Underbody detection system and method

Abstract

The embodiment of the invention provides a vehicle bottom detection system and method. The vehicle bottom detection system comprises a first light supplementing lamp unit, an imaging sensor unit and a second light supplementing lamp unit. The first light supplementing lamp unit, the imaging sensor unit and the second light supplementing lamp unit are all arranged on the working surface of the vehicle bottom detection system; the imaging sensor unit and the second light supplementing lamp unit are arranged in the middle of the working surface; the first light supplementing lamp unit comprises two first light supplementing lamp modules, and the two first light supplementing lamp modules are arranged on the two sides of the working face respectively and are symmetrical relative to the imaging sensor unit. According to the technical scheme, the problem that the vehicle bottom detection effect is poor due to the fact that the light source has a visual field dark area in the related technology is solved, and the vehicle bottom detection effect is remarkably improved.

Description

Technical Field

[0001] The present disclosure relates to the field of machine vision technology, and in particular to a vehicle underbody detection system and method. Background Art

[0002] The undercarriage inspection system is a device installed on the road to inspect the undercarriage of various types of cars. It can quickly and accurately detect whether the vehicle chassis has been abnormally modified or has foreign objects, and whether the vehicle chassis has been seriously damaged. Therefore, it is widely used. The undercarriage inspection system usually includes a camera to take pictures of the undercarriage and a light source to illuminate the undercarriage.

[0003] In the related art, the light source in the underbody detection system is usually one or more fill lights to illuminate the underbody. However, due to the wide underbody of the vehicle, there will be a significant drop in light intensity in areas far from the light source, and obvious dark areas in the field of vision are likely to appear, resulting in poor detection of the underbody of the vehicle. Summary of the invention

[0004] The embodiments of the present disclosure provide a vehicle bottom detection system and method to solve the problem in the related art that the light source has a dark field of view, resulting in poor vehicle bottom detection effect.

[0005] In a first aspect, an embodiment of the present disclosure provides a vehicle bottom detection system, the vehicle bottom detection system comprising:

[0006] The underbody detection system includes:

[0007] A first fill light unit, an imaging sensor unit, and a second fill light unit;

[0008] The first fill light unit, the imaging sensor unit and the second fill light unit are all arranged on the working surface of the underbody detection system;

[0009] The imaging sensor unit and the second fill light unit are arranged in the middle of the working surface;

[0010] The first fill light unit includes two first fill light modules, and the two first fill light modules are respectively arranged on two sides of the working surface.

[0011] Optionally, the optical axis of the second fill light unit intersects with the central axis of the imaging sensor unit.

[0012] Optionally, the second fill light unit includes a fill light board, on which at least two fill light beads are arranged, and the optical axes of the at least two fill light beads are parallel, and satisfy: the intersection of the optical axis of the fill light bead closest to the imaging sensor unit and the central axis of the imaging sensor unit is lower than the minimum height of the chassis of the vehicle to be detected; and the intersection of the optical axis of the fill light bead farthest from the imaging sensor unit and the central axis of the imaging sensor unit is higher than the maximum height of the chassis of the vehicle to be detected.

[0013] Optionally, the two first fill light modules are symmetrically arranged relative to the imaging sensor unit.

[0014] Optionally, the side surface of the first fill light unit parallel to the working surface is in the shape of an elongated strip.

[0015] Optionally, the first fill light unit includes: first mounting grooves respectively arranged on both sides of the working surface, the first fill light source is arranged in the first mounting groove, and a linear lens is arranged at a position above the first fill light source in the first mounting groove, and the linear lens is parallel to the working surface.

[0016] Optionally, a first anti-collision glass layer is arranged at the upper end of the first installation groove, and a diffusion film is arranged on the bottom surface of the first anti-collision glass layer.

[0017] Optionally, the second fill light unit includes: a second mounting groove, the bottom surface of the second mounting groove is arranged at an angle relative to the working surface, a fill light board is arranged in the second mounting groove, a lens board is arranged in the second mounting groove at a position above the fill light board, and the lens board is parallel to the fill light board.

[0018] Optionally, fill light beads are evenly distributed on the fill light board, and fill light lenses corresponding to each fill light bead are evenly distributed on the lens board; and a third anti-collision glass layer is arranged at the upper end of the second mounting groove.

[0019] Optionally, the imaging sensor unit includes: a linear array camera sensor arranged on the working surface, a line scan lens is arranged on the upper end of the linear array camera sensor, and a second anti-collision glass layer is arranged at a position above the line scan lens on the working surface; the second anti-collision glass layer is a convex structure.

[0020] Optionally, the optical axis of the first fill light unit, the central axis of the imaging sensor unit and the optical axis of the second fill light unit are located in the same plane.

[0021] Optionally, the underbody detection system also includes a speed sensor unit; the speed sensor unit is arranged in the middle of the working surface and is symmetrical with the second fill light unit about the imaging sensor unit, and the optical axis of the speed sensor unit, the optical axis of the imaging sensor unit, and the optical axis of the first fill light unit are located in the same plane.

[0022] Optionally, the speed sensor unit includes: a second sensor and an infrared fill light source arranged on the working surface, a second lens is arranged on the upper end of the second sensor; there are at least two infrared fill light sources, and they are symmetrical about the second lens.

[0023] Optionally, the underbody detection system also includes an anti-collision unit; the anti-collision unit includes at least two anti-collision plates, at least two anti-collision plates are symmetrically arranged on the working surface, and are located above the first fill light unit, the imaging sensor unit and the second fill light unit; there is a strip-shaped gap between at least two anti-collision plates.

[0024] Optionally, the underbody detection system also includes a processor unit; the processor unit includes a control module and a computing module; the control module is respectively connected to the first fill light unit, the imaging sensor unit, the speed sensor unit and the second fill light unit; the computing module is connected to the control module, the imaging sensor unit and the speed sensor unit.

[0025] In a second aspect, an embodiment of the present disclosure provides a vehicle bottom detection method, which is applied to the vehicle bottom detection system provided by any embodiment of the first aspect, and the vehicle bottom detection method includes:

[0026] In response to a first signal of a detection area of ​​a vehicle to be detected, the imaging sensor unit, the first fill light unit and the second fill light unit are activated;

[0027] In response to a second signal indicating that the vehicle to be detected passes through the detection area, turning off the first fill light unit and the second fill light unit of the imaging sensor unit;

[0028] Acquire a first type of image acquired by an imaging sensor unit;

[0029] Based on the first type of images, the result of the vehicle bottom detection is determined.

[0030] Optionally, in response to a first signal indicating that a vehicle to be detected is performing a detection area, an imaging sensor unit, a first fill light unit, and a second fill light unit are started, including: in response to a first signal indicating that a vehicle to be detected is performing a detection area, the imaging sensor unit is started; the ambient brightness of the environment in which the underbody detection system is located is determined; based on the ambient brightness, a target brightness corresponding to the first fill light unit and the second fill light unit is determined; based on the target brightness, the first fill light unit and the second fill light unit are started.

[0031] Optionally, based on the target brightness, starting the first fill light unit and the second fill light unit includes: determining the number of first fill light sources in the first fill light unit and the number of second fill light sources in the second fill light unit that are in a working state based on the target brightness; and starting the first fill light unit and the second fill light unit based on the first fill light sources and the second fill light sources corresponding to the number of light sources.

[0032] Optionally, in response to a first signal that the vehicle to be detected enters the detection area, starting the imaging sensor unit, the first fill light unit and the second fill light unit also includes: in response to the first signal that the vehicle to be detected enters the detection area, starting the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit; in response to a second signal that the vehicle to be detected passes through the detection area, turning off the imaging sensor unit, the first fill light unit and the second fill light unit also includes: in response to the second signal that the vehicle to be detected passes through the detection area, turning off the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit.

[0033] Optionally, in response to a first signal indicating that the vehicle to be detected is performing a detection area, the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit are started, and it also includes: in response to a first signal indicating that the vehicle to be detected is performing a detection area, determining that the ambient brightness is less than a set brightness; starting the infrared fill light source; starting the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit.

[0034] In a third aspect, an embodiment of the present disclosure further provides a control device, the control device comprising:

[0035] at least one processor;

[0036] and a memory communicatively coupled to the at least one processor;

[0037] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable the control device to perform the underbody detection method as described in the second aspect of the present disclosure.

[0038] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the underbody detection method as described in the second aspect of the present disclosure.

[0039] In a fifth aspect, an embodiment of the present disclosure further provides a computer program product, which includes computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement the underbody detection method as described in the second aspect of the present disclosure.

[0040] The vehicle bottom detection system and method provided by the disclosed embodiment, by setting the cooperation of the first fill light unit and the second fill light unit, the light emitted by the first fill light unit and the second fill light unit can be divided into different areas of the bottom of the vehicle, avoiding the occurrence of light reduction, dark areas of vision, etc., and the second fill light unit is used to increase the brightness of the area with relatively low illumination intensity of the first fill light unit, thereby ensuring the overall brightness of the bottom of the vehicle photographed by the imaging sensor unit and the uniformity of the illumination of the bottom of the vehicle, and then ensuring the accuracy of the vehicle bottom detection. As a result, the vehicle bottom detection system can better adapt to the vehicle bottom detection needs of different types of vehicles, and by combining the first fill light unit and the second fill light unit, the accuracy and clarity of the vehicle bottom image photographed by the imaging sensor unit are ensured, thereby significantly improving the detection effect of the vehicle bottom. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] Figure 1 A diagram of an application scenario of the underbody detection system provided in an embodiment of the present disclosure;

[0043] Figure 2 A top view of a vehicle bottom detection system provided by an embodiment of the present disclosure;

[0044] Figure 3 Another top view of a vehicle bottom detection system provided by yet another embodiment of the present disclosure;

[0045] Figure 4 for Figure 3 A side view of a vehicle underbody detection system provided by the illustrated embodiment;

[0046] Figure 5 for Figure 3 A schematic structural diagram of a second fill light unit provided in the illustrated embodiment;

[0047] Figure 6 for Figure 3 A schematic diagram of the coordination relationship between the second fill light unit and the imaging sensor unit provided in the illustrated embodiment;

[0048] Figure 7 for Figure 3 A schematic structural diagram of a first fill light unit provided in the illustrated embodiment;

[0049] Figure 8 for Figure 3 A schematic diagram of the structure of an imaging sensor unit provided by the illustrated embodiment;

[0050] Fig. 9 for Figure 3 The working flow chart corresponding to the underbody detection system provided by the illustrated embodiment;

[0051] Fig.10 for Fig. 9 A flowchart of a method for starting an imaging sensor unit, a first fill light unit, and a second fill light unit provided in the illustrated embodiment;

[0052] Fig.11 for Fig. 9 The illustrated embodiment provides a flow chart of a method for starting a vehicle underbody detection system in combination with an infrared fill light source.

[0053] Among them, 100, vehicle bottom detection system, 101, working surface;

[0054] 110, a first fill light unit, 111, a first fill light module, 112, a first mounting groove, 113, a first fill light source, 114, a linear lens, 115, a diffusion film, 116, a first anti-collision glass layer, 117, a gusset plate;

[0055] 120, imaging sensor unit, 121, line scan lens, 122, linear array camera sensor, 123, second anti-collision glass layer;

[0056] 130, a second fill light unit, 131, a second mounting groove, 132, a fill light board, 133, fill light beads, 134, a lens board, 135, a fill light lens, 136, a third anti-collision glass layer;

[0057] 140. a speed sensor unit; 141. a second sensor; 142. a second lens; 143. an infrared fill light source;

[0058] 150, anti-collision unit, 151, anti-collision plate;

[0059] 160. Processor unit, 161. Control module, 162. Computing module;

[0060] 200. Road, 210. Vehicle.

[0061] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0062] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0063] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0064] At highway entrances and exits, vehicle inspection stations and other areas, by installing undercarriage inspection systems on the road to inspect the equipment on the bottom of various types of cars, it is possible to quickly and accurately detect whether the vehicle chassis has been abnormally modified or has foreign objects, and to check whether the vehicle chassis has serious damage to ensure vehicle and road safety. The undercarriage inspection system usually includes a camera that takes pictures of the bottom of the vehicle and a light source that illuminates the bottom of the vehicle. Since the shooting area is the bottom of the vehicle, and the shooting time may be during the day or at night, a light source is always required to provide illumination for the camera to ensure the clarity of the captured undercarriage image, thereby ensuring the accuracy of the undercarriage status recognition.

[0065] In the related art, the light source in the underbody detection system is usually one or more fill lights to illuminate the underbody. However, due to the wide underbody of the vehicle, each light source can only capture a portion of the underbody. For areas far away from the light source, there will be a significant drop in light intensity and obvious dark areas in the field of vision, resulting in poor clarity of the captured underbody image, insufficient recognition accuracy of the vehicle bottom, and poor detection effect.

[0066] In order to solve this problem, the embodiment of the present disclosure provides an under-vehicle detection system, which ensures uniform brightness within the range captured by the imaging sensor unit and no dark areas in the field of view through the combination of a second fill light unit and a strip-shaped first fill light unit, thereby ensuring the clarity of the captured under-vehicle image and the accuracy of identifying the bottom of the vehicle, thereby significantly improving the under-vehicle detection effect.

[0067] The application scenarios of the embodiments of the present disclosure are explained below:

[0068] Figure 1 This is an application scenario diagram of the vehicle underbody detection system provided by the embodiment of the present disclosure. Figure 1As shown, when the vehicle 210 is traveling on the road 200 and passes through the under-vehicle detection system 100, the under-vehicle detection system 100 will scan the bottom of the vehicle 210 to obtain an image of the under-vehicle, and determine whether there is any abnormality under the vehicle based on the image.

[0069] It should be noted that Figure 1 In the illustrated scenario, only one vehicle, road, and under-vehicle detection system is used as an example for illustration, but the present disclosure is not limited thereto, that is, the number of vehicles, roads, and under-vehicle detection systems can be arbitrary.

[0070] The vehicle underbody detection system provided by the present disclosure is described in detail below through specific embodiments.

[0071] Figure 2 A top view of a vehicle bottom detection system provided by an embodiment of the present disclosure. Figure 2 As shown, the vehicle bottom detection system 100 provided in this embodiment includes:

[0072] The first fill light unit 110, the imaging sensor unit 120 and the second fill light unit 130; the first fill light unit 110, the imaging sensor unit 120 and the second fill light unit 130 are all arranged on the working surface 101 of the underbody detection system 100; the imaging sensor unit 120 and the second fill light unit 130 are arranged in the middle of the working surface 101.

[0073] The first fill light unit 110 includes two first fill light modules 111 , and the two first fill light modules 111 are respectively disposed on two sides of the working surface 101 .

[0074] Specifically, the under-vehicle detection system 100 is usually embedded on a road surface where under-vehicle detection is required, with only the working surface 101 facing upward to photograph the bottom of the vehicle.

[0075] The main part of the working surface 101 is usually in the shape of a long strip, but may also be other shapes with a set width to ensure that the structure of the working surface 101 along the width direction is perpendicular to the driving direction of the vehicle to be detected, so that when the vehicle passes through the working surface 101, the bottom of the vehicle is photographed from front to back through the imaging sensor unit 120, thereby obtaining a complete image of the bottom of the vehicle to be detected.

[0076] In some embodiments, the imaging sensor unit 120 has a shooting range that includes only the bottom area of ​​the vehicle directly above the working surface 101 (in other embodiments, the imaging sensor unit 120 may also have a shooting range that is not limited to the area directly above the working surface 101, but includes the bottom area of ​​the vehicle in other areas perpendicular to the working surface along the width direction, such as when the optical axis of the imaging sensor unit 120 is inclined relative to the ground). By moving the vehicle to be detected, the image capture of the bottom of the vehicle is completed.

[0077] The first fill light unit 110 is composed of two or two groups of first fill light modules 111. The first fill light unit 110 provides illumination for the imaging sensor unit 120, and multiple first fill light modules 111 cooperate to cover the bottom of the vehicle to be detected through multiple point light sources, thereby reducing the problem of uneven illumination where the light intensity at the bottom of the vehicle gradually decreases along the optical axis of a single point light source toward the edge, and at the same time, it can avoid the problem of dark areas in the field of view of the imaging sensor unit 120 when shooting due to the illumination of the point light source, ensure the brightness of the illumination, and further ensure the clarity of the captured image of the bottom of the vehicle.

[0078] For areas not covered by the first fill light unit 110, the lighting provided by the second fill light unit 130 can be supplemented (that is, the first fill light unit 110 and the second fill light unit 130 are configured to cover different areas on the bottom of the vehicle), thereby ensuring that all areas above the working surface 101 are illuminated by corresponding light sources, and by combining the first fill light unit 110 with the second fill light unit 130, the problem of uneven light intensity distribution in the area photographed by the imaging sensor unit 120 is minimized, thereby ensuring the clarity of the image taken by the imaging sensor unit 120, and further ensuring the accuracy and reliability of the underbody detection.

[0079] The vehicle bottom detection system provided by the disclosed embodiment is provided with a first fill light unit and a second fill light unit for cooperation, so that the light emitted by the first fill light unit and the second fill light unit can be divided into different areas of the bottom of the vehicle, avoiding the occurrence of light reduction, dark areas of vision, etc., and the second fill light unit is used to increase the brightness of the area with relatively low illumination intensity of the first fill light unit, thereby ensuring the overall brightness of the bottom of the vehicle photographed by the imaging sensor unit and the uniformity of the illumination of the bottom of the vehicle, and then ensuring the accuracy of the vehicle bottom detection. As a result, the vehicle bottom detection system can better adapt to the vehicle bottom detection needs of different types of vehicles, and through the combination of the first fill light unit and the second fill light unit, the accuracy and clarity of the vehicle bottom image photographed by the imaging sensor unit are guaranteed, thereby significantly improving the detection effect of the vehicle bottom.

[0080] Figure 3 Another top view of a vehicle bottom detection system provided by an embodiment of the present disclosure, Figure 4 for Figure 3 The side view of the underbody detection system shown. Figure 3 and Figure 4 As shown, in Figure 2 On the basis of the embodiment shown, the vehicle bottom detection system provided in this embodiment further includes:

[0081] The second fill light unit 130 includes a fill light board 132, on which at least two fill light beads 133 are arranged, and the optical axes of the at least two fill light beads 133 are parallel and meet the following conditions: the intersection of the optical axis of the fill light bead 133 closest to the imaging sensor unit 120 and the central axis of the imaging sensor unit 120 is lower than the minimum height of the chassis of the vehicle to be detected; and the intersection of the optical axis of the fill light bead 133 farthest from the imaging sensor unit 120 and the central axis of the imaging sensor unit 120 is higher than the maximum height of the chassis of the vehicle to be detected.

[0082] Specifically, Figure 5 As shown in FIG. 1 , it is a schematic diagram of the structure of the second fill light unit. Figures 3 to 5 As shown, the second fill light unit 130 is used to illuminate the central area of ​​the fill light field of view to compensate for the problem of uneven fill light caused by only the first fill light unit 110 when the imaging sensor unit 120 is at the center position of the working surface 101, so as to enhance the uniformity of light intensity within the shooting range of the imaging sensor unit 120, and further enhance the uniformity of the obtained underbody image.

[0083] The second fill light unit 130 is set at a specific tilt angle so that it can specifically fill light for the center area of ​​the bottom of the vehicle where the light intensity is weak between the first fill light units 110. In this way, not only the continuity of the fill light center area is achieved, but also the uniformity of the entire fill light system (i.e., the system composed of the first fill light unit 110 and the second fill light unit 130) is ensured. Through this design, even in the center area of ​​the bottom of the vehicle, uniform and sufficient lighting can be obtained, thereby ensuring that the imaging sensor unit 120 can capture high-quality images, and improving the overall performance and reliability of the bottom vehicle detection system 100.

[0084] In one embodiment of the present disclosure, the second fill light unit 130 can also be set to a situation where the optical axis is arranged horizontally (in this case, the optical axis of the second fill light unit 130 does not intersect with the central axis of the imaging sensor unit 120). For situations where the bottom of the vehicle changes relatively slowly (such as a car with a chassis protection cover and other structures), this type of setting can better ensure the lighting of more areas along the direction of vehicle travel, thereby ensuring the uniformity of the overall brightness of the bottom of the vehicle, so that the vehicle bottom image obtained by the imaging sensor unit 120 has better uniformity and higher accuracy, and the reliability of abnormality detection based on the vehicle bottom image obtained by the imaging sensor unit 120 is stronger.

[0085] In one embodiment of the present disclosure, the optical axis of the second fill light unit 130 intersects with the central axis of the imaging sensor unit 120 .

[0086] Specifically, in order to ensure the brightness of the central area photographed by the imaging sensor unit 120 (usually also the central area of ​​the bottom of the vehicle), the second fill light 130 can be set to a situation where the optical axis intersects with the central axis of the imaging sensor unit 120. In this way, the clarity and reliability of the image taken of the central area of ​​the bottom of the vehicle can be guaranteed to the greatest extent, thereby ensuring the reliability of the abnormality detection results.

[0087] In a specific implementation, the second fill light unit 130 is provided with a light source through a fill light board 132, and a number of fill light beads 133 are evenly arranged on the fill light board 132, so that the fill light beads 133 are used as point light sources to provide lighting. The fill light beads 133 are of the same model and installation method, so their optical axes are parallel to each other. The second fill light unit 130 can fill light the area directly above the imaging sensor unit 120. To ensure the fill light effect, it is necessary to ensure that no matter how the height of the vehicle chassis changes, there is at least one fill light bead 133 in the second fill light unit 130, and the area directly above the imaging sensor unit 120 can be illuminated.

[0088] In one embodiment of the present disclosure, Figure 6 As shown, it is a schematic diagram of the cooperation relationship between the second fill light unit and the imaging sensor unit. Figure 5 and Figure 6 As shown, the angle α is the angle between the bottom of the second fill light unit 130 and the working surface 101, and is also the angle between the optical axis of the fill light bead 133 in the second fill light unit 130 and the central axis of the imaging sensor unit 120. A1 is the fill light bead 133 in the second fill light unit 130 that is closest to the imaging sensor unit 120, B1 is the intersection of the optical axis of A1 and the central axis of the imaging sensor unit 120, A2 is the fill light bead 133 in the second fill light unit 130 that is farthest from the imaging sensor unit 120, B2 is the intersection of the optical axis of A2 and the central axis of the imaging sensor unit 120, O is the center point of the upper surface of the imaging sensor unit 120, H1 is the minimum height of the vehicle chassis that the imaging sensor unit 120 can detect, and H2 is the maximum height. At this time, the following conditions are satisfied:

[0089]

[0090] Therefore, no matter what the bottom height of the vehicle to be detected is, there is always at least one fill light bead 133 in the second fill light unit 130 that can illuminate the position just above the imaging sensor unit 120, thereby ensuring the continuity of the fill light in the center area of ​​the vehicle bottom as much as possible.

[0091] In one embodiment of the present disclosure, the two first fill light modules 111 are asymmetrically arranged relative to the imaging sensor unit 120. Since the structure of the bottom of the vehicle is not completely symmetrically arranged, the size, relative position, etc. of the first fill light modules 111 on both sides of the imaging sensor unit 120 can be adjusted according to the type of vehicle passing through the vehicle detection device 100 and the main structural distribution tendency of its bottom (such as the vehicle detection device 100 used in a brand vehicle repair shop, which needs to detect a limited number of vehicle types and the bottom of the vehicle will have a certain structural distribution tendency). At this time, the two first fill light modules 111 can be asymmetrically arranged, and there are differences in size and shape (such as one is a long strip and the other is a square, or an ellipse, etc.). This arrangement can better ensure the lighting brightness of important structures at the bottom of the vehicle, make the brightness distribution of the bottom of the vehicle more targeted, and thus ensure the accuracy and reliability of the detection of the bottom of the vehicle.

[0092] In one embodiment of the present disclosure, the two first fill light modules 111 can be symmetrically arranged relative to the imaging sensor unit 120 to adapt to the situation where there are many types of vehicles passing through the underbody detection system 100 and the distribution tendencies of the underbody structures are greatly different, thereby improving the scope of application of the underbody detection system 100 and the reliability of detecting the underbody of different types of vehicles.

[0093] In one embodiment of the present disclosure, the side of the first fill light unit 110 parallel to the working surface 101 is in the shape of an elongated strip. Each first fill light module 111 of the first fill light unit 110 is in the shape of an elongated strip to ensure uniform illumination of the bottom of the vehicle directly above the working surface 101, thereby ensuring the imaging effect of the imaging sensor unit 120.

[0094] Optionally, the first fill light unit 110 includes: first mounting grooves 112 respectively arranged on both sides of the working surface 101, a first fill light source 113 is arranged in the first mounting grooves 112, and a linear lens 114 is arranged at a position above the first fill light source 113 in the first mounting grooves 112, and the linear lens 114 is parallel to the working surface 101.

[0095] Specifically, Figure 7 , which is a schematic diagram of the structure of the first fill light unit. The first fill light unit 110 is symmetrically arranged on both sides of the imaging sensor unit 120, and each side is one or a group (continuously arranged) of first fill light modules 111. Each first fill light module 111 is a strip-shaped structure.

[0096] The first fill light source 113 is a long strip light board having the same shape as the first mounting groove 112 and the bottom surface of the first fill light module 111 .

[0097] In one embodiment of the present disclosure, the first fill light source 113 is an LED light board, so as to take advantage of its energy saving and long service life to ensure the overall reliability of the first fill light unit 110.

[0098] The linear lens 114 above the first fill light source 113 can provide a good light focusing effect for the first fill light source 113. The first fill light source 113 cooperates with the linear lens 114 to improve the uniformity of the light source, and the number of the first fill light sources 113 in working state (i.e., the number of working LED lamps) can be increased or decreased according to actual needs, so that the lighting intensity can be adjusted, saving energy while ensuring the uniformity of the lighting.

[0099] Through these linear lenses 114, the light emitted by the first fill light source 113 can be effectively shaped and focused to form a rectangular lighting area with a relatively large aspect ratio. As a result, sufficient lighting can be provided for application scenarios that need to cover a longer area (the area under the vehicle along the width direction), ensuring that the light in the entire detection area is uniform and sufficient, and ensuring that the imaging sensor unit 120 can capture a clear image even in an environment with insufficient light. This fill light method not only improves the uniformity of the fill light but also ensures the quality of imaging, thereby improving the detection capability and accuracy of the under-vehicle detection system 100.

[0100] Optionally, a first anti-collision glass layer 116 is disposed at the upper end of the first mounting groove 112 , and a diffusion film 115 is disposed on the bottom surface of the first anti-collision glass layer 116 .

[0101] Specifically, since the vehicle detection device 100 is disposed on a road surface that a vehicle may pass through during driving, the first anti-collision glass layer 116 can ensure the safety of the first fill light source 113 and the linear lens 114 .

[0102] In one embodiment of the present disclosure, the diffusion film 115 is of a type that diffuses light in a single direction but has a minimal light diffusion capability in another direction, thereby ensuring the light efficiency in the area photographed by the imaging sensor unit 120 and further improving the uniformity of the fill light.

[0103] In one embodiment of the present disclosure, buckle plates 117 can be set at both ends of the linear lens 114 to facilitate the installation of the linear lens 114 in the first installation groove 112, which not only improves the installation efficiency of the linear lens 114, but also greatly reduces the errors that may occur during the installation process, thereby ensuring the use effect and life of the linear lens 114.

[0104] Optionally, the second fill light unit 130 includes: a second mounting groove 131, the bottom surface of the second mounting groove 131 is arranged at an angle relative to the working surface 101, a fill light board 132 is arranged in the second mounting groove 131, and a lens plate 134 is arranged at a position above the fill light board 132 in the second mounting groove 131, and the lens plate 134 is parallel to the fill light board 132.

[0105] Specific, combined Figure 5 As shown, the bottom surface of the second mounting groove 131 is different from the first mounting groove 112. It is not a planar structure, but has a portion inclined relative to the working surface 101 (the main portion of the bottom of the second mounting groove 131 is an inclined surface, but in actual production, there will be a small portion that is a plane parallel to the upper surface to facilitate production and installation). The fill light board 132 is installed on the inclined portion at the bottom of the second mounting groove 131. From bottom to top, the second mounting groove 131 contains the fill light board 132, the lens board 134 and the third anti-collision glass layer 136. By combining the second mounting groove 131 with the third anti-collision glass layer 136, the second fill light unit 130 can form a separate module, which is convenient for disassembly and installation.

[0106] Optionally, fill light beads 133 are evenly distributed on the fill light board 132 , and fill light lenses 135 corresponding to each fill light bead 133 are evenly distributed on the lens board 134 ; a third anti-collision glass layer 136 is provided at the upper end of the second mounting groove 131 .

[0107] Specifically, the fill light beads 133 are arranged in an array on the fill light board 132, and each fill light bead 133 has a corresponding fill light lens 135, so that some fill light beads 133 can be selected to work according to needs to save energy and ensure the uniformity of light. In addition, different fill light lenses 135 can also be set with corresponding light emitting angles and optical properties according to actual needs to adapt to different lighting conditions and environmental requirements, so as to ensure that the center area of ​​the bottom of the vehicle can obtain uniform and sufficient lighting, and fully ensure the fill light effect of the second fill light unit 130.

[0108] The third anti-collision glass layer 136 is parallel to the working surface 101 to protect the components in the second mounting groove 131 and ensure the service life of the second fill light unit 130 .

[0109] Optionally, the imaging sensor unit 120 includes: a linear array camera sensor 122 arranged on the working surface 101, a line scan lens 121 is arranged on the upper end of the linear array camera sensor 122, and a second anti-collision glass layer 123 is installed at a position above the line scan lens 121 on the working surface 101; the second anti-collision glass layer 123 is a convex structure.

[0110] Specifically, Figure 8As shown, it is a schematic diagram of the structure of the imaging sensor unit. Figure 8 The line array camera sensor 122 (also known as the line array camera) is a sensor specially designed for scanning imaging, which can capture one-dimensional image information. The line scan lens 121 is a lens used in conjunction with the line array camera sensor 122, which can focus light onto the line array camera sensor 122 to facilitate image capture. The field of view of the line scan lens can reach nearly 180°, thereby ensuring full coverage in the width direction of the bottom of the vehicle to ensure that there are no blind spots.

[0111] When the vehicle to be detected passes, the linear array camera sensor 122 starts working and captures a series of continuous one-dimensional images of the bottom of the vehicle. These one-dimensional images are then transmitted to the back-end for processing. The computing device at the back-end will stitch these one-dimensional images together to restore the complete bottom image of the vehicle. Each frame of the image is precisely aligned to ensure that the final output image is clear and seamless. After obtaining the complete bottom image of the vehicle, it can be processed and analyzed by an image detection algorithm specifically used for bottom abnormality recognition to identify various features and abnormalities in the image, so as to accurately detect the condition of the bottom of the vehicle.

[0112] In one embodiment of the present disclosure, the optical axis of the first fill light unit 110 , the central axis of the imaging sensor unit 120 , and the optical axis of the second fill light unit 130 may not be parallel to each other.

[0113] For example, the plane where the optical axis of the first fill light unit 110 and the plane where the optical axis of the second fill light unit 130 are located are symmetrical with respect to the central axis of the imaging sensor unit 120. Thus, the first fill light unit 110 and the second fill light unit 130 can cover as much area as possible, thereby ensuring the illumination range of the bottom of the vehicle, so as to be suitable for larger vehicles (such as trailer trucks) and ensure the effectiveness and reliability of the detection of the bottom of the vehicle.

[0114] For example, the second fill light unit 130 may also be composed of a light panel and a reflector that are inclined relative to the working surface 101, or may be composed of two inclined light panels, so as to adapt to the situation where the bottom structure of the vehicle has large differences in the direction perpendicular to the ground, so that the second fill light unit 130 can better illuminate the bottom structure of the vehicle that is different from the ground height, thereby improving the accuracy and specificity of the detection of bottom structure abnormalities of such vehicles.

[0115] In one embodiment of the present disclosure, the optical axis of the first fill light unit 110, the central axis of the imaging sensor unit 120, and the optical axis of the second fill light unit 130 are located in the same plane. Thus, the illumination brightness of the area directly above the working surface 101 can be improved, thereby improving the clarity and accuracy of the image captured by the imaging sensor unit 120 of the area directly above the working surface 101, thereby improving the accuracy of the underbody abnormality detection.

[0116] Optionally, the underbody detection system 100 also includes a speed sensor unit 140; the speed sensor unit 140 is arranged in the middle of the working surface 101, and is symmetrical with the second fill light unit 130 about the imaging sensor unit 120, and the optical axis of the speed sensor unit 140 is located in the same plane as the optical axis of the imaging sensor unit 120 and the optical axis of the first fill light unit 110.

[0117] Specifically, the speed sensor unit 140 is used to capture the real-time image of the bottom of the vehicle to analyze the speed and driving status of the vehicle to be detected, and assist in the detection of the vehicle status. By setting the speed sensor unit 140 to be in a straight line with the imaging sensor unit 120 and the first fill light unit 110 (that is, the optical axes of each device are located in the same plane), the speed sensor 140 can use the lighting provided by the first fill light unit 110 and the second fill light unit 130 to ensure the accuracy of the collected information and the reliability of the speed measurement results.

[0118] Optionally, the speed sensor unit 140 includes: a second sensor 141 and an infrared fill light source 143 arranged on the working surface 101 , a second lens 142 is arranged on the upper end of the second sensor 141 ; there are at least two infrared fill light sources 143 symmetrically about the second lens 142 .

[0119] Specifically, the second sensor 141 in the speed sensor unit 140 can be a radar speed sensor or an array sensor (i.e., an array camera). The former measures the speed of the passing vehicle by the radar ranging principle, and the latter calculates the speed by image processing. The measurement principles are all existing technologies in the field and will not be described here.

[0120] The upper end of the second sensor 141 is provided with a second lens 142 cooperating therewith (if it is an area array camera, the second lens 142 may be an area array lens).

[0121] In the case where the second sensor 141 is a surface array sensor, in order to ensure the quality of the image, an infrared fill light source 143 (i.e., an infrared fill light, which is parallel to the vehicle's driving direction to better assist the second sensor 141 in measuring the vehicle's driving speed) is provided on both sides of the second sensor 141, so that in the case of insufficient light, the bottom of the vehicle can be effectively filled with light to ensure the brightness of the image, making the image details more clearly visible and enhancing the accuracy of speed measurement. At this time, the arrangement angle of the fill light can ensure that it matches the field of view of the second sensor 141. The purpose of this design is to ensure that uniform and sufficient fill light can be obtained within the entire field of view of the lens.

[0122] The efficient image capture capability of the imaging sensor unit 120 provides strong technical support for comprehensive inspection of the vehicle bottom. The high-definition two-dimensional image captured by the speed sensor unit 140 provides accurate data for vehicle speed measurement. The combination of these two units enables the vehicle inspection system to efficiently and accurately complete the task of comprehensive vehicle inspection.

[0123] Optionally, the underbody detection system 100 also includes an anti-collision unit 150; the anti-collision unit 150 includes at least two anti-collision plates 151, and the at least two anti-collision plates 151 are symmetrically arranged on the working surface 101 and are located above the first fill light unit 110, the imaging sensor unit 120 and the second fill light unit 130; there is a strip-shaped gap between at least two anti-collision plates 151.

[0124] Specifically, the anti-collision plate 151 is used to protect the first fill light unit 110 , the imaging sensor unit 120 , the second fill light unit 130 and the speed sensor unit 140 below to prevent them from being crushed by the vehicle, thereby increasing the service life of the underbody detection system 100 .

[0125] The strip-shaped gap left between the two anti-collision plates 151 ensures the lighting effect of the first fill light unit 110 and the second fill light unit 130 , as well as the detection reliability of the imaging sensor unit 120 and the speed sensor unit 140 .

[0126] Optionally, the underbody detection system 100 also includes a processor unit 160; the processor unit 160 includes a control module 161 and a computing module 162; the control module 161 is respectively connected to the first fill light unit 110, the imaging sensor unit 120, the speed sensor unit 140 and the second fill light unit 130; the computing module 162 is connected to the control module 161, the imaging sensor unit 120 and the speed sensor unit 140.

[0127] Specifically, the control module 161 is mainly used to manage and coordinate the various components of the underbody detection system 100 to ensure seamless cooperation between the various parts within the device, thereby achieving overall stable operation. Specifically, the control module 161 is responsible for the image acquisition and transmission process, ensuring that the image data can be captured in real time and quickly transmitted to the computing module 162. At the same time, it also manages the opening and closing of the first fill light unit 110 and the second fill light unit 130, and automatically adjusts according to the ambient light conditions to ensure the quality of image acquisition. In addition, the control module 161 is also responsible for supervising and controlling the normal operation of other hardware components in the device, such as the imaging sensor unit 120, the sensors, actuators and other components in the speed sensor unit 140, to ensure that they can work under the desired state.

[0128] The computing module 162 includes a series of algorithms specially designed for the vehicle bottom detection system 100. For example, the image detection algorithm can identify and analyze various features of the vehicle bottom structure by deeply analyzing and processing the images collected by the imaging sensor unit 120, so as to accurately determine whether there are any abnormalities or potential safety hazards under the vehicle bottom.

[0129] In addition, the calculation module 162 also includes a speed detection algorithm, which calculates the real-time speed of the vehicle by analyzing the image data collected by the speed sensor unit 140. This is crucial to ensure that the vehicle travels within the specified speed range and provides important information for further safety inspections.

[0130] like Fig. 9 As shown, it is a flow chart of the vehicle bottom detection method, that is, a working flow chart of the vehicle bottom detection system, which is applied to the above-mentioned processor unit 160 and includes the following steps:

[0131] Step S901: In response to a first signal of a detection area of ​​a vehicle to be detected, an imaging sensor unit, a first fill light unit and a second fill light unit are started.

[0132] Specifically, once a vehicle enters the set detection area, each sensor in the system will be triggered immediately, thereby activating the entire underbody detection system 100 and starting to operate. At this stage, the imaging sensor unit 120 starts to work, that is, to collect images of the vehicle passing through the detection area. This process is continuous, ensuring that every part of the bottom of the vehicle is recorded.

[0133] To ensure the clarity and accuracy of the image, the system will synchronously start the first fill light unit 110 and the second fill light unit 130 to provide additional lighting to ensure that the area under the vehicle is fully illuminated even in a dark environment, thereby improving the quality of image acquisition.

[0134] Furthermore, if Fig.10 As shown, it is a flow chart of a method for starting an imaging sensor unit, a first fill light unit, and a second fill light unit, which specifically includes the following steps:

[0135] Step A1: In response to a first signal of a detection area of ​​a vehicle to be detected, start an imaging sensor unit.

[0136] Specifically, when the under-vehicle detection system 100 determines the detection area of ​​the vehicle to be detected through a sensor (which can be an external sensor or an internal sensor), the imaging sensor unit 120 can be started preferentially to capture the under-vehicle image or the environmental image (if the vehicle has not driven into the shooting range of the imaging sensor unit 120, the captured image is the environmental image; if the vehicle drives into the shooting range of the imaging sensor unit 120, the captured image is the under-vehicle image).

[0137] Step A2: Determine the ambient brightness of the environment where the under-vehicle detection system is located.

[0138] Specifically, after the imaging sensor unit 120 captures the vehicle bottom image or the environment image, it can identify the ambient brightness of the current environment based on the image detection algorithm and in combination with the reference image. The reference image can be an environment image or a vehicle bottom image captured under a predetermined ambient brightness (the ambient brightness at this time can be recorded as the reference brightness) (the vehicle bottom image at this time can be captured using a vehicle used for testing). By comparing the reference image with the image captured by the vehicle bottom detection system 100, the ambient brightness of the current environment relative to the reference brightness can be determined.

[0139] Step A3: based on the ambient brightness, determine the target brightness corresponding to the first fill light unit and the second fill light unit.

[0140] Specifically, the target brightness variation relationship under different ambient brightness can be configured in the under-vehicle detection system 100, so as to automatically determine the target brightness corresponding to the two fill light units according to the ambient brightness determined in the above steps. By adjusting the target brightness of the fill light unit according to the ambient brightness, the under-vehicle detection system 100 can better ensure the accuracy and reliability of under-vehicle detection in different environments.

[0141] Optionally, the brightness of the first fill light unit 110 and the second fill light unit 130 generally need to be consistent, that is, both are target brightness, to ensure uniformity of brightness distribution irradiated to the bottom of the vehicle.

[0142] Step A4: based on the target brightness, start the first fill light unit and the second fill light unit.

[0143] Specifically, two fill light units may be activated according to the determined target brightness.

[0144] The brightness adjustment of the first fill light unit and the second fill light unit can be achieved by adjusting the number of point light sources in the working state. Therefore, based on the target brightness, the number of first fill light sources in the first fill light unit and the number of second fill light sources in the second fill light unit that are in the working state can be determined; and then the first fill light unit and the second fill light unit are started based on the first fill light sources and the second fill light sources corresponding to the number of light sources.

[0145] Specifically, the target brightness is positively correlated with the number of point light sources of the two fill light units. The higher the target brightness, the more point light sources there are. Therefore, based on the relationship between the number of pre-configured point light sources and the target brightness, the number of point light sources that need to be started (i.e., the number of light sources of the first fill light source and the second fill light source in working state) can be determined to achieve energy saving effect.

[0146] When actually determining the first fill light source and the second fill light source that need to be started based on the number of light sources, it is usually necessary to select a first fill light source whose position is symmetrical relative to the center of the first fill light unit 110 in the first fill light unit 110, and to select a second fill light source whose position is symmetrical relative to the center of the second fill light unit 130 in the second fill light unit 130 to ensure the lighting effect.

[0147] In one embodiment of the present disclosure, considering that the under-vehicle detection system also includes a speed sensor unit, when starting the under-vehicle detection system, the actual steps are: in response to a first signal from the detection area of ​​the vehicle to be detected, starting the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit.

[0148] Specifically, when a vehicle enters the detection area, the speed sensor unit 140 installed in the area will be automatically activated and start to perform its function. This function mainly captures images of the bottom of the vehicle continuously to ensure that a series of image data can be obtained during the entire time the vehicle passes through the detection system. These image data are then transmitted to the processor module in real time, which is responsible for processing and analyzing these images to calculate the vehicle speed.

[0149] A distance trigger sensor may be specially provided in the vehicle bottom detection system 100 to identify whether a vehicle is passing by. In this case, the first signal may be generated by the distance trigger sensor.

[0150] According to the actual application scenario, the first signal may also be generated by a separate identification device and sent to the under-vehicle detection system 100. In this case, the under-vehicle detection system 100 only performs under-vehicle detection without performing an identification action to determine whether the vehicle has passed.

[0151] Furthermore, in addition to the first fill light unit and the second fill light unit, the vehicle bottom detection system also includes an infrared fill light source. Fig.11 As shown, it is a flow chart of a method for starting a vehicle bottom detection system combined with an infrared fill light source. In fact, the steps for starting a vehicle bottom detection system may be:

[0152] Step B1, in response to a first signal of a detection area of ​​a vehicle to be detected, determining that the ambient brightness is less than a set brightness.

[0153] Specifically, when the ambient brightness is low (such as at night), the lighting provided only by the first fill light unit 110 and the second fill light unit 130 may provide less information for vehicles with less bottom structure or with structures such as chassis protection covers, resulting in insufficient accuracy of the speed measurement results of the speed sensor unit 140. At this time, it is necessary to combine the infrared fill light source 143 to provide more accurate indications to ensure the accuracy of the speed detection results.

[0154] Step B2: Start the infrared fill light source.

[0155] Specifically, after detecting the ambient brightness, the under-vehicle detection system 100 will automatically start the infrared fill light source 143 to improve the accuracy of vehicle speed recognition.

[0156] Step B3, starting the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit.

[0157] Specifically, in addition to the infrared fill light source, components such as the imaging sensor unit 120, the speed sensor unit 140, the first fill light unit 110 and the second fill light unit 130 are also started to start detecting the vehicle.

[0158] Step S902: in response to a second signal indicating that the vehicle to be detected passes through the detection area, turning off the imaging sensor unit, the first fill light unit, and the second fill light unit.

[0159] Specifically, after the vehicle passes, each sensor can be turned off to complete the image acquisition process. The second signal can also be generated by the aforementioned distance trigger sensor, or by a separate recognition device, which is not limited here.

[0160] In one embodiment of the present disclosure, considering that the under-vehicle detection system also includes a speed sensor unit, when turning off the various sensors of the under-vehicle detection system, the actual steps are: in response to the second signal that the vehicle to be detected passes through the detection area, turning off the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit.

[0161] Specifically, in addition to the imaging sensor unit 120 , the first fill light unit 110 and the second fill light unit 130 , the speed sensor unit 140 also needs to be turned off.

[0162] Step S903: Acquire the first type of image captured by the imaging sensor unit.

[0163] Specifically, the first type of image is the line scan image captured by the line array camera sensor 122 .

[0164] As the images are collected, the imaging sensor unit 120 transmits the image data to the processor unit 160 in real time to stitch the images together to form a complete image of the vehicle bottom. This step is critical for subsequent analysis because it provides the system with a complete view of the vehicle bottom, allowing any potential problems or anomalies to be clearly identified.

[0165] Step S904: Determine the result of vehicle bottom detection based on the first type of image.

[0166] Specifically, the processor unit 160 has built-in algorithms specifically for processing images and performing abnormality analysis and speed analysis based on images, and it can perform detailed analysis on the received image sequence.

[0167] In one embodiment of the present disclosure, through analysis by the processor unit 160, a comprehensive inspection result of the vehicle chassis can be obtained, and the obtained inspection result will be sent by the processor unit 160 to a remote server.

[0168] The remote server not only provides accurate data to the inspectors, but also combines this data with the images captured during the inspection process. This combination provides an intuitive reference for inspectors, allowing them to obtain more comprehensive information during the inspection process.

[0169] In one embodiment of the present disclosure, the underbody inspection system 100 also supports connection with an external display device. This means that the inspection results and corresponding images can be transmitted to an external display in real time, such as a computer screen, a monitor, or other visualization device. Such a real-time display function greatly facilitates the work of the inspectors, who can immediately observe every detail of the vehicle chassis, including any problems or abnormalities that may exist.

[0170] In this way, inspectors can easily observe inspection data and images, which helps them make judgments and assessments more quickly. Whether in daily maintenance inspections or when looking for potential safety hazards, this real-time, intuitive data display can significantly improve the efficiency and accuracy of inspections, thereby ensuring the safe operation of vehicles.

[0171] The underbody detection system provided by the disclosed embodiment can ensure sufficient illumination of the bottom of the vehicle in any environment through the cooperation of an imaging sensor unit, a speed sensor unit, a first fill light unit and a second fill light unit, so as to accurately obtain image data of the bottom of the vehicle, thereby ensuring the accuracy and reliability of the underbody situation analysis, thereby significantly improving the detection effect of the bottom of the vehicle.

[0172] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules is only a logical function division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0173] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0174] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A vehicle bottom detection system, characterized in that: The vehicle bottom detection system comprises: A first fill light unit, an imaging sensor unit, and a second fill light unit; The first fill light unit, the imaging sensor unit and the second fill light unit are all arranged on the working surface of the underbody detection system; The imaging sensor unit and the second fill light unit are arranged in the middle of the working surface; The first fill light unit includes two first fill light modules, and the two first fill light modules are respectively arranged on both sides of the working surface.

2. The system according to claim 1, characterized in that The optical axis of the second fill light unit intersects with the central axis of the imaging sensor unit.

3. The system according to claim 1, characterized in that The second fill light unit comprises a fill light board, on which at least two fill light beads are arranged, and the optical axes of the at least two fill light beads are parallel and meet the following conditions: The intersection of the optical axis of the fill light bead closest to the imaging sensor unit and the central axis of the imaging sensor unit is lower than the minimum height of the chassis of the vehicle to be detected; and The intersection of the optical axis of the fill light bead farthest from the imaging sensor unit and the central axis of the imaging sensor unit is higher than the maximum height of the chassis of the vehicle to be detected.

4. The system according to claim 1, characterized in that The two first fill light modules are symmetrically arranged relative to the imaging sensor unit.

5. The system according to claim 1, characterized in that The side surface of the first fill light unit parallel to the working surface is in a long strip shape.

6. The system according to claim 1, characterized in that The first fill light unit comprises: A first mounting groove is respectively provided on both sides of the working surface, a first fill light source is arranged in the first mounting groove, a linear lens is provided at a position above the first fill light source in the first mounting groove, and the linear lens is parallel to the working surface.

7. The system according to claim 6, characterized in that A first anti-collision glass layer is arranged at the upper end of the first installation groove, and a diffusion film is arranged on the bottom surface of the first anti-collision glass layer.

8. The system according to claim 1, characterized in that The second fill light unit comprises: A second mounting groove, wherein the bottom surface of the second mounting groove is inclined relative to the working surface, a fill light board is arranged in the second mounting groove, a lens board is arranged in the second mounting groove at a position above the fill light board, and the lens board is parallel to the fill light board.

9. The system according to claim 7, characterized in that The fill light board is evenly provided with fill light beads, and the lens board is evenly provided with fill light lenses corresponding to each of the fill light beads; and a third anti-collision glass layer is arranged at the upper end of the second mounting groove.

10. The system according to claim 1, characterized in that The imaging sensor unit comprises: A linear array camera sensor is arranged on the working surface, a line scan lens is arranged on the upper end of the linear array camera sensor, and a second anti-collision glass layer is arranged at a position above the line scan lens on the working surface; the second anti-collision glass layer is a convex structure.

11. The system according to any one of claims 1 to 10, characterized in that The optical axis of the first fill light unit, the central axis of the imaging sensor unit and the optical axis of the second fill light unit are located in the same plane.

12. The system according to any one of claims 1 to 10, characterized in that The vehicle bottom detection system also includes a speed sensor unit; The speed sensor unit is arranged in the middle of the working surface and is symmetrical with the second fill light unit about the imaging sensor unit. The optical axis of the speed sensor unit, the optical axis of the imaging sensor unit and the optical axis of the first fill light unit are located in the same plane.

13. The system according to claim 12, characterized in that The speed sensor unit comprises: A second sensor and an infrared fill light source are arranged on the working surface, wherein a second lens is arranged on the upper end of the second sensor; and there are at least two infrared fill light sources, which are symmetrical about the second lens.

14. The system according to any one of claims 1 to 10, characterized in that The vehicle bottom detection system also includes an anti-collision unit; The anti-collision unit includes at least two anti-collision plates, which are symmetrically arranged on the working surface and located above the first fill light unit, the imaging sensor unit and the second fill light unit; There is a strip-shaped gap between the at least two anti-collision plates.

15. The system according to any one of claims 1 to 10, characterized in that The vehicle bottom detection system also includes a processor unit; The processor unit includes a control module and a calculation module; the control module is respectively connected to the first fill light unit, the imaging sensor unit, the speed sensor unit and the second fill light unit; The calculation module is connected with the control module, the imaging sensor unit and the speed sensor unit.

16. A vehicle bottom detection method, characterized in that: The vehicle bottom detection method is applied to the vehicle bottom detection system according to any one of claims 1 to 15, and the vehicle bottom detection method comprises: In response to a first signal of a detection area of ​​a vehicle to be detected, the imaging sensor unit, the first fill light unit and the second fill light unit are activated; In response to a second signal indicating that the vehicle to be detected passes through the detection area, turning off the first fill light unit and the second fill light unit of the imaging sensor unit; Acquire a first type of image acquired by an imaging sensor unit; Based on the first type of images, the result of the vehicle bottom detection is determined.

17. The vehicle bottom detection method according to claim 16, characterized in that: The method of starting the imaging sensor unit, the first fill light unit and the second fill light unit in response to the first signal of the detection area of ​​the vehicle to be detected comprises: In response to a first signal of a detection area for a vehicle to be detected, activating an imaging sensor unit; Determine the ambient brightness of the environment where the under vehicle detection system is located; Based on the ambient brightness, determining target brightness corresponding to the first fill light unit and the second fill light unit; Based on the target brightness, the first fill light unit and the second fill light unit are started.

18. The vehicle bottom detection method according to claim 17, characterized in that: The step of starting the first fill light unit and the second fill light unit based on the target brightness includes: Based on the target brightness, determining the number of first fill light sources in the first fill light unit that are in a working state and the number of second fill light sources in the second fill light unit that are in a working state; Based on the first fill light sources and the second fill light sources corresponding to the number of light sources, the first fill light unit and the second fill light unit are started.

19. The vehicle bottom detection method according to any one of claims 16 to 18, characterized in that: The method starts the imaging sensor unit, the first fill light unit and the second fill light unit in response to the first signal of the detection area of ​​the vehicle to be detected, and also includes: In response to a first signal of a detection area of ​​a vehicle to be detected, the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit are activated; The method of shutting down the imaging sensor unit, the first fill light unit and the second fill light unit in response to a second signal indicating that the vehicle to be detected passes through the detection area also includes: In response to a second signal that the to-be-detected vehicle passes through the detection area, the imaging sensor unit, the speed sensor unit, the first fill light unit, and the second fill light unit are turned off.

20. The vehicle bottom detection method according to claim 19, characterized in that: The method starts the imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit in response to the first signal of the detection area of ​​the vehicle to be detected, and also includes: In response to a first signal of a detection area of ​​a vehicle to be detected, determining that the ambient brightness is less than a set brightness; Start the infrared fill light source; The imaging sensor unit, the speed sensor unit, the first fill light unit and the second fill light unit are started.

Images