Underbody panoramic camera, underbody monitoring system and automobile

Abstract

The utility model discloses an underbody panoramic camera, an underbody monitoring system and an automobile. The underbody panoramic camera comprises a panoramic camera module; and the connecting seat is used for connecting the panoramic camera module with an automobile chassis.

Description

Technical Field

[0001] This application relates to the field of motor vehicle monitoring technology, and in particular to a vehicle under-vehicle panoramic camera, a vehicle under-vehicle monitoring system, and a car. Background Technology

[0002] With the rapid development of the automotive industry, various vehicle monitoring systems have emerged to ensure vehicle safety, such as DVRs (Dashcams), DMS (Driver Monitoring Systems), OMS (Occupant Monitoring Systems), AVMs (Around View Monitors), and CMSs (Computer Mirror Systems). These monitoring systems are all equipped with corresponding cameras to achieve comprehensive monitoring and perception of the vehicle's surroundings and interior, thereby improving vehicle safety.

[0003] Besides the environment around the vehicle, the environment under the vehicle is also crucial for vehicle safety. Many safety problems arise from insufficient or untimely observation of the undercarriage during vehicle startup or parking. For example, failing to promptly observe inanimate obstacles (such as children's toys like balls) or animate obstacles (such as children or small animals crawling under the vehicle) when starting the vehicle can lead to serious accidents. Similarly, failing to promptly observe sharp obstacles or potholes when navigating complex road conditions in rural areas can compromise driving safety. Furthermore, criminals are increasingly adept at using vehicles to conceal dangerous objects, posing a significant threat to life and property, making effective detection of dangerous objects under vehicles an urgent necessity.

[0004] However, the cameras in existing vehicle monitoring systems are unable to monitor the environment under the vehicle.

[0005] There is currently no effective solution to the technical problem that the cameras in the existing vehicle monitoring systems cannot monitor the environment under the vehicle. Utility Model Content

[0006] This utility model provides a panoramic camera under a vehicle, a vehicle under-vehicle monitoring system, and a car, so as to at least solve the technical problem that the cameras of existing vehicle monitoring systems cannot monitor the environment under the vehicle.

[0007] According to one aspect of this application, a vehicle under-chassis panoramic camera is provided, comprising: a panoramic camera module; and a connector for connecting the panoramic camera module to a vehicle chassis.

[0008] According to another aspect of this application, a vehicle under-vehicle monitoring system is provided, comprising: a vehicle under-vehicle panoramic camera as described above; and a processor, wherein the processor is communicatively connected to the image sensor of the panoramic camera module of the vehicle under-vehicle panoramic camera.

[0009] According to another aspect of this application, an automobile is provided, including the above-mentioned under-vehicle monitoring system, wherein the under-vehicle panoramic camera of the under-vehicle monitoring system is connected to the automobile chassis.

[0010] In summary, the panoramic camera module provided in this application can achieve a large field of view imaging, and has the advantages of clear and stable imaging. After the panoramic camera module is installed on the car chassis, the front, rear, left, and right sides of the car chassis can be seen in real time in the captured images, and the situation on the car chassis can also be seen. This solves the technical problem that existing vehicle monitoring systems cannot monitor the environment under the vehicle.

[0011] The above and other objects, advantages and features of this invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments of this application in conjunction with the accompanying drawings. Attached Figure Description

[0012] The following sections will describe some specific embodiments of this application in detail by way of example and not limitation, with reference to the accompanying drawings. The same reference numerals in the drawings denote the same or similar parts or components. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0013] Figure 1 A bottom view of a panoramic camera mounted on the undercarriage of a vehicle according to an embodiment of this application is shown.

[0014] Figure 2 The image shows a photo of a panoramic camera mounted under the car chassis.

[0015] Figure 3 A side view of a panoramic camera mounted under the vehicle chassis is shown.

[0016] Figure 4 A schematic diagram of the optical structure of a panoramic camera module for a vehicle under-body panoramic camera according to an embodiment of this application is shown;

[0017] Figure 5 The diagram shows the markings of each face of the panoramic camera module of the under-vehicle panoramic camera according to an embodiment of this application; and

[0018] Figure 6 A schematic diagram of a vehicle under-vehicle monitoring system according to an embodiment of this application is shown. Detailed Implementation

[0019] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0023] According to a first aspect of this embodiment, a vehicle under-vehicle panoramic camera is provided, wherein... Figure 1 The image shows a bottom view of the panoramic camera mounted on the rear of the vehicle chassis 200mm. Figure 2 The image shows a photo of a panoramic camera mounted under the vehicle chassis 200. Figure 3 A side view of a panoramic camera mounted on the undercarriage of a vehicle 200 is shown.

[0024] refer to Figures 1-3 As shown, the under-vehicle panoramic camera includes: a panoramic camera module 100; and a connector 300 for connecting the panoramic camera module 100 to the vehicle chassis 200.

[0025] The panoramic camera under the vehicle provided in this embodiment can achieve wide field-of-view imaging, with the advantages of clear and stable imaging. After the panoramic camera module 100 is installed on the vehicle chassis 200, the front, rear, left, and right sides of the vehicle chassis 200 can be seen in real time in the captured images, and the situation on the vehicle chassis 200 can also be seen. This solves the technical problem that existing vehicle monitoring systems cannot monitor the environment under the vehicle.

[0026] Optionally, the upper end of the panoramic camera module 100 is provided with a first flange 110 for connecting to the connecting seat 300. This flange connection allows for a more secure connection between the panoramic camera module 100 and the connecting seat 300. Further optionally, the connecting seat 300 includes a second flange 310, a seat body 320, and a third flange 330. The second flange 310 is located at the lower end of the seat body 320 for connecting to the first flange 110; and the third flange 330 is located at the upper end of the seat body 320 for connecting to the vehicle chassis 200. This flange connection allows for a more secure connection between the connecting seat 300 and the vehicle chassis 200.

[0027] Optionally, the seat 320 is a telescopic seat. Preferably, the seat 320 can be, for example, a telescopic cylinder, thereby enabling telescopic movement. However, the seat 320 is not limited to this. Although not shown in the figures, the seat 320 can also employ a flexible telescopic mechanism, the main components of which include a telescopic rod, a bending joint, and a power source. Preferably, the components of the flexible telescopic mechanism are made of lightweight, highly elastic composite materials, which can withstand frequent telescopic and bending movements and maintain stable performance in complex environments. Thus, by telescoping the seat 320, the field of view of the panoramic camera module 100 can be adjusted, facilitating user operation.

[0028] Optionally, the panoramic camera module 100 includes a panoramic ring lens LENS and an image sensor SEN, wherein the image sensor SEN is located on the image side of the panoramic ring lens LENS. The panoramic ring lens LENS includes a panoramic ring head unit PAL and a subsequent lens group RL arranged from the object side to the image side. Preferably, the image sensor SEN includes a high-sensitivity photoelectric sensor.

[0029] Optionally, the panoramic ring head unit PAL includes a first lens PAL1 and a second lens PAL2 arranged sequentially from the object side to the image side. The first lens PAL1 is a meniscus lens with positive optical power, and the second lens PAL2 is a biconvex lens with positive optical power. The convex surface of the first lens PAL1 faces the object side, and the concave surface faces the image side; the convex surface of the second lens PAL2 faces the image side, and the concave surface faces the object side. Furthermore, the subsequent lens group RL includes a third lens RL1, a fourth lens RL2, an aperture S, a fifth lens RL3, a sixth lens RL4, a seventh lens RL5, and an eighth lens RL6 arranged sequentially from the object side to the image side. The third lens RL1 and the fourth lens RL2 form a cemented lens, and the seventh lens RL5 and the eighth lens RL6 combine to form a cemented lens.

[0030] Therefore, refer to Figure 4 and Figure 5 As shown, the panoramic ring head unit PAL is used to form a virtual image of the panoramic ring. The subsequent lens group RL performs secondary imaging and converges the intermediate virtual image formed by the panoramic ring head unit PAL to the image sensor SEN. The ambient light signal from under the vehicle is incident from the first lens PAL1, reflected by the reflective surface of the second lens PAL2 back to the reflective surface of the first lens PAL1, and after being reflected by the reflective surface of the first lens PAL1, it enters the subsequent lens group RL, which converges the light onto the image sensor 4.

[0031] Further optional,

[0032] The first lens PAL1 has a first surface A1 on the object side with a radius of curvature of 12.70–13.70 mm, a reflecting surface A6 on the object side with a radius of curvature of -7.40–-6.00 mm, and a second surface A2 on the image side with a radius of curvature of 17.90–18.90 mm. The second lens PAL2 has a third surface A4 on the object side with a radius of curvature of 17.90–18.90 mm, and a fourth surface A3 on the image side with a radius of curvature of -7.40–-6.00 mm. The third lens RL1 has a fifth surface B1 on the object side with a radius of curvature of -3.50–-2.50 mm, and a sixth surface B2 on the image side with a radius of curvature of 4.90–5.90 mm. The fourth lens RL2 has a seventh surface on the object side that coincides with the sixth surface B2, and an eighth surface B3 on the image side with a radius of curvature of - The radius of curvature of the ninth surface C1 on the object side of the fifth lens RL3 is 9.00–11.00 mm, and the radius of curvature of the tenth surface C2 on the image side is -290.00–260.00 mm; the radius of curvature of the eleventh surface D1 on the object side of the sixth lens RL4 is 10.00–12.00 mm, and the radius of curvature of the twelfth surface D2 on the image side is -24.00–20.00 mm; the radius of curvature of the thirteenth surface E1 on the object side of the seventh lens RL5 is 3.10–4.10 mm, and the radius of curvature of the fourteenth surface E2 on the image side is -7.00–5.00 mm; the radius of curvature of the fifteenth surface on the object side of the eighth lens RL6 coincides with the fourteenth surface on the object side, and the radius of curvature of the sixteenth surface E3 on the image side is 1.50–2.50 mm.

[0033] Further optionally, the center thickness of the first lens PAL1 is 4.05 mm; the center thickness of the second lens PAL2 is 5.74 mm; the center thickness of the third lens RL1 is 1.50 mm; the center thickness of the fourth lens RL2 is 2.93 mm; the center thickness of the fifth lens RL3 is 2.00 mm; the center thickness of the sixth lens RL4 is 1.48 mm; the center thickness of the seventh lens RL5 is 1.22 mm; and the center thickness of the eighth lens RL6 is 1.05 mm.

[0034] Further optionally, the refractive index of the first lens PAL1 is 1.60–1.64; the refractive index of the second lens PAL2 is 1.63–1.69; the refractive index of the third lens RL1 is 1.83–1.87; the refractive index of the fourth lens RL2 is 1.59–1.61; the refractive index of the fifth lens RL3 is 1.90–1.94; the refractive index of the sixth lens RL4 is 1.63–1.67; the refractive index of the seventh lens RL5 is 1.70–1.76; and the refractive index of the eighth lens RL6 is 1.82–1.88.

[0035] Further optionally, the Abbe number of the first lens PAL1 is 34-38; the Abbe number of the second lens PAL2 is 49-53; the Abbe number of the third lens RL1 is 22-26; the Abbe number of the fourth lens RL2 is 57-61; the Abbe number of the fifth lens RL3 is 19-23; the Abbe number of the sixth lens RL4 is 54-58; the Abbe number of the seventh lens RL5 is 53-57; and the Abbe number of the eighth lens RL6 is 22-26.

[0036] Further optionally, the effective half-aperture of the first lens PAL1 is 9.00–10.60 mm; the effective half-aperture of the second lens PAL2 is 4.9–6.1 mm; the effective half-aperture of the third lens RL1 is 1.00–1.20 mm; the effective half-aperture of the fourth lens RL2 is 1.50–1.90 mm; the effective half-aperture of the fifth lens RL3 is 1.80–2.20 mm; the effective half-aperture of the sixth lens RL4 is 1.80–2.20 mm; the effective half-aperture of the seventh lens RL5 is 1.60–1.90 mm; and the effective half-aperture of the eighth lens RL6 is 1.45–1.65 mm.

[0037] Specifically, Table 1 shows a schematic diagram of the parameters of each facet of the panoramic ring lens. For the facet labels in Table 1, please refer to [link to Table 1]. Figure 5 The face labels of each face in the middle.

[0038] Table 1

[0039]

[0040]

[0041] Furthermore, according to another aspect of this embodiment, a vehicle under-vehicle monitoring system is provided. Figure 6 A schematic diagram of the under-vehicle monitoring system is shown. (Reference) Figure 6 As shown, the system includes: a vehicle under-body panoramic camera as described in any of the above descriptions; and a processor 410. The processor 410 is communicatively connected to the image sensor SEN of the panoramic camera module 100 of the vehicle under-body panoramic camera. Therefore, the video images captured by the vehicle under-body panoramic camera can be transmitted to the processor 410 for processing, so as to facilitate subsequent monitoring.

[0042] Optionally, refer to Figure 6As shown, the processor 410 is communicatively connected to the seat 320 of the under-vehicle panoramic camera connector 300. Therefore, the processor 410 can control the extension and retraction of the seat 320. For example, the processor 410 can control the extension and retraction of a cylinder. Alternatively, the processor 410 can control the automatic adjustment of the flexible telescopic device based on feedback from intelligent sensors (not shown), thereby achieving precise bending and extension movements.

[0043] Optionally, the under-vehicle monitoring system also includes a touch panel 420, a communication module 430, and a display 440. The touch panel 420, communication module 430, and display 440 are communicatively connected to the processor 410.

[0044] Users can then view the images processed by processor 410 on display 440. The touch panel 420 controls the mounting base 320 of the under-vehicle panoramic camera by sending commands to processor 410. Furthermore, communication module 430 can further transmit the images processed by processor 410 to remote devices, such as remote servers or terminal devices.

[0045] Specifically, in this embodiment, the processor 410 can respond to the received first signal (e.g., vehicle start signal, parking signal, user-sent undercarriage detection signal, timed automatic start, etc.) to generate a first instruction to control the seat 310 of the connector 300 to drive the panoramic camera module 100 to extend out of the car chassis 200 to capture a first image of the undercarriage environment.

[0046] The under-vehicle panoramic camera sends the captured first image to the processor 410 for processing (such as image correction, segmentation, etc.), and the processor 410 sends the processed first image to the display 440 for display.

[0047] The processor 410 detects whether the triggering conditions for generating the second instruction are met (e.g., vehicle start signal, user-sent chassis detection signal, timed automatic start, etc.). If met, the processor 410 generates a second control instruction to control the seat 310 to drive the panoramic camera module 100 to capture a second image of the vehicle chassis 200. (If the panoramic camera module 100 has extended beyond the vehicle chassis but is not facing the vehicle chassis 200, the telescopic device can rotate the panoramic camera module 100 so that it is aligned with the vehicle chassis 200; if the panoramic camera module 100 is not extended beyond the vehicle chassis 200, the seat 310 drives the panoramic camera module 100 to extend beyond the vehicle chassis and adjusts its direction so that it is aligned with the vehicle chassis 200.)

[0048] Optionally, if the first signal and the second signal are the same, the processor 410 can determine the order in which the first instruction and the second instruction are generated based on a preset rule (e.g., if the panoramic camera module 100 does not protrude from the car chassis 200, the processor 410 generates the first instruction first and then the second instruction; if the panoramic camera module 100 protrudes from the car chassis 200, the processor 410 generates the second instruction first and then the first instruction).

[0049] This invention not only effectively observes the environment under the vehicle, but also observes the vehicle chassis 200, achieving all-round observation of the vehicle and improving driving safety.

[0050] Optionally, if the console determines that the first image and / or the second image contains hazardous information, it will issue an alarm to alert the driver.

[0051] According to another aspect of this embodiment, an automobile is also provided, including the undercarriage monitoring system according to any of the above claims, wherein the undercarriage monitoring system's undercarriage panoramic camera connector 300 is connected to the automobile chassis 200.

[0052] In summary, the panoramic camera module provided in this embodiment can achieve wide field-of-view imaging, offering advantages such as clear and stable imaging. After installing the panoramic camera module on the vehicle chassis, the front, rear, left, and right sides of the vehicle chassis can be seen in real-time in the captured images, and the conditions on the vehicle chassis itself can also be observed. This solves the technical problem in existing vehicle monitoring systems where cameras cannot monitor the environment under the vehicle.

[0053] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0054] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0055] In the description of this utility model, it should be understood that the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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 on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself.

[0056] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle underbody panoramic camera, characterized in that, The panoramic camera module (100) comprises: a connecting seat (300) for connecting the panoramic camera module (100) with an automobile chassis (200). The upper end of the panoramic camera module (100) is provided with a first flange (110) for connecting with the connecting seat (300).

2. The underbody panoramic camera of claim 1, wherein, The connecting seat (300) comprises a second flange (310), a seat body (320) and a third flange (330), wherein the second flange (310) is arranged at the lower end of the seat body (320) and is used for connecting with the first flange (110), and the third flange (330) is arranged at the upper end of the seat body (320) and is used for connecting with the automobile chassis (200).

3. The underbody panoramic camera of claim 2, wherein, The seat body (320) is a telescopic seat body.

4. The underbody panoramic camera of claim 3, wherein, The panoramic camera module (100) comprises a panoramic ring belt lens (LENS) and an image sensor (SEN), wherein the image sensor (SEN) is located on the image side of the panoramic ring belt lens (LENS), and the panoramic ring belt lens (LENS) comprises a panoramic ring belt head unit (PAL) and a subsequent lens group (RL) arranged from the object side to the image side.

5. The underbody panoramic camera of claim 1, wherein, 6. The vehicle bottom panoramic camera according to claim 5, wherein The panoramic ring belt head unit (PAL) comprises a first lens (PAL1) and a second lens (PAL2) arranged in sequence from the object side to the image side, wherein the first lens (PAL1) is a meniscus lens with positive focal power, and the second lens (PAL2) is a double convex lens with positive focal power; the convex surface of the first lens (PAL1) faces the object side, and the concave surface faces the image side; the convex surface of the second lens (PAL2) faces the image side, and the concave surface faces the object side, and The subsequent lens group (RL) comprises a third lens (RL1), a fourth lens (RL2), an aperture (S), a fifth lens (RL3), a sixth lens (RL4), a seventh lens (RL5) and an eighth lens (RL6) arranged in sequence from the object side to the image side, wherein the third lens (RL1) and the fourth lens (RL2) constitute a cemented lens, and the seventh lens (RL5) and the eighth lens (RL6) constitute a cemented lens.

7. The vehicle bottom panoramic camera according to claim 6, wherein ​ The first lens (PAL1) has a radius of curvature of 12.70-13.70 mm for the first surface (A1) on the object side, a radius of curvature of -7.40--6.00 mm for the reflecting surface (A6) on the object side, and a radius of curvature of 17.90-18.90 mm for the second surface (A2) on the image side; the second lens (PAL2) has a radius of curvature of 17.90-18.90 mm for the third surface (A4) on the object side, and a radius of curvature of -7.40--6.00 mm for the fourth surface (A3) on the image side; the third lens (RL1) has a radius of curvature of -3.50--2.50 mm for the fifth surface (B1) on the object side, and a radius of curvature of 4.90-5.90 mm for the sixth surface (B2) on the image side; the fourth lens (RL2) has the seventh surface on the object side coinciding with the sixth surface (B2), and a radius of curvature of -4.80--3.8 mm for the eighth surface (B3) on the image side; the fifth lens (RL3) has a radius of curvature of 9.00-11.00 mm for the ninth surface (C1) on the object side, and a radius of curvature of -290.00--260.00 mm for the tenth surface (C2) on the image side; the sixth lens (RL4) has a radius of curvature of 10.00-12.00 mm for the eleventh surface (D1) on the object side, and a radius of curvature of -24.00--20.00 mm for the twelfth surface (D2) on the image side; the seventh lens (RL5) has a radius of curvature of 3.10-4.10 mm for the thirteenth surface (E1) on the object side, and a radius of curvature of -7.00--5.00 mm for the fourteenth surface (E2) on the image side; the eighth lens (RL6) has the fifteenth surface on the object side coinciding with the fourteenth surface, and a radius of curvature of 1.50-2.50 mm for the sixteenth surface (E3) on the image side, and wherein The first lens (PAL1) has a center thickness of 4.05 mm; the second lens (PAL2) has a center thickness of 5.74 mm; the third lens (RL1) has a center thickness of 1.50 mm; the fourth lens (RL2) has a center thickness of 2.93 mm; the fifth lens (RL3) has a center thickness of 2.00 mm; the sixth lens (RL4) has a center thickness of 1.48 mm; the seventh lens (RL5) has a center thickness of 1.22 mm; the eighth lens (RL6) has a center thickness of 1.05 mm, and wherein The refractive index of the first lens (PAL1) is 1.60-1.64; the refractive index of the second lens (PAL2) is 1.63-1.69; the refractive index of the third lens (RL1) is 1.83-1.87; the refractive index of the fourth lens (RL2) is 1.59-1.61; the refractive index of the fifth lens (RL3) is 1.90-1.94; the refractive index of the sixth lens (RL4) is 1.63-1.67; the refractive index of the seventh lens (RL5) is 1.70-1.76; the refractive index of the eighth lens (RL6) is 1.82-1.88, and wherein The Abbe number of the first lens (PAL1) is 34-38; the Abbe number of the second lens (PAL2) is 49-53; the Abbe number of the third lens (RL1) is 22-26; the Abbe number of the fourth lens (RL2) is 57-61; the Abbe number of the fifth lens (RL3) is 19-23; the Abbe number of the sixth lens (RL4) is 54-58; the Abbe number of the seventh lens (RL5) is 53-57; the Abbe number of the eighth lens (RL6) is 22-26, and wherein The effective half aperture of the first lens (PAL1) is 9.00-10.60mm; the effective half aperture of the second lens (PAL2) is 4.9-6.1mm; the effective half aperture of the third lens (RL1) is 1.00-1.20mm; the effective half aperture of the fourth lens (RL2) is 1.50-1.90mm; the effective half aperture of the fifth lens (RL3) is 1.80-2.20mm; the effective half aperture of the sixth lens (RL4) is 1.80-2.20mm; the effective half aperture of the seventh lens (RL5) is 1.60-1.90mm; the effective half aperture of the eighth lens (RL6) is 1.45-1.65mm.

8. An undercarriage monitoring system, characterized by It comprises: The vehicle bottom panoramic camera according to any one of claims 1-7; And a processor (410), wherein the processor (410) is in communication connection with an image sensor (SEN) of a panoramic camera module (100) of the vehicle bottom panoramic camera.

9. The undercarriage monitoring system of claim 8, wherein, The processor (410) is in communication connection with a seat body (320) of a connecting seat (300) of the vehicle bottom panoramic camera, and wherein The vehicle bottom monitoring system further comprises a touch panel (420), a communication module (430), and a display (440), wherein the touch panel (420), the communication module (430), and the display (440) are in communication connection with the processor (410).

10. An automobile characterized by comprising: It comprises the vehicle bottom monitoring system according to claim 8 or 9, wherein the connecting seat (300) of the vehicle bottom panoramic camera of the vehicle bottom monitoring system is connected to the vehicle chassis (200).

Images