CN109283592B - Vehicle chassis detection system and vehicle chassis detection method - Google Patents
Vehicle chassis detection system and vehicle chassis detection method Download PDFInfo
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Abstract
本发明公开了一种车辆底盘检测系统和车辆底盘检测方法。所述车辆底盘检测系统包括：信息采集模块，信息采集模块包括第一可见光图像采集单元、红外线成像单元和灰度‑高度图像采集单元；身份信息采集模块，用于采集车辆的身份信息；控制模块；信息处理模块，信息处理模块与信息采集模块和身份信息采集模块通信连通，用于调取车辆底盘历史图像、且将第一可见光图像与车辆底盘历史图像进行匹配以便识别是否有异物存在，在存在异物时将红外线图像、灰度‑高度图像和第一可见光图像进行匹配以便得到异物所在区域与其周边区域的温度差和高度差，根据温度差和高度差判断异物的危险性。所述车辆底盘检测系统具有识别效率高、识别准确率高等优点。
The invention discloses a vehicle chassis detection system and a vehicle chassis detection method. The vehicle chassis detection system includes: an information acquisition module, which includes a first visible light image acquisition unit, an infrared imaging unit, and a grayscale-height image acquisition unit; an identity information acquisition module for acquiring vehicle identity information; a control module ; Information processing module, the information processing module communicates with the information acquisition module and the identity information acquisition module, and is used to retrieve the historical image of the vehicle chassis, and to match the first visible light image with the historical image of the vehicle chassis to identify whether there is foreign matter. When there is a foreign object, the infrared image, the grayscale-height image and the first visible light image are matched to obtain the temperature difference and height difference between the area where the foreign object is located and its surrounding area, and the danger of the foreign object is judged according to the temperature difference and the height difference. The vehicle chassis detection system has the advantages of high recognition efficiency and high recognition accuracy.
Description
Technical Field
The invention relates to the technical field of visual detection, in particular to a vehicle chassis detection system and a detection method based on multiple sensors.
Background
With the increasing popularization of automobiles in daily life, the safety problem of automobiles is more and more emphasized by people. Especially, the chassis of the automobile is often utilized by lawbreakers due to its unique secrecy, such as hiding bombs in the chassis of the automobile. If these vehicles are driven to a densely populated area to explode, the consequences are not readily envisioned.
The existing vehicle bottom detection equipment mainly comprises: chinese patent ZL201420863559.2 discloses a handheld vehicle bottom detection device, wherein a camera is arranged on a handheld device to improve the original handheld reflector detection device, so that the problems of poor light, incapability of shooting and storing photos and the like are solved; chinese patent ZL201510415195.0 discloses a vehicle bottom detection device of a multi-linear array induction original, which is characterized in that three linear array induction originals are arranged under the same camera, so that the scanning in three directions of front view, direct view and back view can be realized on the basis of not increasing the cost of the camera; chinese patent No. ZL201520592486.2 discloses a vehicle bottom detection device with integrated image acquisition module, which arranges a linear array sensor board and an integrated main board transversely in parallel into a board, and effectively compresses the vehicle bottom detection system from 20cm to within 10 cm.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. To this end, a first aspect of the present invention proposes a vehicle chassis inspection system, comprising: the information acquisition module comprises a first visible light image acquisition unit for acquiring a first visible light image, an infrared imaging unit for acquiring an infrared image and a gray-height image acquisition unit for acquiring a gray-height image; the identity information acquisition module is used for acquiring identity information of the vehicle, wherein the identity information comprises at least one of license plate information and vehicle type information; a control module, which comprises a first visible light image acquisition unit controller, an infrared imaging unit controller, a gray-level-height image acquisition unit controller and an identity information acquisition module controller, the first visible light image acquisition unit controller is connected with the first visible light image acquisition unit so as to control the opening and closing of the first visible light image acquisition unit, the infrared imaging unit controller is connected with the infrared imaging unit so as to control the opening and closing of the infrared imaging unit, the gray-height image acquisition unit controller is connected with the gray-height image acquisition unit so as to control the gray-height image acquisition unit to be opened and closed, the identity information acquisition module controller is connected with the identity information acquisition module so as to control the identity information acquisition module to be opened and closed; and the information processing module is communicated with each of the information acquisition module and the identity information acquisition module, and is used for calling a stored vehicle chassis historical image according to the identity information, matching the first visible light image with the vehicle chassis historical image so as to identify whether foreign matters exist, matching the infrared ray image, the gray-level-height image and the first visible light image so as to obtain a temperature difference and a height difference between an area where the foreign matters exist and a peripheral area thereof when the foreign matters exist, and judging the danger of the foreign matters according to the temperature difference and the height difference.
The vehicle chassis detection system provided by the embodiment of the invention has the advantages of high identification efficiency and high identification accuracy.
In addition, the vehicle chassis inspection system according to the above embodiment of the present invention may further have the following additional technical features:
according to an embodiment of the present invention, the first visible light image collecting unit is a CCD camera, the gray-height image collecting unit is a laser ranging sensor, and preferably, the gray-height image collecting unit is a plurality of laser ranging sensors, the plurality of laser ranging sensors are spaced apart along a first preset direction, and two adjacent laser ranging sensors are spaced apart by a preset distance.
According to one embodiment of the present invention, the first visible light image capturing unit and the infrared imaging unit are disposed at intervals along a second preset direction, the first visible light image capturing unit and the infrared imaging unit are opposite to each other in the second preset direction, and the first preset direction is perpendicular to the second preset direction.
According to one embodiment of the invention, the vehicle chassis inspection system further comprises: a vehicle bottom scanning platform; and the first light supplement lamp is positioned on a first side of a width central line of the vehicle bottom scanning platform, the second light supplement lamp is positioned on a second side of the width central line of the vehicle bottom scanning platform, and preferably, the first visible light image acquisition unit and each of the infrared imaging units are positioned on the width central line of the vehicle bottom scanning platform.
According to an embodiment of the invention, the vehicle chassis detecting system further comprises a vehicle speed measuring module for measuring the running speed of the vehicle, the vehicle speed measuring module is located on the width central line of the vehicle bottom scanning platform, and the control module is in communication with the vehicle speed measuring module and is used for controlling the line frequency of the first visible light image acquisition unit according to the running speed of the vehicle measured by the vehicle speed measuring module.
According to one embodiment of the present invention, the information processing module includes: a vehicle chassis history image storage unit for storing the vehicle chassis history image; and a matching calculation unit, configured to match the first visible light image with the vehicle chassis history image to identify whether a foreign object exists, locate the foreign object when the foreign object exists so as to obtain an area where the foreign object exists, match the infrared ray image, the grayscale-height image, and the first visible light image so as to obtain a temperature difference and a height difference between the area where the foreign object exists and a peripheral area thereof when the foreign object exists, and determine a risk of the foreign object according to the temperature difference and the height difference, preferably, when the height difference is greater than or equal to a first preset value, determine that the foreign object is dangerous, preferably, the first preset value is 5 centimeters; and when the temperature difference is greater than or equal to a second preset value, judging that the foreign matters are dangerous, and preferably, the second preset value is 10 ℃.
According to one embodiment of the invention, the vehicle chassis inspection system further comprises: and the external receiving module is communicated with the information processing module and is used for displaying the first visible light image, the infrared image, the gray-height image, the region where the foreign matter is located, the temperature difference and the height difference.
The second aspect of the present invention provides a vehicle chassis inspection method, including the steps of: acquiring a first visible light image, an infrared image and a gray-height image of a vehicle chassis; acquiring identity information of a vehicle, wherein the identity information comprises at least one of license plate information and vehicle type information; and calling a stored vehicle chassis historical image according to the identity information, matching the first visible light image with the vehicle chassis historical image so as to identify whether foreign matters exist, matching the infrared image, the gray-level-height image and the first visible light image so as to obtain a temperature difference and a height difference between an area where the foreign matters exist and a peripheral area of the foreign matters when the foreign matters exist, and judging the danger of the foreign matters according to the temperature difference and the height difference.
The vehicle chassis detection method provided by the embodiment of the invention also has the advantages of high identification efficiency and high identification accuracy.
According to an embodiment of the present invention, when the height difference is greater than or equal to a first preset value, it is determined that the foreign object is dangerous, and preferably, the first preset value is 5 cm; and when the temperature difference is greater than or equal to a second preset value, judging that the foreign matters are dangerous, and preferably, the second preset value is 10 ℃.
According to an embodiment of the present invention, the vehicle chassis sensing method further includes measuring a traveling speed of the vehicle, and controlling a line frequency of the first visible-light image capturing unit that captures the first visible-light image according to the measured traveling speed of the vehicle.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic diagram of a partial configuration of a vehicle chassis inspection system according to an embodiment of the present invention;
FIG. 2 is a topology diagram of a vehicle chassis inspection system according to an embodiment of the invention;
FIG. 3 is a flow chart of a vehicle chassis inspection method according to an embodiment of the invention.
A vehicle chassis inspection system 10,
An information acquisition module 110, a first visible light image acquisition unit 111, an infrared imaging unit 112, a gray-height image acquisition unit 113, an inductance coil 116, a vehicle speed measurement module 150,
120 portions of the scanning platform at the bottom of the vehicle,
A first fill light 131, a second fill light 132, a mounting platform 140,
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A vehicle chassis inspection system 10 according to an embodiment of the present invention is described below with reference to the drawings. As shown in fig. 1, the vehicle chassis inspection system 10 according to the embodiment of the present invention includes an information collection module 110, an identity information collection module 160, a control module, and an information processing module 170.
The information acquisition module 110 includes a first visible light image acquisition unit 111 for acquiring a first visible light image, an infrared imaging unit 112 for acquiring an infrared image, and a gray-height image acquisition unit 113 for acquiring a gray-height image. The identity information collection module 160 is configured to collect identity information of a vehicle, where the identity information includes at least one of license plate information and vehicle type information.
The control module comprises a first visible light image acquisition unit controller, an infrared imaging unit controller, a gray level-height image acquisition unit controller and an identity information acquisition module controller. The first visible light image capturing unit controller is connected to the first visible light image capturing unit 111 to control the opening and closing of the first visible light image capturing unit 111, the infrared ray imaging unit controller is connected to the infrared ray imaging unit 112 to control the opening and closing of the infrared ray imaging unit 112, and the gray-height image capturing unit controller is connected to the gray-height image capturing unit 113 to control the opening and closing of the gray-height image capturing unit 113. The identity information collection module controller is connected to the identity information collection module 160 to control the turning on and off of the identity information collection module 160.
The information processing module 170 is in communication with each of the information collection module 110 and the identity information collection module 160. The information processing module 170 is configured to retrieve a stored vehicle chassis history image according to the identity information, match the first visible light image with the vehicle chassis history image to identify whether a foreign object exists, match the infrared image, the gray-level-height image, and the first visible light image when the foreign object exists to obtain a temperature difference and a height difference between an area where the foreign object exists and a peripheral area of the foreign object, and determine a risk of the foreign object according to the temperature difference and the height difference.
The invention also provides a vehicle chassis detection method. The vehicle chassis detection method according to the embodiment of the invention comprises the following steps:
a first visible light image, an infrared image, and a gray-scale-height image of a vehicle chassis are acquired.
Identity information of the vehicle is collected, and the identity information comprises at least one of license plate information and vehicle type information.
And calling a stored vehicle chassis historical image according to the identity information, and matching the first visible light image with the vehicle chassis historical image so as to identify whether foreign matters exist or not. When foreign matters exist, the infrared image, the gray-height image and the first visible light image are matched so as to obtain the temperature difference and the height difference between the area where the foreign matters exist and the peripheral area, and the danger of the foreign matters is judged according to the temperature difference and the height difference.
The vehicle chassis inspection method according to the embodiment of the invention may be implemented using the vehicle chassis inspection system 10 according to the embodiment of the invention.
The vehicle chassis inspection system 10 according to the embodiment of the present invention may match the first visible light image of the chassis of the vehicle with the stored vehicle chassis history image by providing the first visible light image capturing unit 111 and the identity information capturing module 160, and thus may recognize (determine) whether a foreign object exists.
The vehicle chassis inspection system 10 according to the embodiment of the present invention may obtain an infrared image and a gray-height image of the chassis of the vehicle by providing the infrared imaging unit 112 and the gray-height image capturing unit 113. Therefore, when the existence of the foreign matter is identified, the infrared image, the gray-height image and the first visible light image are matched so as to obtain the temperature difference and the height difference between the area where the foreign matter is located and the peripheral area of the area where the foreign matter is located, namely the three-dimensional attribute of the foreign matter can be obtained, and the danger of the foreign matter is judged according to the temperature difference and the height difference.
Therefore, misjudgment of the danger of the foreign matters on the chassis of the vehicle can be avoided, so that the identification efficiency can be improved, and the identification accuracy can be improved.
Therefore, the vehicle chassis detection system 10 according to the embodiment of the invention has the advantages of high recognition efficiency, high recognition accuracy and the like. Correspondingly, the vehicle chassis detection method provided by the embodiment of the invention also has the advantages of high recognition efficiency, high recognition accuracy and the like.
As shown in FIG. 1, in some embodiments of the present invention, the vehicle chassis inspection system 10 may include an information collection module 110, a control module, an identity information collection module 160, and an information processing module 170.
The information acquisition module 110 includes a first visible light image acquisition unit 111, an infrared imaging unit 112, and a gray-height image acquisition unit 113. Preferably, the first visible light image collection unit 111 may be a CCD camera, the infrared imaging unit 112 may be an infrared camera, and the gray-height image collection unit 113 may be a laser ranging sensor.
As shown in fig. 1, the gray-height image capturing unit 113 may be a plurality of laser ranging sensors, and a plurality of the laser ranging sensors may be spaced apart along a first preset direction, and two adjacent laser ranging sensors are spaced apart by a preset distance. That is, a plurality of the laser ranging sensors may be aligned to form an array, and distance information is rendered into the gray-height image in real time.
For example, the gray-height image capturing unit 113 may be 19 laser ranging sensors, and 19 laser ranging sensors may be disposed at equal intervals along the first predetermined direction, and two adjacent laser ranging sensors are spaced by 12 cm to 13 cm. Preferably, the first preset direction may be a horizontal direction and perpendicular to a driving direction of the vehicle.
As shown in fig. 1, the vehicle chassis detecting system 10 further includes a vehicle bottom scanning platform 120, a first supplementary light 131 and a second supplementary light 132. By arranging the vehicle bottom scanning platform 120, the driving speed of the vehicle can be reduced, so that the first visible light image, the infrared image and the gray-height image can be obtained more clearly and more accurately. By arranging the first supplementary lighting lamp 131 and the second supplementary lighting lamp 132, the first visible light image acquisition unit 111 can be provided with illumination light with appropriate intensity, so as to obtain a clearer and more accurate first visible light image.
Preferably, the first supplementary lighting lamp 131 is located on a first side (for example, the left side) of the width center line of the underbody scanning platform 120, and the second supplementary lighting lamp 132 is located on a second side (for example, the right side) of the width center line of the underbody scanning platform 120. Wherein, the width central line of the vehicle bottom scanning platform 120 means: the center line of the underbody scanning platform 120 extends along the width direction of the underbody scanning platform 120. The first visible-light image capturing unit 111 can be supplied with illumination light having uniform intensity, so that a clearer and more accurate first visible-light image can be obtained.
As shown in fig. 1, the first fill-in light 131 may be multiple (e.g., three), and the second fill-in light 132 may also be multiple (e.g., three). Preferably, the plurality of first light supplement lamps 131 and the plurality of second light supplement lamps 132 are symmetrical with respect to a width center line of the vehicle bottom scanning platform 120. Thereby, the first visible light image collection unit 111 can be provided with illumination light with more uniform intensity, so as to obtain a clearer and more accurate first visible light image.
In one embodiment of the present invention, as shown in fig. 1, the first visible light image capturing unit 111 and the infrared ray imaging unit 112 are disposed at intervals along a second preset direction in which the first visible light image capturing unit 111 and the infrared ray imaging unit 112 are opposite, the first preset direction being perpendicular to the second preset direction. The results of the vehicle chassis inspection system 10 can thereby be made more reasonable. Preferably, the second preset direction may coincide with a traveling direction of the vehicle.
As shown in fig. 1, each of the first visible light image collection unit 111 and the infrared ray imaging unit 112 is preferably located on a width center line of the vehicle bottom scanning platform 120. Therefore, the relative position relationship between the first visible light image acquisition unit 111 and the vehicle can be consistent with the relative position relationship between the infrared imaging unit 112 and the vehicle, so that the infrared image and the first visible light image can be more accurately matched, the region where the foreign object is located can be more accurately found out on the infrared image, and the temperature difference between the region where the foreign object is located and the peripheral region of the region where the foreign object is located can be more accurately obtained.
The vehicle chassis inspection system 10 may also include a mounting platform 140, and the mounting platform 140 may be located on the ground. The first visible light image capturing unit 111, the infrared imaging unit 112, the inductance coil 116, and the vehicle speed measuring module 150 may be disposed on the mounting platform 140. Preferably, the mounting table 140 may be provided with a mounting groove, and both the first visible light image collection unit 111 and the infrared ray imaging unit 112 may be disposed in the mounting groove.
When the vehicle passes through the information collecting module 110, the inductor 116 may be triggered to turn on the first and second fill lights 131 and 132. Meanwhile, the first visible light image acquisition unit 111 acquires a first visible light image of the vehicle chassis (vehicle bottom), the infrared imaging unit 112 acquires an infrared image of the vehicle chassis, and the gray-height image acquisition unit 113 acquires a gray-height image of the vehicle chassis (scanning three-dimensional information of the vehicle bottom). Preferably, the inductive coil 116 is located on the width centerline of the underbody scanning platform 120.
The control module can also comprise a vehicle detector and a light supplement lamp controller. The car detector may be coupled to the induction coil 116 to control the opening and closing of the induction coil 116. This light filling lamp controller can be connected to each other with first light filling lamp 131 and second light filling lamp 132 to control opening and closing of first light filling lamp 131 and second light filling lamp 132.
As shown in fig. 1, the vehicle chassis sensing system 10 further includes a vehicle speed measuring module 150 for measuring a traveling speed of the vehicle, and the vehicle speed measuring module 150 is located on a width center line of the underbody scanning platform 120. The control module is in communication with the vehicle speed measuring module 150 and is configured to control the line frequency of the first visible-light image capturing unit 111 according to the driving speed of the vehicle measured by the vehicle speed measuring module 150. Thereby, a more complete and clearer first visible light image can be obtained.
Specifically, the vehicle speed measuring module 150 measures the moving distance of the vehicle in the video in unit time through the camera to estimate the driving speed of the vehicle, and the vehicle speed measuring module 150 transmits the speed information to the control module in real time, so as to control the line frequency of the first visible light image collecting unit 111 of the information collecting module 110.
Meanwhile, the identity information collection module 160 collects identity information of the vehicle, which includes at least one of license plate information and vehicle type information.
In some examples of the invention, the information processing module 170 includes a vehicle chassis history image storage unit and a matching calculation unit.
The vehicle chassis history image storage unit is configured to store a vehicle chassis history image, which is an image (visible light image) of the vehicle chassis when there is no foreign matter. The vehicle chassis history image stored by the vehicle chassis history image storage unit may be provided by a police department so as to store the vehicle chassis history images of all the vehicles. When the vehicle chassis inspection system 10 is used in a certain unit (e.g., a certain business, a certain cell, or a certain organization), the vehicle chassis history image storage unit may store only the vehicle chassis history images of the vehicles of the unit. The vehicle chassis history image storage unit may further store vehicle chassis history images of all or most of the vehicle types.
Preferably, the vehicle chassis history image storage unit has a network sharing function.
The information processing module 170 is in communication with each of the information collection module 110 and the identity information collection module 160. For example, the information processing module 170 is in wireless communication with each of the information collection module 110 and the identity information collection module 160. The information collection module 110 may transmit the collected first visible light image, infrared image, and gray-height image of the vehicle chassis to the information processing module 170, and the identity information collection module 160 may transmit the collected identity information of the vehicle to the information processing module 170 (the matching calculation unit).
The matching calculation unit may retrieve the vehicle chassis history image corresponding to the vehicle from the vehicle chassis history image storage unit according to the identity information of the vehicle. The identity information collection module 160 can preferentially collect the license plate information of the vehicle, so that the matching calculation unit can retrieve the historical image of the vehicle chassis of the vehicle from the historical image storage unit of the vehicle chassis according to the license plate information of the vehicle.
The identity information collection module 160 may also collect model information of the vehicle. The matching calculation unit may retrieve a vehicle chassis history image of a vehicle type to which the vehicle belongs from the vehicle chassis history image storage unit, based on the vehicle type information of the vehicle. For example, if the matching calculation unit determines that the vehicle type of the vehicle is wolvo V90 based on the vehicle type information of the vehicle, the matching calculation unit retrieves a vehicle chassis history image of wolvo V90 from the vehicle chassis history image storage unit.
Preferably, the identity information collection module 160 may collect the license plate information and the model information of the vehicle at the same time. Thus, when the vehicle chassis history image storage unit does not store the vehicle chassis history image of the vehicle itself, the matching calculation unit can retrieve the vehicle chassis history image of the vehicle type to which the vehicle belongs from the vehicle chassis history image storage unit according to the vehicle type information of the vehicle.
Then, the matching calculation unit matches the first visible light image with the vehicle chassis history image to identify whether or not a foreign object is present. If no foreign matter exists, the inspection is finished; if foreign matter is present, the foreign matter may be calibrated, for example, with a red frame.
When foreign matters exist, the matching calculation unit performs foreign matter positioning so as to obtain the area where the foreign matters exist, and the matching calculation unit can match the infrared image, the gray-height image and the first visible light image so as to obtain the temperature difference and the height difference between the area where the foreign matters exist and the peripheral area of the area where the foreign matters exist.
Through matching, the region where the foreign matter is located and the peripheral region of the region where the foreign matter is located can be obtained on the infrared image and the gray-level-height image, and further the temperature difference and the height difference between the region where the foreign matter is located and the peripheral region of the region where the foreign matter is located can be obtained.
The region in which the foreign object is located is an image region included in an edge of the foreign object on an image (the infrared image, the gray-height image, the first visible light image). That is, the region where the foreign substance is present refers to an image region included in an edge of a portion of the image where the foreign substance is shown. The peripheral area of the area where the foreign matter is located is an image area obtained by expanding the area where the foreign matter is located outwards. Preferably, the distance between the edge of the peripheral region of the region where the foreign matter is located and the edge of the region where the foreign matter is located may be less than or equal to 15 cm.
When foreign matters such as paper, plastic bags and leaves are attached to a chassis of a vehicle, the conventional detection system cannot acquire the three-dimensional attributes of the foreign matters, so that the risk of the foreign matters is easily misjudged. The vehicle chassis detection system 10 can determine whether the foreign matter is dangerous according to the temperature difference and the height difference between the region where the foreign matter is located and the peripheral region of the region where the foreign matter is located, so that when the foreign matter such as paper, plastic bags, leaves and the like is attached to the chassis of the vehicle, the foreign matter is not considered dangerous, the misjudgment of the danger of the foreign matter is eliminated, and the identification efficiency and the identification accuracy are improved.
Preferably, when the height difference is greater than or equal to the first preset value, it is determined that the foreign object is dangerous. More preferably, the first preset value is 5 cm. Further preferably, the first preset value is 10 cm.
Preferably, when the temperature difference is greater than or equal to a second preset value, it is determined that the foreign object is dangerous. More preferably, the second preset value is 5 degrees celsius. Further preferably, the second preset value is 10 degrees celsius. Because the vehicle itself has higher temperature, when vehicle chassis has the foreign matter to shelter from, and foreign matter thickness is great, because vehicle chassis's specific heat capacity and heat transfer coefficient are different with the specific heat capacity and the heat transfer coefficient of foreign matter, therefore vehicle chassis's temperature has great difference with the temperature of foreign matter. And when the temperature difference is greater than or equal to a second preset value, judging that the foreign matters are dangerous.
The detection information can be recorded in a database, and the file number is 'license plate + vehicle type + date + place'.
The vehicle chassis inspection system 10 may further include an external receiving module 180, the external receiving module 180 being in communication with the information processing module 170, the external receiving module 180 being configured to display the first visible light image, the infrared image, the gray-level-height image, a region where the foreign object is located (a position where the foreign object is located is marked with a red frame), a temperature difference, and a height difference.
Specifically, the external receiving module 180 may include hardware such as a display, a keyboard, a mouse, and the like. The first visible image of the vehicle chassis is displayed on the display in real time and the area of the foreign object is marked with a red frame. The operator (security inspector) can also view the infrared image of the vehicle chassis, the gray-level-height image, the temperature difference, and the height difference via a display.
The operator can call the first visible light image, the infrared image and the gray-height image in real time through a mouse and the like to view, and can perform local amplification. For example, the volume of the foreign matter can be judged by the temperature difference and the height difference. If the abnormal condition is found, the vehicle can be manually warned, and a security inspector in the field is informed to carry out on-site inspection on the vehicle.
The danger as referred to herein means that the vehicle chassis inspection system 10 suggests to the operator that the foreign object may be dangerous in reality, but requires a field check by a security inspector to confirm whether it is dangerous in fact.
As shown in fig. 1 and 2, the information acquisition module 110 may further include a gas measurement unit 114 for measuring the kind and concentration of gas and a radiation measurement unit 115 for measuring the wavelength and intensity of radiation. The control module further includes a gas measurement unit controller and a radiation measurement unit controller. The gas measurement unit controller is connected to the gas measurement unit 114 to control the opening and closing of the gas measurement unit 114, and the radiation measurement unit controller is connected to the radiation measurement unit 115 to control the opening and closing of the radiation measurement unit 115.
And judging the danger of the foreign matters according to the concentration and the radiation intensity when the foreign matters exist, and judging the danger of the foreign matters when the concentration is greater than or equal to the preset concentration or the radiation intensity is greater than or equal to the preset radiation intensity. It is understood by those skilled in the art that when the concentration is equal to or higher than the predetermined concentration and the radiation intensity is equal to or higher than the predetermined radiation intensity, the foreign matter is also judged to be dangerous.
The vehicle chassis inspection system 10 according to the embodiment of the present invention can obtain the wavelength of radiation, the intensity of radiation, and the kind and concentration of gas by providing the gas measurement unit 114 and the radiation measurement unit 115. Therefore, when the existence of the foreign matters is identified, the danger of the foreign matters can be judged by judging whether the concentration is greater than or equal to the preset concentration or whether the radiation intensity is greater than or equal to the preset radiation intensity. Therefore, misjudgment of the danger of the foreign matters on the chassis of the vehicle can be avoided, so that the identification efficiency can be further improved, and the identification accuracy can be further improved.
Therefore, the vehicle chassis detection system 10 according to the embodiment of the invention has the advantages of high recognition efficiency, high recognition accuracy and the like. Correspondingly, the vehicle chassis detection method provided by the embodiment of the invention also has the advantages of high recognition efficiency, high recognition accuracy and the like.
Both the gas measurement unit 114 and the radiation measurement unit 115 may be provided on the mounting stage 140. Gas measurement unit 114 may be a gas sensor and radiation measurement unit 115 may be a radiation detector.
The information collection module 110 may transmit the collected radiation wavelength, radiation intensity, and the type and concentration of the gas to the information processing module 170 (the matching calculation unit).
Preferably, when the gas measurement unit 114 detects a flammable and explosive gas, the preset concentration is 10% LEL; when the gas measuring unit 114 detects chlorine gas, the preset concentration is 0.5 ppm; when the gas measurement unit 114 detects phosgene, the preset concentration is 0.1 ppm; when the gas measurement unit 114 detects sulfur dioxide, the preset concentration is 2 pm; when the gas measurement unit 114 detects formaldehyde, the preset concentration is 0.5 ppm; when the gas measurement unit 114 detects ozone, the preset concentration is 0.1 ppm.
More preferably, when the gas measurement unit 114 detects a flammable and explosive gas, the preset concentration is 30% LEL; when the gas measuring unit 114 detects chlorine gas, the preset concentration is 1 ppm; when phosgene is detected by the gas measurement unit 114, the preset concentration is 0.2 ppm; when the gas measurement unit 114 detects sulfur dioxide, the preset concentration is 5 pm; when the gas measurement unit 114 detects formaldehyde, the preset concentration is 0.8 ppm; when the gas measurement unit 114 detects ozone, the preset concentration is 0.2 ppm.
Specifically, when the gas measurement unit 114 detects a flammable and explosive gas, there is no danger of explosion when the preset concentration is less than 10% LEL; when the preset concentration is more than or equal to 10% LEL and less than 30% LEL, the explosion danger exists; when the preset concentration is more than or equal to 30 percent LEL, the explosion danger is very high.
When the gas measuring unit 114 detects chlorine, phosgene, sulfur dioxide, formaldehyde and ozone, respectively, when the preset concentrations are less than 0.5ppm, 0.1ppm, 2pm, 0.5ppm and 0.1ppm, respectively, it is treated as if there is no toxic gas; when the preset concentrations are respectively greater than or equal to 0.5ppm, 0.1ppm, 2pm, 0.5ppm and 0.1ppm and respectively less than 1ppm, 0.2ppm, 5pm, 0.8ppm and 0.2ppm, treating the gas as a toxic gas with a low danger level; when the preset concentration is greater than or equal to 1ppm, 0.2ppm, 5pm, 0.8ppm and 0.2ppm respectively, the treatment of the toxic gas with high danger level is carried out.
Preferably, when the radiation wavelength is long wave, medium wave or short wave, the preset radiation intensity is 10 v/m; when the radiation wavelength is ultrashort wave, the preset radiation intensity is 5 v/m; when the radiation wavelength is microwave, the preset radiation intensity is 10 μ W/cm2，
More preferably, when the radiation wavelength is long wave, medium wave or short wave, the preset radiation intensity is 25 v/m; when the radiation wavelength is ultrashort wave, the preset radiation intensity is 512 v/m; when the radiation wavelength is microwave, the preset radiation intensity is 40 μ W/cm2，
When the radiation measurement unit 115 detects the radiation intensity, but the radiation intensity is smaller than the preset radiation intensity, the first visible light image may be fused for judgment, and a BP neural network is adopted according to the first visible light image, and the obtained result is subjected to decision layer fusion, so as to obtain a more accurate judgment result.
The external receiving module 180 may also be used to display the first visible light image, the density, and the radiation intensity. The vehicle chassis detection system 10 may further include an alarm module for alarming when the concentration is greater than or equal to a preset concentration or the radiation intensity is greater than or equal to a preset radiation intensity, alerting an on-site security inspector that a dangerous object may exist in the vehicle, and displaying the over-standard value on a display.
In one embodiment of the present invention, the information collecting module 110 further includes a second visible light image collecting unit for collecting a second visible light image of at least one of the front and rear surfaces of the vehicle. That is, the second visible light image may be a front image of the vehicle or a rear image of the vehicle, and the second visible light image may be a front image and a rear image of the vehicle. The information processing module 170 is configured to store the first visible light image and the second visible light image in an associated manner.
The vehicle can thus be checked retrospectively. That is, when the vehicle chassis inspection system 10 does not detect a potentially dangerous material, a newly-appeared dangerous material, but a dangerous event occurs, not only the first visible light image and the second visible light image that are associated can be called up to find the vehicle hiding the dangerous material, but also the vehicle chassis inspection system 10 can be improved.
Preferably, the information processing module 170 is configured to store the first visible light image, the second visible light image and the shooting time thereof in association with each other. The second visible light image capturing unit may be a CCD camera.
Preferably, the matching calculation unit is configured to correlate the first visible-light image and a second visible-light image of at least one of the front and the back of the vehicle, and the information processing module 170 further includes an information storage unit configured to store the first visible-light image and the second visible-light image correlated together.
The control module further comprises a second visible light image acquisition unit controller, and the second visible light image acquisition unit controller is connected with the second visible light image acquisition unit so as to control the opening and closing of the second visible light image acquisition unit.
The first visible light image capturing unit 111 and the second visible light image capturing unit may be disposed at intervals along the second preset direction, and the first visible light image capturing unit 111 and the second visible light image capturing unit are opposite to each other in the second preset direction. The vehicle chassis inspection system 10 can thus be made more structurally sound.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (14)
1. A vehicle chassis inspection system, comprising:
the information acquisition module comprises a first visible light image acquisition unit for acquiring a first visible light image, an infrared imaging unit for acquiring an infrared image and a gray-height image acquisition unit for acquiring a gray-height image;
the identity information acquisition module is used for acquiring identity information of the vehicle, wherein the identity information comprises at least one of license plate information and vehicle type information;
a control module, which comprises a first visible light image acquisition unit controller, an infrared imaging unit controller, a gray-level-height image acquisition unit controller and an identity information acquisition module controller, the first visible light image acquisition unit controller is connected with the first visible light image acquisition unit so as to control the opening and closing of the first visible light image acquisition unit, the infrared imaging unit controller is connected with the infrared imaging unit so as to control the opening and closing of the infrared imaging unit, the gray-height image acquisition unit controller is connected with the gray-height image acquisition unit so as to control the gray-height image acquisition unit to be opened and closed, the identity information acquisition module controller is connected with the identity information acquisition module so as to control the identity information acquisition module to be opened and closed;
an information processing module, which is in communication with each of the information acquisition module and the identity information acquisition module, and is configured to retrieve a stored vehicle chassis history image according to the identity information, match the first visible light image with the vehicle chassis history image so as to identify whether a foreign object exists, match the infrared ray image, the gray-level-height image, and the first visible light image so as to obtain a temperature difference and a height difference between an area where the foreign object exists and a peripheral area thereof when the foreign object exists, and determine a risk of the foreign object according to the temperature difference and the height difference,
the information processing module includes:
a vehicle chassis history image storage unit for storing the vehicle chassis history image; and
a matching calculation unit for matching the first visible light image with the vehicle chassis history image to identify whether a foreign object exists, when a foreign object exists, positioning the foreign object to obtain an area where the foreign object exists, matching the infrared ray image, the gray-level height image and the first visible light image to obtain a temperature difference and a height difference between the area where the foreign object exists and a peripheral area thereof when the foreign object exists, and judging the risk of the foreign object according to the temperature difference and the height difference,
the information acquisition module further comprises a gas measurement unit for measuring the type and concentration of gas and a radiation measurement unit for measuring radiation wavelength and radiation intensity, the control module further comprises a gas measurement unit controller and a radiation measurement unit controller, the gas measurement unit controller is connected with the gas measurement unit so as to control the gas measurement unit to be opened and closed, the radiation measurement unit controller is connected with the radiation measurement unit so as to control the radiation measurement unit to be opened and closed, the information processing module judges the danger of foreign matters according to the concentration of the gas and the radiation intensity when foreign matters exist, and judges the danger of the foreign matters when the concentration is greater than or equal to a preset concentration or the radiation intensity is greater than or equal to a preset radiation intensity.
2. The vehicle chassis inspection system of claim 1, wherein the first visible light image capture unit is a CCD camera and the grayscale-height image capture unit is a laser range sensor.
3. The vehicle chassis inspection system of claim 2, wherein the gray-height image capture unit is a plurality of laser ranging sensors spaced apart along a first predetermined direction, and two adjacent laser ranging sensors are spaced apart by a predetermined distance.
4. The vehicle chassis inspection system of claim 3, wherein the first visible light image capture unit and the infrared imaging unit are spaced apart along a second predetermined direction, the first visible light image capture unit and the infrared imaging unit being opposite in the second predetermined direction, the first predetermined direction being perpendicular to the second predetermined direction.
5. The vehicle chassis inspection system of claim 1, further comprising: a vehicle bottom scanning platform; and
first light filling lamp and second light filling lamp, first light filling lamp is located the first side of vehicle bottom scanning platform's width central line, second light filling lamp is located the second side of vehicle bottom scanning platform's width central line.
6. The vehicle chassis detecting system according to claim 5, further comprising a vehicle speed measuring module for measuring a running speed of the vehicle, the vehicle speed measuring module being located on a width center line of the vehicle bottom scanning platform, wherein the control module is in communication with the vehicle speed measuring module and is configured to control a line frequency of the first visible light image capturing unit according to the running speed of the vehicle measured by the vehicle speed measuring module.
7. The vehicle chassis inspection system according to claim 1, wherein when the height difference is equal to or greater than a first preset value, it is determined that the foreign object is dangerous; and when the temperature difference is greater than or equal to a second preset value, judging that the foreign matters are dangerous.
8. The vehicle chassis inspection system of claim 1, further comprising:
and the external receiving module is communicated with the information processing module and is used for displaying the first visible light image, the infrared image, the gray-height image, the region where the foreign matter is located, the temperature difference and the height difference.
9. The vehicle chassis inspection system of claim 5, wherein each of the first visible image acquisition unit and the infrared imaging unit is located on a width centerline of the underbody scanning platform.
10. The vehicle chassis inspection system of claim 7, wherein the first predetermined value is 5 centimeters and the second predetermined value is 10 degrees Celsius.
11. A vehicle chassis inspection method, comprising the steps of:
acquiring a first visible light image, an infrared image and a gray-height image of a vehicle chassis, acquiring identity information of a vehicle, wherein the identity information comprises at least one of license plate information and vehicle type information, and performing radiation wavelength measurement, radiation intensity measurement, gas type measurement and gas concentration measurement on the vehicle chassis so as to obtain the radiation wavelength, the radiation intensity and the type and concentration of the gas; and
calling a stored vehicle chassis historical image according to the identity information, matching the first visible light image with the vehicle chassis historical image so as to identify whether foreign matters exist, when the foreign matters exist, matching the infrared image, the gray-level height image and the first visible light image so as to obtain a temperature difference and a height difference between an area where the foreign matters exist and a peripheral area of the area, judging the danger of the foreign matters according to the temperature difference and the height difference, judging the danger of the foreign matters according to the concentration and the radiation intensity, and when the concentration is greater than or equal to a preset concentration or the radiation intensity is greater than or equal to a preset radiation intensity, judging that the foreign matters have the danger.
12. The vehicle chassis inspection method according to claim 11, wherein when the height difference is equal to or greater than a first preset value, it is determined that the foreign object is dangerous; and when the temperature difference is greater than or equal to a second preset value, judging that the foreign matters are dangerous.
13. The vehicle chassis inspection method according to claim 11 or 12, further comprising measuring a traveling speed of the vehicle, and controlling a line frequency of the first visible-light image capturing unit that captures the first visible-light image according to the measured traveling speed of the vehicle.
14. The vehicle chassis inspection method of claim 12, wherein the first predetermined value is 5 cm and the second predetermined value is 10 degrees celsius.
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| CN109283593B (en) * | 2018-11-26 | 2024-02-27 | 河北工业大学 | Vehicle chassis detection system and vehicle chassis detection method |
| CN110031911B (en) * | 2019-05-10 | 2024-12-13 | 同方威视技术股份有限公司 | Vehicle chassis inspection device, method and vehicle scanning system |
| CN110414391B (en) * | 2019-07-15 | 2021-05-04 | 河北工业大学 | Active mobile under-vehicle dangerous goods detection device based on deep learning algorithm |
| CN111352123B (en) * | 2019-10-30 | 2020-09-11 | 清华大学 | Robot and method for vehicle inspection, method for determining vehicle chassis centerline |
| KR20210157000A (en) * | 2020-06-19 | 2021-12-28 | 현대자동차주식회사 | System and method for underbody inspection of vehicle |
| CN112218041B (en) * | 2020-09-01 | 2023-06-16 | 恒大新能源汽车投资控股集团有限公司 | Vehicle monitoring method and system and vehicle |
| CN114488332A (en) * | 2020-11-12 | 2022-05-13 | 上海海拉电子有限公司 | Safety detection device and method for vehicle starting stage |
| CN113009590B (en) * | 2021-02-01 | 2022-04-08 | 西南科技大学 | A three-dimensional foreign object detection system and method in a vehicle bottom security inspection system |
| CN117969415B (en) * | 2024-03-27 | 2024-06-25 | 幸立高车辆配件(常州)有限公司 | A device and method for rapid detection of automobile parts |
| CN119270378A (en) * | 2024-10-09 | 2025-01-07 | 杭州海康机器人股份有限公司 | Underbody detection system and method |
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| CN201413519Y (en) * | 2009-06-12 | 2010-02-24 | 北京诚志北分机电技术有限公司 | Vehicle inspection system |
| KR101219554B1 (en) * | 2010-11-30 | 2013-01-11 | (주)일지테크 | Fault checker of auto pallet for chassis in vehicles and checking method thereof |
| CN202275164U (en) * | 2011-10-24 | 2012-06-13 | 武汉华中数控股份有限公司 | Thermal-imaging inspection device for humans hiding at vehicle bottom |
| CN104967769B (en) * | 2015-07-16 | 2019-05-17 | 深圳中安高科电子有限公司 | A kind of vehicle bottom scanning system and method |
| CN207851329U (en) * | 2018-01-29 | 2018-09-11 | 泉州安达电子有限公司 | A new type of scanning imaging system for automobile chassis safety inspection |
| CN108460351A (en) * | 2018-02-28 | 2018-08-28 | 北京航星机器制造有限公司 | A kind of Portable chassis scanning system and application method |
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