阅读说明：本技术 一种用于路面损坏图像采集系统的稳定装置及其控制方法 (Stabilizing device for road surface damage image acquisition system and control method thereof ) 是由 何正东 于 2021-07-22 设计创作，主要内容包括：本发明公开了一种用于路面损坏图像采集系统的稳定装置,包括安装架,安装架与车体固定连接,所述安装架上对称安装有两个倾斜设置的第一油缸,第一油缸的底部与安装架轴接,第一油缸的顶部与安装板轴接,第一油缸外侧套接有第一弹簧,第一弹簧外侧滑动套接有滑套,滑套的侧壁轴接有第二油缸,第二油缸的底部与安装架轴接,安装板底面的中心安装有距离传感器,距离传感器与上位机通讯连接,距离传感器实时检测安装架和安装板之间的距离变化,线阵相机和激光光源固定在卡件上,安装板上安装有竖向滑轨,卡件通过伺服电机与竖向滑轨连接,上位机与伺服电机通讯连接。本发明能够改进现有技术的不足,降低了车辆颠簸振动对探测结果的干扰。(The invention discloses a stabilizing device for a road surface damage image acquisition system, which comprises a mounting rack, wherein the mounting rack is fixedly connected with a vehicle body, the utility model discloses a hydraulic linear array camera, including mounting bracket, the top of first hydro-cylinder, the bottom of first hydro-cylinder and mounting bracket coupling, the top and the mounting panel coupling of first hydro-cylinder, first spring has been cup jointed in the first hydro-cylinder outside, the sliding sleeve has been cup jointed in the slip of first spring outside, the lateral wall coupling of sliding sleeve has the second hydro-cylinder, the bottom and the mounting bracket coupling of second hydro-cylinder, distance sensor is installed at the center of mounting panel bottom surface, distance sensor and host computer communication connection, distance sensor real-time detection mounting bracket and the mounting panel between the distance change, linear array camera and laser light source fix on the fastener, install vertical slide rail on the mounting panel, the fastener passes through servo motor and vertical sliding rail connection, host computer and servo motor communication connection. The invention can improve the defects of the prior art and reduce the interference of the vehicle bumping vibration on the detection result.)

1. The utility model provides a stabilising arrangement for a road surface damages image acquisition system, includes mounting bracket (1), mounting bracket (1) and automobile body (23) fixed connection, its characterized in that: the automatic detection device is characterized in that two first oil cylinders (2) which are obliquely arranged are symmetrically installed on the mounting frame (1), the bottom of each first oil cylinder (2) is in shaft connection with the mounting frame (1), the top of each first oil cylinder (2) is in shaft connection with the mounting frame (3), a first spring (6) is sleeved on the outer side of each first oil cylinder (2), a sliding sleeve (7) is slidably sleeved on the outer side of each first spring (6), a second oil cylinder (8) is in shaft connection with the side wall of each sliding sleeve (7), the bottom of each second oil cylinder (8) is in shaft connection with the mounting frame (1), a distance sensor (9) is installed at the center of the bottom surface of the mounting frame (3), the distance sensor (9) is in communication connection with an upper computer (10), the distance sensor (9) detects the distance change between the mounting frame (1) and the mounting frame (3) in real time, the linear array camera (4) and the laser light source (5) are fixed on the clamping piece (11), and vertical sliding rails (12) are installed on the mounting frame (3), the clamping piece (11) is connected with the vertical sliding rail (12) through the servo motor (13), and the upper computer (10) is in communication connection with the servo motor (13).

2. The stabilizing device for a road surface damage image acquiring system according to claim 1, characterized in that: flexible rubber blocks (14) are respectively inserted between the first oil cylinder (2) and the mounting frame (1) and between the second oil cylinder (8) and the mounting frame (1), a second spring (15) is connected between the two flexible rubber blocks (14) on the same side, and the second spring (15) is always in a compression state.

3. The stabilizing device for a road surface damage image acquiring system according to claim 2, characterized in that: the top of the flexible rubber block (14) which is in contact with the first oil cylinder (2) is provided with an inclined plane groove (16), and when the sliding sleeve (7) slides downwards, the bottom of the sliding sleeve (7) is in contact with the inclined plane groove (16).

4. A stabilizing device for a road surface damage image capturing system as claimed in claim 3, characterized in that: the sliding sleeve (7) comprises an inner layer (17) and an outer layer (18), the inner layer (17) and the outer layer (18) are connected through an elastic support (19), a hard bottom shell (20) is arranged at the edge of the bottom of the outer layer (18), and a rubber friction layer (21) is arranged on the contact surface of the inner layer (17) and the first spring (6).

5. The stabilizing device for a road surface damage image acquiring system according to claim 1, characterized in that: the mounting frame (1) is fixedly connected with the vehicle body (2) through a hydraulic lining (22).

6. A control method of a stabilizing device for a road surface damage image pickup system according to any one of claims 1 to 5, characterized by comprising the steps of:

A. the distance sensor (9) detects the distance between the mounting frame (1) and the mounting plate (3) in real time, detection data are sent to the upper computer (10), and the upper computer (10) generates a distance change curve according to the detection data;

B. a vibration threshold value is preset for the upper computer (10), when a distance change curve exceeds the vibration threshold value, a servo motor (13) is started to drive the clamping piece (11) to move towards the opposite direction of vibration, and the moving acceleration of the clamping piece (11) is in direct proportion to the average change rate of the distance change curve in the past 300ms period;

C. when the distance change curve does not exceed the vibration threshold and the clamping piece (11) is not located at the initial position, the servo motor (13) drives the clamping piece (11) to reset at a constant speed by using a preset speed.

Technical Field

The invention relates to the technical field of road surface flaw detection, in particular to a stabilizing device for a road surface damage image acquisition system and a control method thereof.

Background

The road surface damage detection equipment scans the road surface through the array camera and then analyzes the scanning result to obtain the detection result. The road damage detection device is usually mounted on a working vehicle, and bumping vibration inevitably occurs during the running process of the working vehicle, so that the detection area of the road damage detection device can be deviated, and the detection result is inaccurate.

Disclosure of Invention

The invention aims to provide a stabilizing device for a road surface damage image acquisition system and a control method thereof, which can solve the defects of the prior art and reduce the interference of vehicle bumping vibration on the detection result.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows.

The utility model provides a stabilising arrangement for road surface damages image acquisition system, the mounting bracket comprises a mounting bracket, mounting bracket and automobile body fixed connection, the first hydro-cylinder that two slopes set up is installed to the symmetry on the mounting bracket, the bottom and the mounting bracket coupling of first hydro-cylinder, the top and the mounting panel coupling of first hydro-cylinder, first spring has been cup jointed in the first hydro-cylinder outside, the sliding sleeve has been cup jointed in the slip of the first spring outside, the lateral wall coupling of sliding sleeve has the second hydro-cylinder, the bottom and the mounting bracket coupling of second hydro-cylinder, distance sensor is installed at the center of mounting panel bottom surface, distance sensor is connected with the host computer communication, distance sensor real-time detection mounting bracket and the mounting panel between the distance change, linear array camera and laser light source fix on the fastener, install vertical slide rail on the mounting panel, the fastener passes through servo motor and vertical sliding rail connection, the host computer is connected with the servo motor communication.

As preferred, it has flexible rubber piece to peg graft respectively between first hydro-cylinder and the mounting bracket to and between second hydro-cylinder and the mounting bracket, is connected with the second spring between two flexible rubber pieces of homonymy, and the second spring is in compression state all the time.

Preferably, the top of the flexible rubber block in contact with the first oil cylinder is provided with an inclined plane groove, and the bottom of the sliding sleeve is in contact with the inclined plane groove when the sliding sleeve slides downwards.

Preferably, the sliding sleeve comprises an inner layer and an outer layer, the inner layer and the outer layer are connected through an elastic support, a hard bottom shell is arranged at the edge of the bottom of the outer layer, and a rubber friction layer is arranged on the contact surface of the inner layer and the first spring.

Preferably, the mounting frame is fixedly connected with the vehicle body through a hydraulic bushing.

A control method of the stabilizing device for the road surface damage image acquisition system comprises the following steps:

A. the distance sensor detects the distance between the mounting frame and the mounting plate in real time and sends detection data to the upper computer, and the upper computer generates a distance change curve according to the detection data;

B. setting a vibration threshold value in advance for an upper computer, starting a servo motor to drive the clamping piece to move towards the opposite direction of vibration when a distance change curve exceeds the vibration threshold value, wherein the moving acceleration of the clamping piece is in direct proportion to the average value of the change rate of the distance change curve in the past 300ms period;

C. when the distance change curve does not exceed the vibration threshold and the clamping piece is not located at the initial position, the servo motor drives the clamping piece to reset at a constant speed at a preset speed.

Adopt the beneficial effect that above-mentioned technical scheme brought to lie in: the structure of the damping mechanism is optimized, the first oil cylinder and the second oil cylinder form a triangular two-stage buffering structure, high-frequency fine crushing vibration transmitted by a vehicle is effectively reduced, and the triangular buffering structures on the left side and the right side are connected by the second spring, so that the action synchronism of the buffering structures on the two sides is ensured. The buffering structure effectively reduces high-frequency fine crushing vibration, so that the possibility of utilizing the servo motor to compensate the displacement is created. In order to avoid oscillations during the control of the servo motor, a vibration threshold is preset, which is smaller than the maximum amplitude allowed by the detection system, thus allowing a reaction time for the compensation process. In addition, the acceleration of the movement of the card piece is determined by the average change rate of the distance change curve for a period of time, so that frequent acceleration and deceleration of the card piece can be further avoided. The sliding sleeve realizes the connection of the second oil cylinder and the first oil cylinder on the one hand, and more importantly, through the matching with the flexible rubber block, the nonlinear change (the change rate of the supporting angle is reduced along with the increase of the amplitude) and the final effective limit of the supporting angle of the second oil cylinder can be realized, so that the reciprocating oscillation after the large-amplitude vibration is effectively avoided.

Drawings

FIG. 1 is a block diagram of one embodiment of the present invention.

Figure 2 is a block diagram of a sliding sleeve according to one embodiment of the present invention.

Detailed Description

Referring to fig. 1-2, a specific embodiment of the invention comprises a mounting frame 1, the mounting frame 1 is fixedly connected with a vehicle body 2, two obliquely arranged first oil cylinders 2 are symmetrically installed on the mounting frame 1, the bottom of the first oil cylinder 2 is coupled with the mounting frame 1, the top of the first oil cylinder 2 is coupled with a mounting plate 3, a first spring 6 is sleeved outside the first oil cylinder 2, a sliding sleeve 7 is slidably sleeved outside the first spring 6, a second oil cylinder 8 is coupled to the side wall of the sliding sleeve 7, the bottom of the second oil cylinder 8 is coupled with the mounting frame 1, a distance sensor 9 is installed at the center of the bottom surface of the mounting plate 3, the distance sensor 9 is in communication connection with an upper computer 10, the distance sensor 9 detects the distance change between the mounting frame 1 and the mounting plate 3 in real time, a linear array camera 4 and a laser light source 5 are fixed on a clamping piece 11, a vertical sliding rail 12 is installed on the mounting plate 3, the clamping piece 11 is connected with the vertical sliding rail 12 through a servo motor 13, the upper computer 10 is in communication connection with a servo motor 13. Flexible rubber blocks 14 are respectively inserted between the first oil cylinder 2 and the mounting frame 1 and between the second oil cylinder 8 and the mounting frame 1, a second spring 15 is connected between the two flexible rubber blocks 14 on the same side, and the second spring 15 is always in a compression state. The top of the flexible rubber block 14 contacting with the first oil cylinder 2 is provided with a slope groove 16, and the bottom of the sliding sleeve 7 contacts with the slope groove 16 when the sliding sleeve 7 slides downwards. The sliding sleeve 7 comprises an inner layer 17 and an outer layer 18, the inner layer 17 and the outer layer 18 are connected through an elastic support 19, a hard bottom shell 20 is arranged at the bottom edge of the outer layer 18, and a rubber friction layer 21 is arranged on the contact surface of the inner layer 17 and the first spring 6. The mounting frame 1 is fixedly connected with the vehicle body 2 through a hydraulic bushing 22.

A control method of the stabilizing device for the road surface damage image acquisition system comprises the following steps:

A. the distance sensor 9 detects the distance between the mounting frame 1 and the mounting plate 3 in real time, and sends detection data to the upper computer 10, and the upper computer 10 generates a distance change curve according to the detection data;

B. a vibration threshold value is preset for the upper computer 10, when the distance change curve exceeds the vibration threshold value, the servo motor 13 is started to drive the clamping piece 11 to move towards the opposite direction of vibration, and the moving acceleration of the clamping piece 11 is in direct proportion to the average change rate of the distance change curve in the past 300ms period;

C. when the distance change curve does not exceed the vibration threshold and the card 11 is not at the initial position, the servo motor 13 drives the card 11 to reset at a constant speed.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.