CN212845078U - Tire detection robot based on computer vision and vacuum negative pressure principle - Google Patents
Tire detection robot based on computer vision and vacuum negative pressure principle Download PDFInfo
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- CN212845078U CN212845078U CN202022238510.6U CN202022238510U CN212845078U CN 212845078 U CN212845078 U CN 212845078U CN 202022238510 U CN202022238510 U CN 202022238510U CN 212845078 U CN212845078 U CN 212845078U
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Abstract
A tire detection robot based on computer vision and vacuum negative pressure principles comprises anti-skid wheels, a front axle, a road identification camera, an air pump, an exhaust tube, a vehicle shell, a damage detection camera, an infrared lamp, a motor, a charging base, a wireless transceiver, a terminal display, a rear axle, an air pressure sensor and a sealing ring. The utility model discloses an adopt vacuum negative pressure principle design, can scramble the motion on the tire lateral wall, gather the inboard surface image of tire through miniature camera, show on the terminal display, in time report the tire damage condition. The utility model discloses can solve traditional manual detection tire damage inefficiency, the poor problem of precision, more accurate, discover the tire damage condition in time, improve detection efficiency.
Description
Technical Field
The utility model belongs to the technical field of vehicle detection equipment, concretely relates to tire detection device is put based on computer vision and vacuum negative pressure principle.
Background
With the rapid development of Chinese economy, automobiles become a necessary vehicle for people to go out. The automobile industry and the transportation industry in China are developed to a great extent. The tire industry, as an important matching industry for the development of the automobile industry and road traffic, also presents a situation of high-speed development. The quality of the tire directly determines the occurrence rate of traffic accidents, and is closely related to the life and property safety of people. The problem of automatic detection of tire damage has become one of the most concerned focuses of foreign tire manufacturers in China. Therefore, it is necessary to provide a device for detecting the tire appearance problems conveniently and quickly, thereby saving manpower and material resources and improving the detection efficiency.
Disclosure of Invention
The utility model aims at solving the problem that traditional manual detection tire damage is inefficient, the precision is poor, and propose one kind and scramble detection device based on computer vision, vacuum negative pressure tire to accurately, discover the tire damage condition in time, improve detection efficiency.
The utility model comprises an air pump, an exhaust tube, a road identification camera, an infrared lamp, a damage detection camera, a vehicle shell, an antiskid wheel, a sealing ring, a front axle, an air pressure sensor, a motor, a rear axle, a wireless transceiver, a power supply base and a terminal display; the antiskid wheels are respectively connected with the front axle and the rear axle; the anti-skid wheels at the front part are controlled by two motors arranged on the power supply base, and the two motors control the two anti-skid wheels to generate different speeds to cause differential speed, so that the steering function is realized; the road identification camera is fixed at the front part of the vehicle shell and used for identifying a path in the running process of the robot, detecting the road edge, transmitting information into the wireless transceiver, controlling the speeds of the two motors to change in time, adjusting the direction of the robot and preventing the robot from falling off a tire in the detection process; the wireless transceiver is fixed on the power supply base; the damage detection cameras and the infrared lamps are symmetrically fixed at the front center and the rear center of the vehicle shell, three or six of the damage detection cameras and the infrared lamps are fixed at each side, and the damage detection cameras and the infrared lamps are used for shooting the inner side of the tire in real time in the moving process of the robot, transmitting images to the wireless transceiver, processing data by a computer and feeding back the damage condition of the tire in real time; the motors are fixed on the power supply base, and the rotating speeds of the two motors are controlled to be the same, so that the anti-skid wheels are controlled to generate the same speed, and the robot can move forwards linearly; the power supply base is fixed in the robot, supplies power to the power consumption equipment of the whole vehicle and is connected with an external power supply; the wireless transceiver is used for receiving and transmitting image information from the damage detection camera; the air pump pumps air in the vehicle body through the air pumping pipe outside to enable the robot to form a vacuum negative pressure state inside and outside, so that the robot can stick to the tire surface to crawl; the air pressure sensor is arranged in the vehicle shell, monitors the internal air pressure in real time, the robot possibly falls off from a tire when the internal air pressure is lower than a set threshold value, the air pump is controlled to increase the air suction amount, and the robot cannot normally walk when the internal air pressure is higher than the set threshold value, and the air pump is controlled to decrease the air suction amount; the sealing washer is fixed in the robot bottom, plays sealed effect, prevents gas leakage.
The terminal display is internally provided with an automatic alarm device, a motor overload protection device, motor control software, image processing software and a tire abnormal image library, and receives and processes image data of the damage detection camera.
The utility model discloses a theory of operation and process are:
when the tire needs to be detected, the detection robot is placed on the tire side wall needing to be detected, the switch is turned on, and the robot starts to run. The air pump starts to work, so that the robot is in a vacuum state, pressure difference is generated between the inside of the robot and the outside, the robot is controlled to be firmly adsorbed on the surface of the side wall of the tire, meanwhile, the air pressure sensor works to detect pressure, the pressure difference between the inside and the outside of the robot is constantly kept not lower than a certain value, when the value is lower than a threshold value, the air suction amount in the control air pump is increased, the adsorption force of the robot is increased, the robot is enabled to be adsorbed on the surface of the tire all the time, when the value is higher than the threshold value, the suction force of the robot is too high, when the robot cannot normally run, the air. The moving power of the robot is provided by a motor, the motor drives the anti-skid wheels to move, and when the motor is overloaded, the automatic adjustment is carried out to prevent the overload. The motor controls the two wheels to generate differential speed, and the function of controlling the advancing direction of the robot is achieved. In the process of advancing of the robot, the road recognition camera can automatically detect the road edge of the road condition in front of the robot, when the robot deviates from the driving direction and is about to reach the edge of a tire and fall, the information is transmitted through the wireless transceiver, the motor is controlled through the control program to respectively generate different rotating speeds in the front and the back, two wheels are controlled to generate differential speed, the automatic steering function is realized, and the robot can keep driving stably on the tire. The damage identification of tire is realized by damage detection camera and infrared lamp, on the terminal display was transmitted through wireless transceiver to the tire picture was gathered and was passed to at the robot in-process of marcing, carries out image processing and analysis, in time discovers and finds out the tire damage point position.
The utility model has the advantages that:
1. a large amount of manpower and material resources can be saved when the tire is detected, and the tire detection efficiency and accuracy are effectively improved.
2. The tire burst caused by tire scratch and bulge can be reduced, and the traffic accidents are reduced.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic diagram of the internal structure of the present invention.
Fig. 3 is a schematic bottom structure diagram of the present invention.
Fig. 4 is a schematic diagram of a terminal display according to the present invention.
Fig. 5 is a demonstration diagram of the present invention in the operation of the tire sidewall.
Fig. 6 is a demonstration diagram of the work between two tires of the present invention.
Wherein: 1-an air pump; 2-an exhaust pipe; 3-a road identification camera; 4-infrared lamps; 5-damage detection camera; 6-vehicle shell; 7-antiskid wheels; 8-sealing ring; 9-front axle; 10-a barometric sensor; 11-a motor; 12-a rear axle; 13-a wireless transceiver; 14-a power supply base; 15-terminal display.
Detailed Description
Referring to fig. 1 to 4, the present embodiment includes an air pump 1, an air exhaust pipe 2, a road identification camera 3, an infrared lamp 4, a damage detection camera 5, a vehicle shell 6, an anti-skid wheel 7, a sealing ring 8, a front axle 9, an air pressure sensor 10, a motor 11, a rear axle 12, a wireless transceiver 13, a power supply base 14, and a terminal display 15; wherein, the antiskid wheels 7 are respectively connected with a front axle 9 and a rear axle 12; the front antiskid wheels 7 are controlled by two motors 11 arranged on a power supply base 14, and the two antiskid wheels 7 are controlled by the two motors 11 to generate different speeds so as to cause differential speed, so that the steering function is realized; the road identification camera 3 is fixed on the front part of the vehicle shell 6 and used for identifying a path in the running process of the robot, detecting the road edge, transmitting information into the wireless transceiver 13, controlling the speeds of the two motors to change in time, adjusting the direction of the robot, and preventing the robot from falling off tires in the detection process, wherein the wireless transceiver 13 is fixed on the power supply base 14; the front center and the back center of the vehicle shell 6 are symmetrically fixed with three damage detection cameras 5 and six infrared lamps 4 on each side, and the three damage detection cameras and the six infrared lamps are used for shooting the inner side of the tire in real time in the moving process of the robot, transmitting the image to the wireless transceiver 13, processing the data in a computer and feeding back the damage condition of the tire in real time; the motors 11 are fixed on the power supply base 14, the rotating speeds of the two motors 11 are controlled to be the same, so that the anti-skid wheels 7 are controlled to generate the same speed, and the linear advance of the robot is realized; the power supply base 14 is fixed in the robot, supplies power to the whole vehicle power consumption equipment and is connected with an external power supply; the wireless transceiver 13 is used for receiving and transmitting the image information from the damage detection camera 5; the air pump 1 pumps air in the vehicle body through the air pumping pipe 2 from the outside to enable the inside and the outside of the robot to form a vacuum negative pressure state, so that the robot can stick to the tire surface to crawl; the air pressure sensor 10 is arranged in the vehicle shell 6, monitors the internal air pressure in real time, and when the air pressure is lower than a certain threshold value, the robot possibly falls off from a tire, controls the air pump 1 to increase the air suction amount, and when the air pressure is higher than the certain threshold value, the robot cannot normally walk, and controls the air pump 1 to reduce the air suction amount; the sealing ring 8 is fixed at the bottom of the robot, plays a role in sealing and prevents air leakage.
Referring to fig. 5 and 6, an automatic alarm device, a motor overload protection device, motor control software, image processing software, and a tire abnormal image library are disposed in the terminal display 15, and the terminal display 15 receives and processes image data of the damage detection camera 5. When the tire needs to be detected, the detection robot is placed on the tire side wall needing to be detected, the switch is turned on, and the robot starts to run. The air pump 1 starts to work, so that the robot is in a vacuum state, pressure difference is generated between the inside of the robot and the outside, the robot is controlled to be firmly adsorbed on the surface of the side wall of the tire, meanwhile, the air pressure sensor 10 works to detect pressure, the pressure difference between the inside and the outside of the robot is constantly kept not lower than a certain value, when the value is lower than a threshold value, the air suction amount in the control air pump 1 is increased, the adsorption force of the robot is increased, the robot is always adsorbed on the surface of the tire, when the value is higher than the threshold value, the suction force of the robot is too high, and when the robot cannot normally run, the air suction amount is reduced. The moving power of the robot is provided by a motor 11, the motor 11 drives the anti-skid wheels 7 to move, and when the motor is overloaded, the automatic adjustment prevents the overload. The motor 11 controls the two anti-skid wheels 7 to generate differential speed, and plays a role in controlling the advancing direction of the robot. In the process of advancing of the robot, the road recognition camera 3 can automatically detect the road edge of the road condition in front of the robot, when the robot deviates from the driving direction and is about to reach the edge of a tire and fall, the information is transmitted through the wireless transceiver 13, the motor 11 is controlled through the control program to respectively generate different rotating speeds in the front and the back, two wheels are controlled to generate differential speed, the automatic steering function is realized, and the robot can keep driving stably on the tire. The damage identification of tire is realized by damage detection camera 5 and infrared lamp 4, and on the robot marchd the in-process was gathered and was transmitted for terminal display 15 through wireless transceiver 13 to the tire picture, carry out image processing and analysis, in time discover find out the tire damage point position.
The motor control software and the image processing software are open source software, and source codes of the open source software and the image processing software are public source codes.
The tire abnormity image library is established by acquiring a large number of tire side loss images with problems by the applicant.
Claims (2)
1. A tire inspection robot based on computer vision and vacuum negative pressure principle, its characterized in that: the device comprises an air pump (1), an exhaust tube (2), a road identification camera (3), an infrared lamp (4), a damage detection camera (5), a vehicle shell (6), anti-skid wheels (7), a sealing ring (8), a front axle (9), an air pressure sensor (10), a motor (11), a rear axle (12), a wireless transceiver (13), a power supply base (14) and a terminal display (15);
the antiskid wheels (7) are respectively connected with the front axle (9) and the rear axle (12); the front antiskid wheels (7) are controlled by two motors (11) arranged on a power supply base (14), and the two antiskid wheels (7) are controlled by the two motors (11) to generate different speeds to cause differential speed, so that the steering function is realized; the road identification camera (3) is fixed at the front part of the vehicle shell (6) and is used for identifying a path in the running process of the robot, detecting the road edge, transmitting information into the wireless transceiver (13), controlling the speeds of the two motors (11) to change in time, adjusting the direction of the robot and preventing the robot from falling off a tire in the detection process; the wireless transceiver (13) is fixed on the power supply base (14); the front center and the back center of the vehicle shell (6) are symmetrically fixed with three or six damage detection cameras (5) and infrared lamps (4) on each side, and the damage detection cameras and the infrared lamps are used for shooting the inner side of the tire in real time in the moving process of the robot, transmitting images to the wireless transceiver (13), processing data by a computer and feeding back the damage condition of the tire in real time; the motors (11) are fixed on the power supply base (14), and the rotating speeds of the two motors (11) are controlled to be the same, so that the anti-skid wheels (7) are controlled to generate the same speed, and the linear advance of the robot is realized; the power supply base (14) is fixed in the robot, supplies power to the whole vehicle power consumption equipment and is connected with an external power supply; the wireless transmitting and receiving device (13) is used for transmitting and receiving image information from the damage detection camera (5); the air pump (1) pumps air in the vehicle body through the air pumping pipe (2) from the outside to enable the inside and the outside of the robot to form a vacuum negative pressure state, so that the robot can stick to the tire surface to crawl; the air pressure sensor (10) is arranged in the vehicle shell (6) and used for monitoring the internal air pressure in real time, the robot is likely to fall off from a tire when the internal air pressure is lower than a set threshold value, the air pump (1) is controlled to increase the air pumping quantity, the robot cannot normally walk when the internal air pressure is higher than the set threshold value, and the air pump (1) is controlled to decrease the air pumping quantity; the sealing ring (8) is fixed at the bottom of the robot, plays a role in sealing and prevents air leakage.
2. The tire inspection robot based on computer vision and vacuum negative pressure principle of claim 1, wherein: an automatic alarm device, a motor overload protection device, motor control software, image processing software and a tire abnormal image library are arranged in the terminal display (15), and the terminal display receives and processes image data of the damage detection camera (5); when the tire needs to be detected, the detection robot is placed on the sidewall of the tire to be detected, the switch is turned on, and the robot starts to run; the air pump (1) starts to work to enable the interior of the robot to generate a vacuum state and generate pressure difference with the outside, the robot is controlled to be firmly adsorbed on the surface of the side wall of the tire, meanwhile, the air pressure sensor (10) works to detect pressure, the pressure difference between the interior and the exterior of the robot is constantly kept to be not lower than a certain value, when the value is lower than a threshold value, the air suction amount in the air pump (1) is controlled to be increased, the adsorption force of the robot is increased, the robot is enabled to be adsorbed on the surface of the tire all the time, and when the value is higher than the threshold value, the air suction amount is reduced when the robot cannot normally run due to overhigh suction force; the moving power of the robot is provided by a motor (11), the motor (11) drives the anti-skid wheels (7) to move, and when the motor is overloaded, the anti-skid wheels are automatically adjusted to prevent overload; the motor (11) controls the two wheels to generate differential speed, so that the function of controlling the advancing direction of the robot is achieved; when the robot deviates from the driving direction and is about to reach the tire edge and fall, the information is transmitted through the wireless transceiver (13), the motor (11) is controlled through a control program to respectively generate different rotating speeds in the front and the back, two wheels are controlled to generate differential speed, the automatic steering function is realized, and the robot can keep driving stably on the tire; the damage identification of the tire is realized by a damage detection camera (5) and an infrared lamp (4), and the images of the tire are collected and transmitted to a terminal display (15) through a wireless transceiver (13) in the advancing process of the robot, so that the image processing and analysis are carried out, and the damage point position of the tire is found out in time.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022238510.6U CN212845078U (en) | 2020-10-10 | 2020-10-10 | Tire detection robot based on computer vision and vacuum negative pressure principle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022238510.6U CN212845078U (en) | 2020-10-10 | 2020-10-10 | Tire detection robot based on computer vision and vacuum negative pressure principle |
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| CN212845078U true CN212845078U (en) | 2021-03-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771982A (en) * | 2021-11-10 | 2021-12-10 | 滨州学院 | Wall-climbing robot for detecting surface defects of aircraft |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771982A (en) * | 2021-11-10 | 2021-12-10 | 滨州学院 | Wall-climbing robot for detecting surface defects of aircraft |
| CN113771982B (en) * | 2021-11-10 | 2022-02-15 | 滨州学院 | Wall-climbing robot for detecting surface defects of aircraft |
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