Scanning system and scanning method

Abstract

The invention relates to a scanning system which comprises a scanning device (1) and a processing device (2), the scanning device (1) is configured to scan a detected object (3) moving relative to the scanning device (1), an included angle alpha between a scanning plane (11) of the scanning device (1) and the advancing direction of the detected object (3) is an acute angle or an obtuse angle, and the processing device (2) is in signal connection with the scanning device (1). The processing device (2) is configured to receive an image scanned by the scanning device (1) and perform stretching or compression processing on the scanned image according to a reference part on the detected object (3), and the reference part is always perpendicular to the advancing direction of the detected object (3) in the advancing process of the detected object (3). According to the invention, the dependence of the image processing process on the traveling speed of the detected object can be effectively reduced, the configuration of a speed measuring device is reduced, and the scanning inspection cost is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of scanning inspection technology, and in particular to a scanning system and a scanning method. Background Art

[0002] Multi-faceted acquisition systems that collect visible light images of the bottom, top, and sides of vehicles usually use linear array cameras as image acquisition devices. When vehicles pass at different speeds, or even when the speed of the vehicle changes during the passage, if the linear array camera scans at a fixed line frequency, the resulting image will be stretched or compressed. Therefore, the vehicle multi-faceted image acquisition system generally needs to be equipped with a device to measure the speed of the vehicle or obtain real-time vehicle speed information from an external system, which is then used as the basis for setting the camera scanning frequency or the parameters of the back-end image processing to ensure that the final image does not appear stretched or compressed.

[0003] At present, the main technical solutions for obtaining vehicle speed are: 1. Arrange vehicle detection sensors at certain intervals in the direction of oncoming vehicles, and use the distance between sensors and the time it takes for vehicles to pass in sequence to calculate the speed of the vehicle arriving or leaving; 2. Use a laser radar arranged near the vehicle chassis scanning system to measure the speed of vehicles passing through the vehicle chassis scanning system in real time.

[0004] The above solution has the following two problems:

[0005] First, the accuracy of speed measurement is poor, and it cannot solve the problem of vehicle speed change during scanning;

[0006] Second, the cost of using lidar is relatively high, and the speed data of the speed measurement system and the data collected by the imaging system must maintain a certain degree of synchronization in order to effectively correct the speed of the image.

[0007] It should be noted that the information disclosed in the background technology section of this disclosure is only intended to increase the understanding of the overall background of this disclosure, and should not be regarded as an admission or any form of suggestion that the information constitutes prior art already known to those skilled in the art. The above statements are only used to provide background technology information related to this application, and do not necessarily constitute prior art. Summary of the invention

[0008] The embodiments of the present disclosure provide a scanning system and a scanning method, which can effectively reduce the cost of scanning inspection.

[0009] According to one aspect of the present disclosure, there is provided a scanning system, comprising:

[0010] A scanning device configured to scan an object moving relative to the scanning device, wherein an angle α between a scanning plane of the scanning device and a moving direction of the object is an acute angle or an obtuse angle; and

[0011] A processing device, connected to the scanning device by signal, the processing device is configured to receive the image scanned by the scanning device, and perform stretching or compression processing on the scanned image according to the reference component on the object to be inspected;

[0012] In the process of the object under test moving, the reference component and the moving direction of the object under test are always kept perpendicular.

[0013] In some embodiments, the processing device is configured to extract the size of the angle β between the reference component and the direction of travel of the object under test in the scanned image, stretch or compress the scanned image so that the angle β and the angle α are equal in size, and stretch or compress the scanned image so that the angle β is a right angle.

[0014] In some embodiments, the processing device is configured to process the scanned image so that distorted lines on the reference component in the scanned image become straight lines.

[0015] In some embodiments, the imaging line frequency of the scanning device is greater than or equal to the line frequency calculated based on the upper limit of the moving speed of the object to be inspected.

[0016] In some embodiments, the object to be inspected includes an automobile, and the reference component includes a drive axle of the automobile; or, the object to be inspected includes a container transport vehicle, and the reference component includes a front edge or a rear edge of the container; or, the object to be inspected includes a train, and the reference component includes a front edge, a rear edge, or an axle of a train carriage.

[0017] In some embodiments, the scanning system further includes a square shell, the scanning device is disposed in the shell, the scanning plane of the scanning device is parallel to the center line of the shell, or the angle γ between the scanning plane of the scanning device and the center line of the shell is an acute angle or an obtuse angle.

[0018] According to another aspect of the present disclosure, there is provided a scanning method, comprising:

[0019] The object to be inspected is scanned by a scanning device that moves relative to the scanning device, wherein an angle α between a scanning plane of the scanning device and a moving direction of the object to be inspected is an acute angle or an obtuse angle; and

[0020] Using a processing device to receive the image scanned by the scanning device, and stretching or compressing the scanned image according to a reference component on the object to be inspected;

[0021] In the process of the object under test moving, the reference component and the moving direction of the object under test are always kept perpendicular.

[0022] In some embodiments, the operation of stretching or compressing the scanned image according to the reference component on the object under inspection includes:

[0023] Extracting the size of the angle β between the reference component and the traveling direction of the object under test in the scanned image;

[0024] stretching or compressing the scanned image so that the angle β and the angle α are equal in magnitude; and

[0025] The scanned image is stretched or compressed so that the angle β is a right angle.

[0026] In some embodiments, the operation of stretching or compressing the scanned image so that the angle β and the angle α are equal in magnitude includes:

[0027] When the angle β is greater than the angle α, stretching the scanned image; or

[0028] When the angle β is smaller than the angle α, the scanned image is compressed.

[0029] In some embodiments, before extracting the size of the angle β between the reference component and the moving direction of the object under test in the scanned image, the scanning method further includes:

[0030] Processes distorted lines on reference parts in scanned images into straight lines.

[0031] In some embodiments, the scanning method further comprises:

[0032] The imaging line frequency of the scanning device is set to be greater than or equal to the line frequency calculated based on the upper limit of the traveling speed of the object to be inspected.

[0033] Based on the above technical solution, the present invention sets the angle α between the scanning plane of the scanning device and the moving direction of the object to be inspected to an acute angle or an obtuse angle, so that the scanning plane is inclined relative to the moving direction of the object to be inspected, and a tilted and deformed scanning image can be obtained. According to the characteristic that the reference component and the moving direction of the object to be inspected are always kept perpendicular, the deformed scanning image can be processed, thereby reducing the dependence of the image processing process on the moving speed of the object to be inspected, reducing the configuration of the speed measuring device, and reducing the cost of scanning inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0035] Figure 1 It is a scanning schematic diagram of a scanning system in the related art.

[0036] Figure 2 A schematic diagram of a scanned image formed by scanning by a scanning system in the related art.

[0037] Figure 3 Schematic diagram of scanning of some embodiments of the scanning system provided by the present disclosure.

[0038] Figure 4A schematic diagram of a scanned image formed by scanning some embodiments of the scanning system provided in the present disclosure.

[0039] Figure 5 A schematic diagram of a scanned image formed after scanning a vehicle chassis by some embodiments of the scanning system provided by the present disclosure.

[0040] Figure 6 A schematic diagram of a processed scanned image formed after scanning a vehicle chassis by some embodiments of the scanning system provided by the present disclosure.

[0041] In the figure:

[0042] 1′, scanning device; 11′, scanning plane; 2′, processing device; 3′, object to be inspected;

[0043] 1. Scanning device; 11. Scanning plane; 2. Processing device; 3. Object to be inspected; 31. Drive axle; 32. Wheel; 33. Chassis. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0045] In the description of the present disclosure, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present disclosure.

[0046] like Figure 3 As shown, in some embodiments of the scanning system provided by the present disclosure, the scanning system includes a scanning device 1 and a processing device 2, the scanning device 1 is configured to scan an object 3 moving relative to the scanning device 1, the angle α between a scanning plane 11 of the scanning device 1 and the moving direction of the object 3 is an acute angle or an obtuse angle, the processing device 2 is signal-connected to the scanning device 1, the processing device 2 is configured to receive an image scanned by the scanning device 1, and stretch or compress the scanned image according to a reference component on the object 3; wherein, during the movement of the object 3, the reference component is always kept perpendicular to the moving direction of the object 3.

[0047] It can be understood that the scanning plane 11 of the scanning device 1 is usually perpendicular to the traveling plane (eg, horizontal plane) of the object 3 .

[0048] In the embodiment of the present disclosure, by setting the angle α between the scanning plane 11 of the scanning device 1 and the moving direction of the object 3 to an acute angle or an obtuse angle, the scanning plane 11 is tilted relative to the moving direction of the object 3, and a tilted and deformed scanning image can be obtained. According to the characteristic that the reference component and the moving direction of the object 3 are always kept perpendicular, the deformed scanning image can be processed, thereby reducing the dependence of the image processing process on the moving speed of the object 3, reducing the configuration of the speed measuring device, and reducing the cost of scanning inspection.

[0049] In some embodiments, the processing device 2 is configured to extract the size of the angle β between the reference component and the direction of travel of the object under inspection 3 in the scanned image, stretch or compress the scanned image so that the angle β and the angle α are equal in size, and stretch or compress the scanned image so that the angle β is a right angle.

[0050] After scanning to obtain the deformed scanned image, the processing device 2 can first extract the size of the angle β; then, according to the characteristic that the reference component and the moving direction of the object 3 to be inspected are always kept perpendicular during the moving process, the scanned image is stretched or compressed to make the angle β and the angle α equal; then, the scanned image is stretched or compressed again to make the angle β a right angle. After these operations, an undeformed image can be obtained, and the processing of the deformed scanned image is completed. In this processing process, there is no need to consider the moving speed of the object 3 to be inspected, which can effectively reduce the dependence on the moving speed of the object 3 to be inspected.

[0051] In the above processing, the specific operations of the two stretching or compressions may be different, and different stretching or compression schemes may be adopted according to different processing objectives.

[0052] In some embodiments, the processing device 2 is configured to process the scanned image so that distorted lines on the reference component in the scanned image become straight lines.

[0053] When the moving speed of the object under test 3 is not uniform, the scanned image will be distorted. By processing the distorted lines on the reference component into straight lines, the scanned image can be restored to an undistorted state as a whole. Then, the above-mentioned operations such as extracting the angle and stretching or compressing can be performed to complete the processing of the scanned image obtained under non-uniform speed conditions.

[0054] In some embodiments, the distorted curved line can be divided into multiple inclined line segments, and each inclined line segment can be straightened through stretching or compression according to the deformation direction of the inclined line segment to obtain the effect of an overall straight line. The entire image is operated during the processing, so when the distorted line on the reference component becomes a straight line, the entire scanned image will also be restored to an undistorted state.

[0055] In the embodiment of the present disclosure, the imaging line frequency of the scanning device 1 can be less than, greater than or equal to the line frequency calculated based on the traveling speed of the object 3. When the imaging line frequency of the scanning device 1 is less than the line frequency calculated based on the traveling speed of the object 3, a compressed scanned image can be obtained, and an undeformed image can be obtained by stretching through interpolation data; when the imaging line frequency of the scanning device 1 is greater than the line frequency calculated based on the traveling speed of the object 3, a stretched scanned image can be obtained, and an undeformed image can be obtained by compressing through extraction data; when the imaging line frequency of the scanning device 1 is equal to the line frequency calculated based on the traveling speed of the object 3, the obtained scanned image will not be deformed.

[0056] In some embodiments, the imaging line frequency of the scanning device 1 is greater than or equal to the line frequency calculated based on the upper limit of the travel speed of the object to be inspected 3. This embodiment is an optional embodiment among multiple feasible embodiments of the present disclosure.

[0057] In this embodiment, the imaging line frequency of the scanning device 1 is greater than or equal to the line frequency calculated based on the upper limit of the travel speed of the object 3 to be inspected, and the upper limit of the travel speed of the object 3 to be inspected is usually a known fixed value, so there is no need to adjust the imaging line frequency of the scanning device 1 according to the real-time travel speed of the object 3 to be inspected, that is, there is no need to monitor the travel speed of the object 3 in real time. This setting can make the imaging line frequency of the scanning device 1 always greater than or equal to the line frequency calculated based on the travel speed of the object 3 to always obtain a stretched scanned image, and when scanning the image, the undeformed image can be obtained by extracting data for compression and other operations. Compared with the method of obtaining an undeformed image by stretching the compressed image through interpolation, the operation of extracting data for compression adopted in this embodiment is more convenient, and the obtained image will also be relatively more accurate and reliable.

[0058] In some embodiments, the object 3 includes a car, and the reference component includes a driving bridge 31 of the car. When the object 3 moves, the driving bridge 31 is always perpendicular to the moving direction of the object 3. When the scanned image is subsequently processed, a stretching or compression operation can be performed based on this feature.

[0059] The automobile may be a private car or a large automobile such as a long-distance bus or a freight truck, or a special-purpose automobile such as a fire truck, an ambulance, an engineering rescue vehicle, or an agricultural transport vehicle such as a tricycle.

[0060] Of course, in addition to the drive axle 31, the reference component may also be other reference components on the vehicle that will not tilt relative to the traveling direction during the traveling process.

[0061] The object to be inspected 3 may also be another type of vehicle with a drive axle.

[0062] In some embodiments, the object 3 includes a container transport vehicle, and the reference component includes the front edge, rear edge or axle of the container. The container is generally square in shape, and the front edge or rear edge of the container always remains perpendicular to the travel direction during the travel.

[0063] In some embodiments, the object 3 includes a train, and the reference component includes the front edge or rear edge of the train carriage. The shape of the train carriage is relatively fixed, generally a square shape, and its front edge or rear edge is always perpendicular to the travel direction during the travel.

[0064] Of course, for containers and train carriages, other components may also be selected as reference components.

[0065] In some embodiments, the scanning system also includes a square shell, the scanning device 1 is arranged in the shell, the scanning plane 11 of the scanning device 1 is parallel to the center line of the shell, or the angle γ between the scanning plane 11 of the scanning device 1 and the center line of the shell is an acute angle or an obtuse angle.

[0066] By providing the shell, the scanning device 1 can be effectively protected, the scanning device 1 can be prevented from being damaged by the outside world, and the service life of the scanning device 1 can be effectively increased.

[0067] An opening may be provided on the housing so that the scanning line emitted by the scanning device 1 can be emitted from the housing to scan and inspect the object to be inspected 3 .

[0068] There are many options for the shape of the housing, which can be selected specifically according to the appearance of the scanning device 1 and the installation site of the scanning system.

[0069] When the housing is set to a square shape, in one embodiment, the scanning plane 11 of the scanning device 1 is parallel to the center line of the housing, so that when installed on site, the purpose of tilting the scanning plane 11 relative to the traveling direction can be achieved by tilting the housing relative to the traveling direction of the object 3. In this embodiment, the entire housing is tilted relative to the traveling direction, and the angle between the center line of the housing and the traveling direction of the object 3 is equal to the angle α.

[0070] In another embodiment, the angle γ between the scanning plane 11 of the scanning device 1 and the center line of the housing is an acute angle or an obtuse angle, so that when installed on site, the purpose of tilting the scanning plane 11 relative to the traveling direction can be achieved by arranging the housing parallel to the traveling direction. In this embodiment, the housing as a whole is arranged parallel to the traveling direction, the scanning plane 11 of the scanning device 1 is tilted relative to the center line of the housing, and the angle γ is equal to the angle α. In this way, in subsequent image processing, the processing device 2 can be configured to stretch or compress the scanned image so that the angle β is equal to the angle γ, and to stretch or compress the scanned image so that the angle β is a right angle.

[0071] In some embodiments, the scanning system further includes a fill light source, and a fill light plane formed by the fill light source is parallel to the scanning plane 11 , and the fill light plane is also inclined relative to the moving direction of the object 3 under inspection.

[0072] In some embodiments, the scanning device 1 uses a linear array camera, which can capture images of any length. Combined with measures such as high-intensity fill light, it can be suitable for capturing images of moving objects of different lengths.

[0073] The present disclosure also provides a scanning method, the method comprising:

[0074] The object 3 moving relative to the scanning device 1 is scanned by the scanning device 1, and the angle α between the scanning plane 11 of the scanning device 1 and the moving direction of the object 3 is an acute angle or an obtuse angle; and

[0075] The processing device 2 receives the image scanned by the scanning device 1, and stretches or compresses the scanned image according to the reference component on the object 3;

[0076] In the process of the object under test 3 moving, the reference component and the moving direction of the object under test 3 are always kept perpendicular.

[0077] In this embodiment, by setting the angle α to an acute angle or an obtuse angle, the scanning plane 11 is tilted relative to the moving direction of the object 3, and a tilted and deformed scanning image can be obtained. According to the characteristic that the reference component and the moving direction of the object 3 are always kept perpendicular, the deformed scanning image can be processed, thereby reducing the dependence of the image processing process on the moving speed of the object 3, reducing the configuration of the speed measurement device, and reducing the cost of scanning inspection.

[0078] In some embodiments, the operation of stretching or compressing the scanned image according to the reference component on the object 3 includes:

[0079] Extracting the angle β between the reference component and the moving direction of the object 3 in the scanned image;

[0080] stretching or compressing the scanned image so that the angle β and the angle α are equal in magnitude; and

[0081] The scanned image is stretched or compressed so that the angle β between the reference component and the moving direction of the object 3 in the scanned image is a right angle.

[0082] After scanning to obtain the deformed scanned image, the processing device 2 can first extract the size of the angle β; then, according to the characteristic that the reference component and the moving direction of the object 3 to be inspected are always kept perpendicular during the moving process, the scanned image is stretched or compressed to make the angle β and the angle α equal; then, the scanned image is stretched or compressed again to make the angle β a right angle. After these operations, an undeformed image can be obtained, and the processing of the deformed scanned image is completed. In this processing process, there is no need to consider the moving speed of the object 3 to be inspected, which can effectively reduce the dependence on the moving speed of the object 3 to be inspected.

[0083] In some embodiments, the operation of stretching or compressing the scanned image so that the angle β and the angle α are equal in magnitude includes:

[0084] When the angle β is greater than the angle α, stretching the scanned image; or

[0085] When the angle β is smaller than the angle α, the scanned image is compressed.

[0086] like Figure 4 As shown, when the angle β is greater than the angle α, the scanned image is compressed. By stretching the scanned image, the angle β can be gradually reduced until it is equal to the angle α.

[0087] When the angle β is smaller than the angle α, the scanned image is stretched. By compressing the scanned image, the angle β can be gradually increased until it is equal to the angle α.

[0088] In some embodiments, before extracting the size of the angle β, the scanning method further includes:

[0089] Processes distorted lines on reference parts in scanned images into straight lines.

[0090] When the moving speed of the object under test 3 is not uniform, the scanned image may be distorted. By processing the distorted lines on the reference component into straight lines, the scanned image as a whole can be restored to an undistorted state. Then, the above-mentioned operations such as extracting the angle and stretching or compressing can be performed to complete the processing of the scanned image obtained under non-uniform speed conditions.

[0091] In some embodiments, the scanning method further comprises:

[0092] The imaging line frequency of the scanning device 1 is set to be greater than or equal to the line frequency calculated based on the upper limit of the traveling speed of the object to be inspected 3 .

[0093] By setting the imaging line frequency of the scanning device 1 to be greater than or equal to the line frequency calculated based on the upper limit of the travel speed of the object 3 under test, the imaging line frequency of the scanning device 1 can be always greater than or equal to the line frequency calculated based on the travel speed of the object 3 under test, and a stretched scanned image can always be obtained. When scanning the image, an undeformed image can be obtained by extracting data for compression and other operations. Compared with the method of obtaining an undeformed image by stretching a compressed image through interpolation, the operation of extracting data for compression adopted in this embodiment is more convenient, and the obtained image will be relatively more accurate and reliable.

[0094] The positive technical effects of the scanning system in the above-mentioned embodiments are also applicable to the scanning method, which will not be described in detail here.

[0095] The following is combined with Figures 1 to 6 , the structure and image processing principle of an embodiment of the scanning system provided by the present disclosure are described:

[0096] In this embodiment, the object to be inspected 3 is a vehicle, and the scanning object is the chassis of the vehicle. The scanning device 1 includes a plurality of linear array cameras, and the plurality of linear array cameras are arranged on the ground or on the roadway below the vehicle. The plurality of linear array cameras are arranged flatly, and in the scanned image captured, the wheels of the vehicle are spread out to both sides to a position parallel to the chassis.

[0097] To facilitate understanding of the image processing principle of the embodiment of the present disclosure, a scanning method in the related art is first introduced.

[0098] like Figure 1 As shown, in the related art, a scanning plane 11 ′ of a scanning device 1 ′ (such as a linear array camera) is perpendicular to a horizontal plane, and the scanning plane 11 ′ is perpendicular to a moving direction of an object 3 ′ (such as a vehicle).

[0099] In the solution of the related art, before scanning, the scanning frequency of the linear array camera needs to be set according to the driving speed of the vehicle, and the calculation method is as follows:

[0100] Assume that the scanning system can scan a width of , also called lateral width;

[0101] The imaging units of the line array camera are square and arranged in a row. ;

[0102] Each pixel shows the horizontal width Length of the image;

[0103] To ensure that the overall image is not deformed, the vehicle moves forward The camera collects a series of images at a distance of

[0104] When the vehicle speed is V, that is, the line frequency When , a proportional image will be obtained, that is, the image is not stretched or compressed;

[0105] For example, if the scan width is 4096 mm and the camera has 2048 pixels, each pixel represents 2 mm. When the vehicle speed V is 2 m / s, the line frequency should be set to Hz.

[0106] To put it another way, if the camera scans at a line frequency calculated by the speed V, when the actual vehicle speed v is higher than V, the captured image will be compressed and deformed, otherwise it will be stretched and deformed.

[0107] Use Figure 2 The cross and circle combination shown in (a) is used as the test object, and the lateral width of the test object is A and the longitudinal height is B. When collecting images, Figure 2 As shown in (b), the image is not deformed, and the horizontal width and vertical height are unchanged, a1=A, b1=B; when the actual vehicle speed When collecting images, Figure 2 As shown in (c), the image is compressed and deformed. The lateral width a2 after deformation is less than the lateral width A before deformation. The longitudinal height does not change, b2=B. When collecting images, Figure 2 As shown in (d), the image is stretched and deformed, and the lateral width a3 after deformation is greater than the lateral width A before deformation, and the longitudinal height does not change, b3=B.

[0108] For deformed images, interpolation or extraction can be used to restore the compressed or stretched images.

[0109] Generally speaking, in the related technology, the scanning process and the processing of the image depend on the speed of the vehicle, and a special speed measurement device needs to be configured for the scanning system, which is costly.

[0110] The following describes the solutions of the embodiments of the present disclosure.

[0111] like Figure 3 As shown, the scanning plane 11 of the scanning device 1 (such as a linear array camera) remains perpendicular to the horizontal plane, and the scanning plane 11 forms an angle α with the moving direction of the inspected object 3 (such as a vehicle), α<90°.

[0112] Refer to the line frequency calculation method of the conventional layout scheme, when the actual vehicle speed When the line frequency is matched, the aspect ratio of the image is consistent with the actual object. Since there is an angle α between the scanning plane 11 and the driving direction, the scanned image will be diagonally stretched, and the angle β in the stretched image is equal to the angle α. Figure 4As shown in (b), the image is not stretched or compressed, and the horizontal width and vertical height are unchanged, a1=A, b1=B; when the vehicle speed When Figure 4 As shown in (c), the image is compressed and deformed, and the lateral width a2 after deformation is less than the lateral width A before deformation, and , the longitudinal height does not change, b2=B; when the vehicle speed When Figure 4 As shown in (d), the image is stretched and deformed, and the lateral width a3 after deformation is greater than the lateral width A before deformation, and , the longitudinal height does not change, b3=B. Among them, the angle β, and is the angle between the reference component extracted from the corresponding scan image and the traveling direction of the object 3 .

[0113] exist Figure 3 In the layout scheme shown, there are always some objects on the vehicle body arranged in a direction perpendicular to the driving direction. In the scanned image, the size of the angle β formed by the images of these vertically arranged objects and the driving direction can be obtained by image recognition methods.

[0114] like Figure 5 and Figure 6 As shown, the vehicle includes a drive axle 31, wheels 32 and a chassis 33. The vehicle generally has two or more drive axles 31, and the drive axles 31 connect the wheels 32 on both sides. The drive axles 31 conform to the feature of being arranged perpendicular to the driving direction.

[0115] like Figure 5 As shown in the figure, by using a higher line frequency to collect data, a stretched image can be obtained, and then the data is extracted and processed to restore it to an equal-proportional image. The goal of the extraction process at this time is to make the processed image and , and speed does not need to be a concern during image processing.

[0116] like Figure 6 As shown in the figure, the adjusted proportional image is stretched diagonally in the opposite direction. Figure 5 The image shown is adjusted as Figure 6 The images shown conform to normal sensory requirements.

[0117] The above analysis is based on the scenario where the vehicle passes through the scanning plane of the linear array camera at different speeds. In the scanning image, the inclination of the drive axle 31 varies with the vehicle speed, but they are parallel to each other.

[0118] When the vehicle changes speed while passing through the scanning plane 11 of the linear array camera, the scanned image will change accordingly, for example, the images of different drive axles will have different degrees of inclination, or the image of a single drive axle will be distorted and no longer appear as a straight line. The wheels 32 connected to the left and right sides are obvious features of the drive axle. In the above two situations, after positioning the wheels 32, the image of the drive axle 31 can be corrected to an approximate straight line through image algorithm processing, and the inclination angle can be corrected to be approximately equal to α, and the overall image will be restored accordingly.

[0119] The disclosed embodiment adopts a layout scheme that makes the scanning plane of the linear array camera form an angle with the driving direction, so that the scanning system based on the linear array camera can obtain an image without stretching or compression distortion without relying on vehicle speed data. The disclosed embodiment reduces the vehicle speed measurement system, simplifies the system while ensuring image quality, and reduces costs.

[0120] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0121] Those skilled in the art will appreciate that, in the above method of a specific embodiment, the order in which the steps are written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of the steps should be determined by their functions and possible internal logic.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present disclosure rather than to limit it. Although the present disclosure has been described in detail with reference to the preferred embodiments, ordinary technicians in the relevant field should understand that without departing from the principles of the present disclosure, the specific implementation methods of the present disclosure can still be modified or some technical features can be replaced by equivalents, and these modifications and equivalent replacements should be included in the scope of the technical solution for protection of the present disclosure.

Claims

1. A scanning system, characterized in that: include: A scanning device (1) configured to scan an object to be inspected (3) moving relative to the scanning device (1), wherein an angle α between a scanning plane (11) of the scanning device (1) and a moving direction of the object to be inspected (3) is an acute angle or an obtuse angle; and A processing device (2) is connected to the scanning device (1) by signals, and the processing device (2) is configured to receive an image scanned by the scanning device (1) and perform stretching or compression processing on the scanned image according to a reference component on the object to be inspected (3); Wherein, during the movement of the object to be inspected (3), the reference component and the moving direction of the object to be inspected (3) are always kept perpendicular.

2. The scanning system according to claim 1, characterized in that: The processing device (2) is configured to extract the size of the angle β between the reference component and the moving direction of the object under test (3) in the scanned image, stretch or compress the scanned image so that the angle β is equal to the angle α, and stretch or compress the scanned image so that the angle β is a right angle.

3. The scanning system according to claim 1, characterized in that: The processing device (2) is configured to process the scanned image so that distorted lines on the reference component in the scanned image become straight lines.

4. The scanning system according to claim 1, characterized in that: The imaging line frequency of the scanning device (1) is greater than or equal to a line frequency calculated based on an upper limit of the traveling speed of the object to be inspected (3).

5. The scanning system according to claim 1, characterized in that: The object to be inspected (3) includes an automobile, and the reference component includes a drive axle (31) of the automobile; or, the object to be inspected (3) includes a container transport vehicle, and the reference component includes a front edge or a rear edge of a container; or, the object to be inspected (3) includes a train, and the reference component includes a front edge, a rear edge, or a wheel axle of a carriage of the train.

6. The scanning system according to claim 1, characterized in that: It also comprises a square shell, the scanning device (1) is arranged in the shell, the scanning plane (11) of the scanning device (1) is parallel to the center line of the shell, or the angle γ between the scanning plane (11) of the scanning device (1) and the center line of the shell is an acute angle or an obtuse angle.

7. A scanning method, characterized in that: include: A scanning device (1) is used to scan an object to be inspected (3) that moves relative to the scanning device (1), wherein an angle α between a scanning plane (11) of the scanning device (1) and a moving direction of the object to be inspected (3) is an acute angle or an obtuse angle; and Using a processing device (2) to receive the image scanned by the scanning device (1), and performing stretching or compression processing on the scanned image according to a reference component on the object to be inspected (3); Wherein, during the movement of the object to be inspected (3), the reference component is always kept perpendicular to the movement direction of the object to be inspected (3).

8. The scanning method according to claim 7, characterized in that: The operation of stretching or compressing the scanned image according to the reference component on the object to be inspected (3) comprises: Extracting the size of the angle β between the reference component and the moving direction of the object under test (3) in the scanned image; stretching or compressing the scanned image so that the angle β is equal to the angle α; and The scanned image is stretched or compressed so that the angle β is a right angle.

9. The scanning method according to claim 8, characterized in that: The operation of stretching or compressing the scanned image so that the angle β is equal to the angle α comprises: When the angle β is greater than the angle α, stretching the scanned image; or When the angle β is smaller than the angle α, the scanned image is compressed.

10. The scanning method according to claim 8, characterized in that: Before extracting the size of the angle β between the reference component and the moving direction of the object (3) under inspection in the scanned image, the scanning method further comprises: The distorted lines on the reference component in the scanned image are processed into straight lines.

11. The scanning method according to claim 7, characterized in that: Also includes: The imaging line frequency of the scanning device (1) is set to be greater than or equal to the line frequency calculated based on the upper limit of the traveling speed of the object to be inspected (3).

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