Automobile gutter surface defect detection equipment based on visual inspection

Abstract

The present invention relates to the technical field of automobile drain gutter detection, and is used to solve the problem that the existing automobile drain gutter detection has a low degree of automation and cannot perform efficient and high-precision defect detection on the automobile drain gutter. The present invention is a surface defect detection device for automobile drain gutter based on visual detection, comprising a bottom plate, a frame 1 and a support plate are arranged on the top of the bottom plate, the support plates are symmetrically arranged, a conveyor belt 1 is arranged inside the frame 1, and is characterized in that a control panel is fixedly installed on the outer wall of the support plate, a linear stepping track 2 is fixedly connected to the inner wall of the support plate, and a sliding seat is slidably connected inside the linear stepping track 2. Compared with the prior art, the present invention performs visual detection and analysis on the automobile drain gutter, and processes and performs secondary visual detection on the automobile drain gutter with abnormal detection, thereby realizing efficient defect detection of the automobile drain gutter, and realizing automatic classification and transportation of the automobile drain gutter according to the analysis result.

Description

Technical Field

[0001] The invention relates to the technical field of automobile gutter detection, in particular to automobile gutter surface defect detection equipment based on visual detection. Background Art

[0002] With the development of the automobile industry, people have higher and higher requirements for automobile quality. In the past decade, my country's automobile production has achieved a substantial growth. With the improvement of people's living standards, in order to adapt to the development of the times and the needs of consumers, automobile manufacturers around the world are also constantly innovating and improving the function and quality of automobile parts. At present, the surface quality requirements of automobile gutters are very high, as they are parts that can be seen after the rear cover of the car is opened.

[0003] However, existing surface defect inspections for automobile gutters are all done manually. This method has a slow inspection speed and is difficult to meet the needs of mass production. At the same time, manual inspections can easily miss small or hidden defects, which in turn causes unqualified parts to flow into the next process. In addition, manual inspections make it difficult to record and analyze inspection data in real time, which is not conducive to quality traceability.

[0004] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle gutter surface defect detection device based on visual detection, which is used to solve the problem that the existing vehicle gutter detection has a low degree of automation and cannot perform efficient and high-precision defect detection on the vehicle gutter.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The surface defect detection device of automobile gutter based on visual inspection comprises a bottom plate, a frame 1 and a support plate are arranged on the top of the bottom plate, the support plates are arranged symmetrically, a conveyor belt 1 is arranged inside the frame 1, and the device is characterized in that a control panel is fixedly installed on the outer wall of the support plate, a linear stepping track 2 is fixedly connected to the inner wall of the support plate, a sliding seat is slidably connected inside the linear stepping track 2, a side wall of the sliding seat is movably connected to a rotating plate through a bearing, and a flip assembly is arranged on the side wall of the rotating plate;

[0008] The flip assembly includes multiple groups of supports and a rotating frame, the supports are fixedly installed on the side walls of the rotating plate by bolts, the rotating frame is rotatably connected in the supports, a guide rail is fixed to the bottom of the rotating frame by spot welding, a motor for driving the rotating plate to rotate is fixedly installed on the other side of the sliding seat, an abutment rod is fixedly connected to the other end of the rotating frame, and an abutment rubber sleeve is provided on the outer side of the bottom end of the abutment rod.

[0009] Furthermore, a micro hydraulic push cylinder is fixedly installed on the outer side of the support, and both side walls of the micro hydraulic push cylinder close to the output end are fixedly connected with a driving block, and the driving block is slidably connected in a correspondingly arranged guide rail.

[0010] Furthermore, a linear stepping track 1 is fixedly installed on the top of the support plate, a translation seat is arranged between the two linear stepping tracks 1, two ends of the translation seat are respectively slidably connected in the correspondingly arranged linear stepping tracks 1, and two sets of electric slides are arranged at the bottom of the translation seat through a limit sliding frame;

[0011] An electric push rod 1 and an electric push rod 2 are fixedly installed at the bottom of the electric skateboard, and the bottom ends of the electric push rod 1 and the electric push rod 2 are fixedly connected with a cross plate, and a high-definition camera and an electric scraping cloth are fixedly installed at the bottom of the corresponding cross plate.

[0012] Furthermore, a sliding lifting platform is installed on the top of the bottom plate, and a distribution assembly is provided at one end of the support plate away from the frame;

[0013] The distribution assembly includes two groups of slide cylinders and two groups of sliding rods. The slide cylinders are tilted and fixed on the side walls of the support plate. The sliding rods are slidably connected to the inside of the slide cylinders. The side walls of the support plate are respectively fixedly installed with electric push rods three and four. The output ends of electric push rods three and four are fixedly connected to one end of the correspondingly arranged slide rods, and one end of the slide rod is fixedly connected to a push plate.

[0014] Furthermore, two racks 2 are arranged on one side of the support plate away from the rack 1, and a conveyor belt 2 and a conveyor belt 3 are respectively installed inside the two racks 2.

[0015] Furthermore, a bracket is fixedly installed on the top of the sliding lifting platform, the top of the bracket is rotatably connected to a load-bearing plate, the bottom of the load-bearing plate is fixedly connected to a driving rail, and an electric push rod five is fixedly installed on the top of the sliding lifting platform, and sliders are fixedly connected on both sides of the electric push rod five, and the sliders are slidably connected in the driving rails.

[0016] Furthermore, the control panel includes a processor, an image data acquisition unit, an image anomaly analysis unit, a storage unit, a drive unit one, a drive unit two and a drive unit three. The image data acquisition unit is used to collect image data information on the surface of the automobile gutter, and send the collected image data information to the image anomaly analysis unit via the processor. The image anomaly analysis unit analyzes the image data information after receiving it.

[0017] Furthermore, when the image result analysis is normal, a type of qualified signal is generated and sent to drive unit one; when the image result analysis is abnormal, a type of abnormal signal is generated and sent to drive unit two; drive unit two controls the electric scraping cloth to clean the surface of the automobile gutter, generates a cleaning completion signal, and sends the cleaning completion signal to the image data acquisition unit; after receiving the cleaning completion signal, the image data acquisition unit performs a secondary image acquisition of the automobile gutter; when the secondary image acquisition is abnormal, a type-two abnormal signal is generated and sent to drive unit three; when the secondary image acquisition is normal, a type-two qualified signal is generated and sent to drive unit one.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. When the present invention is in use, the flip assembly cooperates with the high-definition camera to comprehensively photograph the outside of the automobile gutter, and analyzes the image data information through the image abnormality analysis unit, divides the image of the automobile gutter into unit intervals, performs image processing on the unit interval image of the automobile gutter, and compares the obtained unit interval pixel value of the automobile gutter with the unit interval pixel value threshold, and can quickly determine whether there is a defect on the surface of the automobile gutter through the comparison result;

[0020] 2. When the present invention is in use, the surface of the automobile gutter with abnormal image results is subjected to surface treatment, that is, the driving unit three controls the electric scraping cloth to clean the surface of the automobile gutter with abnormal image results, thereby eliminating the inducement that affects the deviation of the image data analysis, and performs secondary image acquisition and analysis on the automobile gutter after the surface is cleaned, and by comparing the analysis results, efficient and high-precision detection of surface defects of the automobile gutter is achieved.

[0021] 3. When the present invention is in use, by setting a distribution component, the electric push rods three, four and five are activated accordingly according to the image analysis and comparison results, thereby realizing efficient classification and differentiated transportation of automobile gutters with surface defects and automobile gutters without surface defects, which is convenient for quality tracing of unqualified automobile gutters. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to facilitate understanding by those skilled in the art, the present invention is further described below in conjunction with the accompanying drawings;

[0023] Figure 1 It is a front view of a structure of a frame in the present invention;

[0024] Figure 2 It is a cross-sectional view of the overall internal structure of the present invention;

[0025] Figure 3 It is a right view of the overall structure of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the flip assembly in the present invention;

[0027] Figure 5 It is a schematic diagram of the translation seat structure in the present invention;

[0028] Figure 6 It is a system block diagram of the present invention.

[0029] Reference numerals: 100, bottom plate; 101, frame 1; 102, frame 2; 200, control panel; 201, conveyor belt 1; 202, conveyor belt 2; 203, conveyor belt 3; 3, support plate; 4, linear stepping track 1; 5, translation seat; 6, linear stepping track 2; 7, sliding seat; 8, rotating plate; 9, flip assembly; 901, support; 902, rotating frame; 903, guide rail; 904, micro hydraulic push cylinder; 905, drive block; 90 6. Motor; 907. Abutment rod; 908. Abutment rubber sleeve; 10. Electric push rod one; 11. Electric push rod two; 12. High-definition camera; 13. Electric slide plate; 14. Electric scraping cloth; 15. Sliding lift; 16. Distribution assembly; 161. Slide cylinder; 162. Slide rod; 163. Electric push rod three; 164. Push plate; 165. Electric push rod four; 17. Bracket; 18. Loading plate; 19. Driving rail; 20. Electric push rod five; 21. Cross plate. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Embodiment 1

[0032] like Figure 1-Figure 6As shown, the automobile gutter surface defect detection equipment based on visual inspection includes a bottom plate 100, a frame 101 and a support plate 3 are arranged on the top of the bottom plate 100, the support plate 3 is symmetrically arranged, and a conveyor belt 201 is arranged inside the frame 101, characterized in that a control panel 200 is fixedly installed on the outer wall of the support plate 3, and the control panel 200 includes a processor, an image data acquisition unit, an image abnormality analysis unit, a storage unit, a drive unit 1, a drive unit 2 and a drive unit 3, and a linear stepping track 2 6 is fixedly connected to the inner wall of the support plate 3, and a sliding seat 7 is slidably connected in the linear stepping track 2 6, and a rotating plate 8 is movably connected to the side wall of the sliding seat 7 through a bearing, and a flip assembly 9 is arranged on the side wall of the rotating plate 8;

[0033] The flip assembly 9 includes multiple groups of supports 901 and a rotating frame 902. The supports 901 are fixedly installed on the side walls of the rotating plate 8 by bolts. The rotating frame 902 is rotatably connected in the supports 901. A guide rail 903 is fixed to the bottom of the rotating frame 902 by spot welding. A motor 906 for driving the rotating plate 8 to rotate is fixedly installed on the other side of the sliding seat 7. The other end of the rotating frame 902 is fixedly connected to an abutment rod 907, and an abutment rubber sleeve 908 is arranged on the outer side of the bottom end of the abutment rod 907.

[0034] A micro hydraulic push cylinder 904 is fixedly installed on the outer side of the support 901 , and a driving block 905 is fixedly connected to both side walls of the micro hydraulic push cylinder 904 close to the output end, and the driving block 905 is slidably connected in the corresponding guide rail 903 .

[0035] A linear stepping track 1 4 is fixedly installed on the top of the support plate 3, a translation seat 5 is arranged between the two linear stepping tracks 1 4, both ends of the translation seat 5 are slidably connected in the corresponding linear stepping tracks 1 4, and two sets of electric slides 13 are arranged at the bottom of the translation seat 5 through a limit sliding frame;

[0036] An electric push rod 10 and an electric push rod 2 11 are fixedly installed at the bottom of the electric skateboard 13, and the bottom ends of the electric push rod 10 and the electric push rod 2 11 are fixedly connected to a cross plate 21, and a high-definition camera 12 and an electric scraping cloth 14 are fixedly installed at the bottom of the corresponding cross plate 21.

[0037] When setting up specifically, the produced automobile water troughs are sequentially placed on the top of the trays arranged at equal intervals on the top of the conveyor belt 201, and the conveyor belt 201 drives the automobile water troughs to be conveyed. When the automobile water troughs move into between the two support plates 3, the sliding seat 7 moves horizontally in the linear stepping track 2 6 until the multiple sets of abutting rubber sleeves 908 are respectively located at the top and bottom of the automobile water troughs;

[0038] At this time, the micro hydraulic push cylinder 904 is started, and the micro hydraulic push cylinder 904 drives the rotating frame 902 to deflect through the cooperation between the driving block 905 and the guide rail 903. During the deflection process, the rotating frame 902 drives the abutment rod 907 to deflect synchronously until the corresponding abutment rubber sleeve 908 is tightly pressed against the top and bottom of the automobile gutter;

[0039] Then the sliding lifting platform 15 is moved horizontally to a designated position and then lifted and lowered until the bearing plate 18 contacts the bottom of the automobile gutter. At this time, the abutting rubber sleeve 908 releases the clamping of the automobile gutter under the action of the micro hydraulic push cylinder 904.

[0040] Then, the translation seat 5 moves horizontally along the linear stepping track 1 4 under the action of the external driving mechanism until the high-definition camera 12 is located directly above the car gutter. At this time, the electric push rod 2 11 is started, and the electric push rod 2 11 drives the high-definition camera 12 to move downward through the correspondingly connected horizontal plate 21 until it moves close to the top of the car gutter. The electric slide plate 13 drives the high-definition camera 12 to slide horizontally along the limit slide frame, thereby realizing a comprehensive scan of one side of the car gutter and obtaining high-definition photo data of the surface of the car gutter.

[0041] After obtaining the high-definition photo data of one side of the automobile gutter, the abutting rubber sleeve 908 is pressed against the automobile gutter again, and the motor 906 is started. The motor 906 drives the rotating plate 8 and the automobile gutter to rotate 360 ​​degrees in sequence, so that the automobile gutter can be turned over. Then, the high-definition camera 12 takes a comprehensive photo of the outside of the automobile gutter.

[0042] When the image data acquisition unit acquires the image data information of the surface of the automobile gutter through the high-definition camera 12, the acquired image data information is then sent to the image abnormality analysis unit through the processor, and the image abnormality analysis unit analyzes the image data information after receiving it;

[0043] The specific analysis steps of the automobile gutter surface image data are as follows:

[0044] The high-definition camera 12 is used to obtain photos of the automobile gutter at each fixed rotation angle, and the image of the automobile gutter is divided into unit intervals, and the unit intervals of the automobile gutter image are marked as i, i=1, 2..., n, and the image of the automobile gutter unit interval is processed to obtain the unit interval pixel value of the automobile gutter, the unit interval pixel value is equal to the unit interval area value, and the unit interval pixel value is marked as DYi, and the unit interval pixel value threshold MD of the image taken at the fixed rotation angle is obtained through the storage unit, and the unit interval pixel value DYi is compared with the unit interval pixel value threshold MD;

[0045] When the unit interval pixel value DYi is lower than the unit interval pixel value threshold MD, that is, the image result analysis is normal, it means that there is no defect on the surface of the automobile gutter. At this time, a qualified signal is generated and sent to the driving unit 1;

[0046] When the unit interval pixel value DYi is higher than the unit interval pixel value threshold MD, that is, the image result analysis is abnormal, then a type of abnormal signal is generated, indicating that there is a defect or dirt on the surface of the automobile gutter, and the type of abnormal signal is sent to the driving unit 2, and the driving unit 2 controls the electric scraping cloth 14 to clean the surface of the automobile gutter;

[0047] The steps for surface treatment of automobile gutters are as follows:

[0048] The electric push rod 10 drives the electric scraping cloth 14 to descend until it contacts the surface of the car gutter, and then the electric slide plate 13 drives the electric scraping cloth 14 to move horizontally, thereby cleaning the surface of the car gutter. After cleaning one side, the motor 906 is started to drive the car gutter to turn over completely, and then cooperate with the electric scraping cloth 14 to achieve comprehensive cleaning of the car gutter. After cleaning, the electric scraping cloth 14 generates a cleaning completion signal, and sends the cleaning completion signal to the image data acquisition unit through the processor. After receiving the cleaning completion signal, the image data acquisition unit performs secondary image acquisition of the car gutter, that is, the car gutter is photographed again at all angles;

[0049] When the unit interval pixel value DYi is lower than the unit interval pixel value threshold MD, that is, the image result analysis is normal, it means that there is no defect on the surface of the automobile gutter, that is, the first judgment that there is a defect on the surface of the automobile gutter is wrong, and at this time, a second type of qualified signal is generated and sent to the driving unit 1;

[0050] When the unit interval pixel value DYi is higher than the unit interval pixel value threshold MD, that is, the image result analysis is abnormal, a second-class abnormal signal is generated, indicating that there is a defect on the surface of the automobile gutter, and the second-class abnormal signal is sent to the driving unit three;

[0051] Embodiment 2:

[0052] A sliding lifting platform 15 is installed on the top of the bottom plate 100, and a distribution assembly 16 is provided at one end of the support plate 3 away from the frame 101;

[0053] The distribution assembly 16 includes two groups of slides 161 and two groups of slide rods 162. The slides 161 are tilted and fixed on the side walls of the support plate 3. The slide rods 162 are slidably connected to the inside of the slides 161. The side walls of the support plate 3 are respectively fixedly installed with electric push rods 3 163 and electric push rods 4 165. The output ends of the electric push rods 3 163 and the electric push rods 4 165 are fixedly connected to one end of the corresponding slide rods 162, and one end of the slide rods 162 is fixedly connected to a push plate 164.

[0054] Two racks 2 102 are arranged on one side of the support plate 3 away from the rack 1 101 , and a conveyor belt 2 202 and a conveyor belt 3 203 are installed inside the two racks 2 102 , respectively.

[0055] A bracket 17 is fixedly installed on the top of the sliding lifting platform 15, and a bearing plate 18 is rotatably connected to the top of the bracket 17. A driving rail 19 is fixedly connected to the bottom of the bearing plate 18. An electric push rod 20 is fixedly installed on the top of the sliding lifting platform 15, and sliders are fixedly connected to both sides of the electric push rod 20, and the sliders are slidably connected in the driving rail 19.

[0056] In the specific setting, when the surface of the automobile water trough has no defects, the driving unit 1 controls the electric push rod 5 20 to deflect the carrying plate 18 upward, and then controls the electric push rod 3 163. The electric push rod 3 163 pushes the automobile water trough from the top of the carrying plate 18 to the conveyor belt 3 203 through the slide bar 162 and the push plate 164. The conveyor belt 3 203 is used to convey the automobile water trough with no defects on the surface;

[0057] When there are defects on the surface of the car gutter, the drive unit three controls the electric push rod five 20 to deflect the supporting plate 18 downward, and then controls the electric push rod four 165. The electric push rod four 165 pushes the car gutter from the top of the supporting plate 18 to the conveyor belt two 202 through the slide rod 162 and the push plate 164. The conveyor belt two 202 is used to transport the car gutter with surface defects.

[0058] In combination with Example 1, the image data acquisition unit collects image data information of the surface of the automobile gutter, and analyzes the image data information after receiving it through the image abnormality analysis unit, and cleans the automobile gutter with abnormal image analysis results and takes and analyzes the secondary image, thereby realizing efficient surface defect detection of the automobile gutter and effectively distinguishing and conveying the automobile gutter after detection.

[0059] The above contents are merely examples and explanations of the structure of the present invention. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

[0060] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0061] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A vehicle gutter surface defect detection device based on visual detection, comprising a base plate (100), a frame (101) and a support plate (3) are arranged on the top of the base plate (100), the support plates (3) are arranged symmetrically, and a conveyor belt (201) is arranged inside the frame (101), characterized in that: A control panel (200) is fixedly mounted on the outer side wall of the support plate (3); a second linear stepping track (6) is fixedly connected to the inner side wall of the support plate (3); a sliding seat (7) is slidably connected inside the second linear stepping track (6); a rotating plate (8) is movably connected to the side wall of the sliding seat (7) via a bearing; and a flip assembly (9) is provided on the side wall of the rotating plate (8); The flip assembly (9) comprises a plurality of groups of supports (901) and a rotating frame (902), wherein the supports (901) are fixedly mounted on the side wall of the rotating plate (8) by means of bolts, and the rotating frame (902) is rotatably connected in the supports (901), a guide rail (903) is fixedly mounted on the bottom of the rotating frame (902) by means of spot welding, a motor (906) for driving the rotating plate (8) to rotate is fixedly mounted on the other side of the sliding seat (7), and an abutment rod (907) is fixedly connected to the other end of the rotating frame (902), and an abutment rubber sleeve (908) is arranged on the outer side of the bottom end of the abutment rod (907); A micro hydraulic push cylinder (904) is fixedly mounted on the outer side of the support (901), and a driving block (905) is fixedly connected to both side walls of the micro hydraulic push cylinder (904) close to the output end, and the driving block (905) is slidably connected in a correspondingly arranged guide rail (903); A linear stepping track (4) is fixedly mounted on the top of the support plate (3); a translation seat (5) is arranged between two linear stepping tracks (4); two ends of the translation seat (5) are respectively slidably connected in the corresponding linear stepping tracks (4); and two groups of electric slide plates (13) are arranged at the bottom of the translation seat (5) via a limit sliding frame; An electric push rod 1 (10) and an electric push rod 2 (11) are fixedly mounted on the bottom of the electric slide plate (13); the bottom ends of the electric push rod 1 (10) and the electric push rod 2 (11) are fixedly connected to a horizontal plate (21); and a high-definition camera (12) and an electric scraping cloth (14) are fixedly mounted on the bottom of the corresponding horizontal plate (21); A sliding lifting platform (15) is installed on the top of the bottom plate (100).

2. The automobile gutter surface defect detection device based on visual detection according to claim 1 is characterized in that: A distribution assembly (16) is provided at one end of the support plate (3) away from the frame one (101), and the distribution assembly (16) includes two groups of slide cylinders (161) and two groups of slide rods (162), the slide cylinders (161) are tilted and fixed on the side walls of the support plate (3), and the slide rods (162) are slidably connected inside the slide cylinders (161), and the side walls of the support plate (3) are respectively fixedly mounted with electric push rods three (163) and electric push rods four (165), and the output ends of the electric push rods three (163) and electric push rods four (165) are both fixedly connected to one end of the correspondingly arranged slide rods (162), and one end of the slide rods (162) is fixedly connected to a push plate (164).

3. The automobile gutter surface defect detection device based on visual detection according to claim 1 is characterized in that: Two second frames (102) are arranged on one side of the support plate (3) away from the first frame (101), and a second conveyor belt (202) and a third conveyor belt (203) are respectively installed inside the two second frames (102).

4. The automobile gutter surface defect detection device based on visual detection according to claim 1 is characterized in that: A bracket (17) is fixedly mounted on the top of the sliding lifting platform (15); a bearing plate (18) is rotatably connected to the top of the bracket (17); a driving rail (19) is fixedly connected to the bottom of the bearing plate (18); an electric push rod five (20) is fixedly mounted on the top of the sliding lifting platform (15); sliders are fixedly connected to both sides of the electric push rod five (20); and the sliders are slidably connected in the driving rail (19).

5. The automobile gutter surface defect detection device based on visual detection according to claim 1 is characterized in that: The control panel (200) comprises a processor, an image data acquisition unit, an image anomaly analysis unit, a storage unit, a first drive unit, a second drive unit and a third drive unit. The image data acquisition unit is used to acquire image data information of the surface of a car gutter and send the acquired image data information to the image anomaly analysis unit via the processor. The image anomaly analysis unit analyzes the image data information after receiving it.

6. The automobile gutter surface defect detection device based on visual detection according to claim 5 is characterized in that: When the image analysis result is normal, a first-class qualified signal is generated and sent to the first drive unit; when the image analysis result is abnormal, a first-class abnormal signal is generated and sent to the second drive unit; the second drive unit controls the electric scraping cloth (14) to clean the surface of the automobile gutter, and generates a cleaning completion signal, and sends the cleaning completion signal to the image data acquisition unit; after receiving the cleaning completion signal, the image data acquisition unit performs a secondary image acquisition of the automobile gutter; when the secondary image acquisition is abnormal, a second-class abnormal signal is generated and sent to the third drive unit; when the secondary image acquisition is normal, a second-class qualified signal is generated and sent to the first drive unit.

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