and the gas after the detection finally discharges to the air through the clarifier.
Further, the purifier tank body is a cylinder, and the solid crystalline urea automobile exhaust purifying agent and the active carbon are placed in the purifier tank body.
Further, by adopting the above technical solution, the implementation principle of this embodiment is as follows: under the drive of the bottom platform moving mechanism, the loading platform moving mechanism and the electric telescopic rod, the tail gas collecting device is moved in a three-dimensional space. The mobile site is determined by an infrared thermal imaging double-vision positioning module and an ultrasonic positioning module, the processor module receives a visual image and an infrared image of the tail gas port and receives an image generated by the ultrasonic positioning module, the three images are intermittently acquired, an electric signal is generated according to site information, and the mechanism is controlled to operate.
A tail gas detection method based on infrared thermal imaging double vision and ultrasonic positioning comprises the following steps:
step 1, the automobile to be tested enters a chassis dynamometer, the automobile starts to run in an idling mode, and a light supplementing device starts to work.
Step 2, the infrared thermal imaging double-vision positioning module starts to work, and the working method comprises the following steps: a. adjusting the visual field matching of the infrared image and the visible light image; b. the module is used for storing the initial target shape and position in the infrared image and the visible light image; c. identifying the target position in the infrared image and the visible light image by comparing a pre-calibrated standard image (parameters comprise equipment distance and an exhaust port position); d. calculating the deviation between the current position and the initial position of the target in the infrared image; e. the current position of the target in the visible light image deviates from the initial position; f. the actual position of the current target is identified graphically by a dual view complementary target correction method. During the period, the bottom platform moving mechanism starts to operate, the a-f processes are intermittently completed, the position electric signals are transmitted to the processor module, the processor module controls the bottom platform moving mechanism to work, and when the preset target position is reached, the bottom platform moving mechanism stops operating.
And 3, the ultrasonic positioning module starts to work, the ultrasonic image of the tail gas port is drawn, the relative position electric signal is transmitted to the processor module, the processor module drives the electric telescopic rod to ascend from the lowest position, the ultrasonic image is drawn discontinuously, when the image is processed to be approximately round, the processor module transmits the electric signal to the electric telescopic rod, and the electric telescopic rod stops moving.
And 4, after the electric telescopic rod stops moving, the object carrying platform moving mechanism starts to work, the object carrying platform moving mechanism starts to move from a position far away from the tail part of the automobile to a position close to the tail part of the automobile, in the moving process, the infrared thermal imaging double-vision positioning module starts to work again, the infrared and camera of the infrared thermal imaging double-vision positioning module intermittently shoots to obtain images along with the fact that the front end of the tail gas collecting pipe enters the tail gas pipe orifice, when the infrared images cannot detect the complete thermal infrared images of the tail gas port and the visible light images cannot detect the complete tail gas port images, the electric signals are transmitted to the processor module, the processor module sends a termination signal to the object carrying platform moving mechanism, and the object carrying platform moving mechanism stops moving.
And 5, starting the tail gas detection device to work, transmitting the data acquired during detection to the processor module to obtain a detection result, and transmitting the detection result to the detection result client and the display.
And 6, after the detection is finished, the processor sends a homing electric signal, each structure is restored to the initial position, the automobile drives away, and the next automobile continues to carry out tail gas detection according to the steps.
According to the tail gas detection device, the infrared thermal imaging double-vision positioning module is utilized to obtain the position information of the automobile tail gas port according to the formed infrared image and visible image, the relative position of the device and the tail gas port is obtained through ultrasonic positioning, the tail gas collecting pipe extends into the automobile tail gas port through the movement of the bottom platform moving mechanism, the carrying platform moving mechanism and the electric telescopic rod, and the tail gas is introduced into the tail gas detection module, so that the detection of the tail gas is realized. The invention has the advantages that the tail gas detection device can automatically detect the tail gas, realize the accurate identification of the tail gas port and reduce the health damage to people caused by manual operation.
Drawings
FIG. 1 is a schematic overall view;
FIG. 2 is a partial schematic view;
FIG. 3 is a schematic view of a bottom mobile device:
fig. 4 is a detection flowchart.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical scheme of the invention is further explained in detail by combining the attached drawings:
as shown in fig. 1 and 2, an exhaust gas detecting apparatus based on infrared thermal imaging double vision and ultrasonic positioning comprises: tail gas collection system 8, removal detection device, infrared thermal imaging double vision orientation module 7, ultrasonic wave orientation module 9, tail gas detection device 5, clarifier 6 and processor module. The mobile detection device realizes the search with the tail gas port through the movement and the positioning in the horizontal direction; the tail gas collecting device 8 is in butt joint with a tail gas pipe through moving in the vertical direction, the infrared thermal imaging double-vision positioning module 7 continuously generates, transmits back, analyzes and processes thermodynamic images, and spatial coordinates of a tail gas port of the automobile to be detected are calibrated in real time; the ultrasonic positioning module 9 completes the relative position determination to facilitate the butt joint of the tail gas acquisition device 8 and the tail gas pipe; the mobile detection device is connected with the tail gas detection device 5, the tail gas detection device 5 is connected with the purifier 6, and the processor module is connected with each device and drives each device to normally operate.
The tail gas collecting device 8 comprises a tail gas collecting pipe 11, a rotating bracket 10 and an electric telescopic rod 14; the tail gas collecting pipe 11 is made of a thermal stable and flexible material and Polydimethylsiloxane (PDMS), the tail gas collecting pipe 11 is installed on the rotary support 10, the rotary support 10 can enable the tail gas collecting pipe 11 to freely rotate in a vertical plane, the front end of the tail gas collecting pipe 11 is fixedly connected with the heat-resistant rubber gradually-expanding pipe 13, the heat-resistant rubber gradually-expanding pipe 13 can enable the tail gas collecting pipe 11 to be better attached to an automobile tail gas port, environmental pollution caused by overflow of automobile tail gas is reduced, the rotary support 10 and the heat-resistant rubber gradually-expanding pipe 13 can be designed on the premise that sealing connection is guaranteed, the device can be also adapted to automobiles with inclined exhaust pipes and can be smoothly matched with tail gas pipes with different calibers, and therefore the application range of the device is further improved. The height of the pipe orifice of the tail gas collecting pipe 11 can be adjusted in the vertical direction by the electric telescopic rod 14, the electric telescopic rod 14 is installed in the position close to the tail of the automobile in front of the double monitors, and the electric telescopic rod 14 is controlled by the processor module to complete telescopic motion.
The mobile detection device comprises a bottom platform 2, a bottom platform moving mechanism 1, an object carrying platform 3 and an object carrying platform moving mechanism 4. The bottom platform 2 and the loading platform 3 are both of cuboid structures. Install cargo platform 3 and cargo platform moving mechanism 4 on the platform 2 of bottom, install tail gas collection system 8 on the cargo platform 3, infrared thermal imaging looks orientation module 7 doubly, ultrasonic wave orientation module 9, tail gas detection device 5 and processor module.
As shown in fig. 3, the bottom platform moving mechanism 1 is composed of a sliding guide rail 13, a lead screw 14, a lead screw motor 15 and two support plates 16; the sliding guide rail 13 is positioned below the ground and is arranged in parallel to the axis of a roller mechanism of the chassis dynamometer; the lead screw 14 and the lead screw motor 15 are arranged in the middle of the sliding guide rail 13 in parallel and are on the same horizontal plane with the sliding guide rail 13; the sliding guide rails 13 are arranged at two sides below the bottom platform and are connected in a sliding fit manner, and the lead screw 14 is connected with the bottom platform 2 in a rotating fit manner through a lead screw nut; two ends of the screw rod 14 are fixed by support plates 16; the support plates 16 are symmetrically arranged on two sides of the screw rod 14 along the X axis; the lead screw 14 is installed on the lead screw 14 through a motor, and the lead screw motor 15 rotates to drive the bottom platform 2 to reciprocate along the X direction.
The utility model discloses a portable electronic device, including loading platform 3, loading platform moving mechanism 4, loading platform driving part, loading platform 3 and loading platform moving mechanism 4, loading platform moving mechanism 4 comprises a loading frame plate, two loading slide rails and loading platform driving part, two loading slide rails are fixed on bottom platform 2, connect loading platform 3 on the loading slide rail, still are fixed with the loading platform driving part on the loading frame plate, and the loading platform driving part is the cylinder for drive loading platform 3 realizes Y direction reciprocating motion.
The infrared thermal imaging double-vision positioning module 7 consists of a natural light supplementary lighting device and a double-vision monitor. The natural light supplementing device is arranged near a rear wheel rotating drum of the chassis dynamometer, and is used for supplementing light intensity irradiated at an exhaust port when light conditions are poor, so that good working conditions are provided for the visible light camera. The double-vision monitor is installed in parallel by an infrared camera and a visible light camera and fixed in the center of the loading platform 3, the double-vision monitor is arranged obliquely upwards, and the identification and the positioning of the tail gas port are realized through a double-vision same-view image identification and correction algorithm. In the working process, the infrared image and the visible light image are transmitted to a processor system, and the processor system sends an instruction to control the operation of the bottom platform moving mechanism 1 and the loading platform moving mechanism 4, so that the horizontal working position of the device is determined. The ultrasonic positioning module 9 is fixed on one side of the rotating bracket 10 through relative position information acquired by an image generated by a sensor, so as to drive the electric telescopic rod 14 to work. And converting the information of the two modules into an electric signal, and calibrating the coordinates of the automobile exhaust pipe in real time until the tail gas collecting pipe 11 enters the automobile exhaust pipe.
Further, by adopting the above technical solution, the implementation principle of this embodiment is as follows: the tail gas collecting device 8 is driven to move in a three-dimensional space by the bottom platform moving mechanism 1, the loading platform moving mechanism 4 and the electric telescopic rod 14. The determination of the moving site is determined by the infrared thermal imaging double-vision positioning module 7 and the ultrasonic positioning module 9, the processor module receives the visual image and the infrared image of the tail gas port and the image generated by the ultrasonic positioning module 9, and the three images are intermittently acquired, so that an electric signal is generated according to the site information, and the mechanism is controlled to operate.
The tail gas detection device 5 comprises a tail gas storage tank, a particle detector, a component detector and a gas one-way valve 12. Gaseous tail gas storage jar is connected with tail gas acquisition pipe 11, and tail gas storage jar passes through gaseous check valve 12 and is connected with clarifier 6, and gaseous check valve 12 allows gas to flow to clarifier 6 from tail gas storage jar, can prevent that tail gas storage jar internal pressure from too big causing the damage to the instrument and also can prevent that 6 too fast absorption tail gas of clarifier from causing the testing result inaccurate, and the gas after the detection finally discharges to the air through 6 purifiers.
The tank body of the purifier 6 is a cylinder, and the solid crystalline urea automobile exhaust purifying agent and the active carbon are placed in the cylinder.
As shown in fig. 4, a method for detecting exhaust based on infrared thermal imaging double vision and ultrasonic positioning includes the following steps:
step 1, the automobile to be tested enters a chassis dynamometer, the automobile starts to run in an idling mode, and a light supplementing device starts to work.
Step 2, the infrared thermal imaging double-vision positioning module 7 starts to work, and the working method comprises the following steps: a. adjusting the visual field matching of the infrared image and the visible light image; b. the module is used for storing the initial target shape and position in the infrared image and the visible light image; c. identifying the target position in the infrared image and the visible light image by comparing a pre-calibrated standard image (parameters comprise equipment distance and an exhaust port position); d. calculating the deviation between the current position and the initial position of the target in the infrared image; e. the current position of the target in the visible light image deviates from the initial position; f. the actual position of the current target is identified graphically by a dual view complementary target correction method. During the period, the bottom platform moving mechanism 1 starts to operate, the a-f processes are intermittently completed, the position electric signals are transmitted to the processor module, the processor module controls the bottom platform moving mechanism 1 to work, and when the preset target position is reached, the bottom platform moving mechanism 1 stops operating.
And 3, the ultrasonic positioning module 9 starts working, the ultrasonic image of the tail gas port is drawn, the relative position electric signal is transmitted to the processor module, the processor module drives the electric telescopic rod 14 to ascend from the lowest position, the ultrasonic image is drawn intermittently, when the image is processed to be approximately round, the processor module transmits the electric signal to the electric telescopic rod 14, and the electric telescopic rod 14 stops moving.
And 4, after the electric telescopic rod 14 stops moving, the object carrying platform moving mechanism 4 starts to work, and moves from a position far away from the tail part of the automobile to a position close to the tail part of the automobile, in the moving process, the infrared thermal imaging double-vision positioning module 7 starts to work again, the infrared and camera of the infrared thermal imaging double-vision positioning module 7 intermittently shoots to obtain images along with the front end of the tail gas collecting pipe 11 entering the tail gas pipe orifice, when the infrared images cannot detect the complete thermal infrared images of the tail gas port and the visible images cannot detect the complete images of the tail gas port, the electric signals are transmitted to the processor module, the processor module sends a termination signal to the object carrying platform moving mechanism 4, and the object carrying platform moving mechanism 4 stops moving.
And 5, starting the tail gas detection device to work, transmitting the data acquired during detection to the processor module to obtain a detection result, and transmitting the detection result to the detection result client and the display.
And 6, after the detection is finished, the processor sends a homing electric signal, each structure is restored to the initial position, the automobile drives away, and the next automobile continues to carry out tail gas detection according to the steps.
Claims (9)
1. The utility model provides a tail gas detection device based on infrared thermal imaging is two looks and ultrasonic positioning, its characterized in that includes: the system comprises a tail gas acquisition device, a mobile detection device, an infrared thermal imaging double-vision positioning module, an ultrasonic positioning module, a tail gas detection device, a purifier and a processor module; the mobile detection device realizes the search with the tail gas port through the movement and the positioning in the horizontal direction; the tail gas acquisition device is in butt joint with a tail gas pipe through vertical movement, the infrared thermal imaging double-vision positioning module continuously generates, transmits back, analyzes and processes thermodynamic images, and spatial coordinates of a tail gas port of the automobile to be detected are calibrated in real time; the ultrasonic positioning module completes relative position determination to facilitate butt joint of the tail gas acquisition device and the tail gas pipe; the mobile detection device is connected with the tail gas detection device, the tail gas detection device is connected with the purifier, and the processor module is connected with each device and drives each device to normally operate.
2. The infrared thermal imaging double vision and ultrasonic positioning based exhaust gas detection device as claimed in claim 1, wherein the exhaust gas collection device comprises an exhaust gas collection pipe, a rotary bracket, and an electric telescopic rod; the tail gas collecting pipe is made of a thermally stable and flexible material and is fixed on a rotating support, the rotating support can enable the tail gas collecting pipe to freely rotate in a vertical plane, and the front end of the tail gas collecting pipe is fixedly connected with the heat-resistant rubber gradually-expanding pipe; the electric telescopic rod can adjust the height of the pipe orifice of the tail gas collecting pipe in the Z direction, and is arranged in front of the double monitors and close to the tail of the automobile; the electric telescopic rod is controlled by the processor module to complete telescopic motion.
3. The tail gas detection device based on infrared thermal imaging double vision and ultrasonic positioning as claimed in claim 1, wherein the movement detection device comprises a bottom platform, a bottom platform moving mechanism, a carrying platform and a carrying platform moving mechanism; the bottom platform and the carrying platform are both of cuboid structures; install cargo platform and cargo platform moving mechanism on the platform of bottom, install tail gas collection system on the cargo platform, infrared thermal imaging looks orientation module, ultrasonic wave orientation module, tail gas detection device and processor module doubly.
4. The tail gas detection device based on infrared thermal imaging double vision and ultrasonic positioning as claimed in claim 3, wherein the bottom platform moving mechanism is composed of a sliding guide rail, a lead screw motor and two support plates; the sliding guide rail is positioned below the ground and is arranged in parallel to the axis of a roller mechanism of the chassis dynamometer; the lead screw and the lead screw motor are arranged in the middle of the sliding guide rail in parallel and are on the same horizontal plane with the sliding guide rail; the sliding guide rails are arranged at two sides below the bottom platform and are connected in a sliding fit manner, and the lead screw is connected with the bottom platform in a rotating fit manner through a lead screw nut; two ends of the lead screw are fixed by a bracket; the support plates are symmetrically arranged on two sides of the screw rod along the X axis; the lead screw motor is installed on the lead screw, and the lead screw motor rotates to drive the bottom platform to reciprocate along the X direction.
5. The tail gas detection device based on infrared thermal imaging double vision and ultrasonic positioning of claim 3, wherein the carrying platform and the carrying platform moving mechanism are located above the bottom platform, the carrying platform moving mechanism is composed of a carrying frame plate, two carrying slide rails and a carrying platform driving part, the two carrying slide rails are fixed on the bottom platform, the carrying platform is connected to the carrying slide rails, the carrying frame plate is further fixed with the carrying platform driving part, and the carrying platform driving part is an air cylinder and is used for driving the carrying platform to realize reciprocating movement in the Y direction.
6. The exhaust gas detection device based on infrared thermal imaging double vision and ultrasonic positioning as claimed in claim 1, wherein the infrared thermal imaging double vision positioning module is composed of a natural light supplementary lighting device and a double vision monitor; the natural light supplementing device is arranged near a rear wheel drum of the chassis dynamometer; the double-vision monitor is installed in parallel by an infrared camera and a visible light camera, is fixed in the center of the loading platform, and realizes the identification and the positioning of the tail gas port through a double-vision same-view field image identification and correction algorithm.
7. The infrared thermal imaging double vision and ultrasonic positioning based exhaust gas detection device as claimed in claim 1, wherein the exhaust gas detection device comprises an exhaust gas storage tank, a particle detector, a composition detector, and a gas one-way valve;
tail gas storage jar and tail gas acquisition union coupling, particle detector, composition detector all set up in the tail gas storage jar, particle detector, composition detector can accomplish the detection to tail gas, the tail gas storage jar passes through gaseous check valve and is connected with the clarifier, gaseous check valve allows gaseous from tail gas storage jar flow direction clarifier, can prevent that too big damage of tail gas storage jar internal pressure from also preventing that the clarifier from absorbing tail gas too fast and causing the testing result inaccurate, gas after the detection finally discharges to the air through the clarifier.
8. The exhaust detection device based on infrared thermal imaging double vision and ultrasonic positioning as claimed in claim 1, wherein the purifier tank is a cylinder in which the solid crystalline urea automobile exhaust purifying agent and activated carbon are placed.
9. An exhaust gas detection method based on infrared thermal imaging double vision and ultrasonic positioning, which is characterized in that the device of claim 1 is utilized, and the method comprises the following steps:
step 1, an automobile to be tested enters a chassis dynamometer, the automobile starts to run in an idling mode, and a light supplementing device starts to work;
step 2, the infrared thermal imaging double-vision positioning module starts to work,
the working method comprises the following steps:
a. adjusting the visual field matching of the infrared image and the visible light image;
b. the module is used for storing the initial target shape and position in the infrared image and the visible light image;
c. identifying the target position in the infrared image and the visible light image by comparing the pre-calibrated standard image;
d. calculating the deviation between the current position and the initial position of the target in the infrared image;
e. the current position of the target in the visible light image deviates from the initial position;
f. identifying the actual position of the current target by using a graph through a double-vision complementary target correction method;
during the period, the bottom platform moving mechanism starts to operate, the a-f processes are intermittently completed, the position electric signal is transmitted to the processor module, the processor module controls the bottom platform moving mechanism to work, and when the preset target position is reached, the bottom platform moving mechanism stops operating;
step 3, the ultrasonic positioning module starts to work, the ultrasonic image of the tail gas port is drawn, the relative position electric signal is transmitted to the processor module, the processor module drives the electric telescopic rod to ascend from the lowest position, the ultrasonic image is drawn discontinuously, when the image is processed to be approximately round, the processor module transmits the electric signal to the electric telescopic rod, and the electric telescopic rod stops moving;
step 4, after the electric telescopic rod stops moving, the object carrying platform moving mechanism starts to work, and starts to move from a position far away from the tail of the automobile to a position close to the tail of the automobile, in the moving process, the infrared thermal imaging double-vision positioning module starts to work again, the infrared and camera of the infrared thermal imaging double-vision positioning module intermittently shoots to obtain images along with the fact that the front end of the tail gas collecting pipe enters the tail gas pipe orifice, when the infrared images cannot detect the complete thermal infrared images of the tail gas port and the visible light images cannot detect the complete tail gas port images, the electric signals are transmitted to the processor module, the processor module sends a termination signal to the object carrying platform moving mechanism, and the object carrying platform moving mechanism stops moving;
step 5, the tail gas detection device starts to work, transmits data acquired during detection to the processor module to obtain a detection result, and transmits the detection result to the detection result client and the display;
and 6, after the detection is finished, the processor sends out a homing electric signal, and all the structures are restored to the initial positions.
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