An underbody oil and water identification system and method

Abstract

The present application discloses a vehicle bottom oil-water identification system, including: a vehicle receiving device; N front-stage visible light acquisition cameras and N front-stage temperature measurement cameras in the first acquisition area; N rear-stage temperature measurement cameras in the second acquisition area; a microwave emission device between the two acquisition areas; a controller, configured to obtain a vehicle bottom template image of a vehicle through vehicle number information, and after receiving a trigger signal, receive the images captured by each camera; and for the i-th front-stage visible light image, determine the liquid stain areas in the i-th front-stage visible light image through the vehicle bottom template image, and based on the i-th front-stage and i-th rear-stage temperature measurement images, determine the areas where the temperature change amount exceeds a first threshold in the liquid stain areas in the i-th front-stage visible light image as water stain areas, and those that do not exceed as oil stain areas. By applying the solution of the present application, the oil stains on the vehicle bottom can be determined efficiently and accurately. The present application also discloses a vehicle bottom oil-water identification method, which has corresponding effects.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle detection, and particularly to an underbody oil-water identification system and method. Background Art

[0002] Currently, when detecting whether components such as the gearbox at the bottom of a vehicle are leaking oil, some solutions adopt an oil stain judgment method that uses image recognition of the underbody photos taken by a camera. However, due to the high false alarm rate of the detection results, the workload of later review by maintenance personnel is still very large, and the actual use effect is very poor. Especially in the case of water stains at the bottom of the vehicle, it is difficult to distinguish between oil stains and water stains. In addition, some vehicle depots and maintenance depots still adopt the method of manual inspection, and then decide whether to arrange maintenance according to the severity of oil leakage. Manual detection has disadvantages such as low efficiency, time-consuming and laborious, which is not conducive to improving work efficiency and reducing labor costs.

[0003] In summary, how to efficiently determine the oil stains at the bottom of the vehicle and avoid the interference of water stains is a technical problem that those skilled in the art urgently need to solve at present. Summary of the Invention

[0004] The purpose of the present invention is to provide an underbody oil-water identification system and method to efficiently determine the oil stains at the bottom of the vehicle and avoid the interference of water stains.

[0005] To solve the above technical problems, the present invention provides the following technical solutions:

[0006] An underbody oil-water identification system includes:

[0007] A vehicle receiving device for sending a trigger signal carrying vehicle number information to a controller when a vehicle is detected to arrive;

[0008] N front-stage visible light acquisition cameras and N front-stage temperature measurement cameras arranged in a first acquisition area, N rear-stage temperature measurement cameras arranged in a second acquisition area, and a microwave emission device for emitting microwaves arranged between the first acquisition area and the second acquisition area;

[0009] Wherein, the distance between the first acquisition area and the vehicle receiving device is less than the distance between the second acquisition area and the vehicle receiving device. The i-th front-stage visible light acquisition camera is used to photograph the i-th area of the underbody and obtain the i-th front-stage visible light image. The i-th front-stage temperature measurement camera is used to photograph the i-th area of the underbody and obtain the i-th front-stage temperature measurement image carrying temperature information. The i-th rear-stage temperature measurement camera is used to photograph the i-th area of the underbody and obtain the i-th rear-stage temperature measurement image carrying temperature information. N and i are both positive integers, and 1 ≤ i ≤ N;

[0010] The controller is configured to obtain the underbody template image of the vehicle based on the vehicle number information, and after receiving the trigger signal, receive the images captured by each camera; and for the i-th pre-stage visible light image received, determine the liquid stain areas in the i-th pre-stage visible light image based on the underbody template image, and based on the i-th pre-stage temperature measurement image and the i-th post-stage temperature measurement image, determine the areas with a temperature change exceeding a first threshold in the liquid stain areas in the i-th pre-stage visible light image as water stain areas, and determine the areas with a temperature change not exceeding the first threshold in the liquid stain areas in the i-th pre-stage visible light image as oil stain areas.

[0011] Preferably, the vehicle receiving device is further configured to: when detecting the arrival of the vehicle, send the vehicle speed to the controller;

[0012] The controller is further configured to: determine a first target frequency corresponding to the vehicle speed according to a preset first correspondence, and set the acquisition frequencies of the N pre-stage visible light acquisition cameras to the first target frequency; determine a second target frequency corresponding to the vehicle speed according to a preset second correspondence, and set the acquisition frequencies of the N pre-stage temperature measurement cameras and the N post-stage temperature measurement cameras to the second target frequency; determine a target transmission power corresponding to the vehicle speed according to a preset third correspondence, and set the transmission power of the microwave transmission device to the target transmission power.

[0013] Preferably, the controller is specifically configured to:

[0014] Obtain the underbody template image of the vehicle based on the vehicle number information, after receiving the trigger signal, start the microwave transmission device, the N pre-stage visible light acquisition cameras, the N pre-stage temperature measurement cameras and the N post-stage temperature measurement cameras and maintain a first operation duration for all of them, and receive the images captured by each camera after startup; and for the i-th pre-stage visible light image received, determine the liquid stain areas in the i-th pre-stage visible light image based on the underbody template image, and based on the i-th pre-stage temperature measurement image and the i-th post-stage temperature measurement image, determine the areas with a temperature change exceeding a first threshold in the liquid stain areas in the i-th pre-stage visible light image as water stain areas, and determine the areas with a temperature change not exceeding the first threshold in the liquid stain areas in the i-th pre-stage visible light image as oil stain areas.

[0015] Preferably, the distance between the first acquisition area and the vehicle receiving device is the distance determined by S = V * k;

[0016] Wherein, S represents the distance between the first acquisition area and the car receiving device, V represents the specified vehicle speed value of the line, k is a preset parameter, and the startup time of any camera and the startup time of the microwave transmitting device are both less than k.

[0017] Preferably, the N pre-stage visible light acquisition cameras are all high-definition line-scan cameras;

[0018] The i-th pre-stage visible light image obtained by the i-th pre-stage visible light acquisition camera shooting the i-th area of the vehicle bottom is the i-th pre-stage visible light image obtained by the image fusion algorithm.

[0019] Preferably, the controller is specifically configured to:

[0020] Obtain the vehicle bottom template image of the vehicle through the vehicle number information. After receiving the trigger signal, start the microwave transmitting device, and start M pre-stage visible light acquisition cameras, M pre-stage temperature measurement cameras, and M post-stage temperature measurement cameras among the N pre-stage visible light acquisition cameras according to the vehicle number information, and maintain the first operation duration for all of them, and receive the images captured by each camera after startup; and, for the received i-th pre-stage visible light image, determine the liquid stain areas in the i-th pre-stage visible light image through the vehicle bottom template image, and based on the i-th pre-stage temperature measurement image and the i-th post-stage temperature measurement image, determine the areas where the temperature change amount exceeds the first threshold in the liquid stain areas in the i-th pre-stage visible light image as water stain areas, and determine the areas where the temperature change amount does not exceed the first threshold in the liquid stain areas in the i-th pre-stage visible light image as oil stain areas; M is a positive integer not greater than N.

[0021] Preferably, the pre-stage visible light acquisition camera and the pre-stage temperature measurement camera for shooting the same area of the vehicle bottom are arranged in the same protective box, and a drainage device for removing accumulated water and a blowing dust removal device for removing dust on the camera lens are also arranged in the protective box.

[0022] Preferably, the controller is further configured to:

[0023] For any determined oil stain area, judge whether there is a possibility of oil leakage in this oil stain area;

[0024] If it exists, output the pre-stage visible light image carrying this oil stain area to the target terminal;

[0025] If it does not exist, mark this oil stain area in the pre-stage visible light image carrying this oil stain area.

[0026] Preferably, it further includes: N post-stage visible light acquisition cameras arranged in the second acquisition area, where the i-th post-stage visible light acquisition camera is used to capture the i-th area of the vehicle bottom and obtain the i-th post-stage visible light image;

[0027] The controller is further configured to:

[0028] After receiving the trigger signal, receive the images captured by each post-stage visible light acquisition camera; after confirming the oil leakage feasibility of any oil stain area, output the post-stage visible light image carrying the oil stain area to the target terminal.

[0029] A method for identifying oil and water on the vehicle bottom, applied to the vehicle bottom oil and water identification system described in any one of the above, includes:

[0030] The controller receives a trigger signal carrying vehicle number information sent by the vehicle receiving device when detecting the arrival of the vehicle;

[0031] The controller obtains the vehicle bottom template image of the vehicle through the vehicle number information;

[0032] The controller receives the images captured by each camera, and for the received i-th pre-stage visible light image, determines each liquid stain area in the i-th pre-stage visible light image through the vehicle bottom template image, and based on the i-th pre-stage temperature measurement image and the i-th post-stage temperature measurement image, determines the liquid stain areas in the i-th pre-stage visible light image where the temperature change amount exceeds the first threshold as water stain areas, and determines the liquid stain areas in the i-th pre-stage visible light image where the temperature change amount does not exceed the first threshold as oil stain areas. N and i are both positive integers, and 1 ≤ i ≤ N.

[0033] Preferably, it further includes:

[0034] The controller receives the vehicle speed sent by the vehicle receiving device;

[0035] The controller determines the first target frequency corresponding to the vehicle speed according to a preset first correspondence relationship, and sets the acquisition frequency of each pre-stage visible light acquisition camera to the first target frequency; determines the second target frequency corresponding to the vehicle speed according to a preset second correspondence relationship, and sets the acquisition frequency of each pre-stage temperature measurement camera and each post-stage temperature measurement camera to the second target frequency; determines the target transmission power corresponding to the vehicle speed according to a preset third correspondence relationship, and sets the transmission power of the microwave transmission device to the target transmission power.

[0036] Preferably, the controller receiving the images captured by each camera includes:

[0037] After receiving the trigger signal, the controller starts the microwave emission device, N front-stage visible light acquisition cameras, N front-stage temperature measurement cameras, and N rear-stage temperature measurement cameras, and maintains the first operation duration for all of them, and receives the images captured by each camera after startup.

[0038] Preferably, the distance between the first acquisition area and the vehicle receiving device is the distance determined by S = V * k;

[0039] Wherein, S represents the distance between the first acquisition area and the vehicle receiving device, V represents the specified vehicle speed value of the line, k is a preset parameter, and the startup time consumption of any camera and the startup time consumption of the microwave emission device are both less than k.

[0040] Preferably, the controller receiving the images captured by each camera includes:

[0041] After receiving the trigger signal, the controller starts the microwave emission device, and starts M front-stage visible light acquisition cameras out of N front-stage visible light acquisition cameras, M front-stage temperature measurement cameras out of N front-stage temperature measurement cameras, and M rear-stage temperature measurement cameras out of N rear-stage temperature measurement cameras according to the vehicle number information, and maintains the first operation duration for all of them, and receives the images captured by each camera after startup.

[0042] Preferably, it further includes:

[0043] For any determined oil stain area, the controller determines whether there is a feasibility of oil leakage in this oil stain area;

[0044] If it exists, the front-stage visible light image carrying this oil stain area is output to the target terminal;

[0045] If it does not exist, the oil stain area is marked in the front-stage visible light image carrying this oil stain area.

[0046] Applying the technical solution provided by the embodiments of the present invention, through the vehicle receiving device, N front-stage visible light acquisition cameras, N front-stage temperature measurement cameras, N rear-stage temperature measurement cameras, a microwave transmitting device, and a controller, the automatic identification of oil stains on the vehicle bottom is realized, and the interference of water stains can be avoided. Therefore, the solution of this application can efficiently and accurately determine the oil stains on the vehicle bottom. Specifically, N front-stage visible light acquisition cameras and N front-stage temperature measurement cameras are arranged in the first acquisition area, N rear-stage temperature measurement cameras are arranged in the second acquisition area, the microwave transmitting device is arranged between the first acquisition area and the second acquisition area for transmitting microwaves, and the distance between the first acquisition area and the vehicle receiving device is less than the distance between the second acquisition area and the vehicle receiving device. That is to say, along the driving direction of the vehicle, they are successively the vehicle receiving device, the first acquisition area, the microwave transmitting device, and the second acquisition area. When the vehicle receiving device detects the arrival of the vehicle, it can send a trigger signal carrying the vehicle number information to the controller. When the controller receives the trigger signal, it indicates that the vehicle has arrived. The i-th front-stage visible light acquisition camera can capture the i-th area of the vehicle bottom and obtain the i-th front-stage visible light image. When the controller receives the i-th front-stage visible light image and compares it with the vehicle bottom template image, the liquid stain areas in the i-th front-stage visible light image can be determined. This application utilizes the physical property that the dielectric constants of oil and water are extremely different and their temperature changes are very different under microwave irradiation. Specifically, water is a polar substance and will absorb microwaves and heat up under microwave irradiation, while oil is a non-polar substance and absorbs very little microwave in the microwave and its temperature basically does not change. Therefore, after the liquid stain areas in the i-th front-stage visible light image pass through the microwave transmitting device, the temperature difference can be compared through the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image. The liquid stain areas in the i-th front-stage visible light image where the temperature change amount exceeds the first threshold can be determined as water stain areas, and the liquid stain areas in the i-th front-stage visible light image where the temperature change amount does not exceed the first threshold can be determined as oil stain areas. In summary, the solution of this application can efficiently and accurately determine the oil stains on the vehicle bottom. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 It is a schematic structural diagram of a vehicle bottom oil-water identification system in the present invention;

[0049] Figure 2 It is an implementation flowchart of a vehicle bottom oil-water identification method in the present invention. Detailed implementation manners

[0050] The core of the present invention is to provide a vehicle bottom oil-water identification system, which can efficiently and accurately determine the oil stains at the vehicle bottom.

[0051] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0052] Please refer to Figure 1 , Figure 1 , which is a schematic structural diagram of a vehicle bottom oil-water identification system in the present invention. The vehicle bottom oil-water identification system may include:

[0053] A vehicle receiving device 10, configured to send a trigger signal carrying vehicle number information to a controller 50 when detecting the arrival of a vehicle;

[0054] N front-stage visible light acquisition cameras 22 and N front-stage temperature measurement cameras 21 arranged in a first acquisition area, N rear-stage temperature measurement cameras 40 arranged in a second acquisition area, and a microwave emission device 30 for emitting microwaves arranged between the first acquisition area and the second acquisition area;

[0055] Wherein, the distance between the first acquisition area and the vehicle receiving device 10 is less than the distance between the second acquisition area and the vehicle receiving device 10. The i-th front-stage visible light acquisition camera 22 is configured to photograph the i-th area of the vehicle bottom and obtain an i-th front-stage visible light image. The i-th front-stage temperature measurement camera 21 is configured to photograph the i-th area of the vehicle bottom and obtain an i-th front-stage temperature measurement image carrying temperature information. The i-th rear-stage temperature measurement camera 40 is configured to photograph the i-th area of the vehicle bottom and obtain an i-th rear-stage temperature measurement image carrying temperature information. Both N and i are positive integers, and 1 ≤ i ≤ N;

[0056] A controller 50, configured to obtain a vehicle bottom template image of the vehicle through the vehicle number information, and receive the images photographed by each camera after receiving the trigger signal; and, for the received i-th front-stage visible light image, determine the liquid stain areas in the i-th front-stage visible light image through the vehicle bottom template image, and based on the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image, determine the areas with a temperature change amount exceeding a first threshold in the liquid stain areas in the i-th front-stage visible light image as water stain areas, and determine the areas with a temperature change amount not exceeding the first threshold in the liquid stain areas in the i-th front-stage visible light image as oil stain areas.

[0057] Specifically, in the solution of this application, along the driving direction of the vehicle, a vehicle receiving device 10, a first acquisition area, a microwave transmitting device 30, and a second acquisition area are sequentially arranged, and there is a certain distance between them, and the distance can be set according to the actual situation. The vehicle described in this application is usually a rail train, but it can also be a vehicle such as a car, which does not affect the implementation of the present invention.

[0058] The vehicle receiving device 10 can detect the arrival of the vehicle and send a trigger signal carrying vehicle number information to the controller 50. For example, specifically, technologies such as radio frequency identification and image recognition can be used to collect vehicle number information. In addition, in other scenarios, the vehicle receiving device 10 can also detect information such as the vehicle speed and current position of the vehicle and send it to the controller 50.

[0059] In the first acquisition area of this application, N front-stage visible light acquisition cameras 22 and N front-stage temperature measurement cameras 21 are arranged. The distance between the first acquisition area and the vehicle receiving device 10 is less than the distance between the second acquisition area and the vehicle receiving device 10, and the microwave transmitting device 30 is arranged between the first acquisition area and the second acquisition area. This means that after the vehicle passes through the vehicle receiving device 10, it will first pass through the first acquisition area.

[0060] The specific value of N can be set and adjusted according to actual needs, depending on the number of areas that the vehicle needs to detect, that is, different camera groups have different shooting angles to detect different areas of the vehicle. In the solution of this application, the i-th front-stage visible light acquisition camera 22, the i-th front-stage temperature measurement camera 21, and the i-th rear-stage temperature measurement camera 40 detect the same area of the vehicle bottom. Specifically, the i-th front-stage visible light acquisition camera 22 is used to capture the i-th area of the vehicle bottom and obtain the i-th front-stage visible light image, the i-th front-stage temperature measurement camera 21 is used to capture the i-th area of the vehicle bottom and obtain the i-th front-stage temperature measurement image carrying temperature information, and the i-th rear-stage temperature measurement camera 40 is used to capture the i-th area of the vehicle bottom and obtain the i-th rear-stage temperature measurement image carrying temperature information. i can take values from 1 to N. For the convenience of description in the following text of this application, an example of i = 1 is used to illustrate the oil-water discrimination of the first area of the vehicle bottom.

[0061] Since there may be multiple different vehicles running on the same line, the controller 50 needs to obtain the vehicle bottom template image corresponding to the vehicle number information through the vehicle number information. The vehicle bottom template image represents the pre-stored standard vehicle bottom image of this vehicle model. It can be understood that this standard vehicle bottom image should be a clear, complete, and stain-free vehicle bottom image.

[0062] After the controller 50 receives the trigger signal, it indicates that the vehicle is driving towards the first acquisition area. Next, after the bottom of the vehicle passes through the first acquisition area, the first front-stage visible light acquisition camera 22 can capture the first area of the vehicle bottom, thereby obtaining the first front-stage visible light image. Moreover, the first front-stage temperature measurement camera 21 can capture the first area of the vehicle bottom and obtain the first front-stage temperature measurement image carrying temperature information.

[0063] The specific types of the N front-stage visible light acquisition cameras 22 and the N front-stage temperature measurement cameras 21 can be set and adjusted according to actual needs. For example, each front-stage visible light acquisition camera 22 is a high-definition camera, and each front-stage temperature measurement camera 21 and each rear-stage temperature measurement camera 40 are infrared cameras. In a specific embodiment of the present invention, considering that the driving speed of the vehicle is usually relatively fast, the N front-stage visible light acquisition cameras 22 can all be high-definition line-scan cameras. Correspondingly, the i-th front-stage visible light acquisition camera 22 captures the i-th area of the vehicle bottom and obtains the i-th front-stage visible light image, which is specifically the i-th front-stage visible light image obtained through an image fusion algorithm.

[0064] The controller 50 obtains the first front-stage visible light image, compares it with the first area in the vehicle bottom template image, and performs intelligent analysis through image recognition technology, and then can determine the abnormal positions with water stains or oil stains in the first front-stage visible light image, that is, can determine the liquid stain areas in the first front-stage visible light image.

[0065] The vehicle drives away from the first acquisition area and then passes through the microwave emission device 30. The microwave emission device 30 can emit microwaves towards the vehicle bottom. The dielectric constants of oil and water are very different, and there are great differences in temperature changes under microwave irradiation. Specifically, water is a polar substance, and under the irradiation of microwaves, its temperature will rise due to absorbing microwaves, while oil is a non-polar substance, and it absorbs very little microwave in microwaves, and its temperature basically does not change.

[0066] The vehicle drives away from the microwave emission device 30 and finally passes through the second acquisition area, where N rear-stage temperature measurement cameras 40 are arranged. Still taking the first area of the vehicle bottom as an example, the controller 50 determines the liquid stain areas in the first front-stage visible light image. Then, based on the first front-stage temperature measurement image and the first rear-stage temperature measurement image, the areas in the liquid stain areas in the first front-stage visible light image where the temperature change amount exceeds the first threshold are determined as water stain areas, and the areas in the liquid stain areas in the first front-stage visible light image where the temperature change amount does not exceed the first threshold are determined as oil stain areas. That is, the areas with obvious temperature changes are water stains, and the areas with unobvious temperature changes are oil stains.

[0067] The specific value of the first threshold can be set and adjusted according to actual needs.

[0068] Further, in a specific embodiment of the present invention, the vehicle receiving device 10 can also be used to: when detecting the arrival of a vehicle, send the vehicle speed to the controller 50;

[0069] The controller 50 is further used to: determine a first target frequency corresponding to the vehicle speed according to a preset first correspondence relationship, and set the acquisition frequency of each front-stage visible light acquisition camera 22 to the first target frequency; determine a second target frequency corresponding to the vehicle speed according to a preset second correspondence relationship, and set the acquisition frequency of each front-stage temperature measurement camera 21 and each rear-stage temperature measurement camera 40 to the second target frequency.

[0070] In this embodiment of the present application, the frequencies of each camera are adjusted according to the vehicle speed. That is, the first correspondence relationship determines the correspondence relationship between the acquisition frequency of each front-stage visible light acquisition camera 22 and the vehicle speed, and the second correspondence relationship determines the correspondence relationship between the acquisition frequency of each front-stage temperature measurement camera 21 and each rear-stage temperature measurement camera 40 and the vehicle speed. It can be understood that the specific content of the first correspondence relationship and the second correspondence relationship can be preset and adjusted according to actual needs. Generally speaking, the acquisition frequency needs to be positively correlated with the vehicle speed, so that the accuracy of the collected images will not be affected when the vehicle speed is relatively fast, which is beneficial to ensuring the accuracy of the oil-water discrimination in this solution.

[0071] In addition, when the vehicle receiving device 10 detects the vehicle speed, it can be detected only once or in real time. If it is detected in real time, the controller 50 can update the acquisition frequency of each camera in real time. In practical applications, the speed of the train usually does not change much from the time it arrives at the vehicle receiving device 10 until it leaves the second acquisition area.

[0072] Further, in one scenario, in addition to controlling the acquisition frequency of the camera, the controller 50 can also adjust the transmission power of the microwave transmission device 30 according to the vehicle speed, and the transmission power should be positively correlated with the vehicle speed. Specifically, the controller can determine a target transmission power corresponding to the vehicle speed according to a preset third correspondence relationship, and set the transmission power of the microwave transmission device to the target transmission power. Thus, when the vehicle speed is relatively fast, the water stain can also absorb enough energy to generate sufficient temperature change.

[0073] In a specific embodiment of the present invention, the controller 50 is specifically used to:

[0074] Obtain the underbody template image of the vehicle through the car number information. After receiving the trigger signal, start the microwave transmitting device 30, N front-stage visible light acquisition cameras 22, N front-stage temperature measurement cameras 21, and N rear-stage temperature measurement cameras 40 and maintain the first operation duration for all of them, and receive the images captured by each camera after startup. Moreover, for the i-th front-stage visible light image received, determine the liquid stain areas in the i-th front-stage visible light image through the underbody template image, and based on the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image, determine the areas with temperature change exceeding the first threshold in the liquid stain areas in the i-th front-stage visible light image as water stain areas, and determine the areas with temperature change not exceeding the first threshold in the liquid stain areas in the i-th front-stage visible light image as oil stain areas.

[0075] In this implementation manner, considering that the solution of the present application is usually applied to rail trains, and it usually takes a long time for a train to pass on the track. Therefore, the present application can start each camera when a train is about to pass and turn off each camera after the train has left, which is beneficial to avoiding unnecessary energy consumption. Specifically, the controller 50 starts the microwave transmitting device 30, N front-stage visible light acquisition cameras 22, N front-stage temperature measurement cameras 21, and N rear-stage temperature measurement cameras 40 and maintains the first operation duration for all of them only after receiving the trigger signal, rather than keeping each camera and the microwave transmitting device 30 running all the time.

[0076] The specific value of the first operation duration can be set and adjusted in advance according to the actual situation, for example, set according to factors such as vehicle speed and vehicle length.

[0077] In a specific implementation manner of the present invention, the distance between the first acquisition area and the train receiving device 10 is the distance determined by S = V * k;

[0078] where S represents the distance between the first acquisition area and the train receiving device 10, V represents the specified vehicle speed value of the line, k is a preset parameter, and the startup time of any camera and the startup time of the microwave transmitting device 30 are both less than k.

[0079] In the foregoing embodiment, each camera and the microwave transmitting device 30 are only activated when the train arrival is detected by the train receiving device 10. In this embodiment, in order to ensure that each camera and the microwave transmitting device 30 can be activated in a timely manner, S = V * k is used as the distance between the first acquisition area and the train receiving device 10. Since k is a preset parameter, and the startup time of any camera and the startup time of the microwave transmitting device 30 are both less than k, when the train travels to the first acquisition area, this embodiment can ensure that each camera and the microwave transmitting device 30 have been activated. V represents the specified vehicle speed value of the line. Usually, each line has its maximum speed limit value, and this value can be used as V. In addition, it is found in practical applications that when k is set to 5, it can usually ensure that each camera and the microwave transmitting device 30 can be activated in a timely manner.

[0080] In a specific embodiment of the present invention, the controller 50 is specifically configured to:

[0081] Obtain the underbody template image of the vehicle through the vehicle number information. After receiving the trigger signal, activate the microwave transmitting device 30, and activate M of the N front-stage visible light acquisition cameras 22, M of the N front-stage temperature measurement cameras 21, and M of the N rear-stage temperature measurement cameras 40 according to the vehicle number information, and maintain the first operation duration for all of them, and receive the images captured by each camera after activation; and, for the received i-th front-stage visible light image, determine the liquid stain areas in the i-th front-stage visible light image through the underbody template image, and based on the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image, determine the areas with a temperature change amount exceeding the first threshold in the liquid stain areas in the i-th front-stage visible light image as water stain areas, and determine the areas with a temperature change amount not exceeding the first threshold in the liquid stain areas in the i-th front-stage visible light image as oil stain areas; M is a positive integer not greater than N.

[0082] In this embodiment, considering that there may be multiple different vehicles running on the same line, and the underbody conditions of different vehicles are different, the number and positions of the underbody areas to be detected may also be different to some extent. Therefore, different numbers of camera groups can be configured for different vehicles, and the angles of each camera group are different to achieve shooting at different positions. The camera group described here refers to each camera for shooting the same area, for example, the 1st front-stage visible light acquisition camera 22, the 1st front-stage temperature measurement camera 21, and the 1st rear-stage temperature measurement camera 40 can form 1 camera group.

[0083] After obtaining the vehicle number information, the controller 50 can activate the microwave emission device 30. At the same time, according to the pre-set corresponding relationship, it enables each camera group for detecting this type of vehicle, that is, according to the vehicle number information, it activates M of the N front-stage visible light acquisition cameras 22, M of the N front-stage temperature measurement cameras 21, and M of the N rear-stage temperature measurement cameras 40. And in this implementation manner, the first operation duration is also maintained uniformly, which is beneficial to avoiding waste of energy.

[0084] In a specific implementation manner of the present invention, the front-stage visible light acquisition camera 22 and the front-stage temperature measurement camera 21 for photographing the same area of the vehicle bottom are arranged in the same protective box, and a drainage device for removing accumulated water and a blowing dust removal device for removing dust on the camera lens are also arranged in the protective box.

[0085] The front-stage visible light acquisition camera 22 and the front-stage temperature measurement camera 21 for photographing the same area of the vehicle bottom are arranged in the same protective box, which can achieve an integrated design. In addition, in addition to the cameras, light sources, trigger controllers, etc. can also be integrated together, with a cable connector reserved externally, and the IP protection level can reach IP67.

[0086] Both the front-stage visible light acquisition camera 22 and the front-stage temperature measurement camera 21 can be installed in the protective box through mounting brackets, and the mounting brackets can be adjusted at an appropriate angle to facilitate the adjustment of the shooting angle of the cameras. The drainage device can remove accumulated water to prevent devices such as cameras from being soaked in water for a long time.

[0087] The box body of the protective box serves as an installation carrier for other internal components and devices, can protect the devices inside the box, has a certain protective effect, and can also prevent a large amount of dust and rainwater from entering the box and damaging the devices. In addition, the present application also provides a blowing dust removal device to remove dust on the camera lens.

[0088] In this implementation manner, the protective box is used to protect the devices in the first acquisition area. In other scenarios, the microwave emission device 30, the second acquisition area, and the controller 50 can also be protected.

[0089] For example, the microwave emission device 30 can include a microwave transmitter, a transmission controller 50, a drainage device, a mounting bracket, and a protective box. The microwave transmitter and the transmission controller 50 can be integrated together and installed in the protective box through the mounting bracket, with a cable connector reserved externally. The mounting bracket can be adjusted at an appropriate angle to facilitate the adjustment of the microwave emission angle. The drainage device has the same function as that in the above embodiment.

[0090] The functions of the controller 50 of the present application can be implemented by a single device or multiple devices, which does not affect the implementation of the present invention. For example, in a specific scenario, the controller 50 may include a first control unit and an intelligent analysis unit. The first control unit can achieve power supply control for the first acquisition area, the second acquisition area, and the microwave transmission device 30 through a power supply device. The first control unit can also send the data from the first acquisition area and the second acquisition area to the intelligent analysis unit, so that the intelligent analysis unit can identify oil and water under the vehicle. In addition, through the first control unit and the switch, data interaction can also be carried out between the vehicle bottom oil and water identification system of the present application and a remote terminal.

[0091] Each component unit constituting the controller 50 can also be uniformly arranged in a protection box to prevent a large amount of dust from entering the box and damaging the equipment. In addition, heating equipment and cooling equipment can also be arranged in the protection box, so that the temperature in the protection box is constant, preventing equipment damage caused by overheating or the inability of the equipment to start due to too low temperature.

[0092] In a specific embodiment of the present invention, the controller 50 can also be used for:

[0093] For any determined oil stain area, judge whether there is oil leakage feasibility in this oil stain area;

[0094] If it exists, output the pre-stage visible light image carrying this oil stain area to the target terminal;

[0095] If it does not exist, mark this oil stain area in the pre-stage visible light image carrying this oil stain area.

[0096] In this embodiment, considering that after identifying each oil stain area, it can be judged whether there is oil leakage feasibility in this oil stain area. For example, if there is a fuel tank or other devices containing oil liquid around a certain oil stain area, it can be determined that there is oil leakage feasibility in this oil stain area. And for example, if there are no devices or equipment that may leak oil around a certain oil stain area, it can be determined that there is no oil leakage feasibility in this oil stain area, indicating that it may be a misidentification.

[0097] For the oil stain area with oil leakage feasibility, the present application will output the pre-stage visible light image carrying this oil stain area to the target terminal, that is, push this as a fault to the maintenance personnel for confirmation and verification. For the oil stain area without oil leakage feasibility, the present application only marks this oil stain area in the pre-stage visible light image carrying this oil stain area, which means that the priority of this situation is relatively low and it can be temporarily not sent to the target terminal for processing.

[0098] In this implementation manner, the judgment of the oil leakage feasibility is carried out, so that the accuracy of the oil stain area output to the target terminal is very high, effectively assisting the maintenance work of the staff.

[0099] In a specific implementation manner of the present invention, it further includes: N post-stage visible light acquisition cameras arranged in the second acquisition area, and the i-th post-stage visible light acquisition camera is used to photograph the i-th area of the vehicle bottom and obtain the i-th post-stage visible light image;

[0100] The controller 50 is further configured to:

[0101] After receiving the trigger signal, receive the images captured by each post-stage visible light acquisition camera; after confirming the oil leakage feasibility of any oil stain area, output the post-stage visible light image carrying the oil stain area to the target terminal.

[0102] In this implementation manner, N post-stage visible light acquisition cameras are arranged in the second acquisition area, and after confirming the oil leakage feasibility of any oil stain area, the post-stage visible light image carrying the oil stain area can be output to the target terminal, which can facilitate the staff to confirm the oil stain area.

[0103] Applying the technical solution provided by the embodiment of the present invention, through the vehicle receiving device 10, N front-stage visible light acquisition cameras 22, N front-stage temperature measurement cameras 21, N rear-stage temperature measurement cameras 40, a microwave transmitting device 30 and a controller 50, automatic identification of oil stains on the vehicle bottom is achieved, and interference from water stains can be avoided. Therefore, the solution of the present application can efficiently and accurately determine the oil stains on the vehicle bottom. Specifically, the N front-stage visible light acquisition cameras 22 and the N front-stage temperature measurement cameras 21 are arranged in the first acquisition area, the N rear-stage temperature measurement cameras 40 are arranged in the second acquisition area, the microwave transmitting device 30 is arranged between the first acquisition area and the second acquisition area for transmitting microwaves, and the distance between the first acquisition area and the vehicle receiving device 10 is less than the distance between the second acquisition area and the vehicle receiving device 10. That is to say, along the driving direction of the vehicle, there are successively the vehicle receiving device 10, the first acquisition area, the microwave transmitting device 30, and the second acquisition area. When the vehicle receiving device 10 detects the arrival of the vehicle, it can send a trigger signal carrying vehicle number information to the controller 50. When the controller 50 receives the trigger signal, it indicates that the vehicle has arrived. The i-th front-stage visible light acquisition camera 22 can capture the i-th area of the vehicle bottom and obtain the i-th front-stage visible light image. When the controller 50 receives the i-th front-stage visible light image, by comparing it with the vehicle bottom template image, the liquid stain areas at various locations in the i-th front-stage visible light image can be determined. The present application utilizes the physical property that the dielectric constants of oil and water are extremely different and there are significant differences in temperature changes under microwave irradiation. Specifically, water is a polar substance and will absorb microwaves and heat up under microwave irradiation, while oil is a non-polar substance and absorbs very little microwave in the microwave and its temperature basically does not change. Therefore, after the liquid stain areas at various locations in the i-th front-stage visible light image pass through the microwave transmitting device 30, the temperature differences can be compared through the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image. The liquid stain areas at various locations in the i-th front-stage visible light image where the temperature change amount exceeds the first threshold can be determined as water stain areas, and the liquid stain areas at various locations in the i-th front-stage visible light image where the temperature change amount does not exceed the first threshold can be determined as oil stain areas. In summary, the solution of the present application can efficiently and accurately determine the oil stains on the vehicle bottom.

[0104] Corresponding to the above embodiments of the vehicle bottom oil-water identification system, an embodiment of the present invention further provides a vehicle bottom oil-water identification method, which is applied to the vehicle bottom oil-water identification system described in any of the above embodiments and can be mutually corresponding and referenced with the above text.

[0105] See Figure 2 As shown, the following is the implementation flowchart of a vehicle bottom oil-water identification method in the present invention, including:

[0106] Step S201: The controller receives a trigger signal carrying vehicle number information sent by the vehicle receiving device when it detects the arrival of the vehicle;

[0107] Step S202: The controller obtains the underbody template image of the vehicle through the vehicle number information.

[0108] Step S203: The controller receives the images captured by each camera. And for the received i-th pre-stage visible light image, the controller determines the liquid stain areas in the i-th pre-stage visible light image through the underbody template image, and based on the i-th pre-stage temperature measurement image and the i-th post-stage temperature measurement image, determines the areas with a temperature change amount exceeding the first threshold in the liquid stain areas in the i-th pre-stage visible light image as water stain areas, and determines the areas with a temperature change amount not exceeding the first threshold in the liquid stain areas in the i-th pre-stage visible light image as oil stain areas. Both N and i are positive integers, and 1 ≤ i ≤ N.

[0109] In a specific embodiment of the present invention, it further includes: The controller receives the vehicle speed sent by the vehicle receiving device.

[0110] The controller determines the first target frequency corresponding to the vehicle speed according to the preset first correspondence relationship, and sets the acquisition frequency of each pre-stage visible light acquisition camera to the first target frequency; determines the second target frequency corresponding to the vehicle speed according to the preset second correspondence relationship, and sets the acquisition frequency of each pre-stage temperature measurement camera and each post-stage temperature measurement camera to the second target frequency; determines the target transmission power corresponding to the vehicle speed according to the preset third correspondence relationship, and sets the transmission power of the microwave transmission device to the target transmission power.

[0111] In a specific embodiment of the present invention, the controller receiving the images captured by each camera described in Step S203 is specifically:

[0112] After receiving the trigger signal, the controller starts the microwave transmission device, N pre-stage visible light acquisition cameras, N pre-stage temperature measurement cameras and N post-stage temperature measurement cameras and maintains the first operation duration, and receives the images captured by each camera after startup.

[0113] In a specific embodiment of the present invention, the distance between the first acquisition area and the vehicle receiving device is the distance determined by S = V * k;

[0114] wherein, S represents the distance between the first acquisition area and the vehicle receiving device, V represents the specified vehicle speed value of the line, k is a preset parameter, and the startup time of any camera and the startup time of the microwave transmission device are both less than k.

[0115] In a specific embodiment of the present invention, the N pre-stage visible light acquisition cameras are all high-definition line scan cameras;

[0116] The i-th pre-stage visible light image obtained by the i-th pre-stage visible light acquisition camera shooting the i-th area of the vehicle underbody is the i-th pre-stage visible light image obtained through the image fusion algorithm.

[0117] In a specific embodiment of the present invention, the controller described in step S203 receives the images captured by each camera, specifically:

[0118] After receiving the trigger signal, the controller starts the microwave emission device, and according to the vehicle number information, starts M of the N front-stage visible light acquisition cameras, M of the N front-stage temperature measurement cameras, and M of the N rear-stage temperature measurement cameras, and maintains the first operation duration for all of them, and receives the images captured by each camera after startup.

[0119] In a specific embodiment of the present invention, the front-stage visible light acquisition camera and the front-stage temperature measurement camera for photographing the same area of the vehicle bottom are arranged in the same protective box, and a drainage device for removing accumulated water and a blowing dust removal device for removing dust on the camera lens are also arranged in the protective box.

[0120] In a specific embodiment of the present invention, it further includes:

[0121] The controller determines whether there is an oil leakage feasibility for any determined oil stain area.

[0122] If it exists, the front-stage visible light image carrying the oil stain area is output to the target terminal.

[0123] If it does not exist, the oil stain area is marked in the front-stage visible light image carrying the oil stain area.

[0124] In a specific embodiment of the present invention, it further includes: N rear-stage visible light acquisition cameras arranged in the second acquisition area, and the i-th rear-stage visible light acquisition camera is used to photograph the i-th area of the vehicle bottom and obtain the i-th rear-stage visible light image.

[0125] After receiving the trigger signal, the controller receives the images captured by each rear-stage visible light acquisition camera; after confirming that there is an oil leakage feasibility for any determined oil stain area, the rear-stage visible light image carrying the oil stain area is output to the target terminal.

[0126] It should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0127] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this text can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0128] Specific examples are used in this text to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the technical solution and its core idea of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. An underbody oil and water identification system, characterized in that, Including: A vehicle receiving device, configured to send a trigger signal carrying vehicle number information to a controller when detecting the arrival of a vehicle; N front-stage visible light acquisition cameras and N front-stage temperature measurement cameras arranged in a first acquisition area, N rear-stage temperature measurement cameras arranged in a second acquisition area, and a microwave transmitting device for emitting microwaves arranged between the first acquisition area and the second acquisition area; Wherein, the distance between the first acquisition area and the vehicle receiving device is less than the distance between the second acquisition area and the vehicle receiving device. The i-th front-stage visible light acquisition camera is configured to capture the i-th area of the vehicle bottom and obtain an i-th front-stage visible light image. The i-th front-stage temperature measurement camera is configured to capture the i-th area of the vehicle bottom and obtain an i-th front-stage temperature measurement image carrying temperature information. The i-th rear-stage temperature measurement camera is configured to capture the i-th area of the vehicle bottom and obtain an i-th rear-stage temperature measurement image carrying temperature information. N and i are both positive integers, and 1 ≤ i ≤ N; The controller is configured to obtain a vehicle bottom template image of the vehicle through the vehicle number information, and after receiving the trigger signal, receive the images captured by each camera; and for the received i-th front-stage visible light image, determine the liquid stain areas in the i-th front-stage visible light image through the vehicle bottom template image, and based on the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image, determine the areas where the temperature change amount exceeds a first threshold in the liquid stain areas in the i-th front-stage visible light image as water stain areas, and determine the areas where the temperature change amount does not exceed the first threshold in the liquid stain areas in the i-th front-stage visible light image as oil stain areas; Specifically, the controller is configured to: Obtain a vehicle bottom template image of the vehicle through the vehicle number information, after receiving the trigger signal, start the microwave transmitting device, N front-stage visible light acquisition cameras, N front-stage temperature measurement cameras and N rear-stage temperature measurement cameras and maintain a first operation duration for all of them, and receive the images captured by each camera after starting; and for the received i-th front-stage visible light image, determine the liquid stain areas in the i-th front-stage visible light image through the vehicle bottom template image, and based on the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image, determine the areas where the temperature change amount exceeds a first threshold in the liquid stain areas in the i-th front-stage visible light image as water stain areas, and determine the areas where the temperature change amount does not exceed the first threshold in the liquid stain areas in the i-th front-stage visible light image as oil stain areas.

2. The underbody oil-water identification system according to claim 1, characterized in that The vehicle receiving device is further configured to: when detecting the arrival of a vehicle, send the vehicle speed of the vehicle to the controller; The controller is further configured to: determine a first target frequency corresponding to the vehicle speed according to a preset first correspondence, and set the acquisition frequencies of the respective front-stage visible light acquisition cameras to the first target frequency; determine a second target frequency corresponding to the vehicle speed according to a preset second correspondence, and set the acquisition frequencies of the respective front-stage temperature measurement cameras and the respective rear-stage temperature measurement cameras to the second target frequency; determine a target transmission power corresponding to the vehicle speed according to a preset third correspondence, and set the transmission power of the microwave transmission device to the target transmission power.

3. The vehicle bottom oil-water identification system according to claim 1, wherein, The distance between the first acquisition area and the vehicle receiving device is the distance determined by S = V * k; wherein, S represents the distance between the first acquisition area and the vehicle receiving device, V represents the specified vehicle speed value of the line, k is a preset parameter, and the startup time of any camera and the startup time of the microwave transmission device are both less than k.

4. The vehicle bottom oil-water identification system according to claim 1, wherein The N front-stage visible light acquisition cameras are all high-definition line-scan cameras; The i-th front-stage visible light image obtained by the i-th front-stage visible light acquisition camera by photographing the i-th area of the vehicle bottom is the i-th front-stage visible light image obtained by an image fusion algorithm.

5. The underbody oil and water identification system according to claim 1, characterized in that, The controller is specifically configured to: obtain the vehicle bottom template image of the vehicle through the vehicle number information, after receiving the trigger signal, start the microwave transmission device, and start M of the N front-stage visible light acquisition cameras, M of the N front-stage temperature measurement cameras, and M of the N rear-stage temperature measurement cameras according to the vehicle number information, and maintain the first operation duration for all of them, and receive the images captured by each camera after startup; and, for the received i-th front-stage visible light image, determine each liquid stain area in the i-th front-stage visible light image through the vehicle bottom template image, and based on the i-th front-stage temperature measurement image and the i-th rear-stage temperature measurement image, determine the areas where the temperature change amount exceeds the first threshold in each liquid stain area in the i-th front-stage visible light image as water stain areas, and determine the areas where the temperature change amount does not exceed the first threshold in each liquid stain area in the i-th front-stage visible light image as oil stain areas; M is a positive integer not greater than N.

6. The underbody oil-water identification system according to claim 1, wherein The front-stage visible light acquisition camera and the front-stage temperature measurement camera for photographing the same area of the vehicle bottom are arranged in the same protective box, and a drainage device for removing accumulated water and a blowing dust removal device for removing dust on the camera lens are also arranged in the protective box.

7. The underbody oil-water identification system according to any one of claims 1 to 6, characterized in that, The controller is further configured to: For any determined oil stain area, judge whether there is a feasibility of oil leakage in this oil stain area; If so, output the front-stage visible light image carrying this oil stain area to the target terminal; If not, mark this oil stain area in the front-stage visible light image carrying this oil stain area.

8. The underbody oil-water identification system according to claim 7, characterized in that It further includes: N rear-stage visible light acquisition cameras arranged in the second acquisition area, and the i-th rear-stage visible light acquisition camera is used to photograph the i-th area of the vehicle bottom and obtain the i-th rear-stage visible light image; The controller is further configured to: After receiving the trigger signal, images captured by each subsequent visible light acquisition camera are received; after confirming the feasibility of oil leakage in any oil stain area, the subsequent visible light image carrying the oil stain area is output to the target terminal.

9. A method for identifying oil and water under the vehicle bottom, characterized in that, Applied to the vehicle bottom oil-water identification system, it includes: The controller receives a trigger signal carrying vehicle number information sent by the vehicle receiving device when detecting the arrival of the vehicle; The controller obtains the vehicle bottom template image of the vehicle through the vehicle number information; The controller receives the images captured by each camera, and for the i-th pre-stage visible light image received, determines the liquid stain areas in the i-th pre-stage visible light image through the vehicle bottom template image, and based on the i-th pre-stage temperature measurement image and the i-th post-stage temperature measurement image, determines the areas where the temperature change amount exceeds the first threshold in the liquid stain areas in the i-th pre-stage visible light image as water stain areas, and determines the areas where the temperature change amount does not exceed the first threshold in the liquid stain areas in the i-th pre-stage visible light image as oil stain areas. Both N and i are positive integers, and 1 ≤ i ≤ N; Among them, the camera includes N pre-stage visible light acquisition cameras and N pre-stage temperature measurement cameras arranged in the first acquisition area, N post-stage temperature measurement cameras arranged in the second acquisition area, and a microwave emitting device for emitting microwaves is arranged between the first acquisition area and the second acquisition area; Among them, the distance between the first acquisition area and the vehicle receiving device is less than the distance between the second acquisition area and the vehicle receiving device. The i-th pre-stage visible light acquisition camera is used to capture the i-th area of the vehicle bottom and obtain the i-th pre-stage visible light image, the i-th pre-stage temperature measurement camera is used to capture the i-th area of the vehicle bottom and obtain the i-th pre-stage temperature measurement image carrying temperature information, and the i-th post-stage temperature measurement camera is used to capture the i-th area of the vehicle bottom and obtain the i-th post-stage temperature measurement image carrying temperature information; The controller obtains the vehicle bottom template image of the vehicle through the vehicle number information, starts the microwave emitting device, N pre-stage visible light acquisition cameras, N pre-stage temperature measurement cameras, and N post-stage temperature measurement cameras after receiving the trigger signal and maintains the first operation duration for all of them, and receives the images captured by each camera after startup; and for the i-th pre-stage visible light image received, determines the liquid stain areas in the i-th pre-stage visible light image through the vehicle bottom template image, and based on the i-th pre-stage temperature measurement image and the i-th post-stage temperature measurement image, determines the areas where the temperature change amount exceeds the first threshold in the liquid stain areas in the i-th pre-stage visible light image as water stain areas, and determines the areas where the temperature change amount does not exceed the first threshold in the liquid stain areas in the i-th pre-stage visible light image as oil stain areas.

10. The method for identifying oil and water under the vehicle bottom according to claim 9, characterized in that, It further includes: The controller receives the vehicle speed sent by the vehicle receiving device; The controller determines a first target frequency corresponding to the vehicle speed according to a preset first correspondence relationship, and sets the acquisition frequencies of each front-stage visible light acquisition camera to the first target frequency; determines a second target frequency corresponding to the vehicle speed according to a preset second correspondence relationship, and sets the acquisition frequencies of each front-stage temperature measurement camera and each rear-stage temperature measurement camera to the second target frequency; determines a target transmission power corresponding to the vehicle speed according to a preset third correspondence relationship, and sets the transmission power of the microwave transmission device to the target transmission power.

11. The vehicle bottom oil-water identification method according to claim 9, characterized in that The controller receives the images captured by each camera, including: After receiving the trigger signal, the controller starts the microwave transmission device, N front-stage visible light acquisition cameras, N front-stage temperature measurement cameras and N rear-stage temperature measurement cameras and maintains the first operation duration for all of them, and receives the images captured by each camera after startup.

12. The method for identifying oil and water under the vehicle according to claim 11, wherein The distance between the first acquisition area and the vehicle receiving device is the distance determined by S = V * k; Wherein, S represents the distance between the first acquisition area and the vehicle receiving device, V represents the specified vehicle speed value of the line, k is a preset parameter, and the startup time of any camera and the startup time of the microwave transmission device are both less than k.

13. The method for identifying oil and water under the vehicle bottom according to claim 9, characterized in that, The controller receives the images captured by each camera, including: After receiving the trigger signal, the controller starts the microwave transmission device, and according to the vehicle number information, starts M front-stage visible light acquisition cameras among the N front-stage visible light acquisition cameras, M front-stage temperature measurement cameras among the N front-stage temperature measurement cameras and M rear-stage temperature measurement cameras among the N rear-stage temperature measurement cameras and maintains the first operation duration for all of them, and receives the images captured by each camera after startup.

14. The vehicle bottom oil-water identification method according to any one of claims 9 to 13, characterized in that It further includes: For any determined oil stain area, the controller determines whether there is a feasibility of oil leakage in this oil stain area; If it exists, the front-stage visible light image carrying this oil stain area is output to the target terminal; If it does not exist, the oil stain area is marked in the front-stage visible light image carrying this oil stain area.

Images