An automated apparatus for visual inspection of an automotive chassis

Abstract

The utility model provides a kind of automation equipment for automobile chassis vision detection, including trolley device and vision device;Trolley device includes main support, motion module and tracking module, motion module and tracking module are respectively arranged on main support, tracking module and motion module are electrically connected, motion module is guided by tracking module and drives main support movement;Vision device includes image transmission module and camera module, image transmission module and camera module are respectively arranged on main support, camera module includes image sensor, the shooting direction of image sensor is towards upper, image sensor is electrically connected with image transmission module, image transmission module is used to send image data acquired by image sensor outside.The trolley device in the automation equipment can move by tracking mode and combine vision device to shoot the picture and image related to automobile chassis, improve the convenience of automobile chassis vision detection.

Description

Technical Field

[0001] This utility model relates to the field of inspection equipment, specifically to an automated device for visual inspection of automobile chassis. Background Technology

[0002] In the field of vehicle inspection, if it is necessary to inspect the chassis of a car, the vehicle needs to be lifted or driven into the inspection bridge. This requires a special site, which is very inconvenient and limited in practical application, and is not conducive to the development of some businesses such as outdoor inspection. Utility Model Content

[0003] This invention provides an automated device for visual inspection of automobile chassis. In practical applications, this automated device can travel by tracking and capture images and videos of the automobile chassis. It can obtain visual information about the automobile chassis without lifting the vehicle, thus improving the convenience of visual inspection of automobile chassis.

[0004] Accordingly, this utility model provides an automated device for visual inspection of automobile chassis, the automated device including a trolley device and a vision device;

[0005] The trolley device includes a main support, a motion module, and a tracking module. The motion module and the tracking module are respectively mounted on the main support. The tracking module and the motion module are electrically connected. The motion module guides and drives the main support to move through the tracking module.

[0006] The vision device includes an image transmission module and a camera module, which are respectively mounted on the main support. The camera module includes an image sensor, which faces upwards and is electrically connected to the image transmission module. The image transmission module is used to transmit the image data acquired by the image sensor to the outside world.

[0007] In an optional implementation, the motion module includes a drive controller, a wheel assembly, and a drive assembly, wherein the wheel assembly includes a preset number of drive wheels, and the drive assembly includes a preset number of drive units;

[0008] Each set of drive units has a corresponding output shaft and a corresponding control interface;

[0009] The output shaft of each set of drive units is connected to a corresponding drive wheel;

[0010] The control interface of each set of drive units is electrically connected to the drive controller;

[0011] The drive controller is electrically connected to the tracking module.

[0012] In an optional implementation, the drive wheel is a Mecanum wheel.

[0013] In an optional implementation, the drive unit is a servo motor.

[0014] In an optional implementation, the tracking module is a camera tracking module, or the tracking module is an infrared tracking module, or the tracking module is a grayscale tracking module.

[0015] In an optional implementation, the vision device further includes a rotation module;

[0016] The rotation module includes a rotation controller, a rotation connection assembly, and a rotation drive assembly;

[0017] The image sensor is rotatably mounted on the main bracket via the rotating connection assembly;

[0018] The rotation controller is mounted on the main support, and the rotation drive assembly is electrically connected to the rotation controller;

[0019] Based on the control of the rotation controller, the rotation drive component is used to control the image sensor to rotate around a preset reference vertical axis.

[0020] In an optional implementation, the rotating connection assembly includes a horizontal single-axis gimbal.

[0021] In an optional implementation, the rotation module further includes a horizontal attitude sensing sensor;

[0022] The horizontal attitude sensing sensor is fixedly connected to the image sensor;

[0023] The horizontal attitude sensing sensor is electrically connected to the rotation controller.

[0024] In an optional implementation, the automated equipment further includes a lighting device mounted on the main support.

[0025] The lighting device has a preset luminous surface, which faces upwards.

[0026] In an optional implementation, the automated device further includes a tracking map, which is used to guide the vehicle to move on the tracking map;

[0027] The tracking map includes a map carrier on which tracking trajectory lines are planned according to a preset car model are set.

[0028] The tracking trajectory line is used for identification by the tracking module.

[0029] In summary, this utility model provides an automated device for visual inspection of automotive chassis. In practical applications, this automated device can move along tracks and capture images and videos of the automotive chassis, obtaining visual information about the chassis without lifting the vehicle, thus improving the convenience of visual inspection. By employing an independently controlled drive unit to drive the drive wheels, and using Mecanum wheels as drive wheels, the device can move flexibly within the narrow space under the vehicle, avoiding unnecessary movements and increasing the speed at which the image sensor acquires an overall image of the chassis. The addition of a rotation module decouples the image sensor from the device, allowing independent control of the angle of the images acquired by the image sensor, ensuring the uniformity of the image sensor's captured angles, facilitating observation, and reducing the difficulty of post-processing. The tracking trajectory lines on the tracking map are specifically designed for different vehicle models, ensuring the efficiency of the device's movement and preventing unexpected situations such as missed images by the image sensor, resulting in excellent ease of use. Attached Figure Description

[0030] Figure 1 This is a simplified cross-sectional view of the top-feed hydrogen generation reaction device according to an embodiment of the present invention.

[0031] Figure 2 This is a first schematic diagram of the three-dimensional structure of the core tube in an embodiment of this utility model.

[0032] Figure 3 This is a second schematic diagram of the three-dimensional structure of the core tube in an embodiment of this utility model.

[0033] Figure 4 This is a cross-sectional structural diagram of the core cylinder in an embodiment of the present invention.

[0034] Figure 5 This is a three-dimensional structural diagram of the tracking map according to an embodiment of the present invention. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0036] Figure 1 This is a three-dimensional structural diagram of an automated device for visual inspection of automobile chassis, according to an embodiment of the present invention.

[0037] Specifically, this utility model embodiment provides an automated device for visual inspection of automobile chassis. Basically, the automated device includes a vehicle device and a vision device. Further, if lighting is required, the automated device can be equipped with a lighting device. Further, if more convenient use of the vehicle is needed, the automated device can be equipped with a tracking map 28. Further, if external remote control operation is required, the automated device can be equipped with a remote control device.

[0038] Basically, the trolley device includes a main support, a motion module and a tracking module 15. The motion module and the tracking module 15 are respectively mounted on the main support. The tracking module 15 and the motion module are electrically connected. The motion module guides and drives the main support to move through the tracking module 15.

[0039] The vision device includes an image transmission module and a camera module, which are respectively mounted on the main support. The camera module includes an image sensor 13, which faces upwards and is electrically connected to the image transmission module. The image transmission module is used to transmit the image data acquired by the image sensor 13 to the outside world.

[0040] In actual operation, the vehicle identifies the route through the tracking module 15, and the drive controller controls the movement of the motion module according to the navigation route fed back by the tracking module 15, thereby driving the vehicle to move as a whole in a two-dimensional plane space. During the movement of the vehicle, the image sensor 13 continuously captures image information of the vehicle chassis and outputs the image information through the image transmission module. After receiving the image information, external devices can provide real-time indication and stitch together the relevant image information through image stitching technology to finally obtain the overall image information of the vehicle chassis.

[0041] Specifically, based on the vehicle operation logic described above, the physical structure of each module in this utility model embodiment can be selected according to actual needs. The following provides corresponding embodiments for each device in the automated equipment of this utility model embodiment for reference.

[0042] Cart device

[0043] Figure 2 This is a first three-dimensional structural diagram of the core tube 10 according to an embodiment of the present invention. Figure 3 This is a second schematic diagram of the three-dimensional structure of the core tube 10 in an embodiment of this utility model. Figure 4 This is a cross-sectional structural diagram of the core cylinder 10 in an embodiment of the present invention.

[0044] The main support can be understood as the main frame structure of the vehicle device. Other equipment needs to be installed on the main support, and correspondingly, the main support itself needs to be designed with the installation structure according to the requirements of the external equipment. In this embodiment of the utility model, the main support includes a first layer plate 1, a second layer plate 2, and a core tube 10. The first layer plate 1 and the second layer plate 2 can be made of carbon fiber material. The first layer plate 1 and the second layer plate 2 are set at a pre-distance interval based on studs 6, forming an installation space for installing other components. The core tube 10 is fixed in the center of the installation space, and the first layer plate 1 and the second layer plate 2 have openings at positions corresponding to the core tube 10. The core tube 10 is internally divided into a three-layer space structure: a bottom space 16, a middle space 17, and an upper space 18. The bottom space 16 is mainly used for installing the tracking module 15, the top space is mainly used for installing the vision device, and the middle space 17 is mainly used for installing the battery 19 and the integrated control module 26. During assembly, the core tube 10 can be assembled as a whole in a modular manner, which is beneficial to the convenience of production and assembly. It should be noted that in this embodiment of the utility model, a partition 14 is provided in the bottom space. The partition 14 has a through hole, which is mainly used for the sensor on the tracking module 15 to pass through for detection.

[0045] In addition, it should be noted that the surface of the core tube 10 is generally provided with data interface and power interface as needed. These are not shown in the schematic diagram of this utility model embodiment, but are designed according to the requirements in actual implementation.

[0046] Specifically, in this embodiment of the invention, the motion module includes a drive controller, a wheel assembly, and a drive assembly, with the drive controller disposed on the middle layer space 17. The wheel assembly includes drive wheels 4, and the drive assembly includes drive units 5. Each set of drive units 5 has a corresponding output shaft and a corresponding control interface. The output shaft of each set of drive units 5 is connected to a corresponding drive wheel 4, and the control interface of each set of drive units 5 is electrically connected to the drive controller. The drive controller is electrically connected to the tracking module 15. Specifically, in this embodiment of the invention, one drive unit 5 drives one drive wheel 4, avoiding the need for additional transmission and steering structures. Under the premise of meeting the driving requirements, at least two drive wheels 4 are sufficient to achieve the functional requirement of moving the main support in two-dimensional space. For practicality, a three-wheel or four-wheel structure is generally adopted. In this embodiment of the invention, the number of drive wheels 4 is four, and correspondingly, the number of drive units 5 is four sets. For ease of use, the drive unit 5 can be a drive servo motor, which can be understood as a small servo motor system that controls the movement of the output shaft by receiving signals. Furthermore, considering the flexibility of movement, the drive wheel 4 can be a Mecanum wheel. (Refer to the accompanying drawings.) Figure 1 The schematic diagram shows four drive servos positioned at the four corners of the mounting space. The output shafts of these servos extend outwards from the mounting space and connect to the Mecanum wheels. In actual design, the diameter of the Mecanum wheels is generally the maximum thickness of the entire vehicle assembly; that is, the height of the components on the vehicle assembly will not exceed the highest point of the Mecanum wheels. The Mecanum wheels provide support and protection for the vehicle assembly and the equipment mounted on it. Furthermore, the Mecanum wheels are located on the outermost side of the support frame, providing horizontal protection for the entire vehicle assembly.

[0047] Specifically, the tracking module 15 is a camera tracking module 15, or an infrared tracking module 15, or a grayscale tracking module 15. In this embodiment of the invention, the tracking module 15 used is a grayscale tracking module 15. Specifically, the tracking module 15 is a module that acquires data through the tracking sensor 20 and provides tracking navigation data.

[0048] For example, the infrared tracking module 15 is a tracking module 15 that detects reflected light about the tracking line using multiple infrared sensors arranged side by side and outputs navigation data; the grayscale tracking module 15 is a tracking module 15 that detects reflected light about the shape of the tracking line using multiple grayscale sensors arranged side by side and outputs navigation data; and the camera tracking module 15 is a tracking module 15 that directly captures images of the tracking line using a camera and outputs navigation data. (Refer to the accompanying drawings.) Figure 3A partition 14 is provided at the bottom space of the core tube 10. The partition 14 has a through hole through which the white light emitting tube and multiple grayscale sensors on the grayscale tracking module 15 pass.

[0049] Visual devices

[0050] Specifically, in this embodiment of the present invention, the vision device further includes a rotation module, which includes a rotation controller 27, a rotation connection assembly, and a rotation drive assembly 25. The image sensor 13 is rotatably coupled to the main support via the rotation connection assembly, and a lens 24 is provided on the image sensor 13 for adjusting the field of view of the image sensor 13. The rotation controller 27 is disposed on the main support, and the rotation drive assembly 25 is electrically connected to the rotation controller 27. Based on the control of the rotation controller 27, the rotation drive assembly 25 is used to control the image sensor 13 to rotate around a preset reference vertical axis.

[0051] For ease of assembly and use, the connecting component is a horizontal single-axis gimbal. Specifically, the horizontal single-axis gimbal can be understood as a turntable 12 with precise steering control. Specifically, the horizontal single-axis gimbal includes a base 11 and a turntable 12, with the turntable 12 rotatably mounted on the base 11. The base 11 is mounted on the core cylinder 10 of the main support (located in the upper space 18). To protect the image sensor 13, a transparent, arc-shaped raised protective cover 3 is installed on the first layer plate 1 at the opening corresponding to the core cylinder 10.

[0052] In addition, based on integration considerations, the horizontal single-axis gimbal can be an electric horizontal single-axis gimbal or an electric turntable 12, which integrates the rotation controller 27, the rotation connection component and the rotation drive component 25 into the electric horizontal single-axis gimbal (electric turntable 12).

[0053] Specifically, the purpose of setting the image sensor 13 to be rotatable about a vertical axis is that, considering the horizontal attitude of the vehicle device will change during the tracking process, if the image sensor 13 is a structure fixed to the main support, the image captured by the image sensor 13 will also change with the attitude change of the main support. This will make the chassis perspective in the obtained image change, which is not conducive to direct observation of the chassis and not conducive to synthesizing the overall image of the chassis. Therefore, setting the image sensor 13 to be rotatable about a vertical axis allows the attitude of the image sensor 13 to be adjusted independently in order to obtain an image of the car chassis from a fixed perspective.

[0054] It should be noted that the rotation controller 27 generally has two operating modes. One mode is to control the rotation drive component 25 through a built-in setting program to realize the posture adjustment function of the image sensor 13. The other mode is to receive external control signals to realize the posture adjustment function of the image sensor 13. The purpose of adding the relevant structure for driving the rotation of the image sensor 13 in this embodiment of the utility model is to decouple the image sensor 13 from the trolley device. The motion state of the trolley device and the rotation angle and posture of the image sensor 13 can be controlled separately to ensure the realization of more extended functions.

[0055] Furthermore, the camera module also includes a horizontal attitude sensing sensor (integrated into the circuit board of the image sensor 13 as a chip, not shown in the figure); the horizontal attitude sensing sensor is fixedly connected to the image sensor 13; the horizontal attitude sensing sensor is electrically connected to the rotation controller 27. Specifically, to keep the viewing angle of the image sensor 13 fixed, it is necessary to sense the structural attitude of the image sensor 13. In this embodiment of the invention, by setting a horizontal attitude sensor, attitude information can be provided to the rotation controller 27, thereby forming a closed loop in the control logic. Specifically, the horizontal attitude sensing sensor can be a gyroscope, IMU, electronic compass, etc. Depending on the actual needs and considering the application cost, an electronic compass is generally used, specifically an electronic compass in the form of a chip such as HMC5883L or QMC5883. If the rotation controller 27 does not support direct input of attitude signals, the horizontal attitude sensing sensor can also be externally connected to an integrated module such as a Raspberry Pi integrated board or Arduino integrated board. After the integrated module processes the attitude signal, it generates relevant drive commands to the rotation controller 27.

[0056] Lighting installation

[0057] Specifically, the automated equipment also includes a lighting device, which is mounted on the main support.

[0058] The lighting device has a preset luminous surface, which faces upwards.

[0059] Specifically, in the actual implementation structure of this utility model embodiment, the lighting device includes a circular lamp ring surrounding the arc-shaped raised protective cover 3. Specifically, the circular lamp ring includes a substrate 7, a retaining edge 8, and a plurality of light-emitting devices 9; specifically, the substrate 7 has a ring-shaped structure, and the plurality of light-emitting devices 9 are arranged on the substrate 7. In order to prevent the direct light from the light-emitting devices 9 from illuminating the arc-shaped raised protective cover 3 and causing reflection that affects the imaging of the image sensor 13, a retaining edge 8 with a certain height is provided on the inner side of the substrate 7 to surround the arc-shaped raised protective cover 3.

[0060] Tracking Map 28

[0061] Figure 5 This is a three-dimensional structural diagram of the tracking map 28 in an embodiment of the present invention.

[0062] The automated equipment also includes a tracking map 28, which is used for the vehicle to move on the tracking map 28; the tracking map 28 includes a map carrier 29, on which a tracking trajectory line 30 planned according to a preset car model is set; the tracking trajectory line 30 is used for the tracking module 15 to identify.

[0063] In this embodiment of the invention, the map carrier 29 should be slightly smaller than the chassis space formed by the four wheels of the corresponding car, so that the map carrier 29 can be moved to the bottom of the car during application. The map carrier 29 can be made of soft cloth or paper material for easy storage. Rigid rods 31 are inserted into the two long edges of the map carrier 29, which facilitates tensioning of the map carrier under the car in practical applications. The tracking trajectory line 30 can be set according to requirements. Basically, when the car device runs a cycle along the tracking trajectory line, the image sensor 13 can acquire image information of the entire car chassis. Depending on the recognition capability of the tracking module, stopping points and other content can also be set on the tracking trajectory line 30 to accurately acquire visual information of the car chassis.

[0064] Remote control device

[0065] Furthermore, to expand the control flexibility of the automated equipment, a remote control device can be set up to assist the vehicle device in remote driving. Specifically, the remote control device generally includes a remote control signal receiving module. By connecting the remote control signal receiving module to the drive controller, the motion control function of the vehicle device can be realized remotely. In addition, the remote control signal receiving module can also be connected to the rotation controller 27 to realize the attitude control function of the image sensor 13 remotely.

[0066] Integrated control module

[0067] Based on the aforementioned structural description of the automated equipment, the motion module, tracking module 15, image transmission module, and lighting device control all require corresponding control modules. For clarity, the aforementioned structural description describes the control modules as separate units. In practice, all control modules within the same device are typically integrated into a single integrated control module 26. In fact, according to existing technology, a single MCU unit can be expanded with peripheral modules as needed to meet practical requirements. In this embodiment, all control modules can be integrated into the integrated control module 26. Specifically, regarding the hardware structure of the integrated control module 26, preferably, it can be built on an Arduino platform or a Raspberry Pi platform. Both platforms have rich expansion capabilities, and the relevant expansion methods can be implemented with reference to existing technologies.

[0068] In summary, this utility model provides an automated device for visual inspection of automotive chassis. In practical applications, this automated device can move along tracks and capture images and videos of the automotive chassis, obtaining visual information about the chassis without lifting the vehicle, thus improving the convenience of visual inspection. By employing an independently controlled drive unit to drive the drive wheels, and using Mecanum wheels as drive wheels, the device can move flexibly within the narrow space under the vehicle, avoiding unnecessary movements and increasing the speed at which the image sensor acquires an overall image of the chassis. The addition of a rotation module decouples the image sensor from the device, allowing independent control of the angle of the images acquired by the image sensor, ensuring the uniformity of the image sensor's captured angles, facilitating observation, and reducing the difficulty of post-processing. The tracking trajectory lines on the tracking map are specifically designed for different vehicle models, ensuring the efficiency of the device's movement and preventing unexpected situations such as missed images by the image sensor, resulting in excellent ease of use.

[0069] The above provides a detailed description of an automated device for visual inspection of automobile chassis provided by the embodiments of this utility model. Specific examples have been used to illustrate the principle and implementation of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An automated device for visual inspection of automobile chassis, characterized in that, The automated equipment includes a vehicle device and a vision device; The trolley device includes a main support, a motion module, and a tracking module. The motion module and the tracking module are respectively mounted on the main support. The tracking module and the motion module are electrically connected. The motion module guides and drives the main support to move through the tracking module. The vision device includes an image transmission module and a camera module, which are respectively mounted on the main support. The camera module includes an image sensor, which faces upwards and is electrically connected to the image transmission module. The image transmission module is used to transmit the image data acquired by the image sensor to the outside world.

2. The automated equipment for visual inspection of automobile chassis as described in claim 1, characterized in that, The motion module includes a drive controller, a wheel assembly, and a drive assembly. The wheel assembly includes a preset number of drive wheels, and the drive assembly includes a preset number of drive units. Each set of drive units has a corresponding output shaft and a corresponding control interface; The output shaft of each set of drive units is connected to a corresponding drive wheel; The control interface of each set of drive units is electrically connected to the drive controller; The drive controller is electrically connected to the tracking module.

3. The automated equipment for visual inspection of automobile chassis as described in claim 2, characterized in that, The drive wheel is a Mecanum wheel.

4. The automated equipment for visual inspection of automobile chassis as described in claim 2, characterized in that, The drive unit is a servo motor.

5. The automated equipment for visual inspection of automobile chassis as described in claim 1, characterized in that, The tracking module is a camera tracking module, or the tracking module is an infrared tracking module, or the tracking module is a grayscale tracking module.

6. The automated equipment for visual inspection of automobile chassis as described in claim 1, characterized in that, The vision device also includes a rotating module; The rotation module includes a rotation controller, a rotation connection assembly, and a rotation drive assembly; The image sensor is rotatably mounted on the main support via the rotating connection assembly; The rotation controller is mounted on the main support, and the rotation drive assembly is electrically connected to the rotation controller; Based on the control of the rotation controller, the rotation drive component is used to control the image sensor to rotate around a preset reference vertical axis.

7. The automated equipment for visual inspection of automobile chassis as described in claim 6, characterized in that, The rotating connection assembly includes a horizontal single-axis gimbal.

8. The automated equipment for visual inspection of automobile chassis as described in claim 6, characterized in that, The rotation module also includes a horizontal attitude sensing sensor; The horizontal attitude sensing sensor is fixedly connected to the image sensor; The horizontal attitude sensing sensor is electrically connected to the rotation controller.

9. The automated equipment for visual inspection of automobile chassis as described in claim 1, characterized in that, The automated equipment also includes a lighting device, which is mounted on the main support. The lighting device has a preset luminous surface, which faces upwards.

10. The automated equipment for visual inspection of automobile chassis as described in claim 1, characterized in that, The automated equipment also includes a tracking map, on which the vehicle moves; The tracking map includes a map carrier on which tracking trajectory lines are planned according to a preset car model are set. The tracking trajectory line is used for recognition by the tracking module.

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