Vehicle front recognition methods and devices, vehicle scanning systems, equipment and readable media

Abstract

The present disclosure provides a vehicle head recognition method and device, a vehicle scanning system, equipment and a readable medium, and relates to the field of vehicle scanning detection. The method comprises the following steps: acquiring a regional laser image of a vehicle, wherein the regional laser image comprises depth information and height information; determining a front wheel position of the vehicle based on the regional laser image; determining a height change point in the regional laser image, wherein the height change point has a gradient value of a vehicle body height greater than a predetermined threshold value; determining a vehicle head and a compartment demarcation position according to a positional relationship between the height change point and the front wheel position, thereby determining a vehicle head position. The vehicle head recognition method provided by the present disclosure can automatically and conveniently recognize the vehicle head position during the vehicle scanning process, so as to realize the separate scanning of the vehicle compartment, and has strong practicability.

Description

[0001] This application is a divisional application filed on December 27, 2018, with application number 201811615134.9 and the invention title "Vehicle Front Recognition Method and Apparatus, Vehicle Scanning System, Equipment and Readable Medium". Technical Field

[0002] This disclosure relates to the field of vehicle scanning and detection, and in particular to a vehicle front recognition method and apparatus, a vehicle scanning method and system, electronic equipment, and a computer-readable medium. Background Technology

[0003] Smuggling and the carrying of dangerous goods into the country cause significant damage to public security and endanger national security. Based on considerations of national and public safety, customs ports strictly verify information on inbound and outbound vehicles. However, customs handles a large volume of goods daily, and the existing system is slow and heavily reliant on technical personnel. The current vehicle inspection system cannot meet the daily inspection needs of customs. Therefore, improving the automation level and speed of the inspection system is a key concern today.

[0004] Therefore, non-stop automated vehicle detection has become a hot topic. Non-stop automated vehicle detection technology generally uses X-ray scanning to scan moving vehicles and identify the goods inside the cargo compartment. However, X-rays are very harmful to the human body. To avoid harm to the driver, when using X-rays to scan vehicles, the front of the vehicle must be avoided, and only the cargo compartment should be scanned.

[0005] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] In view of this, the present disclosure provides a vehicle front recognition method and apparatus, a vehicle scanning method and system, an electronic device and a computer-readable medium, which can quickly and accurately identify the position of the front of a vehicle, and further facilitate the use of different scanning processes for the front and the cargo box during vehicle scanning and detection.

[0007] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0008] According to the first aspect of this disclosure, a vehicle front recognition method is proposed, the method comprising:

[0009] A regional laser image of the vehicle is acquired, the regional laser image including depth and height information; the position of the front wheels of the vehicle is determined based on the regional laser image; height change points in the regional laser image where the gradient value of the vehicle body height is greater than a predetermined threshold are identified; the boundary position between the front of the vehicle and the cargo box is determined according to the positional relationship between the height change points and the position of the front wheels, thereby determining the position of the front of the vehicle.

[0010] In one exemplary embodiment of this disclosure, the vehicle front recognition method further includes: generating a regional binary plane image of the vehicle based on the regional laser image; determining the vehicle air conditioner position based on the regional binary plane image; and removing vehicle air conditioner information from the regional laser image based on the vehicle air conditioner position.

[0011] In one exemplary embodiment of this disclosure, determining the position of the front wheels of the vehicle based on the regional laser image includes: if the position of the front wheels of the vehicle cannot be determined based on the regional laser image, generating a regional binary plane image of the vehicle based on the regional laser image, and determining the position of the front wheels of the vehicle based on the regional binary plane image.

[0012] In one exemplary embodiment of this disclosure, acquiring a regional laser image of a vehicle includes: acquiring a sequence of image information of the vehicle; and generating the regional laser image based on the sequence of image information.

[0013] According to a second aspect of this disclosure, a vehicle front recognition method is proposed, the method comprising: acquiring a regional laser image of a vehicle, the regional laser image including depth information and height information; determining the position of the front wheels of the vehicle based on the regional laser image; determining a far point region in the regional laser image based on the depth information of the regional laser image; and determining the boundary position between the vehicle front and the vehicle body according to the positional relationship between the far point region and the position of the front wheels, thereby determining the vehicle front position.

[0014] In one exemplary embodiment of this disclosure, the vehicle front recognition method further includes: generating a regional binary plane image of the vehicle based on the regional laser image; determining the vehicle air conditioner position based on the regional binary plane image; and removing vehicle air conditioner information from the regional laser image based on the vehicle air conditioner position.

[0015] In one exemplary embodiment of this disclosure, determining the position of the front wheels of the vehicle based on the regional laser image includes: if the position of the front wheels of the vehicle cannot be determined based on the regional laser image, generating a regional binary plane image of the vehicle based on the regional laser image, and determining the position of the front wheels of the vehicle based on the regional binary plane image.

[0016] In one exemplary embodiment of this disclosure, acquiring a regional laser image of a vehicle includes: acquiring a sequence of image information of the vehicle; and generating the regional laser image based on the sequence of image information.

[0017] According to a third aspect of this disclosure, a vehicle scanning method is proposed, the method comprising: determining the position of the front of a vehicle according to any of the above-mentioned vehicle front recognition methods; and scanning the vehicle based on the position of the front of the vehicle.

[0018] In one exemplary embodiment of this disclosure, scanning the vehicle based on the vehicle's front position includes: performing a separate scan of the vehicle's passenger compartment based on the vehicle's front position.

[0019] According to a fourth aspect of this disclosure, a vehicle front recognition device is provided, comprising: a region laser image acquisition module configured to acquire a region laser image of a vehicle, the region laser image including depth information and height information; a front wheel position determination module configured to determine the position of the front wheels of the vehicle based on the region laser image; a height change point determination module configured to determine height change points in the region laser image where the gradient value of the vehicle body height is greater than a predetermined threshold; and a vehicle front position determination module configured to determine the boundary position between the vehicle front and the vehicle body based on the positional relationship between the height change points and the front wheel positions, thereby determining the vehicle front position.

[0020] According to a fifth aspect of this disclosure, a vehicle front recognition device is provided, comprising: a regional laser image acquisition module configured to acquire a regional laser image of a vehicle, the regional laser image including depth information and height information; a front wheel determination module configured to determine the position of the front wheels of the vehicle based on the regional laser image; an image far point region position determination module configured to determine a far point region in the regional laser image based on the depth information of the regional laser image; and a vehicle front position determination module configured to determine the boundary position between the vehicle front and the vehicle body according to the positional relationship between the far point region and the position of the front wheels, thereby determining the vehicle front position.

[0021] According to a sixth aspect of this disclosure, a vehicle scanning system is proposed, characterized in that it comprises: a laser device for acquiring a regional laser image of a vehicle; a scanning device for scanning the vehicle; and a control device for receiving the regional laser image of the vehicle, the regional laser image including depth information and height information; determining the position of the front wheels of the vehicle based on the regional laser image; determining height change points in the regional laser image where the gradient value of the vehicle body height is greater than a predetermined threshold; determining the boundary position between the front of the vehicle and the vehicle body based on the positional relationship between the height change points and the position of the front wheels, thereby determining the position of the front of the vehicle; and controlling the scanning device to scan the vehicle based on the position of the front of the vehicle.

[0022] According to the seventh aspect of this disclosure, a vehicle scanning system is proposed, characterized in that it comprises: a laser device for acquiring a regional laser image of a vehicle; a scanning device for scanning the vehicle; and a control device for receiving the regional laser image of the vehicle, the regional laser image including depth information and height information; determining the position of the front wheels of the vehicle based on the regional laser image; determining a far point region in the regional laser image based on the depth information; determining the boundary position between the front of the vehicle and the vehicle body based on the positional relationship between the far point region and the position of the front wheels, thereby determining the position of the front of the vehicle; and controlling the scanning device to scan the vehicle based on the position of the front of the vehicle.

[0023] According to the eighth aspect of this disclosure, an electronic device is provided, comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle front recognition method described in any of the preceding claims.

[0024] According to a ninth aspect of this disclosure, a computer-readable medium is provided having a computer program stored thereon, characterized in that the program, when executed by a processor, implements the vehicle front recognition method as described in any of the preceding claims.

[0025] According to certain embodiments of the present disclosure, a vehicle front recognition method and apparatus, a vehicle scanning system, an electronic device, and a computer-readable medium are provided. A regional laser image is obtained by laser scanning of the vehicle. Based on the regional laser image, the position of the vehicle front is identified. Then, based on the position of the vehicle front, scanning operations are performed separately on the vehicle front and the vehicle body. Using the vehicle front recognition method provided by this disclosure, the position of the vehicle front can be automatically and conveniently identified during vehicle scanning, enabling separate scanning of the vehicle front and the vehicle body, which has strong practicality.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this disclosure. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. The drawings described below are merely some embodiments of this disclosure, and those skilled in the art will be able to derive other drawings from these drawings without any inventive effort.

[0028] Figure 1 This is a schematic diagram illustrating an application scenario that can be used in a vehicle scanning method according to an exemplary embodiment.

[0029] Figure 2 This is a flowchart illustrating a vehicle front recognition method according to an exemplary embodiment.

[0030] Figure 3 This is a schematic diagram illustrating a laser device emitting a laser according to an exemplary embodiment.

[0031] Figure 4 This is a schematic diagram illustrating the gradual increase of sequence data in a regional laser image according to an exemplary embodiment.

[0032] Figure 5 This is a schematic diagram illustrating the identification of the front wheels of a vehicle based on a regional laser image, according to an exemplary embodiment.

[0033] Figure 6 It is a binary planar map of a region generated from a regional laser image, as shown in an exemplary embodiment.

[0034] Figure 7 This is a schematic diagram illustrating the identification of the front wheels of a vehicle based on a regional laser image, according to an exemplary embodiment.

[0035] Figure 8 This is a schematic diagram illustrating the identification of the location of a vehicle air conditioner based on a region binary planar map, according to an exemplary embodiment.

[0036] Figure 9 This is a schematic diagram illustrating, according to an exemplary embodiment, the determination of the boundary between the front of the vehicle and the carriage based on height change points in a regional laser image.

[0037] Figure 10 This is a flowchart illustrating a vehicle front recognition method according to another exemplary embodiment.

[0038] Figure 11 This is a schematic diagram illustrating the determination of the far point of an image based on a regional laser image, according to an exemplary embodiment.

[0039] Figure 12 This is a flowchart illustrating a vehicle scanning method according to an exemplary embodiment.

[0040] Figure 13 This is a flowchart illustrating a vehicle scanning method according to another exemplary embodiment.

[0041] Figure 14 This is a block diagram illustrating a vehicle front recognition device according to an exemplary embodiment.

[0042] Figure 15 This is a block diagram illustrating a vehicle front recognition device according to another exemplary embodiment.

[0043] Figure 16This is a block diagram illustrating a vehicle front recognition device according to another exemplary embodiment.

[0044] Figure 17 This is a block diagram illustrating a vehicle front recognition device according to another exemplary embodiment.

[0045] Figure 18 This is a block diagram illustrating a vehicle front recognition device according to another exemplary embodiment.

[0046] Figure 19 This is a block diagram illustrating a vehicle front recognition device according to another exemplary embodiment.

[0047] Figure 20 This is a block diagram illustrating a vehicle front recognition device according to another exemplary embodiment.

[0048] Figure 21 This is a block diagram illustrating a vehicle front recognition device according to another exemplary embodiment.

[0049] Figure 22 This is a block diagram illustrating a vehicle scanning system according to another exemplary embodiment.

[0050] Figure 23 This is a schematic diagram illustrating the structure of a computer system applied to a vehicle front recognition device according to an exemplary embodiment. Detailed Implementation

[0051] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0052] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention can be practiced by omitting one or more specific details, or other methods, components, apparatuses, steps, etc. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of the invention.

[0053] The accompanying drawings are merely illustrative of the invention; the same reference numerals denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0054] The flowchart shown in the accompanying drawings is merely illustrative and does not necessarily include all content and steps, nor does it require execution in the described order. For example, some steps may be broken down, while others may be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0055] In this specification, the terms “a,” “an,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markings and are not a limitation on the number of objects.

[0056] The exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0057] Figure 1 This is a schematic diagram illustrating an application scenario that can be used in a vehicle scanning method according to an exemplary embodiment.

[0058] like Figure 1 As shown, the vehicle scanning scenario includes a laser device 101, a vehicle 102, a scanning device 103, and a control device 104. During vehicle movement, the laser device 101 continuously scans the vehicle from the front to acquire sequential image information and transmits this information to the control device 104. The control device 104 generates a regional laser image based on the sequential image information acquired by the laser device 101 and determines the boundary between the front and the vehicle body based on the regional laser image, thus determining the vehicle's front position. Once the control device 104 successfully determines the vehicle's front position, it controls the laser device 101 to stop acquiring vehicle sequential image information and controls the scanning device 103 to begin scanning the vehicle.

[0059] Laser device 101 can be a laser image data acquisition device such as a regional laser, used to acquire sequential image information when a vehicle passes through the system.

[0060] The scanning device 103 may be an X-ray imaging security inspection device used to scan vehicles, for example, to determine the condition of the cargo in the vehicle compartment.

[0061] The control device 104 is used to identify the position of the vehicle front based on the image information acquired by the laser device 101 and to control the scanning device 103 to perform vehicle scanning. During the vehicle front identification process, the control device 104 may, for example, acquire a regional laser image of the vehicle, the regional laser image including depth information and height information; the control device 104 may, for example, determine the position of the front wheels of the vehicle based on the regional laser image; the control device 104 may determine height change points in the regional laser image where the gradient value of the vehicle body height is greater than a predetermined threshold; the control device 104 may determine the boundary position between the vehicle front and the vehicle body based on the positional relationship between the height change points and the position of the front wheels, thereby determining the position of the vehicle front.

[0062] In another embodiment, during the vehicle front recognition process, the control device 104 may, for example, acquire a regional laser image of the vehicle, the regional laser image including depth information and height information; the control device 104 may, for example, determine the position of the front wheels of the vehicle based on the regional laser image; the control device 104 may, for example, determine a far point region in the regional laser image based on the depth information of the regional laser image; the control device 104 may, for example, determine the boundary position between the front of the vehicle and the cargo box based on the positional relationship between the far point region and the position of the front wheels, thereby determining the position of the front of the vehicle.

[0063] Figure 2 This is a flowchart illustrating a vehicle front recognition method according to an exemplary embodiment.

[0064] Reference Figure 2 The vehicle front recognition method may include the following steps.

[0065] Step S201: Obtain a regional laser image of the vehicle, the regional laser image including depth information and height information.

[0066] In some embodiments, a regional laser image of a vehicle may refer to an image of a portion of the vehicle body obtained by scanning with a laser device, wherein the regional laser image information includes the vehicle's depth information and the actual height information of the vehicle body.

[0067] In some embodiments, the laser device can acquire a sequence of vehicle image information, where the sequence of image information refers to column data that makes up the image, and includes the straight-line distance between the scanned portion of the vehicle body and the laser device. Based on the straight-line distance between the scanned portion of the vehicle body and the laser device in the sequence of images, the depth information of the scanned portion of the vehicle body can be further calculated. Then, after correcting the depth information calculated from the sequence of image information based on the vehicle's speed information, a regional laser image can be obtained.

[0068] In some embodiments, such as Figure 3As shown, in a single laser scan, the laser device emits multiple laser beams 301 with different directions. These multiple laser beams propagate in the same laser plane perpendicular to the ground 303, and the angle between the laser propagation trajectory and the perpendicular plane of the laser plane is θ. i θ i The value ranges from 0 to 180 degrees. When the laser comes into contact with the vehicle, it is emitted from the vehicle's surface, and the reflected laser light is further received by the laser receiving device. By calculating the propagation time of the laser in the air, the straight-line distance L from the laser reflection point to the laser device can be calculated. i The formula is: Vehicle height = L i *cosθ i By calculating the actual height of the laser device, the actual height of the laser reflection point can be determined, thus obtaining the vehicle sequence image information. This vehicle sequence image information includes the straight-line distance between the laser reflection point on the vehicle body and the laser device, as well as the actual height of the laser reflection point.

[0069] The aforementioned sequence of vehicle images represents only one data point. Regional laser image information can be obtained from multiple sequences of these images. For example, if the sequence of vehicle images is known, and this sequence includes the straight-line distance L between the laser emission point and the laser device... i The formula is: Depth value (image grayscale value) = L i *sinθ i The depth of the laser reflection point can be calculated. Additionally, the formula: Vehicle height = L i *cosθ i The actual height of the laser device can be used to calculate the actual height of the laser reflection point. Given the depth and height information of multiple trains, the following can be derived: Figure 4 The image shown is a laser image of the area of ​​the vehicle. Figure 4 The images, from left to right, depict the gradual increase of sequence data in the generated regional laser images during the scanning process of the vehicle body by the laser equipment.

[0070] Step S202: Determine the position of the front wheels of the vehicle based on the laser image of the region.

[0071] In some embodiments, after obtaining a regional laser image of the vehicle, it is also necessary to determine the position of the vehicle's front wheels within the regional laser image. It is known that the regional laser device contains the vehicle's height information, and common sense dictates that the actual height of the wheels is the lowest. Therefore, the wheel positions can be determined by finding regions in the regional laser image where the height is below a predetermined threshold. For example... Figure 5 As shown, points with a height of less than 10 centimeters in the regional laser image can be identified as points on the wheels. Since the laser equipment starts scanning from the front of the vehicle, the wheels that the laser equipment finds first during the scanning process are the front wheels 501.

[0072] In some embodiments, the presence of footrests in the driver's cabin makes it impossible to locate the wheels. For example... Figure 5 As shown, the foot pedal 502 is also positioned very low. If the position of the vehicle's front wheels is determined based on the height information of the midpoint of the regional laser image, the presence of the foot pedal makes it impossible to determine the front wheel position. Therefore, a regional binary plane image of the vehicle is needed for auxiliary determination.

[0073] In some embodiments, the regional laser image includes the actual heights of the laser reflection points. The reflection point with the highest height is stored in the highest row of the binary data, the reflection point with the lowest height is stored in the lowest row, and so on, filling all reflection points between the highest and lowest rows according to their height. If the actual heights of multiple columns of laser reflection points are known, a regional binary planar image of the vehicle can be generated using the above method, such as... Figure 6 As shown.

[0074] like Figure 7 As shown, after obtaining the binary planar image of the vehicle region, and combining this with the information that the wheels are circular, image processing techniques can be used to locate the wheel positions in the image. Similarly, since the laser device starts scanning from the front of the vehicle, the front wheels 701 are the first wheels found.

[0075] Step S203: Determine the height change points in the laser image of the region where the gradient value of the vehicle height is greater than a predetermined threshold.

[0076] In some embodiments, air conditioners may be present above the junction of the front and passenger compartment in the regional laser image of certain vehicles. The presence of air conditioners in the regional laser image can significantly affect the determination of height change points that meet the criteria. Therefore, when determining height change points that meet the criteria, the air conditioner information in the regional laser image must first be removed.

[0077] In some embodiments, to remove air conditioning information from a regional laser image, a regional binary plane image is first generated based on the regional laser image. In some embodiments, the regional laser image includes the actual heights of the laser reflection points. The reflection point with the highest height is stored in the highest row of the data, the reflection point with the lowest height is stored in the lowest row, and so on, filling all reflection points between the highest and lowest rows according to their height. If the actual heights of multiple columns of laser reflection points are known, a regional binary plane image of the vehicle can be generated using the above method, such as... Figure 6 As shown.

[0078] In some embodiments, such as Figure 8In the shown regional binary planar image of the vehicle, we first calculate the sequence information of the distance between the front of the vehicle and the leftmost edge of the regional binary planar image in each row of data. We collectively refer to this information as air sequence information. Based on the air sequence information, we can obtain the change curve 801 of the leftmost position of the vehicle. We can find the location of the vehicle's air conditioner based on the inflection point 802 on the change curve 801. The inflection point is the boundary between the concave and convex parts of the change curve 801. Finding the inflection point on the change curve 801 allows us to further determine the air conditioner information. If the air conditioner image information can be found in the regional binary planar image of the vehicle, then the corresponding air conditioner image information can also be found in the regional laser image.

[0079] In some embodiments, if an air conditioner is located above the vehicle, the location of the air conditioner is determined based on the vehicle's regional binary plane information, and the corresponding air conditioner image information is located and removed from the regional laser image. After removing the air conditioner information from the regional laser image, the height change point where the gradient value of the vehicle's height is greater than a predetermined threshold is determined based on the height information of the regional laser image. If no air conditioner is located above the vehicle, the height change point where the gradient value of the vehicle's height is greater than a predetermined threshold is directly determined based on the height information of the regional laser image.

[0080] Here, a height change point refers to a location where the vehicle's height changes. Determining a height change point where the gradient value of the vehicle's height exceeds a predetermined threshold can be implemented as follows: Calculate the height gradient value between the highest points of adjacent columns in the regional laser image based on the height information contained therein; find height change points where the height gradient value exceeds the predetermined threshold. For example, a point with a height gradient value greater than 1 meter can be considered a height change point that meets the condition. A vehicle's body may contain multiple height change points that meet the condition. For example, the junction connecting the cab and the trailer is much lower than the cab or trailer; the intersection of this junction with the cab or trailer is a height change point.

[0081] Step 204: Determine the boundary position between the front of the vehicle and the cargo box based on the positional relationship between the height change point and the position of the front wheel, thereby determining the position of the front of the vehicle.

[0082] In some embodiments, if a height change point in the regional laser image where the gradient change in vehicle height exceeds a predetermined threshold has been found, the boundary between the front of the vehicle and the cargo box is determined based on the positional relationship between the height change point and the front wheel position. For example, if at least one height change point has been found, it is determined whether the height change point is behind the front wheel position. If the height change point is determined to be behind the front wheel position, it is further determined whether the horizontal distance between the height change point and the center point of the front wheel is within the range of 50 cm to 100 cm. If the height change point is not behind the front wheel, it is discarded, and other height change points are evaluated. If it is determined that the horizontal distance between the height change point behind the front wheel and the center point of the front wheel is within the range of 50 cm to 100 cm, the location of the height change point is considered to be the boundary between the front of the vehicle and the cargo box. If it is determined that the horizontal distance between the height change point behind the front wheel and the center point of the front wheel is not within the range of 50 cm to 100 cm, it is discarded, and other height change points are evaluated. Figure 9 As shown, the height change point 902 is right behind the front wheel 901, and the actual horizontal distance from the center point of the front wheel is only 80 centimeters. Therefore, it can be determined that the height change point 902 is the boundary between the front of the vehicle and the cargo box as determined by the above steps. The location of the front of the vehicle can be found based on the boundary between the front of the vehicle and the cargo box.

[0083] However, in actual work, not all vehicles have a height change point that meets the requirements. For example, some vehicles have their cab and cargo box connected at the same height, making it impossible to determine the height change point of the vehicle body that meets the requirements.

[0084] Based on this, this disclosure also proposes another vehicle front recognition method in some embodiments, namely, vehicle front recognition based on the position of the far point region in the regional laser image.

[0085] Figure 10 This is a flowchart illustrating a vehicle front recognition method according to another exemplary embodiment.

[0086] Step S1001: Obtain a regional laser image of the vehicle, the regional laser image including depth information and height information.

[0087] In some embodiments, a regional laser image of a vehicle may refer to an image of a portion of the vehicle body obtained by scanning with a laser device, wherein the regional laser image information includes the vehicle's depth information and the actual height information of the vehicle body.

[0088] In some embodiments, the laser device can acquire a sequence of vehicle image information, where the sequence of image information refers to column data that makes up the image, and includes the straight-line distance between the scanned portion of the vehicle body and the laser device. Based on the straight-line distance between the scanned portion of the vehicle body and the laser device in the sequence of images, the depth information of the scanned portion of the vehicle body can be further calculated. Then, after correcting the depth information calculated from the sequence of image information based on the vehicle's speed information, a regional laser image can be obtained.

[0089] In some embodiments, such as Figure 3 As shown, in a single laser scan, the laser device emits multiple laser beams 301 with different directions. These multiple laser beams propagate in the same laser plane perpendicular to the ground 303, and the angle between the laser propagation trajectory and the perpendicular plane of the laser plane is θ. i θ i The value ranges from 0 to 180 degrees. When the laser comes into contact with the vehicle, it is emitted from the vehicle's surface, and the reflected laser light is further received by the laser receiving device. By calculating the propagation time of the laser in the air, the straight-line distance L from the laser reflection point to the laser device can be calculated. i The formula is: Vehicle height = L i *cosθ i By calculating the actual height of the laser device, the actual height of the laser reflection point can be determined, thus obtaining the vehicle sequence image information. This vehicle sequence image information includes the straight-line distance between the laser reflection point on the vehicle body and the laser device, as well as the actual height of the laser reflection point.

[0090] The aforementioned sequence of vehicle images represents only one data point. Regional laser image information can be obtained from multiple sequences of these images. For example, if the sequence of vehicle images is known, and this sequence includes the straight-line distance L between the laser emission point and the laser device... i The formula is: Depth value (image grayscale value) = L i *sinθ i The depth of the laser reflection point can be calculated. Additionally, the formula: Vehicle height = L i *cosθ i The actual height of the laser device can be used to calculate the actual height of the laser reflection point. Given the depth and height information of the reflection points from multiple vehicles, the following can be derived: Figure 4 The image shown is a laser image of the area of ​​the vehicle. Figure 4 The images, from left to right, depict the gradual increase of sequence data in the generated regional laser images during the scanning process of the vehicle body by the laser equipment.

[0091] Step S1002: Determine the position of the front wheels of the vehicle based on the laser image of the region.

[0092] In some embodiments, after obtaining a regional laser image of the vehicle, it is also necessary to determine the position of the vehicle's front wheels within the regional laser image. Given the vehicle's height information in the regional laser image, and based on common sense that the actual height of the wheels is the lowest, the wheel positions can be determined by finding regions in the regional laser image where the height is below a predetermined threshold. For example... Figure 5 As shown, points with a height of less than 10 centimeters in the regional laser image can be identified as points on the wheels. Since the laser equipment starts scanning from the front of the vehicle, the wheels that the laser equipment finds first during the scanning process are the front wheels 501.

[0093] In some embodiments, the presence of footrests outside the driver's cabin in some vehicles makes it impossible to locate the wheels. For example... Figure 5 As shown, the foot pedal 502 is also positioned very low. If the position of the vehicle's front wheels is determined based on the height information of the midpoint of the regional laser image, the presence of the foot pedal makes it impossible to determine the front wheel position. Therefore, a regional binary plane image of the vehicle is needed for auxiliary determination.

[0094] In some embodiments, the regional laser image also includes the actual heights of the laser reflection points. The highest-height reflection point is stored in the highest row of the data, the lowest-height reflection point in the lowest row, and so on, filling the space between the highest and lowest rows with all reflection points according to their height. If the actual heights of multiple columns of laser reflection points within a vehicle are known, a regional binary planar image of the vehicle can be generated, such as... Figure 6 As shown.

[0095] like Figure 7 As shown, after obtaining the binary planar image of the vehicle region, and combining this with the information that the wheels are circular, image processing techniques can be used to locate the wheel positions in the image. Similarly, since the laser device starts scanning from the front of the vehicle, the front wheels 701 are the first wheels found.

[0096] Step S1003: Determine the far point region in the regional laser image based on the depth information of the regional laser image.

[0097] The far-point region refers to the area in a regional laser image where the depth information is greater than a predetermined threshold. For example, the region consisting of points with a grayscale value greater than 200 in a regional laser image can be called the far-point region. Figure 11 The two far-point regions are shown in an exemplary embodiment, based on a regional laser image.

[0098] Step S1004: Determine the boundary position between the front of the vehicle and the cargo box based on the positional relationship between the far point and the front wheel position, thereby determining the position of the front of the vehicle.

[0099] In some embodiments, if a distant region in the regional laser image has been found, the boundary between the front of the vehicle and the cargo box is determined based on the positional relationship between the distant region and the front wheel position. For example, if at least one distant region has been found, it is determined whether the distant region is behind the front wheel position. If the distant region is determined to be behind the front wheel position, it is further determined whether the horizontal distance between the end of the distant region near the front wheel and the center point of the front wheel is within the range of 50 cm to 100 cm. If the end of the distant region near the front wheel is not behind the front wheel, the distant region is discarded, and other distant regions are further determined. If it is determined that the horizontal distance between the end of the distant region near the front wheel and the center point of the front wheel is within the range of 50 cm to 100 cm, the location of the height change point is considered to be the boundary between the front of the vehicle and the cargo box. If it is determined that the horizontal distance between the distant region behind the front wheel and the center point of the front wheel is not within the range of 50 cm to 100 cm, the distant region is discarded, and other distant regions are further determined. Figure 11 As shown, the two brighter areas are the far point areas. It can be determined that the far point area on the right is behind the front wheel, and the actual horizontal distance from the center point of the front wheel is only 80 centimeters. Therefore, it can be determined that the location of the far point area is the boundary between the front of the vehicle and the cargo box, which was determined according to the above steps. The location of the front of the vehicle can be found based on the boundary between the front of the vehicle and the cargo box.

[0100] Figure 12 A flowchart illustrating a vehicle scanning method according to an exemplary embodiment is shown.

[0101] Step S1201: Determine the position of the vehicle's front end according to the vehicle front recognition method.

[0102] In one exemplary embodiment, when it is necessary to scan the front of the train and the carriage separately in different ways, the position of the front of the train must first be determined.

[0103] In some embodiments, the vehicle front recognition method provided in the above embodiments can determine the position of the vehicle front.

[0104] Step S1202: Scan the vehicle based on the position of the front of the vehicle.

[0105] If the front of the vehicle is already determined, different scanning methods can be used for the front and the cargo compartment based on that position. For example, customs inspections require X-ray scans of moving vehicles, but X-rays are harmful to the human body. Therefore, when using X-rays to scan a vehicle, the front position must first be determined, and then the cargo compartment should be scanned using X-rays, avoiding the front.

[0106] Figure 13A flowchart of a vehicle scanning method is shown according to another exemplary embodiment.

[0107] Reference Figure 13 The vehicle scanning method mainly includes the following steps.

[0108] Step S1301: The laser device acquires sequential image information of the vehicle.

[0109] Laser equipment is used to acquire sequential image information of the vehicle.

[0110] In step S1302, the laser device transmits the sequence image information to the control device.

[0111] The laser device transmits the acquired sequence of image information to the control device, which then identifies the position of the vehicle's front end.

[0112] In step S1303, the control device generates a regional laser image based on the sequence image and identifies the position of the vehicle front based on the generated regional laser image.

[0113] The control device generates a regional laser image based on the sequence image information transmitted from the laser device, and identifies the front of the vehicle according to any of the vehicle front recognition methods described above.

[0114] Step S1304: Determine whether the control device has identified the position of the vehicle's front end. If the control device has not identified the position of the vehicle's front end, proceed to step S1301 to continue collecting vehicle sequence image information. If the control room device has identified the position of the vehicle's front end, proceed to step S1305.

[0115] After the vehicle front is identified, the control device determines whether the vehicle front position has been identified. If the vehicle front position has been identified, step S1305 is executed to control the scanning device to scan the vehicle; if the vehicle front position has not been identified, step S1301 is executed to continue acquiring sequential image information of the vehicle to continue identifying the vehicle front position.

[0116] In step S1305, the control device stops the laser device from working and starts the scanning device to scan the vehicle.

[0117] If the vehicle's front position is determined to be identified, the control equipment will stop the laser equipment and control the scanning equipment to scan the vehicle. The control equipment can also control the scanning equipment to scan only the vehicle's interior. For example, the control equipment can control the scanning equipment to use X-rays to scan the vehicle's interior, without scanning the front.

[0118] Figure 14 This is a block diagram illustrating a vehicle front recognition device according to an exemplary embodiment. (Refer to...) Figure 14The device 140 includes a regional laser image acquisition module 1401, a regional laser image front wheel position determination module 1402, a height change point determination module 1403, and a vehicle front position determination module 1404.

[0119] The laser image acquisition module 1401 can be configured to acquire regional laser images of the vehicle, wherein the regional laser images include depth information and height information.

[0120] The regional laser image front wheel position determination module 1402 can be configured to determine the position of the front wheels of the vehicle based on the regional laser image.

[0121] The height change point determination module 1403 can be configured to determine height change points in the laser image of the region where the gradient value of the vehicle height is greater than a predetermined threshold.

[0122] The vehicle front position determination module 1404 can be configured to determine the boundary position between the vehicle front and the cargo box based on the positional relationship between the height change point and the position of the front wheel, thereby determining the vehicle front position.

[0123] In some embodiments, such as Figure 15 As shown, the device 140 may further include an air conditioning removal module 1405, which can be configured to generate a regional binary plane image of the vehicle based on the regional laser image; determine the location of the vehicle's air conditioning based on the regional binary plane image; and remove the vehicle's air conditioning information from the regional laser image based on the location of the vehicle's air conditioning.

[0124] In an exemplary embodiment, such as Figure 16 As shown, the regional laser image acquisition module 1401 includes a sequence image acquisition unit 14011 and a regional laser image generation unit 14012. The sequence image acquisition unit 14011 can be configured to acquire sequence image information of the vehicle, and the regional laser image generation unit 14012 can be configured to generate the regional laser image based on the sequence image information.

[0125] In an exemplary embodiment, such as Figure 17 As shown, if the position of the front wheels of the vehicle cannot be determined based on the regional laser image, the regional laser image front wheel position determination module 1402 may further include: a regional binary plane image generation unit 14021, which can be configured to generate a regional binary plane image of the vehicle based on the regional laser image; and a regional binary plane image front wheel determination unit 14022, which can be configured to determine the position of the front wheels of the vehicle based on the regional binary plane image.

[0126] Figure 18 This is a block diagram illustrating a vehicle front recognition device according to an exemplary embodiment. (Refer to...) Figure 18The device 180 includes a regional laser image acquisition module 1801, a regional laser image determination front wheel position module 1802, an image far point region determination module 1803, and a vehicle front position determination module 1804.

[0127] The regional laser image acquisition module 1801 can be configured to acquire regional laser images of the vehicle, wherein the regional laser images include depth information and height information.

[0128] The front wheel position determination module 1802 can be configured to determine the position of the front wheels of the vehicle based on the laser image of the area.

[0129] The image far point region determination module 1803 can be configured to determine the far point region in the laser image of the region based on the depth information of the laser image of the region.

[0130] The vehicle front position determination module 1804 can be configured to determine the boundary position between the vehicle front and the cargo box based on the positional relationship between the far point area and the position of the front wheel, thereby determining the vehicle front position.

[0131] In an exemplary embodiment, such as Figure 19 As shown, the device 180 may further include an air conditioning removal module 1805, which can be configured to generate a regional binary plane image of the vehicle based on the regional laser image; determine the location of the vehicle's air conditioning based on the regional binary plane image; and remove the vehicle's air conditioning information from the regional laser image based on the location of the vehicle's air conditioning.

[0132] In an exemplary embodiment, such as Figure 20 As shown, the regional laser image acquisition module 1801 includes: a sequence image acquisition unit 18011 and a regional laser image generation unit 18012. The sequence image acquisition unit 18011 can be configured to acquire sequence image information of the vehicle, and the regional laser image generation unit 18012 can be configured to generate the regional laser image based on the sequence image information.

[0133] In an exemplary embodiment, such as Figure 21 As shown, if the position of the front wheels of the vehicle cannot be determined based on the regional laser image, the front wheel position determination module 1802 may further include: a regional binary plane image generation unit 18021, which can be configured to generate a regional binary plane image of the vehicle based on the regional laser image; and a regional binary plane image front wheel position determination unit 18022, which can be configured to determine the position of the front wheels of the vehicle based on the regional binary plane image.

[0134] Since the functional modules of the vehicle front recognition devices 180, 180 in the example embodiments of the present invention correspond to the steps of the example embodiments of the vehicle front recognition method described above, they will not be described again here.

[0135] Figure 22 This is a block diagram illustrating a vehicle scanning system according to an exemplary embodiment. The system includes a laser device 2201, a scanning device 2202, and a control device 2203. The laser device 2201 acquires a regional laser image of the vehicle, the scanning device 2202 scans the vehicle, and the control device 2203 receives the regional laser image of the vehicle, which includes depth and height information; determines the position of the front wheels of the vehicle based on the regional laser image; determines a far point region in the regional laser image based on the depth information; determines the boundary position between the front of the vehicle and the passenger compartment based on the positional relationship between the far point region and the front wheel position, thereby determining the front position of the vehicle; and controls the scanning device to scan the vehicle based on the front position of the vehicle.

[0136] In another embodiment, laser device 2201 is used to acquire a regional laser image of the vehicle, scanning device 2202 is used to scan the vehicle, and control device 2203 is used to receive the regional laser image of the vehicle, the regional laser image including depth information and height information; determine the position of the front wheels of the vehicle based on the regional laser image; determine the far point region in the regional laser image based on the depth information of the regional laser image; determine the boundary position between the front of the vehicle and the cargo box according to the positional relationship between the far point region and the position of the front wheels, thereby determining the position of the front of the vehicle; and control the scanning device to scan the vehicle based on the position of the front of the vehicle.

[0137] The following is for reference. Figure 23 It shows a schematic diagram of the structure of a computer system 230 suitable for implementing a terminal device according to the embodiments of this application. Figure 23 The terminal device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0138] like Figure 23 As shown, the computer system 230 includes a central processing unit (CPU) 2301, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 2302 or programs loaded from storage section 2308 into random access memory (RAM) 2303. The RAM 2303 also stores various programs and data required for the operation of the system 2300. The CPU 2301, ROM 2302, and RAM 2303 are interconnected via bus 2304. An input / output (I / O) interface 2305 is also connected to bus 2304.

[0139] The following components are connected to I / O interface 2305: an input section 2306 including a keyboard, mouse, etc.; an output section 2307 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 2308 including a hard disk, etc.; and a communication section 2309 including a network interface card such as a LAN card, modem, etc. The communication section 2309 performs communication processing via a network such as the Internet. A drive 2310 is also connected to I / O interface 2305 as needed. Removable media 2311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 2310 as needed so that computer programs read from them can be installed into storage section 2308 as needed.

[0140] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 2309, and / or installed from removable medium 2311. When the computer program is executed by central processing unit (CPU) 2301, it performs the functions defined above in the system of this application.

[0141] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0142] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0143] The units described in the embodiments of this application can be implemented in software or hardware. The described units can also be located in a processor; for example, a processor can be described as including a sending unit, an acquiring unit, a determining unit, and a first processing unit. The names of these units do not necessarily limit the specific unit itself.

[0144] In another aspect, this application also provides a computer-readable medium, which may be included in the device described in the above embodiments; or it may exist independently and not assembled into the device. The computer-readable medium carries one or more programs that, when executed by the device, enable the device to perform the following functions: acquiring a regional laser image of a vehicle, the regional laser image including depth and height information; determining the position of the front wheels of the vehicle based on the regional laser image; determining height change points in the regional laser image where the gradient value of the vehicle height is greater than a predetermined threshold; and determining the boundary position between the front of the vehicle and the cargo box based on the positional relationship between the height change points and the position of the front wheels, thereby determining the position of the front of the vehicle.

[0145] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions of the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or smart device, etc.) to execute the method according to the embodiments of the present invention.

[0146] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0147] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not claimed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0148] It should be understood that the present invention is not limited to the detailed structure, drawing arrangements or implementation methods shown herein; rather, the present invention is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A vehicle head identification method characterized by comprising: The method comprises: acquiring a region laser image of a vehicle, the region laser image comprising actual height information of the vehicle, the actual height information being obtained according to a straight-line distance of a vehicle body of a scanned part of the vehicle from a laser device and an included angle between a laser propagation trajectory and a vertical plane of a laser plane; determining a front wheel position of the vehicle based on the region laser image, wherein the front wheel position is determined by finding a region in the region laser image having a height lower than a determined threshold value; generating a region binary plane image of the vehicle according to the region laser image; determining a vehicle air conditioner position based on the region binary plane image; removing vehicle air conditioner information in the region laser image according to the vehicle air conditioner position; determining a height change point in the region laser image from which a gradient value of a vehicle body height is greater than a predetermined threshold value; if the height change point is not behind the front wheel, discarding the height change point; if the height change point is behind the front wheel, continuing to determine whether a horizontal distance of the height change point from a center point of the front wheel is within a preset range; if the horizontal distance of the height change point from the center point of the front wheel is within the preset range, determining that a position where the height change point is located is a vehicle head and vehicle compartment demarcation position, thereby determining a vehicle head position.

2. The method of claim 1, wherein, The method comprises: acquiring a region laser image of a vehicle, the region laser image comprising actual height information of the vehicle, the actual height information being obtained according to a straight-line distance of a vehicle body of a scanned part of the vehicle from a laser device and an included angle between a laser propagation trajectory and a vertical plane of a laser plane; determining a front wheel position of the vehicle based on the region laser image, wherein the front wheel position is determined by finding a region in the region laser image having a height lower than a determined threshold value; generating a region binary plane image of the vehicle according to the region laser image; determining a vehicle air conditioner position based on the region binary plane image; 3. The method of claim 2, wherein, removing vehicle air conditioner information in the region laser image according to the vehicle air conditioner position; determining a height change point in the region laser image from which a gradient value of a vehicle body height is greater than a predetermined threshold value; if the height change point is not behind the front wheel, discarding the height change point; 4. The method of claim 2, wherein, if the height change point is behind the front wheel, continuing to determine whether a horizontal distance of the height change point from a center point of the front wheel is within a preset range; if the horizontal distance of the height change point from the center point of the front wheel is within the preset range, determining that a position where the height change point is located is a vehicle head and vehicle compartment demarcation position, thereby determining a vehicle head position. The method comprises: acquiring a region laser image of a vehicle, the region laser image comprising actual height information of the vehicle, the actual height information being obtained according to a straight-line distance of a vehicle body of a scanned part of the vehicle from a laser device and an included angle between a laser propagation trajectory and a vertical plane of a laser plane; 5. The method of claim 1, wherein, determining a front wheel position of the vehicle based on the region laser image, wherein the front wheel position is determined by finding a region in the region laser image having a height lower than a determined threshold value; generating a region binary plane image of the vehicle according to the region laser image; determining a vehicle air conditioner position based on the region binary plane image; removing vehicle air conditioner information in the region laser image according to the vehicle air conditioner position; determining a height change point in the region laser image from which a gradient value of a vehicle body height is greater than a predetermined threshold value; if the height change point is not behind the front wheel, discarding the height change point; if the height change point is behind the front wheel, continuing to determine whether a horizontal distance of the height change point from a center point of the front wheel is within a preset range; if the horizontal distance of the height change point from the center point of the front wheel is within the preset range, determining that a position where the height change point is located is a vehicle head and vehicle compartment demarcation position, thereby determining a vehicle head position. If the front wheel position of the vehicle cannot be determined based on the area laser image, an area binary plane image of the vehicle is generated according to the area laser image, and the front wheel position of the vehicle is determined based on the area binary plane image.

6. The method of claim 1, wherein, The area laser image further comprises depth information; wherein the method further comprises: determining that the height change point cannot confirm the position of the boundary between the vehicle head and the vehicle cabin; determining a far point area in the area laser image based on the depth information of the area laser image, wherein the area formed by points in the area laser image with depth information greater than a predetermined threshold is a far point area; determining whether the far point area is behind the front wheel position; if the far point area is behind the front wheel position, then continue to determine whether the distance from one end of the far point area close to the front wheel to the center point of the front wheel is within a preset range; if the distance from one end of the far point area close to the front wheel to the center point of the front wheel is not within the preset range, then discard the far point area; if the distance from one end of the far point area close to the front wheel to the center point of the front wheel is within the preset range, then determine that the position of the far point area is the position of the boundary between the vehicle head and the vehicle cabin, thereby determining the vehicle head position.

7. A vehicle scanning method characterized by, comprising: a vehicle head recognition method according to any one of claims 1-6 to determine the vehicle head position; scanning the vehicle based on the vehicle head position.

8. The method of claim 7, wherein, The scanning of the vehicle based on the vehicle head position comprises: based on the vehicle head position, realizing separate scanning of the vehicle cabin.

9. A vehicle head identification device characterized by comprising: comprising: an area laser image acquisition module configured to acquire an area laser image of a vehicle, the area laser image comprising actual height information of the vehicle, the actual height information being obtained according to the straight-line distance from the vehicle body of the scanned part of the vehicle to the laser device and the included angle between the laser propagation trajectory and the vertical plane of the laser plane; a front wheel position determination module configured to determine the front wheel position of the vehicle based on the area laser image, wherein the front wheel position is determined by finding an area in the area laser image with a height lower than a determination threshold; a height change point determination module configured to generate an area binary plane image of the vehicle according to the area laser image; determine the vehicle air conditioner position based on the area binary plane image; remove the vehicle air conditioner information in the area laser image according to the vehicle air conditioner position; and determine a height change point with a gradient value of the vehicle body height greater than a predetermined threshold in the area laser image with the air conditioner information removed; a vehicle head position determination module configured to discard the height change point if the height change point is not behind the front wheel; continue to determine whether the horizontal distance from the height change point to the center point of the front wheel is within a preset range if the height change point is behind the front wheel; and determine that the position of the height change point is the position of the boundary between the vehicle head and the vehicle cabin, thereby determining the vehicle head position, if the horizontal distance from the height change point to the center point of the front wheel is within the preset range.

10. A vehicle scanning system characterized by, comprising: A laser device for acquiring a region laser image of a vehicle; A scanning device for scanning a vehicle; A control device for receiving a region laser image of a vehicle, the region laser image comprising actual height information of the vehicle, the actual height information being obtained according to the straight-line distance from the vehicle body of the scanned part of the vehicle to the laser device; determining a front wheel position of the vehicle based on the region laser image, wherein the front wheel position is determined by finding a region in the region laser image having a height lower than a determined threshold; generating a region binary plane image of the vehicle based on the region laser image; determining an air conditioner position of the vehicle based on the region binary plane image; removing air conditioner information of the vehicle from the region laser image based on the air conditioner position of the vehicle; determining a height change point having a gradient value of the vehicle body height greater than a predetermined threshold in the region laser image from which the air conditioner information is removed; determining a vehicle head and compartment demarcation position based on the positional relationship between the height change point and the front wheel position, thereby determining a vehicle head position; and controlling the scanning device to scan the vehicle based on the vehicle head position.

11. An electronic device, comprising: comprising: one or more processors; a memory device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1-6.

12. A computer readable medium having stored thereon a computer program, characterized in that, the program is executed by the processor to implement the method of any one of claims 1-6.

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