An advanced sensor-based vehicle exterior damage detection apparatus and method

Abstract

The application relates to the technical field of automobile appearance detection, in particular to an automobile appearance damage detection equipment and method based on advanced sensing, which comprises a detection table, an automobile driving-in channel, an automobile driving-out channel, an illuminating device and a damage detection system. The damage detection system is provided with a bottom scanning detection pool, a swing type driving base, a parallel swing mechanism, a sensing module mounting base plate and front, top, rear and bottom scanning detection modules. When the automobile drives in, the wheels press down the swing type driving base, the swing type driving base drives the parallel swing mechanism to move through a transmission assembly, the sensing module mounting base plate is lifted up along with the vehicle entering process, each scanning detection module collects the front part, the top part, the left and right side parts, the rear part and the bottom part of the vehicle respectively, and after the automobile drives away, the sensing module mounting base plate is lowered and reset under the action of a counterweight. The equipment can realize multi-directional appearance data collection in the one-time passing process of the vehicle and output automobile appearance damage detection results.

Description

Technical Field

[0001] This invention relates to the field of automotive exterior inspection technology, specifically to an automotive exterior damage detection device and method based on advanced sensing. Background Technology

[0002] During vehicle transactions, insurance claims, vehicle rental handover, repair acceptance, and overall vehicle manufacturing quality inspection, it is necessary to inspect the exterior damage of body panels, bumpers, doors, fenders, roof, glass perimeter, door sills, and the undercarriage. Common damage includes scratches, dents, bulges, paint peeling, color differences, component misalignment, and signs of bodywork repair.

[0003] Existing manual visual inspections are easily affected by the inspector's experience, ambient lighting, observation angle, and inspection time, resulting in low consistency in judging shallow dents, minor linear scratches, and localized paint touch-up areas. Fixed camera devices are limited by installation location and field of view, easily creating blind spots at the edges of the roof, corners of the front and rear bumpers, lower edges of the doors, and the underside of the vehicle. While devices using motors, lead screws, gantry frames, or industrial robots to move sensors can expand the inspection range, they typically require independent power units and complex motion control systems, leading to higher equipment costs and maintenance workloads.

[0004] The key to automotive exterior inspection lies in maintaining a suitable working distance and detection angle between the detection sensors and the vehicle's outer surface during vehicle passage, continuously collecting surface data from all directions, and accurately mapping the sensor data to the same spatial location on the vehicle. Existing solutions lack specific details regarding the lighting structure, the linkage between the vehicle load and the scanning frame, the composition and working principle of the composite sensing module, the dimensions and materials of key components, and the equipment assembly and calibration process. This poses a risk that those skilled in the art may find it difficult to directly manufacture and debug the equipment based on this information.

[0005] In view of this, this technical solution designs an automotive exterior damage detection device and method based on advanced sensing. Summary of the Invention

[0006] The purpose of this invention is to provide an automotive exterior damage detection device and method based on advanced sensing, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an advanced sensing-based vehicle exterior damage detection device, comprising a detection platform, a vehicle entry channel, a vehicle exit channel, a lighting device, and a damage detection system; the damage detection system is located in the middle of the detection platform, the vehicle entry channel and the vehicle exit channel are respectively located on the front and rear sides of the corresponding detection platform of the damage detection system, and the lighting device is located on both sides of the detection platform. The damage detection system includes a bottom scanning detection pool, a swing-type crane base, a crane track, a swing shaft, supporting steps, a fixed U-shaped base frame, parallel swing plate group I, parallel swing plate group II, connecting swing rods, a rotating shaft, a sensor module mounting base plate, a front scanning detection module, a top side scanning detection module, a rear scanning detection module, a top scanning detection module mounting rod, and a bottom scanning detection module; The bottom scanning detection pool is located in the center of the detection platform. The supporting steps are symmetrically arranged on the left and right sides inside the bottom scanning detection pool. Two sets of swing-type trolley bases are symmetrically swinging above the bottom scanning detection pool along the front and back direction. The trolley track is set on the swing-type trolley base. A fixed U-shaped base frame is fixed on the testing table. Multiple connecting swing rods are rotatably connected to the fixed U-shaped base frame through a rotating shaft. One end of the connecting swing rod is rotatably connected to the parallel swing plate group I through a rotating shaft, and the other end of the connecting swing rod is rotatably connected to the parallel swing plate group II through a rotating shaft. The sensor module mounting base is installed at the bottom of the connecting swing arm located at the lowest side. The front scanning detection module, the top scanning detection module, and the rear scanning detection module are all installed on the sensor module mounting base, and the bottom scanning detection module is installed in the bottom scanning detection pool. The swing-type vehicle base is connected to the parallel swing plate group I through a transmission assembly. When the vehicle wheel presses down on the swing-type vehicle base, the swing-type vehicle base drives the parallel swing plate group I, the parallel swing plate group II and the connecting swing rod to move through the transmission assembly, and raises the sensor module mounting base plate.

[0008] As a further aspect of the present invention: two sets of swing-type vehicle bases are symmetrically mounted on opposite sides of their far-away ends, and the swing shafts are rotatably mounted on the side wall of one side of the supporting step; the gaps between the ends of the two sets of swing-type vehicle bases are distributed, and the area of ​​the swing-type vehicle base located between the two vehicle tracks is set as an open shape; the top scanning detection module mounting rod is mounted on the bottom wall of the bottom scanning detection pool along the front-back direction, and multiple bottom scanning detection modules are mounted on the top scanning detection module mounting rod, and the bottom scanning detection modules scan the outer surface of the bottom of the passing vehicle upwards.

[0009] As a further aspect of the present invention: the bottom of the fixed U-shaped base frame is fixed to the testing platform by a fixing plate, and multiple connecting swing rods are arranged at equal intervals from bottom to top inside the fixed U-shaped base frame; both the parallel swing plate group I and the parallel swing plate group II are composed of two rectangular plates; each connecting swing rod has the same length and is parallel to each other, and the parallel swing plate group I and the parallel swing plate group II remain basically parallel during the movement.

[0010] As a further aspect of the present invention: the sensor module mounting base plate has a U-shaped structure, and the sensor module mounting base plate is mounted on the bottom of the connecting swing arm located at the lowest side by fixing bolts; the front scanning detection module is arranged along the front side of the sensor module mounting base plate and tilted towards the direction of the vehicle entering the channel, the top scanning detection module is arranged along the inner side of the top of the sensor module mounting base plate and the inner side of the left and right side arms, and the rear scanning detection module is arranged along the rear side of the sensor module mounting base plate and tilted towards the direction of the vehicle exiting the channel.

[0011] As a further aspect of the present invention: the front scanning detection module, the top side scanning detection module, the rear scanning detection module, and the bottom scanning detection module are all configured as non-contact composite scanning detection modules; each non-contact composite scanning detection module includes a rigid housing, a high-resolution industrial camera, a three-dimensional contour sensor, a multispectral camera, a supplementary lighting component, a transparent protective window, a temperature sensor, a heat dissipation structure, and an adjustable mounting base; the three-dimensional contour sensor is a line laser displacement sensor, a structured light three-dimensional camera, or a binocular three-dimensional camera.

[0012] As a further aspect of the present invention: the transmission assembly includes a top connecting ring hook hole plate, a bottom connecting ring hook hole plate, and a telescopic connector; the top connecting ring hook hole plate is fixed to the upper part of one side wall of the parallel swing plate assembly I, and the bottom connecting ring hook hole plate is installed on the swing-type crane base; the telescopic connector is connected between the bottom connecting ring hook hole plate and the top connecting ring hook hole plate, and the telescopic connector includes two screws, a screw cylinder, and two connecting ring hooks, the two screws are respectively threaded to both ends of the screw cylinder, the two connecting ring hooks are respectively connected to the ends of the two screws opposite the screw cylinder, and the two connecting ring hooks are respectively hooked onto the bottom connecting ring hook hole plate and the top connecting ring hook hole plate.

[0013] As a further embodiment of the present invention: the uppermost rotating axis of the parallel swing plate group I is connected to a pulley shaft, a pulley is installed at the end of the pulley shaft, a gravity rope is wound around the pulley, one end of the gravity rope is connected downward to a gravity block, the other end of the gravity rope is connected downward to a gravity rope fixing hole seat, the gravity rope fixing hole seat is fixed on the testing platform, and a gravity block groove is provided on the testing platform directly below the gravity block.

[0014] As a further aspect of the present invention: the lighting device is configured as an adjustable uniform supplementary lighting device, which includes a support column, a horizontal or omnidirectional lamp holder, an LED linear light source or an LED surface light source, a constant current driver, a diffuser plate, a polarizer, and a light shield; the support column is fixed on the testing table, and the horizontal or omnidirectional lamp holder is connected to the support column by clamps and locking bolts; the testing table is also equipped with a control and data processing unit, which includes an electrical control cabinet, an industrial computer, a data acquisition controller, an industrial network switch, a power module, a vehicle position sensor, a vehicle speed or displacement sensor, and a safety control module.

[0015] A method for detecting automotive exterior damage based on advanced sensing, implemented using an automotive exterior damage detection device based on advanced sensing as described in any one of claims, includes the following steps: S1. Equipment initialization and vehicle import: Start the control and data processing unit and call the calibration parameters of each scanning and detection module; control the lighting device to enter the detection state, so that the car drives along the car entry channel to the damage detection system, and limit the passage path of the car through the car entry channel and the driving track; S2. Front scanning and bottom pre-scanning of the vehicle: When the vehicle enters the front area of ​​the damage detection system, the front scanning detection module scans the front of the vehicle to obtain the appearance data of the front bumper, headlights, front edge of the hood and front fender area; at the same time, the bottom scanning detection module located in the bottom scanning detection pool performs a pre-scan of the bottom of the vehicle upwards. S3. Vehicle load triggers scanning frame lifting: After the car wheel presses down on the swing-type vehicle base, the swing-type vehicle base rotates around the swing axis, and drives the parallel swing plate group I, parallel swing plate group II and connecting swing rod to move through the transmission assembly consisting of the top connecting ring hook hole plate, the bottom connecting ring hook hole plate, the screw, the screw and the connecting ring hook, so that the sensor module mounting base plate is lifted accordingly. S4. Simultaneous scanning of vehicle top, side and bottom: After the sensor module mounting base is raised to a height that the car can pass through, the car continues to travel along the driving track; the top side scanning detection module scans the car roof, pillars, doors, side panels and wheel arch areas, while the bottom scanning detection module simultaneously scans the outer surface of the car bottom. S5. Rear vehicle scanning and scanner reset: When the rear of the vehicle passes the damage detection system, the rear scanning detection module scans the rear of the vehicle to obtain appearance data of the trunk lid, taillights, rear bumper, and rear side panel areas; after the vehicle leaves the swing-type vehicle base, the swing-type vehicle base is released from the pressure state, and the sensor module mounting plate gradually descends and resets under the action of the gravity block and the parallel swing mechanism, and the gravity block falls into the gravity block groove for positioning; S6. Data Fusion and Damage Result Output: The control and data processing unit receives data collected by the front scanning detection module, top side scanning detection module, rear scanning detection module, and bottom scanning detection module. Based on the calibration parameters of each scanning detection module and vehicle movement information, it converts the data collected at different locations into the same vehicle detection coordinate system. Subsequently, it performs correlation processing on the two-dimensional image data, three-dimensional contour data, and multispectral reflectance data to identify scratches, dents, bumps, paint peeling, color differences, or repair marks on the vehicle exterior, and outputs detection results including damage location, damage type, and damage range.

[0016] As a further aspect of the present invention: In step S4, the vehicle speed or displacement sensor outputs vehicle movement information to the control and data processing unit. The control and data processing unit controls each scanning detection module to collect data at a preset interval according to the vehicle movement information, so that the data on the top side and the bottom of the vehicle are saved according to the vehicle's driving position.

[0017] Compared with the prior art, the beneficial effects of the present invention are: by applying pressure to the swing-type vehicle base through the car wheels, and by using the transmission components, parallel swing mechanism and counterweight structure to make the sensor module mounting plate lift up as the vehicle enters and reset as the vehicle leaves, thereby reducing the use of independent lifting power devices. The front scanning detection module, top and side scanning detection module, rear scanning detection module and bottom scanning detection module can collect data on the front, top, left and right sides, rear and bottom of the vehicle respectively, so that the vehicle can complete the acquisition of multi-dimensional appearance data when passing through the detection area once. The two-dimensional image data, three-dimensional contour data, and multispectral reflectance data collected by each scanning and detection module are processed by the control and data processing unit to output detection results that include damage location, damage type, and damage range, which helps to improve the completeness and objectivity of vehicle exterior damage detection. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an advanced sensing-based automotive exterior damage detection device.

[0019] Figure 2 This is a second-view structural diagram of an advanced sensing-based automotive exterior damage detection device.

[0020] Figure 3 This is a three-dimensional structural diagram of an advanced sensing-based automotive exterior damage detection device.

[0021] Figure 4 This is a schematic diagram of a four-view structure for an advanced sensing-based automotive exterior damage detection device.

[0022] Figure 5 for Figure 2 A magnified structural diagram of A in the middle.

[0023] Figure 6 for Figure 1 A magnified structural diagram of B in the diagram.

[0024] Figure 7 for Figure 3 A magnified structural diagram of C.

[0025] Figure 8 for Figure 4 A magnified structural diagram of D in the diagram.

[0026] Figure 9 This is a flowchart of a method for detecting automotive exterior damage based on advanced sensing.

[0027] Among them: 1 inspection platform, 2 vehicle entry lane, 3 vehicle exit lane, and 4 lighting devices; Damage detection system 10, fixed U-shaped base frame 100, parallel swing plate assembly I 101, parallel swing plate assembly II 102, bottom scanning detection pool 103, swing-type trolley base 104, trolley track 105, swing shaft 106, support step 107, connecting swing rod 108, rotating shaft 109, top connecting hook hole plate 110, bottom connecting hook hole plate 111, screw barrel 112, screw 113, connecting hook 114, pulley shaft 115, pulley 116, gravity rope 117, gravity block 118, gravity block groove 119, gravity rope fixing hole seat 120, sensor module mounting base plate 121, fixing bolt 122, front scanning detection module 123, top scanning detection module 124, rear scanning detection module 125, top scanning detection module mounting rod 126, bottom scanning detection module 127. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this invention, the terms "front" and "rear" are based on the direction in which the vehicle travels from the vehicle entry lane 2 to the vehicle exit lane 3; the terms "left," "right," "upper," "lower," "inner," and "outer" are based on the positional relationships shown in the accompanying drawings. Unless otherwise expressly specified, the terms "installation," "connection," and "fixing" include welding, bolting, pinning, bearing connection, and indirect connection via intermediate components.

[0031] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] Please see Figures 1-4 An advanced sensing-based automotive exterior damage detection device includes a detection platform 1, which serves as the support base for the device. A damage detection system 10 is installed in the center of the detection platform 1. The detection platform 1 has a vehicle entry channel 2 and a vehicle exit channel 3 on the front and rear sides corresponding to the damage detection system 10. The center lines of the vehicle entry channel 2 and the vehicle exit channel 3 coincide with the vehicle passage center line of the damage detection system 10. By restricting the vehicle entry channel 2 and the vehicle exit channel 3, it is ensured that the vehicle can accurately pass through the damage detection system 10 for comprehensive exterior damage scanning and detection. At the same time, multiple sets of lighting devices 4 are evenly distributed on both sides of the detection platform 1. The lighting devices 4 are used to provide a clear visual environment for the damage detection system 10 and reduce the impact of visibility problems on the detection. The testing platform 1 is preferably a steel structure platform or a steel structure platform on a reinforced concrete foundation, with a total length of 8000-14000mm, a total width of 3000-4500mm, and a platform height of 250-800mm; the effective lengths of the vehicle entry channel 2 and the vehicle exit channel 3 are 2000-5000mm respectively; the design load-bearing capacity of the testing platform 1 is preferably 4-8t, and the load-bearing safety factor is not less than 1.5.

[0033] The main load-bearing beam of the steel structure testing platform 1 is preferably made of Q355B rectangular steel pipe or H-beam; the vehicle passage surface is paved with anti-slip patterned steel plate with a thickness of 8-12mm; the load-bearing beams are connected by continuous fillet welds or high-strength bolts. After welding, the load-bearing welds are visually inspected, and ultrasonic or magnetic particle testing is performed if necessary. Preferably, guide markings, low-profile guide wheels, or limiting strips can be installed at the entrance of the vehicle entering the channel 2. The spacing between the inner sides of the guide components is set to 1300-1900mm according to the wheel track of the target vehicle, and lateral adjustment holes are retained. A transition surface with a slope of no more than 10° is provided between the upper surface of the channel and the swing-type vehicle base 104 to avoid scraping the chassis of vehicles with low ground clearance.

[0034] The damage detection system 10 is configured as a lifting barrier detection device. As a car gradually approaches along the car entry channel 2, the lifting barrier detection device is gradually raised under force. It first scans and detects the front outer surface of the car, and simultaneously scans and detects the bottom of the car as it approaches, until the lifting barrier detection device is raised enough for the car to pass underneath. Then, it scans and detects the top and left and right outer surfaces of the car. When the car enters the car exit channel 3, the lifting barrier detection device is gradually lowered under force, and then scans and detects the rear surface of the car. This forms a mobile, all-round appearance damage detection mode. Furthermore, by using the pressure changes of the car on the lifting barrier detection device, the lifting and lowering of the lifting barrier detection device is controlled, realizing a passive follow-up detection form of "vehicle load triggering, mechanical linkage lifting, scanning module with vehicle partition collection, and repositioning after vehicle departure". This design does not rely on an independent lifting motor to provide the main lifting power for the scanning frame. Instead, it utilizes the pressure generated by the vehicle wheels on the swing-type vehicle base 104, which is converted into the lifting displacement of the sensor module mounting base 121 via a transmission assembly and a parallel swing lifting mechanism.

[0035] Specifically, the damage detection system 10 includes a bottom scanning detection pool 103 located at the center of the detection platform 1. Support steps 107 are symmetrically arranged on the left and right sides inside the bottom scanning detection pool 103. At the same time, two sets of swing-type trolley bases 104 are symmetrically swinging in the front and rear directions of the bottom scanning detection pool 103. The two sets of swing-type trolley bases 104 are swinging and mounted above the bottom scanning detection pool 103. In the initial state, the opposite ends of the two sets are symmetrically raised. Trolley tracks 105 are provided on both sides of the swing-type trolley bases 104. The trolley tracks 105 are used for the vehicle to drive over, ensuring that it passes over the bottom scanning detection pool 103 according to the required path. Preferred, such as Figure 5 As shown, swing shafts 106 are symmetrically installed on the two ends of the swing-type vehicle base 104 that are far apart from each other. The swing shafts 106 are rotatably mounted on the side wall of the support step 107, which maintains the stable swing of the swing-type vehicle base 104. By mounting the swing shafts 106 on the side wall of the support step 107, it is ensured that when the swing-type vehicle base 104 is rotated to a horizontal angle, its bottom sides are placed on the upper surface of the support step 107. At the same time, the gap between the two ends of the swing-type vehicle base 104 that are close to each other does not affect the safe and normal passage of the car. The two swing-type vehicle bases 104 are mounted on the two support steps 107, so that the bottom of the car can be scanned and detected smoothly. It should be noted that the area of ​​the swing-type vehicle base 104 between the two vehicle tracks 105 is set as an opening, that is, the bottom of the car is exposed. Meanwhile, multiple top scanning detection module mounting rods 126 are evenly installed on the bottom wall of the bottom scanning detection pool 103 along the front-back direction. Multiple bottom scanning detection modules 127 are evenly installed on the top scanning detection module mounting rods 126. The bottom scanning detection modules 127 scan the outer surface of the bottom of the passing car upwards.

[0036] It should be noted that, in order to ensure that the front end of the vehicle does not come into contact with the sensor module mounting base 121 before it is raised, the longitudinal distance between the initial pressure position of the vehicle entry side swing type vehicle base 104 and the initial vertical projection plane of the sensor module mounting base 121 is preferably 1200-2500mm, more preferably 1600-2000mm. This distance is greater than the maximum front overhang length of the target vehicle model and leaves a safety margin of 200-500mm. The pressure areas of the two sets of swing-type vehicle bases 104 are continuously connected along the vehicle's driving direction, so that at least one set of swing-type vehicle bases 104 is under pressure when the vehicle passes through the detection area; while the front wheels of the vehicle are moving from the entry-side base to the exit-side base, the rear wheels of the vehicle are still pressing on the entry-side base, thereby preventing the sensor module mounting base 121 from descending prematurely when it is directly under the vehicle.

[0037] Furthermore, two sets of swing-type detection barriers are symmetrically arranged on both sides of the detection platform 1 located above the center of the bottom scanning detection pool 103; the lifting power end of the swing-type detection barrier is connected to the lifting end of the swing-type vehicle base 104 on both sides through a transmission assembly. That is, when the car enters along the car entry channel 2, downward pressure is gradually applied to the swing-type vehicle base 104 in the lifting state. At this time, the transmission assemblies on both sides are subjected to force to gradually lift the swing-type detection barrier until the car can pass smoothly under the swing-type detection barriers on both sides. The specific swing-type detection fence is equipped with a three-position detection component at the bottom, which is used to perform appearance scanning detection on the front, left and right sides, and top and rear of the car during the driving process. The swing-type detection barrier includes a fixed U-shaped base frame 100 fixed on the detection table 1. The bottom of the fixed U-shaped base frame 100 is fixed to the detection table 1 by a fixing plate. Inside the fixed U-shaped base frame 100, multiple connecting swing rods 108 are rotatably connected from bottom to top via rotating shafts 109. The ends of the connecting swing rods 108 away from the bottom scanning detection pool 103 are all rotatably connected to parallel swing plate group I 101 via rotating shafts 109. The other end of the connecting swing rods 108 is rotatably connected to parallel swing plate group II 102 via rotating shafts 109. Both parallel swing plate group I 101 and parallel swing plate group II 102 are composed of two rectangular plates. The fixed U-shaped base frame 100 is positioned at one end of the connecting swing rod 108 (approximately 4 / 5 of the way down), ensuring that the parallel swing plate group II 102 can be fully raised under the swing of the connecting swing rod 108, thus providing sufficient space for vehicles to pass through. It should be noted that all connecting swing rods 108 are of the same length and parallel to each other, and the parallel swing plate group I 101 and the parallel swing plate group II 102 remain basically parallel during movement; the left and right parallel swing mechanisms are rigidly connected through the sensor module mounting base plate 121, so that the two sides are raised synchronously. If necessary, a transverse synchronous shaft or torsion tube can be added between the left and right mechanisms to further reduce the height difference between the two sides.

[0038] Among them, such as Figure 8 As shown, a U-shaped sensor module mounting base plate 121 is installed at the bottom of the connecting rod 108 located at the lowest side by fixing bolts 122. The three-position detection assembly is installed on the sensor module mounting base plate 121, which includes multiple sets of front scanning detection modules 123 installed on the front side of the sensor module mounting base plate 121, multiple sets of rear scanning detection modules 125 installed on the rear side, and multiple sets of top scanning detection modules 124 installed at the bottom. That is, with the cooperation of the front scanning detection module 123, the top scanning detection module 124, and the rear scanning detection module 125, the vehicle is scanned and detected in all directions except for the bottom position. It should be noted that the front scanning detection module 123 is arranged along the front side of the sensor module mounting base plate 121 and tilted towards the direction of the vehicle entering the passage 2, and is used to scan the front bumper, headlights, the front edge of the engine hood and the front fenders; the top side scanning detection module 124 is arranged along the inner side of the top of the inverted U-shaped frame and the inner side of the left and right side arms, and is used to scan the roof, pillars, doors, side panels and wheel arches; the rear scanning detection module 125 is arranged along the rear side of the sensor module mounting base plate 121 and tilted towards the direction of the vehicle exiting the passage 3, and is used to scan the trunk lid, taillights, rear bumper and rear side panels.

[0039] Preferably, 3 to 7 sets of front scanning detection modules 123, 5 to 13 sets of top-side scanning detection modules 124, 3 to 7 sets of rear scanning detection modules 125, and 4 to 10 sets of bottom scanning detection modules 127 are provided. The overlap rate of the effective field of view of adjacent modules is 10% to 30%, and the working distance of the modules is 300 to 1200 mm. The tilt angle of the front and rear modules relative to the vehicle's driving direction is 15° to 45°, and the deflection angle of the top-side module relative to the normal of the measured surface is 0° to 30°.

[0040] Specifically, the front scanning detection module 123, the top side scanning detection module 124, the rear scanning detection module 125, and the bottom scanning detection module 127 are all configured as non-contact composite scanning detection modules; each composite scanning detection module includes a rigid housing, a high-resolution industrial camera, a 3D contour sensor, a multispectral camera, a supplementary lighting component, a transparent protective window, a temperature sensor, a heat dissipation structure, and an adjustable mounting base; depending on the detection accuracy requirements, the 3D contour sensor can be a line laser displacement sensor, a structured light 3D camera, or a binocular 3D camera; The high-resolution industrial camera preferably adopts a global shutter area array camera with an effective pixel count of 8 million to 24 million, a frame rate of 20 to 120 frames per second, and a lens focal length of 8 to 35 mm. Within the working distance range, the spatial sampling interval of the vehicle body surface is preferably 0.05 to 0.50 mm / pixel.

[0041] When using a line laser displacement sensor, a line laser projects a laser line onto the vehicle surface. An industrial camera, positioned with a known baseline and angle to the laser, collects the deformation of the laser line on the surface. The height coordinates of each sampling point are calculated based on the laser triangulation principle, forming a continuous 3D point cloud as the vehicle moves. The preferred line profile sampling frequency is 2–20 kHz, and the preferred repeatability is 0.05–0.30 mm. When using a structured light 3D camera, a projector projects stripes, speckles, or coded patterns onto the vehicle surface. The phase change or parallax of the pattern collected by the camera is received, and the surface depth is calculated based on the pre-calibrated geometric relationship between the projector and camera. The preferred 3D frame rate of the structured light module is 30–200 frames per second. Different structured light modules use time-division triggering or different encoding to avoid projection interference between adjacent modules.

[0042] The multispectral camera is preferably configured with 4 to 8 detection bands, covering a detection range of 450–950 nm, or a combination of a visible light RGB camera and a near-infrared camera can be used. Multispectral data is used to compare the reflectance differences of the same vehicle body area under different bands, thereby assisting in the identification of color differences, clear coat abnormalities, paint touch-up boundaries, and repair marks.

[0043] The working principle of the composite scanning detection module is as follows: first, the industrial camera acquires surface texture and color information, then the three-dimensional contour sensor acquires the height or point cloud information of the same area, and the multispectral camera acquires the reflection information of the same area in multiple bands; the control and data processing unit uses the pre-calibrated sensor relative pose within the module to convert the above data into the same module coordinate system, and then unifies the data of each module into the vehicle detection coordinate system according to the external parameters of the module relative to the detection platform 1, so as to achieve coverage scanning.

[0044] Furthermore, such as Figures 6-7 As shown, the transmission assembly includes a top connecting ring hook hole plate 110 fixed on the upper part of one side wall of the parallel swing plate assembly I101. A bottom connecting ring hook hole plate 111 is installed on the swing-type crane base 104 in the plane corresponding to the top connecting ring hook hole plate 110. A telescopic connector is provided between the bottom connecting ring hook hole plate 111 and the top connecting ring hook hole plate 110. The telescopic connector connects the parallel swing plate assembly I101 and the swing-type crane base 104, and can also perform adaptive connection control according to the initial lifting height of the swing-type crane base 104 and the initial swing height of the parallel swing plate assembly I101. Preferably, the telescopic connector includes two screws 113, a screw cylinder 112, and two connecting hooks 114. The two screws 113 are respectively threaded to the two ends of the screw cylinder 112, and the two connecting hooks 114 are respectively connected to the ends of the two screws 113 opposite to the screw cylinder 112. The two connecting hooks 114 are respectively hooked onto the bottom connecting hook hole plate 111 and the top connecting hook hole plate 110 at corresponding locations. That is, the length of the screws 113 at both ends is adjusted by rotating the screw cylinder 112, thereby adjusting the telescopic connection. Meanwhile, on the other side of the telescopic connector, the uppermost rotating shaft 109 of the parallel swing plate group I 101 is connected to a pulley shaft 115. A pulley 116 is installed at the end of the pulley shaft 115. A gravity rope 117 is wound around the pulley 116. One end of the gravity rope 117 is connected downward to a gravity block 118, and the other end is connected downward to a gravity rope fixing hole seat 120. The gravity rope fixing hole seat 120 is fixed on the testing platform 1. Using the gravity of the gravity block 118, in conjunction with the rotation of the pulley 116, the uppermost connecting swing rod 108 is controlled to swing. Then, under the action of the parallel swing plate group I 101 and the parallel swing plate group II 102 at both ends, the force balance between the connecting swing rod 108 and the pressure of the car traveling on the swing-type vehicle base 104 is maintained, thereby stably controlling the lifting and lowering of the connecting swing rod 108.

[0045] Preferably, a gravity block groove 119 is provided on the detection platform 1 directly below the gravity block 118, that is, the gravity block 118 can be positioned in the gravity block groove 119 when it falls. To ensure that the pulley 116 can transmit displacement and torque to the gravity rope 117, the gravity rope 117 and the pulley 116 are not in a free sliding relationship. Instead, the rope is wound around the pulley at least half a turn and is limited by a rope pressure plate, rope end fixing holes, or anti-slip lining, so that the pulley 116 can drive the gravity block 118 to rise and fall when it rotates. The pulley 116 is preferably made of cast steel or aluminum alloy with a diameter of 160-300mm. The gravity rope 117 is made of galvanized steel wire rope or aramid reinforced rope with a diameter of 6-12mm and a safety factor of not less than 6. The gravity block 118 is made of cast iron counterweight plates or steel counterweight plates stacked together, with a counterweight mass of 40-150kg on each side, and can be increased or decreased in increments of 5kg or 10kg.

[0046] The counterweight mass is selected based on the gravitational torque generated by the sensor module mounting base 121 and the swing mechanism relative to the rotation axis 109, so that the balancing torque provided by the counterweight assembly is 60% to 90% of the aforementioned gravitational torque. This reduces the force required for the vehicle to press down on the swing-type vehicle base 104, while retaining sufficient fall force to allow the mechanism to reset after the vehicle leaves.

[0047] The lighting device 4 is configured as an adjustable uniform lighting device, including a support column, a horizontal or omnidirectional lamp holder, an LED linear light source or an LED surface light source, a constant current driver, a diffuser plate, a polarizer and a light shield; the support column is fixed to the test table 1 by expansion bolts or pre-embedded anchor bolts, and the lamp holder is connected to the support column by clamps and locking bolts, thereby enabling adjustment of the installation height, pitch angle and horizontal deflection angle of the light source; Specifically, it is preferable to install 3 to 8 sets of lighting devices 4 on each side of the testing platform 1. Each set of light source has a power of 40 to 150W, a color temperature of 4000 to 6500K, a color rendering index Ra of not less than 90, and an effective illuminance of 3000 to 12000 lx at a distance from the vehicle surface. The installation height of the light source is 1200 to 2500 mm, and the pitch adjustment range is not less than ±45°.

[0048] The lighting device 4 is controlled by a control and data processing unit in zones; when the front scanning detection module 123 is working, it illuminates the front lighting area; when the top scanning detection module 124 is working, it illuminates the top and side lighting areas; and when the rear scanning detection module 125 is working, it illuminates the rear lighting area. When using structured light or line laser detection, the LED light source and the laser projector are triggered in a time-division manner to avoid mutual interference.

[0049] The support step 107 is formed by extending the main beam of the testing platform 1 or by welding a Q355B steel plate with a thickness of 10-20mm. Its upper surface is covered with an oil-resistant rubber buffer pad with a thickness of 5-15mm. When the swing-type crane base 104 rotates to a horizontal position, its bottom is directly supported on the support step 107, allowing the vehicle load to be transferred to the testing platform 1 through the support step 107, rather than continuously acting on the telescopic connector.

[0050] Finally, the testing station 1 is also equipped with a control and data processing unit, which includes an electrical control cabinet, an industrial computer, a data acquisition controller, an industrial network switch, a power supply module, a vehicle positioning sensor, a vehicle speed or displacement sensor, and a safety control module. The vehicle positioning sensor can be a photoelectric beam sensor, a laser rangefinder, a millimeter-wave sensor, or a ground inductive coil. The vehicle speed or displacement sensor can be a laser velocimeter, a roller encoder, or an angle encoder mounted on the swing shaft 106.

[0051] like Figure 9 As shown, an advanced sensing-based method for detecting automotive exterior damage, based on the aforementioned automotive exterior damage detection equipment, includes the following steps: S1. Equipment initialization and vehicle import: Start the control and data processing unit and call the calibration parameters of each scanning and detection module; control the lighting device 4 to enter the detection state, so that the car drives along the car entry channel 2 to the damage detection system 10, and limit the passage path of the car through the car entry channel 2 and the driving track 105. The control and data processing unit includes an electrical control cabinet, an industrial computer, a data acquisition controller, a vehicle positioning sensor, and a vehicle speed or displacement sensor. It can control the vehicle's entry status, vehicle speed or displacement, and the acquisition timing of each scanning and detection module.

[0052] S2. Front scanning and bottom pre-scanning of the vehicle: When the vehicle enters the front area of ​​the damage detection system 10, the front scanning detection module 123 scans the front of the vehicle to obtain the appearance data of the front bumper, headlights, front edge of the hood and front fender area; at the same time, the bottom scanning detection module 127 located in the bottom scanning detection pool 103 performs a pre-scan of the bottom of the vehicle upwards.

[0053] The appearance data includes one or more of two-dimensional image data, three-dimensional contour data, and multispectral reflectance data.

[0054] S3. Vehicle load triggers scanning frame lifting: After the car wheel presses down on the swing-type vehicle base 104, the swing-type vehicle base 104 rotates around the swing axis 106, and drives the parallel swing plate group I 101, the parallel swing plate group II 102 and the connecting swing rod 108 to move through the transmission assembly consisting of the top connecting ring hook hole plate 110, the bottom connecting ring hook hole plate 111, the screw 112, the screw 113 and the connecting ring hook 114, so that the sensor module mounting base plate 121 is lifted accordingly.

[0055] During the lifting process, the gravity block 118, gravity rope 117 and pulley 116 work together to balance the sensor module mounting base plate 121 and the scanning detection module on it, so that the scanning frame can be lifted smoothly as the car drives in.

[0056] S4. Simultaneous scanning of vehicle top, side and bottom: After the sensor module mounting base plate 121 is raised to a height that the car can pass through, the car continues to travel along the driving track 105; the top side scanning detection module 124 scans the car roof, pillars, doors, side panels and wheel arch areas, and the bottom scanning detection module 127 simultaneously scans the outer surface of the bottom of the car.

[0057] In this step, the vehicle speed or displacement sensor outputs vehicle movement information to the control and data processing unit. The control and data processing unit controls each scanning and detection module to collect data at preset intervals based on the vehicle movement information, so that the data on the top and bottom of the vehicle can be saved according to the vehicle's driving position.

[0058] S5. Rear vehicle scanning and scanner reset: When the rear of the vehicle passes the damage detection system 10, the rear scanning detection module 125 scans the rear of the vehicle to obtain appearance data of the trunk lid, taillights, rear bumper and rear side panel area. After the car leaves the swing-type vehicle base 104, the swing-type vehicle base 104 is released from the pressure state. The sensor module mounting plate 121 gradually descends and resets under the action of the gravity block 118 and the parallel swing mechanism. The gravity block 118 falls into the gravity block groove 119 for positioning, and the equipment returns to the detection state.

[0059] S6. Data fusion and damage result output: The control and data processing unit receives data collected by the front scanning detection module 123, the top side scanning detection module 124, the rear scanning detection module 125 and the bottom scanning detection module 127, and converts the data collected at different locations into the same vehicle detection coordinate system according to the calibration parameters of each scanning detection module and the vehicle movement information. Subsequently, the two-dimensional image data, three-dimensional contour data, and multispectral reflectance data are correlated and processed to identify scratches, dents, bumps, paint peeling, color differences, or repair marks on the car's exterior, and output detection results including the location, type, and extent of damage.

[0060] The preferred embodiments of this patent have been described in detail above. However, this patent is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this patent.

Claims

1. A vehicle exterior damage detection device based on advanced sensing, characterized in that, It includes a testing platform (1), a vehicle entry channel (2), a vehicle exit channel (3), a lighting device (4), and a damage detection system (10); the damage detection system (10) is located in the middle of the testing platform (1), the vehicle entry channel (2) and the vehicle exit channel (3) are respectively located on the testing platform (1) on the front and rear sides of the damage detection system (10), and the lighting device (4) is located on both sides of the testing platform (1); The damage detection system (10) includes a bottom scanning detection pool (103), a swing-type trolley base (104), a trolley track (105), a swing shaft (106), a support step (107), a fixed U-shaped base frame (100), parallel swing plate group I (101), parallel swing plate group II (102), a connecting swing rod (108), a rotating shaft (109), a sensor module mounting base plate (121), a front scanning detection module (123), a top side scanning detection module (124), a rear scanning detection module (125), a top scanning detection module mounting rod (126), and a bottom scanning detection module (127). The bottom scanning detection pool (103) is located at the center of the detection platform (1). The supporting steps (107) are symmetrically arranged on the left and right sides inside the bottom scanning detection pool (103). Two sets of swing-type trolley bases (104) are symmetrically swing-type above the bottom scanning detection pool (103) in the front-back direction. The trolley track (105) is arranged on the swing-type trolley base (104). The fixed U-shaped base frame (100) is fixed on the testing table (1). Multiple connecting rods (108) are rotatably connected to the fixed U-shaped base frame (100) through the rotating shaft (109). One end of the connecting rod (108) is rotatably connected to the parallel swing plate group I (101) through the rotating shaft (109), and the other end of the connecting rod (108) is rotatably connected to the parallel swing plate group II (102) through the rotating shaft (109). The sensor module mounting base plate (121) is mounted on the bottom of the connecting swing arm (108) located at the lowest side. The front scanning detection module (123), the top scanning detection module (124) and the rear scanning detection module (125) are all mounted on the sensor module mounting base plate (121). The bottom scanning detection module (127) is mounted in the bottom scanning detection pool (103). The swing-type vehicle base (104) is connected to the parallel swing plate group I (101) through a transmission assembly. When the vehicle wheel presses down on the swing-type vehicle base (104), the swing-type vehicle base (104) drives the parallel swing plate group I (101), the parallel swing plate group II (102) and the connecting swing rod (108) to move through the transmission assembly, and raises the sensor module mounting base plate (121).

2. The automotive exterior damage detection device based on advanced sensing according to claim 1, characterized in that, Two sets of swing-type vehicle bases (104) are symmetrically mounted on opposite sides of their far-away ends, and the swing shafts (106) are rotatably mounted on the side wall of the support step (107); the two sets of swing-type vehicle bases (104) are spaced apart at their close ends, and the area of ​​the swing-type vehicle base (104) between the two sides of the vehicle rails (105) is set as an open shape; the top scanning detection module mounting rod (126) is mounted on the bottom wall of the bottom scanning detection pool (103) in the front-back direction, and multiple bottom scanning detection modules (127) are mounted on the top scanning detection module mounting rod (126), and the bottom scanning detection modules (127) scan the outer surface of the bottom of the passing vehicle upwards.

3. The automotive exterior damage detection device based on advanced sensing according to claim 2, characterized in that, The bottom of the fixed U-shaped base frame (100) is fixed to the detection table (1) by a fixing plate. Multiple connecting swing rods (108) are arranged at equal intervals from bottom to top inside the fixed U-shaped base frame (100). The parallel swing plate group I (101) and the parallel swing plate group II (102) are both composed of two rectangular plates. Each of the connecting swing rods (108) has the same length and is parallel to each other. The parallel swing plate group I (101) and the parallel swing plate group II (102) remain basically parallel during the movement.

4. The automotive exterior damage detection device based on advanced sensing according to claim 1, characterized in that, The sensor module mounting base plate (121) has a U-shaped structure. The sensor module mounting base plate (121) is mounted on the bottom of the connecting swing arm (108) located at the lowest side by fixing bolts (122). The front scanning detection module (123) is arranged along the front side of the sensor module mounting base plate (121) and tilted towards the direction of the vehicle entering channel (2). The top scanning detection module (124) is arranged along the inner side of the top and the inner side of the left and right side arms of the sensor module mounting base plate (121). The rear scanning detection module (125) is arranged along the rear side of the sensor module mounting base plate (121) and tilted towards the direction of the vehicle exit channel (3).

5. The automotive exterior damage detection device based on advanced sensing according to claim 4, characterized in that, The front scanning detection module (123), the top side scanning detection module (124), the rear scanning detection module (125), and the bottom scanning detection module (127) are all configured as non-contact composite scanning detection modules; each of the non-contact composite scanning detection modules includes a rigid housing, a high-resolution industrial camera, a three-dimensional contour sensor, a multispectral camera, a supplementary lighting component, a transparent protective window, a temperature sensor, a heat dissipation structure, and an adjustable mounting base; the three-dimensional contour sensor is a line laser displacement sensor, a structured light three-dimensional camera, or a binocular three-dimensional camera.

6. The automotive exterior damage detection device based on advanced sensing according to claim 5, characterized in that, The transmission assembly includes a top connecting ring hook plate (110), a bottom connecting ring hook plate (111), and a telescopic connector; the top connecting ring hook plate (110) is fixed to the upper part of one side wall of the parallel swing plate assembly I (101), and the bottom connecting ring hook plate (111) is installed on the swing-type crane base (104); the telescopic connector is connected between the bottom connecting ring hook plate (111) and the top connecting ring hook plate (110), and the telescopic connector... The connector includes two screws (113), a screw barrel (112), and two connecting hooks (114). The two screws (113) are threaded to both ends of the screw barrel (112), and the two connecting hooks (114) are respectively connected to the ends of the two screws (113) opposite to the screw barrel (112). The two connecting hooks (114) are respectively hooked onto the bottom connecting hook hole plate (111) and the top connecting hook hole plate (110).

7. The automotive exterior damage detection device based on advanced sensing according to claim 6, characterized in that, The uppermost rotating shaft (109) of the parallel swing plate group I (101) is connected to a pulley shaft (115) outward. A pulley (116) is installed at the end of the pulley shaft (115). A gravity rope (117) is wound around the pulley (116). One end of the gravity rope (117) is connected downward to a gravity block (118). The other end of the gravity rope (117) is connected downward to a gravity rope fixing hole seat (120). The gravity rope fixing hole seat (120) is fixed on the testing table (1). A gravity block groove (119) is provided on the testing table (1) directly below the gravity block (118).

8. The automotive exterior damage detection device based on advanced sensing according to claim 7, characterized in that, The lighting device (4) is configured as an adjustable uniform lighting device. The lighting device (4) includes a support column, a horizontal or omnidirectional lamp holder, an LED linear light source or an LED surface light source, a constant current driver, a diffuser plate, a polarizer and a light shield. The support column is fixed on the testing table (1). The horizontal or omnidirectional lamp holder is connected to the support column by clamps and locking bolts. The testing table (1) is also equipped with a control and data processing unit. The control and data processing unit includes an electrical control cabinet, an industrial computer, a data acquisition controller, an industrial network switch, a power module, a vehicle positioning sensor, a vehicle speed or displacement sensor and a safety control module.

9. A method for detecting automotive exterior damage based on advanced sensing, characterized in that, The method, implemented using an advanced sensing-based automotive exterior damage detection device according to any one of claims 1 to 8, comprises the following steps: S1. Equipment initialization and vehicle import: Start the control and data processing unit and call the calibration parameters of each scanning detection module; control the lighting device (4) to enter the detection state, so that the car drives along the car entry channel (2) to the damage detection system (10), and limit the passage path of the car through the car entry channel (2) and the driving track (105); S2, Front scanning and bottom pre-scanning of the vehicle: When the vehicle enters the front area of ​​the damage detection system (10), the front scanning detection module (123) scans the front of the vehicle to obtain the appearance data of the front bumper, headlights, front edge of the engine hood and front fender area; at the same time, the bottom scanning detection module (127) located in the bottom scanning detection pool (103) performs a pre-scan of the bottom of the vehicle upwards; S3, Vehicle load triggers scanning frame lifting: After the car wheel presses down on the swing-type vehicle base (104), the swing-type vehicle base (104) rotates around the swing axis (106), and drives the parallel swing plate group I (101), the parallel swing plate group II (102) and the connecting swing rod (108) to move through the transmission assembly composed of the top connecting ring hook hole plate (110), the bottom connecting ring hook hole plate (111), the screw (112), the screw (113) and the connecting ring hook (114), so that the sensor module mounting base plate (121) is lifted accordingly; S4. Simultaneous scanning of vehicle top, side and bottom: After the sensor module mounting base plate (121) is raised to a height that the car can pass through, the car continues to travel along the driving track (105); the top side scanning detection module (124) scans the car roof, pillars, doors, side panels and wheel arch areas, and the bottom scanning detection module (127) simultaneously scans the outer surface of the bottom of the car. S5. Rear vehicle scanning and scanning frame reset: When the rear of the vehicle passes the damage detection system (10), the rear scanning detection module (125) scans the rear of the vehicle to obtain the appearance data of the trunk lid, taillights, rear bumper and rear side panel area; after the vehicle leaves the swing-type vehicle base (104), the swing-type vehicle base (104) is released from the pressure state, and the sensor module mounting plate (121) gradually descends and resets under the action of the gravity block (118) and the parallel swing mechanism, and the gravity block (118) falls into the gravity block groove (119) for positioning; S6. Data fusion and damage result output: The control and data processing unit receives data collected by the front scanning detection module (123), the top side scanning detection module (124), the rear scanning detection module (125), and the bottom scanning detection module (127), and converts the data collected at different locations into the same vehicle detection coordinate system according to the calibration parameters of each scanning detection module and the vehicle movement information. Then, it performs correlation processing on the two-dimensional image data, three-dimensional contour data, and multispectral reflectance data to identify scratches, dents, bumps, paint peeling, color differences, or repair marks on the vehicle exterior, and outputs detection results including damage location, damage type, and damage range.

10. The method for detecting automotive exterior damage based on advanced sensing according to claim 9, characterized in that, In step S4, the vehicle speed or displacement sensor outputs vehicle movement information to the control and data processing unit. The control and data processing unit controls each scanning and detection module to collect data at preset intervals based on the vehicle movement information, so that the data on the top and bottom of the vehicle are saved according to the vehicle's driving position.

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