CN113281062A - Intelligent recognition automobile chassis vehicle condition detection system - Google Patents
Intelligent recognition automobile chassis vehicle condition detection system Download PDFInfo
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- CN113281062A CN113281062A CN202110630789.9A CN202110630789A CN113281062A CN 113281062 A CN113281062 A CN 113281062A CN 202110630789 A CN202110630789 A CN 202110630789A CN 113281062 A CN113281062 A CN 113281062A
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Abstract
The invention provides an intelligent recognition automobile chassis vehicle condition detection system which comprises a lifting device, a positioning device, a detection device, a circulating device, a processing device and a processor, wherein the lifting device is used for lifting a vehicle; the positioning device is used for positioning the edge of the vehicle; the detection device is used for detecting the vehicle chassis; the circulating device is used for adjusting the position of the detection device; the processing device is used for processing the detection data of the positioning device and the detection device, and the positioning device and the detection device are matched with each other, so that the detection device can detect based on the positioning position of the positioning device, and the detection efficiency of the whole detection system is improved.
Description
Technical Field
The invention relates to the technical field of automobile detection, in particular to a detection system for intelligently identifying automobile chassis automobile conditions.
Background
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.
For example, CN112394035B prior art discloses an intelligent vehicle chassis detection method and apparatus, in which the state of a vehicle chassis connecting shaft of a moving vehicle (during the rotation of wheels) is constantly changing, and some chassis defects may not be captured during 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.
The prior art that finds existence through a large amount of retrieval if KR101654364B1, EP2482996B1 and US08721396B1, to vehicle chassis's safety inspection, the manual inspection of safety inspection personnel is very inconvenient, need climb to the vehicle bottom inspection, the check efficiency is low, current convenient vehicle chassis's safety inspection, subaerial installation shooting equipment, do not need the artifical vehicle bottom inspection of getting off, the work of safety inspection personnel has been made things convenient for, but the most fixed mounting of shooting equipment of these installations is on ground, can not remove, can not be fine messenger's chassis alignment equipment when the vehicle through the equipment upside, the deviation can not appear in the effect of shooting safety inspection and omit, thereby cause the disappearance of inspection.
The invention aims to solve the problems of low detection efficiency, poor detection precision, single detection means, unadjustable detection angle, single detection item, low automation degree, incapability of evaluation and the like in the field.
Disclosure of Invention
The invention aims to provide an intelligent detection system for identifying the vehicle condition of a vehicle chassis, aiming at the defects of the current vehicle chassis detection.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
the detection system comprises a lifting device, a positioning device, a detection device, a circulating device, a processing device and a processor, wherein the lifting device is used for lifting a vehicle; the positioning device is used for positioning the edge of the vehicle; the detection device is used for detecting the vehicle chassis; the circulating device is used for adjusting the position of the detection device; the processing device is used for processing the detection data of the positioning device and the detection device; the processor is respectively in control connection with the lifting device, the positioning device, the detection device, the circulating device and the processing device.
Optionally, the lifting device includes a lifting mechanism, a limiting mechanism and a supporting mechanism, and the lifting mechanism is used for lifting the vehicle; the limiting mechanism is used for limiting the position of the vehicle; the supporting mechanism is used for supporting the lifting mechanism and the limiting mechanism; the supporting mechanism comprises a storage cavity, a plurality of supporting rods and a supporting cross rod, wherein each supporting rod is arranged on the periphery of the storage cavity, and one end of each supporting rod is vertically and fixedly connected with the periphery of the storage cavity; the other end of each support rod is connected with the support cross rod to form a support part; a lifting track for placing the lifting mechanism is arranged on the rod body of each supporting rod; the lifting mechanism is connected with the lifting track in a sliding mode.
Optionally, the positioning device includes a positioning mechanism and a following mechanism, and the positioning mechanism is used for positioning the position of the vehicle chassis; the servo mechanism is used for adjusting the position of the positioning mechanism; the positioning mechanism comprises a plurality of identification probes, a plurality of positioning probes, a plurality of supporting seats and an activation module, and each identification probe and each positioning probe are correspondingly arranged on the supporting seat; the activation modules are correspondingly arranged on the support seats, and the states of the activation modules are converted after the activation modules are aligned with the vehicle.
Optionally, the following mechanism includes a support plate, a plurality of magnetic suction seats and a plurality of position markers, and the position markers are distributed at equal intervals along the length direction of the support plate; each magnetic suction seat is arranged on one side of the supporting plate and is correspondingly connected with each supporting seat; and each magnetic suction seat is provided with an induction piece for identifying each position marking piece.
Optionally, the detection device includes an adjustment mechanism, a detection mechanism, and a posture mechanism, and the adjustment mechanism is used for supporting the detection mechanism; the detection mechanism is used for detecting the chassis of the vehicle; the posture mechanism is used for carrying out posture adjustment on the detection mechanism or the adjusting mechanism; the adjusting mechanism comprises a mechanical arm, a fixed seat and a linkage component, wherein the mechanical arm is connected with the fixed seat and moves along with the movement of the fixed seat; one end of the mechanical arm, which is far away from the fixed seat, is connected with one end of the linkage member, and the other end of the linkage member is connected with the detection mechanism.
Optionally, the detection mechanism comprises a tool module, a detection probe and a steering component, wherein the tool module is used for storing various detection tools; the detection probe is used for identifying the detection position; the steering component is used for adjusting the detection angle of the detection probe; the steering component comprises a rotating seat, an angle detection piece and a steering driving mechanism, wherein the angle detection piece is used for detecting the rotating angle of the rotating seat; the steering driving mechanism is in driving connection with the rotating seat; the detection probe is arranged on the rotating seat.
Optionally, the circulating mechanism is configured to adjust a position of the detection device, and the sensing is configured to acquire a current position of the detection device and move based on position data of the positioning device; the circulating mechanism comprises a circulating track, a circulating driving mechanism and a plurality of positioning marking pieces, and the positioning marking pieces are distributed at equal intervals along the length direction of the circulating track; the detection mechanism is connected with the circulating track in a sliding mode and slides along the direction of the circulating track under the driving operation of the circulating driving mechanism; the induction mechanism comprises an induction probe and an azimuth detection component, and the induction probe is used for detecting each positioning marker; the direction detection component is used for building space coordinates of the current position and the moving position of the detection device.
Optionally, the orientation detection means is configured to acquire a current initial position (x)i，yi， zi) And detecting a detected position (u) of the positioning devicej，vj，wj) By the distance of the initial position from the detection position; after the difference value between the initial position and the distance is obtained, the action rod of the adjusting mechanism is adjusted to be equal to the detection position in height, a two-dimensional plane moving model is established, and the plane moving model comprises the acquisition of the initial position (x)i，yi) And detecting the position (u)j，vj) A distance D betweenpEstablishment of Dp*xpThe detection area Range of (1);
if present:
wherein D ispAnd establishing a detection area Range for the distance between the initial position and the detection position, identifying an obstacle by the acquisition probe, and determining the position of the obstacle in the detection area Range.
The beneficial effects obtained by the invention are as follows:
1. the positioning device and the detection device are matched with each other, so that the detection device can perform detection based on the positioning position of the positioning device, and the detection efficiency of the whole detection system is improved;
2. the detection device is matched with the circulating device, so that the detection device can detect at different detection positions, detection items of the whole detection system are richer, and the detection capability of the whole system is improved;
3. the positioning device is used for positioning the vehicle chassis, and the positioning device is matched with the detection device, so that each position of the vehicle chassis can be accurately positioned and detected;
4. the positioning probe and the identified probe are adopted to adjust based on the position of the follow-up component, so that the positioning probe and the identified probe can determine the detection position;
5. the detection efficiency of the automobile chassis is effectively improved by adjusting the posture of the detection mechanism, and the detection mechanism also has the advantage of adjustable detection angle;
6. the circulating device is matched with the positioning device, so that the position of the positioning device can be quickly responded to a detection position, and the detection efficiency of the detection device is improved;
7. establishing a detection area for the adjusting mechanism and the positioning position, so that the detection mechanism accurately moves the position based on the established detection area;
8. the acquisition probe is adopted to detect the obstacles, so that the detection mechanism can accurately move the detection position in the moving process, the whole system is ensured to take automatic evaluation and automatic detection into consideration, and the labor intensity in the detection process is greatly reduced.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
FIG. 1 is a schematic control flow diagram of the present invention.
Fig. 2 is a schematic structural view of the lifting device.
Fig. 3 is a schematic structural view of the lifting device and the vehicle.
Fig. 4 is a schematic structural diagram of the positioning device.
Fig. 5 is a schematic structural view of the stopper member.
Fig. 6 is a schematic structural view of the circulating device, the lifting device and the positioning device.
Fig. 7 is a schematic view of the positioning process of the detected position.
Fig. 8 is a schematic flow chart of obstacle judgment during movement.
The reference numbers illustrate: 1-a limiting seat; 2-a support rod; 3-a lifting mechanism; 4-lifting the rail; 5-a limiting plate; 6-a limit area; 7-detection means; 8-a tool module; 9-a vehicle; 10-a positioning device; 11-position marker; 12-a support base; 13-identification of the probe; 14-positioning the probe; 15-magnetic attraction seat; 16-a magnetic member; 17-a support plate; 18-a separator plate; 19-a storage chamber; 20-a circulating orbit; 21-an action lever; 22-a robotic arm; 23-a detection probe; 24-a fixed seat; 25-a snap-fit member; 26-a circulating driving mechanism; 27-a shutter; 28-a return spring; 29-a lifting rod; 30-an action cavity; 31-a trigger module; 32-a limit track; 33-a moving wheel; 34-a sensing member; 35-communication means.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper" and "lower" and "left" and "right" etc., it is only for convenience of description and simplification of the description based on the orientation or positional relationship shown in the drawings, but it is not indicated or implied that the device or assembly referred to must have a specific orientation.
The first embodiment is as follows: the detection system comprises a lifting device, a positioning device, a detection device, a circulating device, a processing device and a processor, wherein the lifting device is used for lifting a vehicle; the positioning device is used for positioning the edge of the vehicle; the detection device is used for detecting the vehicle chassis; the circulating device is used for adjusting the position of the detection device; the processing device is used for processing the detection data of the positioning device and the detection device; the processor is respectively in control connection with the lifting device, the positioning device, the detection device, the circulating device and the processing device;
further, the lifting device comprises a lifting mechanism, a limiting mechanism and a supporting mechanism, wherein the lifting mechanism is used for lifting the vehicle; the limiting mechanism is used for limiting the position of the vehicle; the supporting mechanism is used for supporting the lifting mechanism and the limiting mechanism; the supporting mechanism comprises a storage cavity, a plurality of supporting rods and a supporting cross rod, wherein each supporting rod is arranged on the periphery of the storage cavity, and one end of each supporting rod is vertically and fixedly connected with the periphery of the storage cavity; the other end of each support rod is connected with the support cross rod to form a support part; a lifting track for placing the lifting mechanism is arranged on the rod body of each supporting rod; the lifting mechanism is connected with the lifting track in a sliding manner;
further, the positioning device comprises a positioning mechanism and a follow-up mechanism, and the positioning mechanism is used for positioning the position of the vehicle chassis; the servo mechanism is used for adjusting the position of the positioning mechanism; the positioning mechanism comprises a plurality of identification probes, a plurality of positioning probes, a plurality of supporting seats and an activation module, and each identification probe and each positioning probe are correspondingly arranged on the supporting seat; the activation modules are correspondingly arranged on the support seats, and the states of the activation modules are converted after the activation modules are aligned with the vehicle;
furthermore, the follow-up mechanism comprises a support plate, a plurality of magnetic suction seats and a plurality of position marking pieces, wherein the position marking pieces are distributed at equal intervals along the length direction of the support plate; each magnetic suction seat is arranged on one side of the supporting plate and is correspondingly connected with each supporting seat; each magnetic suction seat is provided with an induction piece for identifying each position marking piece;
further, the detection device comprises an adjusting mechanism, a detection mechanism and a posture mechanism, wherein the adjusting mechanism is used for supporting the detection mechanism; the detection mechanism is used for detecting the chassis of the vehicle; the posture mechanism is used for carrying out posture adjustment on the detection mechanism or the adjusting mechanism; the adjusting mechanism comprises a mechanical arm, a fixed seat and a linkage component, wherein the mechanical arm is connected with the fixed seat and moves along with the movement of the fixed seat; one end of the mechanical arm, which is far away from the fixed seat, is connected with one end of the linkage member, and the other end of the linkage member is connected with the detection mechanism;
further, the detection mechanism comprises a tool module, a detection probe and a steering component, wherein the tool module is used for storing various detection tools; the detection probe is used for identifying the detection position; the steering component is used for adjusting the detection angle of the detection probe; the steering component comprises a rotating seat, an angle detection piece and a steering driving mechanism, wherein the angle detection piece is used for detecting the rotating angle of the rotating seat; the steering driving mechanism is in driving connection with the rotating seat; the detection probe is arranged on the rotating seat;
further, the circulating device is a circulating mechanism and an induction mechanism, the circulating mechanism is used for adjusting the position of the detection device, and the induction is used for acquiring the current position of the detection device and moving the detection device based on the position positioning data of the positioning device; the circulating mechanism comprises a circulating track, a circulating driving mechanism and a plurality of positioning marking pieces, and the positioning marking pieces are distributed at equal intervals along the length direction of the circulating track; the detection mechanism is connected with the circulating track in a sliding mode and slides along the direction of the circulating track under the driving operation of the circulating driving mechanism; the induction mechanism comprises an induction probe and an azimuth detection component, and the induction probe is used for detecting each positioning marker; the direction detection component is used for building space coordinates of the current position and the moving position of the detection device;
further, the orientation detecting member is configured to acquire a current initial position (x)i，yi， zi) And detecting a detected position (u) of the positioning devicej，vj，wj) By the distance of the initial position from the detection position; after the difference value between the initial position and the distance is obtained, the action rod of the adjusting mechanism is adjusted to be equal to the detection position in height, a two-dimensional plane moving model is established, and the plane moving model comprises the acquisition of the initial position (x)i，yi) And detecting the position (u)j，vj) A distance D betweenpEstablishment of Dp*DpThe detection area Range of (1);
if present:
wherein D ispAnd establishing a detection area Range for the distance between the initial position and the detection position, identifying an obstacle by the acquisition probe, and determining the position of the obstacle in the detection area Range.
Example two: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; the detection system comprises a lifting device, a positioning device, a detection device, a circulating device, a processing device and a processor, wherein the lifting device is used for lifting a vehicle; the positioning device is used for positioning the edge of the vehicle; the detection device is used for detecting the vehicle chassis; the circulating device is used for adjusting the position of the detection device; the processing device is used for processing the detection data of the positioning device and the detection device; the processor is respectively in control connection with the lifting device, the positioning device, the detection device, the circulating device and the processing device; the processor is used for carrying out centralized processing on all devices, so that the whole detection system can be efficient and better intelligent; the lifting device and the positioning device are matched with each other, so that each detection position of the vehicle chassis can be positioned; meanwhile, in the embodiment, the detection position can be preset, and the triggering of the position of the positioning device can be triggered, so that the whole system has wider application scenes; in addition, the positioning device is matched with the detection device, so that the detection device can perform detection based on the positioning position of the positioning device, and the detection efficiency of the whole detection system is improved; meanwhile, the detection device is matched with the circulating device, so that the detection device can detect at different detection positions, detection items of the whole detection system are richer, and the detection capability of the whole system is improved;
the lifting device comprises a lifting mechanism, a limiting mechanism and a supporting mechanism, and the lifting mechanism is used for lifting the vehicle; the limiting mechanism is used for limiting the position of the vehicle; the supporting mechanism is used for supporting the lifting mechanism and the limiting mechanism; the supporting mechanism comprises a storage cavity and a plurality of supporting rods, each supporting rod is arranged on the periphery of the storage cavity, and one end of each supporting rod is vertically and fixedly connected with the ground on the periphery of the storage cavity; the other end of each supporting rod extends out vertically towards one side far away from the ground; a lifting track for placing the lifting mechanism is arranged on the rod body of each supporting rod; the lifting mechanism is connected with the lifting track in a sliding manner; the lifting device is used for lifting the vehicle and detecting the vehicle chassis by matching with the detection device; the lifting mechanism comprises a plurality of lifting plates, a plurality of height detection pieces and a lifting driving mechanism, and the lifting plates are used for limiting wheels and a chassis of the vehicle; each height detection piece is arranged on each lifting plate and detects the lifting height of each lifting plate; the lifting driving mechanism is in driving connection with each lifting plate, so that the lifting plates can slide along the lifting tracks; the limiting mechanisms are arranged on the lifting plates and used for limiting the vehicle; the limiting mechanism comprises a limiting area, a limiting seat and a group of limiting parts, wherein a group of limiting components are arranged on the limiting seat and limit the wheels through the group of limiting components; in addition, an accommodating cavity is arranged in the limiting area, and a group of limiting members are arranged in the accommodating cavity and limit wheels of the vehicle; an action cavity is formed in one side, facing the vehicle, of the limiting seat, and the limiting component is arranged in the action cavity; the limiting component comprises a group of limiting plates, a limiting track, a lifting rod and a lifting driving mechanism, wherein one ends of the group of limiting plates are mutually hinged to form a limiting part, and the other ends of the group of limiting plates are in sliding clamping connection with the limiting track; the limiting rail is arranged on the inner wall of the limiting seat and extends along the length direction of the limiting seat; in addition, the limiting component also comprises a group of shielding plates, a return spring and a sliding cavity, the sliding cavity is arranged on the limiting seat and close to the upper top of the limiting seat, and the direction of the sliding cavity is parallel to the direction of the upper top of the limiting seat; the reset springs are all arranged on a group of shielding plates to form shielding parts, the shielding parts are arranged in the sliding cavity, and shield the action cavity when the limiting parts do not act; when the limiting part acts, the limiting part struts the shielding part, so that the shielding part slides along the direction of the sliding cavity; the direction of the sliding cavity is vertical to the axis of the lifting rod; the direction of the limiting track is parallel to that of the sliding cavity; one end of the lifting rod is connected with the sliding seat, and the other end of the lifting rod extends towards the bottom far away from the sliding seat and is hinged with the limiting part; in addition, the limiting plate is hidden in the action cavity in an inactivated state; the lifting rod lifts the limiting part under the driving operation of the lifting driving mechanism, so that the limiting part extends out along the upper top part far away from the sliding seat, and the limiting part can limit the wheels of the vehicle;
the positioning device comprises a positioning mechanism and a follow-up mechanism, and the positioning mechanism is used for positioning the position of the vehicle chassis; the servo mechanism is used for adjusting the position of the positioning mechanism; the positioning mechanism comprises a plurality of identification probes, a plurality of positioning probes, a plurality of supporting seats and an activation module, and each identification probe and each positioning probe are correspondingly arranged on the supporting seat; the activation modules are correspondingly arranged on the support seats, and the states of the activation modules are converted after the activation modules are aligned with the vehicle; the positioning device is used for positioning the vehicle chassis, and the positioning device is matched with the detection device, so that each position of the vehicle chassis can be accurately positioned and detected; the positioning device is arranged at the bottom of the vehicle and is used for positioning the chassis position data of the vehicle; the positioning mechanism further comprises a separation plate and a storage cavity, and the storage cavity is used for placing the positioning mechanism and the follow-up mechanism; the isolation plate is transparent, so that each identification probe and each positioning probe can accurately detect the detection position of the chassis; each of the positioning probes includes, but is not limited to, the following listed ones: the device comprises a distance sensor, a visible light trigger, a device for detecting lightning and the like and used for positioning the position;
a clamping table is arranged on one side, facing the chassis, of the storage cavity and used for placing the partition plate, so that a closed space is formed inside the partition plate, and external dust is effectively prevented from entering the storage cavity to influence a positioning mechanism and the follower which are arranged in the storage cavity; the positioning probe and the identification probe are further adjusted based on the position of the follow-up member, so that the positioning probe and the identification probe can determine the detection position; in addition, the positioning position of each positioning probe can be set according to the position of an operator, and the position can be moved through the following component; in a non-specified state, determining the detection position of the vehicle chassis, wherein the detection position needs to be identified through the identification probe, transmitting the data of the chassis to the processor, and adjusting the position of the follow-up mechanism under the control of the processor so that the positioning probe can be aligned with the detection position; after the detection position is determined, the detection position and the periphery of the detection position are detected through the detection device, so that the chassis of the vehicle can be accurately controlled; each of the identification probes includes, but is not limited to, the following listed ones: the camera, the detection camera, the vision sensor and other components are used for acquiring data of the chassis;
the servo mechanism comprises a supporting plate, a plurality of magnetic suction seats and a plurality of position marking pieces, and the position marking pieces are distributed at equal intervals along the length direction of the supporting plate; each magnetic suction seat is arranged on one side of the supporting plate, corresponds to each supporting seat and is mutually attracted through a magnetic component; each magnetic suction seat is provided with an induction piece for identifying each position marking piece; the supporting plate is arranged in the middle of the storage cavity, each magnetic suction seat is arranged on one side of the supporting plate, and the supporting seat is arranged on the other side of the supporting seat; each magnetic suction seat is correspondingly connected with each supporting seat and moves along with the movement of the follow-up seat; the servo mechanism also comprises a plurality of moving members, and each moving member is correspondingly arranged on each magnetic suction seat and is used for adjusting the position of each magnetic suction seat; the isolation plate and the support plate are parallel to each other; the moving component comprises a position identification piece, a moving wheel and a moving driving mechanism, the identification piece is used for detecting each position marking piece, the moving wheel is in driving connection with the moving mechanism and drives the moving wheel, and the magnetic suction seat can be guaranteed to move along the supporting plate; in the moving process of each moving component, the moving component needs to sequentially move along the position of each position marker, and in the moving process, after the detection position of the chassis is positioned, the activation module activates the state, collects the position data of the positioning probe and the identification probe, transmits the position data with the processor, and guides the detection device through the processor based on the position data, thereby ensuring the accurate detection of the chassis; in addition, the magnetic suction seats are connected with the moving seats through magnetic members, and the positions of the moving seats need to be adjusted in the connection process; meanwhile, the mobile component also comprises a communication module, and the communication module is used for transmitting the position data of the magnetic attraction piece and the processor; in addition, the support plate and each position marker arranged on the support plate correspond to the area of the vehicle chassis one by one, so that the magnetic suction seat drives the support seat to sequentially detect on the chassis corresponding to each position marker;
the detection device comprises an adjusting mechanism, a detection mechanism and a posture mechanism, wherein the adjusting mechanism is used for supporting the detection mechanism; the detection mechanism is used for detecting the chassis of the vehicle; the posture mechanism is used for carrying out posture adjustment on the detection mechanism or the adjusting mechanism; the adjusting mechanism comprises a mechanical arm, a fixed seat and a linkage component, wherein the mechanical arm is connected with the fixed seat and moves along with the movement of the fixed seat; one end of the mechanical arm, which is far away from the fixed seat, is connected with one end of the linkage member, and the other end of the linkage member is connected with the detection mechanism; the detection device carries out detection based on the position data positioned by the positioning device, so that each position of the automobile chassis can be accurately detected; meanwhile, the adjusting mechanism, the detecting mechanism and the posture mechanism are matched with each other, so that the detection can be performed near the detection position, in the detection process, the detection efficiency of the automobile chassis is effectively improved by adjusting the posture of the detecting mechanism, and the automobile chassis has the advantage of adjustable detection angle; the linkage member is used for adjusting the direction of the mechanical arm; the linkage component comprises a sampling probe, an action driving mechanism and an angle detection piece, wherein the sampling probe is used for detecting an obstacle, the angle detection piece is used for detecting the position of the mechanical arm, and the action driving mechanism is used for adjusting the position of the detection mechanism; the acquisition probe acquires data of the vehicle and the obstacle and establishes an action range area;
the adjusting mechanism further comprises a lifting component, the lifting component adjusts the height of the mechanical arm, the lifting component is arranged inside a rod body at one end, close to the fixed seat, of the mechanical arm, and in the control process, the height of the mechanical arm is adjusted according to the requirements of different heights through a processor; in this embodiment, the mechanical arm includes a plurality of joints and a trigger module, and each of the connection joints is used to support the detection mechanism; the trigger module is used for driving and adjusting the positions of all joints, all the joints are hinged with each other, and the positions of all the joints are adjusted under the action of the trigger module; the driving adjustment of each joint and the trigger module is well known to those skilled in the art, and those skilled in the art can query the relevant technical manual to obtain the technology, so that details are not repeated in this embodiment;
the detection mechanism comprises a tool module, a detection probe and a steering component, wherein the tool module is used for storing various detection tools; the detection probe is used for identifying the detection position; the steering component is used for adjusting the detection angle of the detection probe; the steering component comprises a rotating seat, an angle detection piece and a steering driving mechanism, wherein the angle detection piece is used for detecting the rotating angle of the rotating seat; the steering driving mechanism is in driving connection with the rotating seat; the detection probe is arranged on the rotating seat; the detection mechanism further comprises an action rod and a clamping component, one end of the action rod is connected with the linkage component, the other end of the action rod is connected with the clamping component, and the clamping component is used for attracting the tool stored in the tool module; the linkage component finely adjusts the position of the action rod; the clamping component is a technical means known by those skilled in the art, and those skilled in the art can query a related technical manual to obtain the technology, so that details are not repeated in this embodiment;
the posture mechanism comprises an initial posture detection module and an evaluation component, wherein the initial posture detection module is used for detecting the posture of the adjusting mechanism; the evaluation component is used for estimating the posture of the detection device, and meanwhile, the processor adjusts the posture of the adjusting mechanism based on the data of the evaluation mechanism; the evaluation component comprises an expansion degree detection module, a range rotation module and an extension calibration module, wherein the expansion degree detection module is used for detecting the expansion degree of the adjusting mechanism and adjusting the distance between the support rods of the mechanical arm; the range rotation module is used for detecting the rotation amplitude of the detection position and the current position of the adjusting device; the extension calibration module calibrates the extended position of the rotating rod, so that different positions extend out, and the accurate positioning of the detection position is promoted; the unfolding opening degree detection module comprises a plurality of distance detection pieces, the distance detection pieces are arranged at each rotating joint of the mechanical arm, meanwhile, each distance detection piece is used for collecting the distance of the joint, if each joint exceeds a set threshold value, the next joint is triggered to be controlled, the mechanical arm can be lifted to accurately move in the moving or rotating process, and the damage to the surface quality of an obstacle or a vehicle body caused by the fact that the surrounding obstacles cannot be touched in the detection process of the detection mechanism is effectively prevented;
the circulating device comprises a circulating mechanism and an induction mechanism, the circulating mechanism is used for adjusting the position of the detection device, and the induction mechanism acquires the current position of the detection device and moves based on the position positioning data of the positioning device; the circulating mechanism comprises a circulating track, a circulating driving mechanism and a plurality of positioning marking pieces, and the positioning marking pieces are distributed at equal intervals along the length direction of the circulating track; the detection mechanism is connected with the circulating track in a sliding mode and slides along the direction of the circulating track under the driving operation of the circulating driving mechanism; the induction mechanism comprises an induction probe and an azimuth detection component, and the induction probe is used for detecting each positioning marker; the direction detection component is used for building space coordinates of the current position and the moving position of the detection device; the circulating mechanism is arranged on the peripheral side of the lifting device and is matched with the detection device, so that the position of the detection device can be adjusted at different positions and detected at different positions; in addition, the circulating device is matched with the positioning device, so that the position of the positioning device can be quickly responded to a detection position, and the detection efficiency of the detection device is improved; the fixed seat of the adjusting mechanism is connected with the circulating track in a sliding manner and slides along the direction of the circulating track under the driving operation of the circulating driving mechanism; in addition, the induction mechanism is arranged on the advancing or retreating side of the fixed seat and is driven by the circulating driving mechanism to identify each positioning marking piece on the moving path of the circulating track, so that the position of the fixed seat can be accurately controlled; a closed loop is formed among the fixed seat, the circulating track, the positioning markers, the processor and the circulating driving mechanism, when the position to which the fixed seat moves is a non-set position, the current position of the fixed seat is transmitted to the processor, and the circulating driving mechanism is controlled to drive the fixed seat based on the processor, so that the fixed seat can quickly move to the set position; after the fixed seat moves, the detection piece is also driven to move, so that the position of the detection mechanism is adjusted;
the orientation detection member is configured to acquire a current initial position (x)i，yi，zi) And detecting a detected position (u) of the positioning devicej，vj，wj) By the distance of the initial position from the detection position; after the difference value between the initial position and the distance is obtained, the position is adjusted through the adjusting mechanism,so that the action lever moves to a position (i.e., z) equal to the detection positioni＝wj) (ii) a Meanwhile, the action rod of the adjusting mechanism can move the detection position in a two-dimensional space; acquisition of initial position (x)i，yi) And detecting the position (u)j， vj) A distance D betweenpEstablishment of Dp*DpThe detection area Range of (1);
there are:
wherein D ispEstablishing a detection area Range for the distance between the initial position and the detection position, identifying an obstacle through the acquisition probe, and determining the position of the obstacle in the detection area Range;
dividing detection nodes in the Range of the detection area Range, numbering the detection nodes, and establishing a detection node map, namely: establishing a rectangular coordinate system by taking the first detection node at the lower left corner of the detection node map as the origin of coordinates, and numbering each detection node from the lower left corner by N; for convenience of explanation, coordinates (m)k，nk) It is shown that,
then there is:
wherein m iskAnd nkAre all positive integers, FloatA detection node for each row; the delta R is the node area of the barrier, and the value of the delta R can be measured according to the actual size;
because an obstacle exists in the established detection node map, the adjusting mechanism can meet the obstacle in the moving process, so that the moving path of the action rod needs to be judged, and whether the moving path is continuous or not is judged;
if present:
if S is equal to 1, it indicates that two adjacent detection nodes are continuous, otherwise, they are not continuous;
the calculation method for the discontinuous detection nodes is as follows:
wherein m isfleashAnd nfleashTaking positive integers; if the new detection node is an obstacle detection node, acquiring adjacent detection nodes of the new detection node in the order of up, down, left and right, and judging whether the detection node is in the path (judging to prevent the detection node from falling into infinite loop), if the detection node is an obstacle-free detection node, the detection node is not in the moving path, and the detection node is inserted into the middle of the moving paths of two discontinuous detection nodes; after traversing the four detection nodes, if no detection node meeting the condition exists, deleting the moving path; otherwise, deleting the moving path; if the new detection node is an obstacle-free detection node, inserting the new detection node between two discontinuous detection nodes; continuously judging whether the newly inserted detection node and the previous detection node in the newly inserted detection node are continuous or not, if not, repeating the steps until the two detection nodes are continuous; when two detection nodes are continuous, adopting the next detection node and repeating the steps until the whole moving path is continuous, thereby obtaining the moving path of the adjusting mechanism, and obtaining the adjusting mechanism from the moving pathAnd the moving path can be ensured to be capable of efficiently and accurately detecting each position of the chassis of the vehicle in the moving process.
Example three: this embodiment should be understood to include at least all of the features of any of the foregoing embodiments and further modifications thereon; the detection system comprises a lifting device, a positioning device, a detection device, a circulating device, a processing device and a processor, wherein the lifting device is used for lifting a vehicle; the positioning device is used for positioning the edge of the vehicle; the detection device is used for detecting the vehicle chassis; the circulating device is used for adjusting the position of the detection device; the processing device is used for processing the detection data of the positioning device and the detection device; the processor is respectively in control connection with the lifting device, the positioning device, the detection device, the circulating device and the processing device; the processor is used for carrying out centralized processing on all devices, so that the whole detection system can be efficient and better intelligent; the lifting device and the positioning device are matched with each other, so that each detection position of the vehicle chassis can be positioned; meanwhile, in the embodiment, the detection position can be preset, and the triggering of the position of the positioning device can be triggered, so that the whole system has wider application scenes; in addition, the positioning device is matched with the detection device, so that the detection device can perform detection based on the positioning position of the positioning device, and the detection efficiency of the whole detection system is improved; meanwhile, the detection device is matched with the circulating device, so that the detection device can detect at different detection positions, detection items of the whole detection system are richer, and the detection capability of the whole system is improved;
the circulating device comprises a circulating mechanism and an induction mechanism, the circulating mechanism is used for adjusting the position of the detection device, and the induction mechanism acquires the current position of the detection device and moves based on the position positioning data of the positioning device; the circulating mechanism comprises a circulating track, a circulating driving mechanism and a plurality of positioning marking pieces, and the positioning marking pieces are distributed at equal intervals along the length direction of the circulating track; the detection mechanism is connected with the circulating track in a sliding mode and slides along the direction of the circulating track under the driving operation of the circulating driving mechanism; the induction mechanism comprises an induction probe and an azimuth detection component, and the induction probe is used for detecting each positioning marker; the direction detection component is used for building space coordinates of the current position and the moving position of the detection device; the circulating mechanism is arranged on the peripheral side of the lifting device and is matched with the detection device, so that the position of the detection device can be adjusted at different positions and detected at different positions; in addition, the circulating device is matched with the positioning device, so that the position of the positioning device can be quickly responded to a detection position, and the detection efficiency of the detection device is improved; the fixed seat of the adjusting mechanism is connected with the circulating track in a sliding manner and slides along the direction of the circulating track under the driving operation of the circulating driving mechanism; in addition, the induction mechanism is arranged on the advancing or retreating side of the fixed seat and is driven by the circulating driving mechanism to identify each positioning marking piece on the moving path of the circulating track, so that the position of the fixed seat can be accurately controlled; a closed loop is formed among the fixed seat, the circulating track, the positioning markers, the processor and the circulating driving mechanism, when the position to which the fixed seat moves is a non-set position, the current position of the fixed seat is transmitted to the processor, and the circulating driving mechanism is controlled to drive the fixed seat based on the processor, so that the fixed seat can quickly move to the set position; after the fixed seat moves, the detection piece is also driven to move, so that the position of the detection mechanism is adjusted;
the orientation detection means being configured to acquire a current initial position (xi, yi, zi) and to detect a signal of a detected position (uj, vj, wj) of the positioning device,a distance from an initial position to the detection position; after the difference between the initial position and the distance is obtained, the moving path is adjusted by the adjusting mechanism, so that the action rod moves to a position (namely, z) with the same height as the detection positioni＝wj) (ii) a Meanwhile, at this time, the action rod of the adjusting mechanism can move the detection position in a two-dimensional space; acquisition of initial position (x)i，yi) And detecting the position (u)j，vj) A distance D betweenpEstablishment of Dp*DpThe detection area Range of (1);
there are:
wherein D ispEstablishing a detection area Range for the distance between the initial position and the detection position, identifying an obstacle through the acquisition probe, and determining the position of the obstacle in the detection area Range;
dividing detection nodes in the Range of the detection area Range, numbering the detection nodes, and establishing a detection node map, namely: establishing a rectangular coordinate system by taking the first detection node at the lower left corner of the detection node map as the origin of coordinates, and numbering each detection node from the lower left corner by N; for convenience of explanation, coordinates (m)k，nk) It is shown that,
then there is:
wherein m iskAnd nkAre all positive integers, FloatA detection node for each row; Δ R is the nodal area of the obstacle, and its value can be based on realMeasuring the size of the interpersonal space;
because an obstacle exists in the established detection node map, the adjusting mechanism can meet the obstacle in the moving process, so that the moving path of the action rod needs to be judged, and whether the moving path is continuous or not is judged;
if present:
if S is equal to 1, it indicates that two adjacent detection nodes are continuous, otherwise, they are not continuous;
the calculation method for the discontinuous detection nodes is as follows:
wherein m isfleashAnd nfleashTaking positive integers; if the new detection node is an obstacle detection node, acquiring adjacent detection nodes of the new detection node in the order of up, down, left and right, and judging whether the detection node is in the path (judging to prevent the detection node from falling into infinite loop), if the detection node is an obstacle-free detection node, the detection node is not in the moving path, and the detection node is inserted into the middle of the moving path of two discontinuous detection nodes; after traversing the four detection nodes, if no detection node meeting the condition exists, deleting the moving path; otherwise, deleting the moving path; if the new detection node is an obstacle-free detection node, inserting the new detection node between two discontinuous detection nodes; continuously judging whether the newly inserted detection node and the previous detection node in the newly inserted detection node are continuous, if not, repeating the steps until the two detection nodes are continuous; when two are inWhen the detection nodes are continuous, adopting the next detection node and repeating the steps until the whole moving path is continuous;
in addition, in the process that the adjusting mechanism drives the detecting mechanism to detect, an optimal moving path is selected according to various selected moving paths p, and if the optimal moving path exists:
wherein, WedgeIs a moving path; in the actual moving process, the adjustment function of the mechanical arm needs to be adjusted, and the adjustment function comprises an optimal path and optimal smoothness, so that the optimal control effect is achieved in the process that the action rod drives the detection mechanism to move, and the detection efficiency is improved;
if present:
wherein, B1Adjusting parameters for the path; in the process of moving the action rod and the mechanical arm, the offset angle of the action rod is not suitable to be too large, the relatively smooth path is favorable for the adjustment of the adjusting mechanism, the smoother the path is, the larger the angle formed by the adjacent three detection nodes is, the larger the angle is, the larger the distance between the adjacent three detection nodes is, therefore, the distances between all the adjacent three detection nodes in the path are calculated,
Qanglethe values of (A) can be respectively 180 degrees, obtuse angle, right angle and acute angle in four conditions of the included angles of three continuous detection nodes in the moving path, wherein three points of 180 degrees form a straight line, the smoothness is the best, and the obtuse angle and the right angle are the second order;
by determining the angle between the positions of the different detection nodes, the smoothness of the movement path calibrates the parameter B2The determination can be made according to the following formula,
the adjustment function requires an optimal weighting between the synthetic movement path and the smoothness
Suet＝γB1+βB2 (12)
Wherein, the parameters γ and β are selected according to the weight between the length and the smoothness of the actual moving path, which is not described in detail herein.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (8)
1. The detection system is characterized by comprising a lifting device, a positioning device, a detection device, a circulating device, a processing device and a processor, wherein the lifting device is used for lifting a vehicle; the positioning device is used for positioning the edge of the vehicle; the detection device is used for detecting the vehicle chassis; the circulating device is used for adjusting the position of the detection device; the processing device is used for processing the detection data of the positioning device and the detection device; the processor is respectively in control connection with the lifting device, the positioning device, the detection device, the circulating device and the processing device.
2. The intelligent recognition automobile chassis vehicle condition detection system as claimed in claim 1, wherein the lifting device comprises a lifting mechanism, a limiting mechanism and a supporting mechanism, the lifting mechanism is used for lifting the vehicle; the limiting mechanism is used for limiting the position of the vehicle; the supporting mechanism is used for supporting the lifting mechanism and the limiting mechanism; the supporting mechanism comprises a storage cavity, a plurality of supporting rods and a supporting cross rod, wherein each supporting rod is arranged on the periphery of the storage cavity, and one end of each supporting rod is vertically and fixedly connected with the periphery of the storage cavity; the other end of each support rod is connected with the support cross rod to form a support part; a lifting track for placing the lifting mechanism is arranged on the rod body of each supporting rod; the lifting mechanism is connected with the lifting track in a sliding mode.
3. An intelligent vehicle chassis condition detecting system as claimed in any one of the preceding claims, wherein said positioning means comprises a positioning mechanism and a follower mechanism, said positioning mechanism being adapted to position the vehicle chassis; the servo mechanism is used for adjusting the position of the positioning mechanism; the positioning mechanism comprises a plurality of identification probes, a plurality of positioning probes, a plurality of supporting seats and an activation module, and each identification probe and each positioning probe are correspondingly arranged on the supporting seat; the activation modules are correspondingly arranged on the support seats, and the states of the activation modules are converted after the activation modules are aligned with the vehicle.
4. An intelligent vehicle chassis condition detecting system as claimed in any one of the preceding claims, wherein said follower mechanism comprises a support plate, a plurality of magnetic suction seats and a plurality of position markers, each of said position markers being equally spaced along the length of said support plate; each magnetic suction seat is arranged on one side of the supporting plate and is correspondingly connected with each supporting seat; and each magnetic suction seat is provided with an induction piece for identifying each position marking piece.
5. An intelligent vehicle chassis condition detection system as recited in any one of the preceding claims, wherein said detection device comprises an adjustment mechanism, a detection mechanism and a posture mechanism, said adjustment mechanism being used for supporting said detection mechanism; the detection mechanism is used for detecting the chassis of the vehicle; the posture mechanism is used for carrying out posture adjustment on the detection mechanism or the adjusting mechanism; the adjusting mechanism comprises a mechanical arm, a fixed seat and a linkage component, wherein the mechanical arm is connected with the fixed seat and moves along with the movement of the fixed seat; one end of the mechanical arm, which is far away from the fixed seat, is connected with one end of the linkage member, and the other end of the linkage member is connected with the detection mechanism.
6. An intelligent vehicle chassis condition detecting system as claimed in any preceding claim, wherein the detecting mechanism comprises a tool module for storing various detecting tools, a detecting probe and a steering member; the detection probe is used for identifying the detection position; the steering component is used for adjusting the detection angle of the detection probe; the steering component comprises a rotating seat, an angle detection piece and a steering driving mechanism, wherein the angle detection piece is used for detecting the rotating angle of the rotating seat; the steering driving mechanism is in driving connection with the rotating seat; the detection probe is arranged on the rotating seat.
7. An intelligent recognition vehicle chassis condition detecting system as claimed in any one of the preceding claims, wherein said circulating means is adapted to adjust the position of said detecting means, and said sensing means collects the current position of said detecting means and moves based on the position data of said positioning means; the circulating mechanism comprises a circulating track, a circulating driving mechanism and a plurality of positioning marking pieces, and the positioning marking pieces are distributed at equal intervals along the length direction of the circulating track; the detection mechanism is connected with the circulating track in a sliding mode and slides along the direction of the circulating track under the driving operation of the circulating driving mechanism; the induction mechanism comprises an induction probe and an azimuth detection component, and the induction probe is used for detecting each positioning marker; the direction detection component is used for building space coordinates of the current position and the moving position of the detection device.
8. An intelligent vehicle chassis condition detecting system as set forth in any of the preceding claims, wherein said orientation detecting member is configured to acquire a current initial position (x)i，yi，zi) And detecting a detected position (u) of the positioning devicej，vj，wj) By the distance of the initial position from the detection position; after the difference value between the initial position and the distance is obtained, the action rod of the adjusting mechanism is adjusted to be equal to the detection position in height, a two-dimensional plane moving model is established, and the plane moving model comprises the acquisition of the initial position (x)i，yi) And detecting the position (u)j，vj) A distance D betweenpEstablishment of Dp*DpThe detection area Range of (1);
if present:
wherein D ispAnd establishing a detection area Range for the distance between the initial position and the detection position, identifying an obstacle by the acquisition probe, and determining the position of the obstacle in the detection area Range.
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