Vehicle panoramic stitching system

Abstract

A panoramic vehicle stitching system is disclosed. The system includes: a support frame; at least three area array cameras mounted on the support frame, each of which is configured to capture multiple vehicle exterior images from different directions at a preset frame rate; and a panoramic stitching device, communicatively connected to the area array cameras and configured to stitch the multiple exterior images into sub-images using an optical flow method based on common features between two adjacent exterior images captured by each area array camera, and then stitch the multiple sub-images into a panoramic image of the vehicle. Mounting the area array cameras on the support frame facilitates the panoramic stitching device from stitching the exterior images captured by the area array cameras into a panoramic image, thereby reducing the cost of capturing the vehicle exterior image.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to a vehicle appearance detection system, and more particularly, to a vehicle panoramic stitching system. Background Art

[0002] At entrances and exits of various locations, such as highways, logistics parks, and special regulatory passages, monitoring the overall appearance of vehicles requires capturing information such as vehicle color, features, and damage as they pass through, to verify that the information matches the vehicle's registered information. However, conventional methods typically use line scan cameras to capture the vehicle's appearance, resulting in high costs. Summary of the Invention

[0003] In view of this, the present disclosure provides a panoramic stitching system for a vehicle, comprising:

[0004] Support frame;

[0005] At least three area array cameras are disposed on the support frame, and the area array cameras are used to capture multiple external images of the vehicle in different directions at a preset frame rate; and

[0006] A panoramic stitching device is communicatively connected to the above-mentioned area array cameras, and is used to stitch the multiple appearance images into sub-images using an optical flow method based on common features in two adjacent appearance images taken by each of the above-mentioned area array cameras, and then stitch the multiple sub-images into a panoramic image of the above-mentioned vehicle.

[0007] According to an embodiment of the present disclosure, the panoramic stitching device is configured as follows:

[0008] When one or more of the at least three area array cameras captures a blurred shape image whose contrast does not meet a preset threshold, determining common features and a stitching rule of the two adjacent clear shape images captured by other area array cameras among the at least three area array cameras, and stitching the multiple clear shape images into a first sub-image by the other area array cameras, wherein the contrast of the clear shape images captured by the other area array cameras meets the preset threshold;

[0009] Each of the one or more area array cameras stitches the plurality of blurred shape images captured by the area array camera into a second sub-image according to the stitching rule;

[0010] A panoramic image of the vehicle is formed based on the first sub-image and the second sub-image.

[0011] According to an embodiment of the present disclosure, the panoramic stitching system further includes:

[0012] The fill light source is arranged on the above-mentioned supporting frame and is used to provide suitable shooting conditions for the above-mentioned area array camera.

[0013] According to an embodiment of the present disclosure, the support frame includes a fixed support frame connected to the ground or a movable support frame movable relative to the ground.

[0014] According to an embodiment of the present disclosure, the support frame of the area array camera includes at least two side columns and at least one crossbeam, and both ends of the crossbeam are respectively connected to the side columns;

[0015] The above-mentioned jambs include:

[0016] A first column, wherein the upper surface of the first column is provided with a lifting groove;

[0017] A lifting device is disposed in the lifting slot; and

[0018] a second column, wherein the lower end of the second column is connected to the upper end of the lifting device, and the upper end of the second column is connected to the crossbeam;

[0019] The lifting device is used to change the horizontal height of the crossbeam by changing the relative distance between the second column and the first column, thereby enabling vehicles of different heights to pass through the support frame.

[0020] According to an embodiment of the present disclosure, the lifting device includes:

[0021] The hydraulic cylinder is arranged in the lifting groove, and the end of the piston rod of the hydraulic cylinder is connected to the second column.

[0022] According to an embodiment of the present disclosure, the lifting device includes:

[0023] a partition plate disposed in the lifting tank to divide the lifting tank into a first cavity and a second cavity, wherein the first cavity is located relatively below the second cavity;

[0024] a motor disposed in the first cavity, wherein an output shaft of the motor passes through the partition;

[0025] a threaded rod disposed in the second cavity and connected to the end of the output shaft in the second cavity; and

[0026] The sleeve has an internal thread, which is threadedly connected to the threaded rod in the second cavity, and one end of the sleeve away from the motor is connected to the second column.

[0027] According to an embodiment of the present disclosure, the supporting frame includes one or more columns.

[0028] According to an embodiment of the present disclosure, the panoramic stitching system further includes:

[0029] a controller electrically connected to the area array camera and the panoramic stitching device; and

[0030] A vehicle speed calculation device is connected to the above-mentioned controller, and the above-mentioned vehicle speed calculation device is used to calculate the speed information of the above-mentioned vehicle through common features in the multiple above-mentioned appearance images, so that the above-mentioned controller controls the working status of the above-mentioned area array camera and the above-mentioned panoramic stitching device according to the above-mentioned speed information.

[0031] According to an embodiment of the present disclosure, the panoramic stitching system further includes:

[0032] A vehicle detection module is communicatively connected to the controller. The vehicle detection module is used to detect whether a vehicle has entered the detection area of ​​the vehicle detection module. When a vehicle is detected in the detection area, the module sends a first signal to the controller so that the controller controls the working status of the area array camera and the panoramic stitching device according to the first signal.

[0033] According to an embodiment of the present disclosure, the panoramic stitching system further includes:

[0034] The display device is communicatively connected to the controller, and the display device is used to output the panoramic image of the vehicle.

[0035] According to the panoramic stitching system of the embodiment of the present disclosure, by installing the area array camera on the support frame, the panoramic stitching device can stitch the appearance images taken by the area array camera into a panoramic image, thereby reducing the cost of shooting the vehicle appearance image. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0037] Figure 1 The system architecture diagram of the panoramic stitching system applicable to a vehicle according to an embodiment of the present disclosure is schematically shown;

[0038] Figure 2 Schematically shows a connection diagram of a panoramic stitching system applicable to a vehicle according to an embodiment of the present disclosure;

[0039] Figure 3 The following schematically shows a partial display effect diagram of a panoramic image according to an embodiment of the present disclosure;

[0040] Figure 4 Schematically shows a structural diagram of a vehicle-mounted mobile support frame according to an embodiment of the present disclosure;

[0041] Figure 5 Schematically shows a structural diagram of a mobile support frame according to an embodiment of the present disclosure;

[0042] Figure 6 schematically illustrates a partial cross-sectional view of a side column of a support frame according to an embodiment of the present disclosure; and

[0043] Figure 7 A schematic diagram of the stitching effect of a panoramic image according to an embodiment of the present disclosure is schematically shown.

[0044] In the above drawings, the meanings of the reference numerals are as follows:

[0045] 100-Support Frame

[0046] 110-Jim column

[0047] 111-First Column

[0048] 112-Lifting device

[0049] 1121-Partition

[0050] 1122-Motor

[0051] 1123-Threaded Rod

[0052] 1124-Sleeve

[0053] 113-Second Column

[0054] 120-beam

[0055] 200-area scan camera

[0056] 300-panoramic stitching device

[0057] 400-Fill light source DETAILED DESCRIPTION

[0058] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present disclosure. In the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of well-known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0059] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise," "include," etc. used herein indicate the presence of the features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0060] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0061] When expressions such as "at least one of A, B and C, etc." are used, they should generally be interpreted in accordance with the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0062] According to the inventive concept of the generalization aspect of the present disclosure, a panoramic vehicle stitching system is provided. The system comprises: a support frame; at least three area array cameras mounted on the support frame, each of which is configured to capture multiple vehicle exterior images from different directions at a preset frame rate; and a panoramic stitching device, communicatively connected to the area array cameras, configured to stitch the multiple exterior images into sub-images using an optical flow method based on common features between two adjacent exterior images captured by each area array camera, and then stitching a panoramic image of the vehicle from the multiple sub-images.

[0063] In the technical solution disclosed herein, the user's authorization or consent is obtained before obtaining or collecting the vehicle's appearance image.

[0064] Figure 1 The system architecture diagram of a panoramic stitching system applicable to a vehicle according to an embodiment of the present disclosure is schematically shown. Figure 2 The figure schematically shows a connection diagram of a panoramic stitching system applicable to a vehicle according to an embodiment of the present disclosure.

[0065] According to an embodiment of the present disclosure, a panoramic stitching system for a vehicle may include a support frame 100 , an area array camera 200 , and a panoramic stitching device 300 .

[0066] The area array camera 200 is mounted on the support frame 100 and is configured to capture multiple vehicle exterior images at a preset frame rate. The panoramic stitching device 300 is in communication with the area array camera 200 and is configured to stitch the multiple exterior images into sub-images using an optical flow method based on common features between two adjacent exterior images captured by each area array camera 200. The panoramic image of the vehicle is then stitched together from the multiple sub-images.

[0067] According to an embodiment of the present disclosure, the panoramic stitching device is configured to:

[0068] If one or more of the at least three area array cameras 200 captures a blurred shape image whose contrast does not meet a preset threshold, the common features and stitching rules of two adjacent clear shape images captured by other area array cameras 200 are determined. The other area array cameras 200 then stitch the multiple clear shape images into a first sub-image, where the contrast of the clear shape images captured by the other area array cameras 200 meets the preset threshold. Each of the one or more area array cameras 200 stitches the multiple blurred shape images captured by the area array camera 200 into a second sub-image based on the stitching rule. A panoramic image of the vehicle is stitched together based on the first and second sub-images.

[0069] According to an embodiment of the present disclosure, the preset threshold may be a contrast threshold, and its specific value may be set according to specific needs.

[0070] For the convenience of description, specific examples are introduced below for explanation.

[0071] For example, the three area array cameras 200 are camera A, camera B, and camera C. Each camera captures three appearance images within a time period, namely, image a1, image a2, and image a3 corresponding to camera A, image b1, image b2, and image b3 corresponding to camera B, and image c1, image c2, and image c3 corresponding to camera C.

[0072] The contrast of the image captured by camera A meets a preset threshold, while the contrast of the images captured by cameras B and C does not. Camera A then determines a first common feature based on the clear shape images, such as images a1 and a2, and determines a first stitching rule based on the first common feature (e.g., stitching the left 1 / 3 of image a1 with the right 1 / 4 of image a2), simultaneously generating a first sub-image A1 corresponding to camera A. Camera B stitches images b1 and b2 of the blurred shape images according to the first stitching rule (stitching the left 1 / 3 of image b1 with the right 1 / 4 of image b2) to generate a second sub-image B1 corresponding to camera B. Camera C stitches images c1 and c2 of the blurred shape images according to the first stitching rule (stitching the left 1 / 3 of image c1 with the right 1 / 4 of image c2) to generate a second sub-image C1 corresponding to camera C.

[0073] Camera A determines a second common feature based on images a2 and a3 of the clear shape image, and determines a second stitching rule based on the second common feature (e.g., stitching the right 1 / 4 of image a3 with the first sub-image A), thereby generating first sub-image A2 corresponding to camera A. Camera B stitches the second sub-image B1 and image b3 of the blurred shape image together according to the second stitching rule (stitching the right 1 / 4 of image b3 with second sub-image B1) to generate second sub-image B2 corresponding to camera B. Camera C stitches the second sub-image C1 and image c3 of the blurred shape image together according to the second stitching rule (stitching the right 1 / 4 of image c3 with second sub-image C1) to generate second sub-image C2 corresponding to camera C.

[0074] A panoramic image of the vehicle is generated based on the generated first sub-image A2 , second sub-image B2 , and second sub-image C2 .

[0075] According to the embodiments of the present disclosure, stitching rules are determined based on clear shape images, so that the area array camera 200 that captures blurred shape images processes the image according to the stitching rules. This can avoid the problem of poor stitching effect of sub-images caused by stitching together common features in images captured by different area array cameras 200 in poor environments, thereby improving the shooting effect of panoramic vehicle photography.

[0076] In one embodiment, if Figure 1 and Figure 2As shown, a panoramic stitching system for a vehicle may include a support frame 100, at least three area array cameras 200, and a panoramic stitching device 300. The support frame 100 includes at least two side posts 110 and / or at least one crossbeam 120, with both ends of the crossbeam 120 connected to the side posts 110. The at least three area array cameras 200 are respectively disposed on two opposing side posts 110 and the crossbeam 120. The area array cameras 200 are configured to capture multiple images of the vehicle's exterior at a preset frame rate.

[0077] Furthermore, the panoramic stitching device 300 is communicatively connected to the area array camera 200 and is used to stitch multiple shape images into sub-images based on common features in two adjacent shape images taken by each area array camera 200, and then stitch multiple sub-images into a panoramic image of the vehicle.

[0078] According to an embodiment of the present disclosure, the types of vehicles may include, but are not limited to, large trucks, light trucks, sport utility vehicles (SUVs), sedans, and the like.

[0079] According to an embodiment of the present disclosure, common features in the exterior image may include a vehicle's door handles, tires, and images painted on the vehicle. According to an embodiment of the present disclosure, the panoramic stitching device 300 and the area array camera 200 may be connected via a wired connection or a wireless connection, such as via Bluetooth or wireless communication.

[0080] According to an embodiment of the present disclosure, for example, only one of at least three area array cameras captures an appearance image that meets a preset threshold. In this case, the area array camera can determine common features and stitching rules based on two adjacent appearance images. The stitching rules can refer to cropping areas of the two appearance images obtained within the time period, and merging based on different cropping areas.

[0081] According to the embodiments of the present disclosure, other area array cameras no longer screen common features, and only need to stitch the captured appearance images according to the stitching rules determined within the same time period.

[0082] Figure 3 A schematic diagram of a partial display effect of a panoramic image according to an embodiment of the present disclosure is schematically shown.

[0083] According to an embodiment of the present disclosure, when a vehicle passes through the support frame 100, multiple area array cameras 200 capture the exterior of the vehicle and send the captured exterior images to a panoramic stitching device 300. The panoramic stitching device 300 stitches the multiple exterior images based on common features in two adjacent exterior images captured by the same area array camera 200, thereby stitching the multiple exterior images into a panoramic image of the vehicle, wherein the panoramic image may include the front surface, rear surface, left surface ( Figure 3(a)), right surface ( Figure 3 (b)), the upper surface ( Figure 3 (c) and the lower surface.

[0084] According to the panoramic stitching system of the embodiment of the present disclosure, by installing the area array camera on the support frame, the panoramic stitching device can stitch the appearance images taken by the area array camera into a panoramic image, thereby reducing the cost of shooting the vehicle appearance image.

[0085] According to an embodiment of the present disclosure, by mounting the area array camera on a support frame, the panoramic stitching device 300 stitches the outer shape images captured by the area array camera 200 into a panoramic image, thereby at least partially overcoming the technical problem of the inconvenience of photographing the panoramic view of the vehicle, thereby achieving the technical effect of improving the convenience of photographing the panoramic view of the vehicle.

[0086] According to an embodiment of the present disclosure, the panoramic stitching system may further include a fill light source 400 .

[0087] The fill light source 400 is disposed on the supporting frame 100 and is used to provide suitable shooting conditions for the area array camera 200 .

[0088] According to an embodiment of the present disclosure, the number of fill light sources 400 can be specifically set according to actual needs. For example, one or more fill light sources 400 can be set on the support frames 100 on both sides of each area array camera 200.

[0089] According to an embodiment of the present disclosure, since the contrast of the shape image captured by the area array camera 200 is low in a dark environment or an environment with low contrast, a fill light source 400 can be set on the support frame 100 to provide suitable shooting conditions for the area array camera 200 when it is working, so that the captured shape image has a high contrast, thereby obtaining a high-quality panoramic image of the vehicle.

[0090] Figure 4 The structural diagram of the vehicle-mounted mobile support frame according to an embodiment of the present disclosure is schematically shown. Figure 5 The structural diagram of the mobile support frame according to an embodiment of the present disclosure is schematically shown.

[0091] According to an embodiment of the present disclosure, the support frame 100 may include a fixed support frame connected to the ground or a movable support frame movable relative to the ground.

[0092] According to an embodiment of the present disclosure, the mobile support frame may include: Figure 4 The vehicle-mounted mobile support frame shown and the track-type or Figure 5The tire-type mobile support frame shown improves the mobility of the panoramic stitching system, making it easy to move it to any area where panoramic images of vehicles need to be recorded. At the same time, panoramic images can also be captured from stationary vehicles.

[0093] In an exemplary embodiment, the support frame of the panoramic stitching system may further include one or more columns to facilitate the capture of panoramic images of two or three sides of the vehicle.

[0094] According to an embodiment of the present disclosure, the area array camera 200 may include an area array camera or a line array camera.

[0095] According to an embodiment of the present disclosure, the type of area array camera 200 can be selected according to the cost budget, wherein the cost of an area array camera is relatively low.

[0096] Figure 6 A partial cross-sectional view of a side column 110 of a support frame according to an embodiment of the present disclosure is schematically shown.

[0097] like Figure 6 As shown, the side column 110 may include a first column 111, a lifting device 112, and a second column 113. The upper surface of the first column 111 is provided with a lifting groove. The lifting device 112 is disposed within the lifting groove. The lower end of the second column 113 is connected to the upper end of the lifting device 112, and the upper end of the second column 113 is connected to the crossbeam 120. The lifting device 112 is used to change the relative distance between the second column 113 and the first column 111, thereby changing the horizontal height of the crossbeam 120, thereby enabling vehicles of different heights to pass through the support frame 100.

[0098] According to an embodiment of the present disclosure, in order to obtain high-quality panoramic images when photographing vehicles of different body heights, a height-adjustable support frame 100 can be provided to facilitate adjusting the height of the crossbeam 120 relative to the ground according to the body height of different vehicles, so that the proportion of the vehicle image in the appearance image captured by the area array camera 200 is more appropriate.

[0099] In an exemplary embodiment, when a car with a relatively low body height is about to pass through the support frame 100, the lifting device 112 can be controlled to descend so that the relative distance between the second column 113 and the first column 111 becomes smaller, thereby facilitating the shooting of the top surface of the car, and the panoramic image of the top surface of the car is clearer.

[0100] In another exemplary embodiment, when a truck with a high body height is about to pass through the support frame 100, the lifting device 112 can be controlled to rise so that the relative distance between the second column 113 and the first column 111 becomes larger, thereby facilitating the shooting of the top surface of the truck, and the panoramic image of the top surface of the truck is clearer, and it can also prevent the truck from colliding with the support frame 100 and causing damage to the support frame 100.

[0101] It should be noted that the side pillar 110 can also be a pillar with a multi-stage lifting function, so as to provide a high-quality panoramic image for over-height and over-limit vehicles as much as possible.

[0102] According to an embodiment of the present disclosure, the lifting device 112 may include a hydraulic cylinder or a pneumatic cylinder.

[0103] The hydraulic cylinder or the pneumatic cylinder is disposed in the lifting groove, and the end of the piston rod of the hydraulic cylinder or the pneumatic cylinder is connected to the second column 113 .

[0104] According to an embodiment of the present disclosure, when vehicles of different vehicle heights are about to pass through the support frame 100, the height of the cross beam 120 relative to the ground can be adjusted by controlling the working state of the hydraulic cylinder or the pneumatic cylinder. For example, the piston rod of the hydraulic cylinder or the pneumatic cylinder can be controlled to rise so that the height of the cross beam 120 relative to the ground is increased.

[0105] like Figure 6 As shown, the lifting device 112 may include a partition 1121 , a motor 1122 , a threaded rod 1123 and a sleeve 1124 .

[0106] Furthermore, a partition 1121 is disposed within the elevating tank to divide the elevating tank into a first cavity and a second cavity, wherein the first cavity is located relatively below the second cavity. A motor 1122 is disposed within the first cavity, and the output shaft of motor 1122 extends through partition 1121. A threaded rod 1123 is disposed within the second cavity and connected to the end of the output shaft within the second cavity. A sleeve 1124 has an internal thread that is threadedly connected to threaded rod 1123 within the second cavity. The end of sleeve 1124 away from motor 1122 is connected to second column 113.

[0107] According to an embodiment of the present disclosure, when vehicles with different vehicle body heights are about to pass through the support frame 100, the motor 1122 is controlled to rotate so that the height of the sleeve 1124 relative to the motor 1122 changes under the action of the rotating threaded rod 1123, thereby changing the height of the second column 113 connected to the sleeve 1124, and then changing the height of the crossbeam 120 relative to the ground.

[0108] According to an embodiment of the present disclosure, the panoramic stitching system may further include a controller and a vehicle speed calculation device.

[0109] The controller is electrically connected to the area array camera 200 and the panoramic stitching device 300. A vehicle speed calculation device is connected to the controller and is configured to calculate vehicle speed information based on common features in multiple appearance images, so that the controller controls the operating states of the area array camera 200 and the panoramic stitching device 300 based on the speed information.

[0110] According to an embodiment of the present disclosure, the panoramic stitching device 300 may further consider vehicle speed information when stitching a plurality of appearance images, thereby avoiding compression or stretching in the stitched panoramic image.

[0111] According to an embodiment of the present disclosure, the vehicle speed calculation device may calculate the direction and speed information of the vehicle based on the appearance images captured by one or more area array cameras 200 using an optical flow method.

[0112] It should be noted that the direction and speed information of the vehicle may be detected by a vehicle speed calculation device or provided by an external system.

[0113] Figure 7 A schematic diagram of the stitching effect of a panoramic image according to an embodiment of the present disclosure is schematically shown.

[0114] In an exemplary embodiment, the panoramic stitching device 300 may stitch the shape images captured by the array camera 200 according to the speed information to avoid stretching or compression in the panoramic image.

[0115] According to an embodiment of the present disclosure, when the controller detects that the vehicle is stationary through the vehicle speed calculation device, it can control the area array camera 200 and the panoramic stitching device 300 to suspend operation. When it is detected that the vehicle starts to move or is always in motion, the shooting frequency of the area array camera 200 can be controlled according to the speed information, so that the panoramic stitching device 300 can stitch the captured shape images into a Figure 7 A panoramic image of the vehicle is shown.

[0116] According to an embodiment of the present disclosure, the panoramic stitching system may further include a vehicle detection module. The vehicle detection module is communicatively connected to the controller and is configured to detect whether a vehicle has entered a detection area of ​​the vehicle detection module. Upon detecting a vehicle in the detection area, the module sends a first signal to the controller, causing the controller to control the operating states of the area array camera 200 and the panoramic stitching device 300 based on the first signal.

[0117] According to an embodiment of the present disclosure, in order to avoid unnecessary waste of resources caused by the area array camera 200 and the panoramic stitching device 300 always being in a working state, a vehicle detection module can be provided to detect whether there is a vehicle, thereby controlling the working state of the area array camera 200 and the panoramic stitching device 300.

[0118] In an exemplary embodiment, when the vehicle detection module detects that a vehicle enters the detection area of ​​the vehicle detection module, the vehicle detection module sends a first signal to the controller, and the controller controls the area array camera 200 and the panoramic stitching device 300 to start working in response to the first signal. When the vehicle detection module detects that the vehicle leaves the detection area of ​​the vehicle detection module, the vehicle detection module sends a second signal to the controller, and the controller controls the area array camera 200 and the panoramic stitching device 300 to stop working in response to the second signal, so that a complete panoramic image of the vehicle can be obtained.

[0119] According to an embodiment of the present disclosure, the panoramic stitching system may further include a display device, which is communicatively connected to the controller and configured to output a panoramic image of the vehicle.

[0120] According to an embodiment of the present disclosure, after the panoramic stitching device 300 completes stitching of the panoramic image, the panoramic image can be sent to the display device through the controller, so as to facilitate the inspection of the color, characteristics, damage, etc. of the vehicle, and to check whether it is consistent with the vehicle reporting information, thereby facilitating the standardized supervision of the vehicle.

[0121] The embodiments of the present disclosure are described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the various embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The above definitions of the various elements and methods are not limited to the various specific structures, shapes or methods mentioned in the embodiments, and those of ordinary skill in the art can simply change or replace them. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should all fall within the scope of the present disclosure.

Claims

1. A panoramic stitching system for a vehicle, comprising: Support frame; At least three area array cameras are arranged on the support frame, and are used to capture multiple external images of the vehicle in different directions according to a preset frame rate; as well as a panoramic stitching device, communicatively connected to the area array cameras, for stitching a plurality of the shape images into sub-images using an optical flow method based on common features in two adjacent shape images captured by each of the area array cameras, and further stitching a panoramic image of the vehicle based on the plurality of sub-images; Wherein, the panoramic stitching device is constructed as follows: When one or more of the at least three area array cameras captures a blurred shape image whose contrast does not meet a preset threshold, determining common features and a stitching rule of two adjacent clear shape images captured by other area array cameras among the at least three area array cameras, and stitching the multiple clear shape images into a first sub-image by the other area array cameras, wherein the contrast of the clear shape images captured by the other area array cameras meets the preset threshold; Each of the one or more area array cameras stitches the multiple blurred shape images taken by the area array camera into a second sub-image according to the stitching rule; A panoramic image of the vehicle is formed based on the first sub-image and the second sub-image.

2. The system according to claim 1, further comprising: The fill light source is arranged on the supporting frame and is used to provide suitable shooting conditions for the area array camera.

3. The system according to claim 1, wherein: The support frame includes a fixed support frame connected to the ground or a movable support frame movable relative to the ground.

4. The system according to any one of claims 1 to 3, wherein: The support frame includes at least two side columns and at least one crossbeam, and both ends of the crossbeam are respectively connected to the side columns; The side column includes: A first column, wherein a lifting groove is provided on the upper surface of the first column; a lifting device, disposed in the lifting slot; and a second column, wherein the lower end of the second column is connected to the upper end of the lifting device, and the upper end of the second column is connected to the crossbeam; The lifting device is used to change the horizontal height of the crossbeam by changing the relative distance between the second column and the first column, thereby allowing vehicles of different heights to pass through the support frame.

5. The system according to claim 4, wherein: The lifting device comprises: A hydraulic cylinder is arranged in the lifting groove, and the end of the piston rod of the hydraulic cylinder is connected to the second column.

6. The system according to claim 4, wherein: The lifting device comprises: a partition plate disposed in the lifting tank to divide the lifting tank into a first cavity and a second cavity, wherein the first cavity is located relatively below the second cavity; a motor, disposed in the first cavity, wherein an output shaft of the motor passes through the partition; a threaded rod disposed in the second cavity and connected to an end of the output shaft in the second cavity; and The sleeve has an internal thread, the internal thread is threadedly connected to the threaded rod in the second cavity, and one end of the sleeve away from the motor is connected to the second column.

7. The system according to any one of claims 1 to 3, wherein: The support frame includes one or more columns.

8. The system according to any one of claims 1 to 3, further comprising: a controller electrically connected to the area array camera and the panoramic stitching device; as well as A vehicle speed calculation device is connected to the controller, and is used to calculate the speed information of the vehicle through common features in the multiple appearance images, so that the controller controls the working status of the area array camera and the panoramic stitching device according to the speed information.

9. The system according to claim 8, further comprising: A vehicle detection module is communicatively connected to the controller, and is used to detect whether a vehicle has entered a detection area of ​​the vehicle detection module. When a vehicle is detected in the detection area, the vehicle detection module sends a first signal to the controller so that the controller controls the working status of the area array camera and the panoramic stitching device according to the first signal.

10. The system of claim 8, further comprising: A display device is communicatively connected to the controller, and the display device is used to output the panoramic image of the vehicle.

Images