A vehicle outer contour projection edge line photographing detection device

Abstract

This utility model discloses a vehicle outline projection edge line photographing and detection device, comprising a vehicle panel, a photographing unit, an image processing unit, and an execution mechanism unit. The front, middle, and rear ends of the vehicle panel are symmetrically arranged along a longitudinal center line, each equipped with several clearly distinguishable markers that can be clearly identified by the image processing unit. The photographing unit consists of two units, one positioned above the left and one above the right edge line of the vehicle panel. The image processing unit is signal-connected to the photographing unit and the execution mechanism unit, obtaining photographic information from the photographing units and performing image recognition of the markers. It obtains the number of identifiable markers at the front, middle, and rear ends of the detection area, and sends this information to the execution mechanism unit. Upon receiving this information, the execution mechanism unit determines whether a vehicle is parked on the vehicle panel and whether it is parked off-center, and adjusts the vehicle's position accordingly. This utility model has advantages such as convenient installation, comprehensive and intuitive detection, and low cost.

Description

Technical Field

[0001] This utility model relates to the field of parking equipment technology, specifically to a detection device for the relative position of the projected edge line of a vehicle's outer contour and the edge line of the vehicle panel. Background Technology

[0002] Parking equipment is widely used in China. Higher-end parking equipment typically has devices on the platform to detect the relative position of the vehicle and the platform, providing a basis for vehicle positioning. Current technology for these devices uses direct measurement methods, employing laser ranging, infrared ranging, or radar ranging to measure the distance between the vehicle's sides. In recent years, the industry has proposed using indirect measurement methods, such as image capture, to replace conventional direct measurement methods, hoping that this technology can be applied to the most widely used lift-and-slide parking equipment. However, due to the high cost of conventional image processing technology, this solution for detecting the relative position of the vehicle and the platform using image capture has not been practically implemented. Therefore, solving the problem of high costs associated with conventional image processing technology and truly applying image capture technology to parking equipment has become an urgent issue for the industry. Summary of the Invention

[0003] Therefore, the technical problem to be solved by this utility model is to overcome the high cost of conventional image information processing technology, so that parking equipment (especially lifting and traversing parking equipment) can use image shooting to detect the relative position of the vehicle and the platform.

[0004] First, let's do a basic analysis: Parking equipment (especially lift-and-slide parking equipment) does not require very high precision in detecting the relative position of a vehicle and the platform; and direct measurement methods cannot achieve high precision either (when the steering wheel is turned to the side when the vehicle is parked, the angled wheels will seriously affect the actual measurement accuracy of the relative position of the vehicle).

[0005] Using image capture technology and simply applying conventional image information processing technology is too costly. Technological innovation should be based on the actual usage scenarios and needs of parking equipment.

[0006] Based on the above analysis, the technical means adopted by the vehicle outline projection edge line photograph detection device of this utility model is: purposefully setting up markers at key positions on the vehicle panel, and the image information processing algorithm only needs to identify the position and corresponding quantity of the unobstructed markers in the photograph, and send the relevant identification result information to the execution mechanism.

[0007] The relevant technical solutions are as follows: A vehicle outline projection edge line photographing and detection device is used to detect the relative position of the vehicle outline projection edge line and the vehicle panel edge line of parking equipment.

[0008] The vehicle is described and defined by the left, right, front, and rear directions of the vehicle platform, with the front and rear directions of the vehicle platform being longitudinal.

[0009] The device is characterized by including a vehicle plate, a shooting unit, an image processing unit, and an actuator unit.

[0010] The upper surface of the vehicle panel is provided with several markers; the markers are located at the front end, middle and rear end of the vehicle panel, and are arranged symmetrically with respect to the longitudinal center line of the vehicle panel.

[0011] The image information of the unobstructed sign must be clearly distinguishable from the image information of the vehicle outline projection and the image information of the unobstructed non-sign location on the vehicle panel, and must be clearly identifiable by the image processing unit.

[0012] The distance between the two outermost markers is greater than the maximum width of the vehicle to be parked.

[0013] The distance between the two innermost markers is less than the minimum width of a suitable parking vehicle.

[0014] Two shooting units are provided for each vehicle panel. One of them is a shooting unit 1 located at any position above the left side line of the vehicle panel and facing the left side area of ​​the vehicle panel; the other is a shooting unit 2 located at any position above the right side line of the vehicle panel and facing the right side area of ​​the vehicle panel.

[0015] The image processing unit is signal-connected to the shooting unit and the execution unit, obtains the photo information of the shooting unit and performs image recognition of the marker, and obtains the quantity information of identifiable markers at the front, middle and rear positions of the detection area, respectively, and sends the relevant position information and quantity information to the execution unit.

[0016] The actuator unit receives the recognition result sent by the image processing unit and outputs control commands to adjust the position of the vehicle.

[0017] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the vehicle panel is characterized in that at least two longitudinal grid lines parallel to the longitudinal center line are arranged sequentially from the left side line towards the longitudinal center line, and the longitudinal grid lines intersect with the front edge line, the transverse center line, and the rear edge line of the vehicle panel respectively, and the marker on the left side of the vehicle panel is set at the intersection position.

[0018] The marker on the right side of the vehicle panel is mirrored with respect to the longitudinal centerline of the vehicle panel, following the position of the marker on the left side of the vehicle panel.

[0019] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the marker is characterized by being made by a spraying process, and is either a dot-shaped object or a line segment-shaped object parallel to the longitudinal center line of the vehicle panel at the corresponding position on the vehicle panel.

[0020] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the marker is characterized by being an adhesive object, which is a dot-shaped object or a line segment-shaped object parallel to the longitudinal center line of the vehicle panel, pasted at the corresponding position on the vehicle panel.

[0021] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the marker is a light-emitting element, which is a dot-shaped object installed at a corresponding position on the vehicle panel or a line segment-shaped object parallel to the longitudinal center line of the vehicle panel.

[0022] The purpose of the above three schemes is to ensure that the image information of the markers not obscured by the vehicle outline projection in the photos taken by the shooting unit can be clearly distinguished from the image information of the vehicle outline projection position and the image information of the non-marker positions on the vehicle panel not obscured by the vehicle outline projection.

[0023] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the image processing unit is provided in two for each vehicle plate, namely, image processing unit one connected to the first shooting unit and the second execution mechanism unit, and image processing unit two connected to the second shooting unit and the second execution mechanism unit.

[0024] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the image processing unit is provided for each vehicle plate and is respectively signal-connected to the first shooting unit, the second shooting unit, and the execution mechanism unit.

[0025] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the image processing unit is characterized in that multiple vehicle panels share one image processing unit, and the image processing unit is signal-connected to the shooting unit one and shooting unit two that are matched with the multiple vehicle panels, and is signal-connected to the execution mechanism unit.

[0026] The three technical solutions mentioned above are characterized by setting up a specially designed image processing unit, so they can directly use common low-resolution ordinary cameras; since the image information processing algorithm required by this utility model is relatively simple, the software and hardware of the required image processing unit are easy to design and implement, and the cost is relatively low.

[0027] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the function of the image processing unit is incorporated into the shooting unit, becoming a comprehensive shooting unit with image processing function.

[0028] Two integrated shooting units are provided for each vehicle panel. One of them is an integrated shooting unit 1 located at any position above the left side line of the vehicle panel, facing the left side area of ​​the vehicle panel, and connected to the actuator unit via signal. The other is an integrated shooting unit 2 located at any position above the right side line of the vehicle panel, facing the right side area of ​​the vehicle panel, and connected to the actuator unit via signal.

[0029] The features of the above technical solution make the entire system structure simpler. Since the image information processing algorithm required by this invention is relatively simple, it can be fully integrated into the control software of commonly used low-resolution cameras. The camera hardware requires virtually no modification, resulting in relatively low design and manufacturing costs.

[0030] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the image processing unit has a wake-up function. It is normally in a dormant state and is woken up by the output signal of the actuator unit to enter the working state.

[0031] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the photographing unit has a wake-up function. It is normally in a dormant state and is woken up by the corresponding image processing unit outputting a signal to enter the working state.

[0032] Optionally, according to the aforementioned vehicle outline projection edge line photographing and detection device, the integrated shooting unit has a wake-up function. It is normally in a dormant state and is woken up by the output signal of the actuator unit to enter the working state.

[0033] The "wake-up" function of the above three technical solutions fully considers the intermittent operation characteristics of the parking equipment platform (and the non-operation time is much longer than the operation time).

[0034] To further illustrate the technical solution of this utility model, the image recognition method of the image processing unit is described below.

[0035] The image recognition method includes: Step 1: Obtain the photo information captured by the shooting unit.

[0036] Step two: Based on the pre-stored image information features of the markers, perform image recognition on the photo information to find the locations of all identifiable markers.

[0037] Step 3: Count the number of identifiable markers at the front, middle, and rear positions of the vehicle panel detection area.

[0038] Step four: The aforementioned location information and the corresponding number of identifiable markers are sent to the actuator unit.

[0039] As can be seen from the above, the image recognition method of the image processing unit of this utility model is extremely simple. It does not require full resolution of the photo. It only needs to scan and recognize the image information features of the pre-stored markers (the scanning area can be pre-set, i.e., the front, middle, and back positions of the photo where the markers are set); then, the identifiable markers at the relevant positions are counted respectively; finally, the relevant position information and the corresponding number of identifiable markers are sent to the execution unit.

[0040] Since the markers on the left and right sides of the vehicle platform are symmetrically arranged with respect to the longitudinal centerline of the vehicle platform, the actuator unit can determine whether there is a vehicle parked on the vehicle platform and whether the parked vehicle has angular or lateral offset or both, based on the processing information of the image processing unit. Accordingly, the actuator unit can correct the vehicle parking position. The actuator unit can also perform lateral movement of the vehicle to increase the width of the entrance and exit and vehicle centering and resetting operation.

[0041] Compared with the closest existing technology, this utility model has the following advantages: It adopts an indirect measurement method by capturing images, which is easy to install and provides comprehensive and intuitive measurements.

[0042] This innovative image recognition method employs a simple approach: symmetrically placing markers at the front, rear, and middle positions on both sides of the vehicle's longitudinal centerline. When a vehicle is parked on the platform, its silhouette will obscure some of these markers. Therefore, by counting the number of identifiable markers at relevant locations in the image, it is possible to determine whether a vehicle is parked on the platform and its actual parking position. Compared to conventional image recognition techniques that rely on complex algorithms, this method offers advantages such as ease of software development, simple hardware structure, and high operational efficiency.

[0043] The shooting device can use a low-resolution general-purpose camera with a simple image processing unit, which is extremely low in cost; or, based on the software and hardware of a low-resolution general-purpose camera, add simple image processing software to form a camera with unique functions, which is also extremely low in overall cost. Attached Figure Description

[0044] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a simplified layout diagram of the vehicle body and the shooting unit of this utility model.

[0046] In the diagram: 01 - Marker; 02 - Rear edge line of the vehicle panel; 03a - Longitudinal center line of the vehicle panel; 04 - Vehicle panel; 05 - Right-side camera; 06 - Right side edge line of the vehicle panel; 07 - Front edge line of the vehicle panel; 08 - Left side edge line of the vehicle panel; 09 - Lateral center line of the vehicle panel; 10 - Left-side camera.

[0047] Figures 2 to 5 This is a simplified diagram of the detection of a vehicle parked on the platform of this utility model.

[0048] In the diagram: 01 - Marker; 02 - Rear end edge of the vehicle panel; 03a - Longitudinal center line of the vehicle panel; 03b - Longitudinal center line of the vehicle; 04 - Vehicle panel; 05 - Right-side camera; 06 - Right side edge of the vehicle panel; 07 - Front edge of the vehicle panel; 08 - Left side edge of the vehicle panel; 09 - Lateral center line of the vehicle panel; 10 - Left-side camera; 11 - Vehicle outline projection. Detailed Implementation

[0049] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0050] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Figure 1 The diagram shown is a simplified layout of the vehicle body and the camera unit of this utility model.

[0052] As can be seen in the image: With the longitudinal center line 03a of the vehicle panel as the symmetrical line, five markers 01 are respectively set on the left side of the front edge line 07, the transverse center line 09, and the rear edge line 02 of the vehicle panel, and five markers 01 are respectively set on the right side; the left camera 10 is set above the middle of the left edge line 08 of the vehicle panel; the right camera 05 is set above the middle of the right edge line 06 of the vehicle panel.

[0053] Figures 2 to 5 The diagram shown is a simplified illustration of the detection of a vehicle 11 parked on the vehicle platform 04 of this utility model.

[0054] Investigation Figure 2 The longitudinal centerline 03b of the vehicle coincides with the longitudinal centerline 03a of the vehicle body.

[0055] Two markers 01 are located on the left side of the vehicle panel 04, at the front edge line 07, the transverse center line 09, and the rear edge line 02, respectively, and are not obscured by the vehicle outline projection 11. The photos taken by the left-side camera 10 are sent to the image recognition unit. The image recognition unit identifies the aforementioned identifiable markers 01 and sends the information "the number of identifiable markers on the left side of the vehicle panel, at the front edge line, the transverse center line, and the rear edge line is two" to the actuator unit.

[0056] Two markers 01 are located on the right side of the vehicle panel 04 at the front edge line 07, the transverse center line 09, and the rear edge line 02, respectively, and are not obscured by the vehicle outline projection 11. The photos taken by the right-side camera 05 are sent to the image recognition unit. The image recognition unit identifies the aforementioned identifiable markers 01 and sends the information "the number of identifiable markers on the right side of the vehicle panel at the front edge line, the transverse center line, and the rear edge line is two" to the actuator unit.

[0057] Upon receiving the aforementioned information from the image recognition unit, the actuator unit determines that the vehicle parked on the platform is not misaligned, and therefore no further processing is required.

[0058] Investigation Figure 3 The longitudinal centerline 03b of the vehicle is offset to the left relative to the longitudinal centerline 03a of the vehicle panel, as shown in the figure.

[0059] One of the markers 01 located on the left side of the vehicle panel 04 at the front edge line 07, the transverse center line 09, and the rear edge line 02 is not obscured by the vehicle outline projection 11. The photo taken by the left-side camera 10 is sent to the image recognition unit. The image recognition unit identifies the aforementioned identifiable markers 01 and sends the information "The number of identifiable markers on the left side of the vehicle panel at the front edge line, the transverse center line, and the rear edge line is 1" to the actuator unit.

[0060] Three markers 01 located on the right side of the vehicle panel 04 at the front edge line 07, the transverse center line 09, and the rear edge line 02 are not obscured by the vehicle outline projection 11. The photos taken by the right-side camera 05 are sent to the image recognition unit. The image recognition unit identifies the aforementioned identifiable markers 01 and sends the information "The number of identifiable markers on the right side of the vehicle panel at the front edge line, the transverse center line, and the rear edge line is three" to the actuator unit.

[0061] Upon receiving the aforementioned information from the image recognition unit, the actuator unit determines that the vehicle parked on the platform is shifted to the left, and outputs a command to move the vehicle to the right until the vehicle's longitudinal centerline 03b coincides with the platform's longitudinal centerline 03a.

[0062] Investigation Figure 4 The longitudinal centerline 03b of the vehicle is deflected clockwise relative to the longitudinal centerline 03a of the vehicle panel, as shown in the diagram.

[0063] Examining the left side area of ​​the vehicle panel 04, at the front edge 07 position of the vehicle panel, all markers 01 are obscured by the vehicle outline projection 11; at the lateral center line 09 position of the vehicle panel, two markers 01 are not obscured by the vehicle outline projection 11; at the rear edge 02 position of the vehicle panel, four markers 01 are not obscured by the vehicle outline projection 11; the photo taken by the left-side camera 10 is sent to the image recognition unit, which identifies the aforementioned identifiable markers 01 and sends the information "In the left side area of ​​the vehicle panel, the number of identifiable markers at the front edge position of the vehicle panel is 0, the number of identifiable markers at the lateral center line position of the vehicle panel is 1, and the number of identifiable markers at the rear edge position of the vehicle panel is 4" to the actuator unit.

[0064] Examining the right side area of ​​the vehicle panel 04, four markers 01 at the front edge 07 of the vehicle panel are not obscured by the vehicle outline projection 11; two markers 01 at the transverse center line 09 of the vehicle panel are not obscured by the vehicle outline projection 11; at the rear edge 02 of the vehicle panel, all markers 01 are obscured by the vehicle outline projection 11. The photo taken by the right-side camera 05 is sent to the image recognition unit. The image recognition unit identifies the above-mentioned identifiable markers 01 and sends the information "In the right side area of ​​the vehicle panel, the number of identifiable markers at the front edge of the vehicle panel is 4, the number of identifiable markers at the transverse center line of the vehicle panel is 1, and the number of identifiable markers at the rear edge of the vehicle panel is 0" to the actuator unit.

[0065] Upon receiving the aforementioned information from the image recognition unit, the actuator unit determines that the vehicle parked on the platform is tilted clockwise and outputs a command to rotate the vehicle counterclockwise until the vehicle's longitudinal centerline 03b coincides with the platform's longitudinal centerline 03a.

[0066] Investigation Figure 5 The longitudinal centerline 03b of the vehicle is offset to the right relative to the longitudinal centerline 03a of the vehicle panel, and also rotates clockwise as shown in the diagram.

[0067] Examining the left side area of ​​the vehicle panel 04, there is one marker 01 at the front edge 07 of the vehicle panel that is not obscured by the vehicle outline projection 11; there are three markers 01 at the transverse center line 09 of the vehicle panel that are not obscured by the vehicle outline projection 11; and there are five markers 01 at the rear edge 02 of the vehicle panel that are not obscured by the vehicle outline projection 11. The photo taken by the left-side camera 10 is sent to the image recognition unit. The image recognition unit identifies the above-mentioned identifiable markers 01 and sends the information "There is one identifiable marker at the front edge of the vehicle panel, three identifiable markers at the transverse center line of the vehicle panel, and five identifiable markers at the rear edge of the vehicle panel in the left side area of ​​the vehicle panel" to the actuator unit.

[0068] Examining the right side area of ​​the vehicle panel 04, three markers 01 at the front edge 07 of the vehicle panel are not obscured by the vehicle outline projection 11; one marker 01 at the transverse center line 09 of the vehicle panel is not obscured by the vehicle outline projection 11; at the rear edge 02 of the vehicle panel, all markers 01 are obscured by the vehicle outline projection 11. The photo taken by the right-side camera 05 is sent to the image recognition unit. The image recognition unit identifies the above-mentioned identifiable markers 01 and sends the information "In the right side area of ​​the vehicle panel, there are 3 identifiable markers at the front edge of the vehicle panel, 1 identifiable marker at the transverse center line of the vehicle panel, and 0 identifiable markers at the rear edge of the vehicle panel" to the actuator unit.

[0069] Upon receiving the aforementioned information from the image recognition unit, the actuator unit determines that the vehicle parked on the platform is both shifting to the right and turning clockwise. First, it outputs a command to rotate the vehicle counterclockwise until the vehicle's longitudinal centerline 03b is parallel to the platform's longitudinal centerline 03a. Then, it outputs a command to move the vehicle to the left until the vehicle's longitudinal centerline 03b coincides with the platform's longitudinal centerline 03a.

[0070] Other situations where the vehicle body of this utility model deviates from its original position can be referred to the above description, and will not be repeated here.

[0071] It should be noted that, for those skilled in the art, it is obvious that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this utility model is defined by the appended claims rather than the foregoing description. Therefore, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model, and no reference numerals in the specification should be construed as limiting the scope of the claims.

[0072] This specification uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A vehicle outline projection edge line photographing and detection device, characterized in that, The device includes a vehicle platform, a camera unit, an image processing unit, and an actuator unit; The upper surface of the vehicle panel is provided with a number of markers; the markers are located at the front end, middle and rear end of the vehicle panel, and are arranged symmetrically about the longitudinal center line of the vehicle panel. The image information of the unobstructed sign must be clearly distinguishable from the image information of the vehicle outline projection and the image information of the unobstructed position of the vehicle panel that is not the sign, and must be clearly recognizable by the image processing unit; The distance between the two outermost markers is greater than the maximum width of the vehicle to be parked there. The distance between the two innermost markers is less than the minimum width of a suitable parking vehicle; Two shooting units are provided for each vehicle panel. One of them is a shooting unit 1 located at any position above the left side line of the vehicle panel and facing the left side area of ​​the vehicle panel; the other is a shooting unit 2 located at any position above the right side line of the vehicle panel and facing the right side area of ​​the vehicle panel. The image processing unit is signal-connected to the shooting unit and the execution unit, obtains the photo information of the shooting unit and performs image recognition of the marker, and obtains the quantity information of identifiable markers at the front, middle and rear positions of the detection area, respectively, and sends the relevant position information and quantity information to the execution unit. The actuator unit receives the recognition result sent by the image processing unit and outputs control commands to adjust the position of the vehicle.

2. The vehicle outline projection edge line photographing and detection device according to claim 1, characterized in that, The vehicle panel has at least two longitudinal grid lines arranged in sequence from the left side line towards the longitudinal center line, which are parallel to the longitudinal center line. The longitudinal grid lines intersect the front side line, the transverse center line, and the rear side line of the vehicle panel, respectively. The marker on the left side of the vehicle panel is set at the intersection position. The marker on the right side of the vehicle panel is mirrored with respect to the longitudinal centerline of the vehicle panel, following the position of the marker on the left side of the vehicle panel.

3. The vehicle outline projection edge line photographing and detection device according to claim 1 or 2, characterized in that, The markings are applied using a spraying process and are either dot-shaped objects or line segments parallel to the longitudinal centerline of the vehicle panel at the corresponding positions on the vehicle panel.

4. The vehicle outline projection edge line photographing and detection device according to claim 1 or 2, characterized in that, The markers are applied using an adhesive process and are either dot-shaped objects or line segments parallel to the longitudinal centerline of the vehicle panel, pasted at corresponding positions on the vehicle panel.

5. The vehicle outline projection edge line photographing and detection device according to claim 1 or 2, characterized in that, The marker is a light-emitting element, which is a dot-shaped object installed at a corresponding position on the vehicle panel or a line segment-shaped object parallel to the longitudinal centerline of the vehicle panel.

6. The vehicle outline projection edge line photographing and detection device according to claim 1, characterized in that, Each of the vehicle panels is equipped with two image processing units: one image processing unit connected to the first shooting unit and the second actuator unit, and the other image processing unit connected to the second shooting unit and the second actuator unit.

7. The vehicle outline projection edge line photographing and detection device according to claim 1, characterized in that, Each of the vehicle panels is equipped with one image processing unit, which is connected to the first shooting unit, the second shooting unit, and the actuator unit respectively.

8. The vehicle outline projection edge line photographing and detection device according to claim 1, characterized in that, The number of image processing units is one shared by multiple vehicle panels. The image processing unit is signal-connected to the imaging unit one and imaging unit two that are matched with the multiple vehicle panels, and is signal-connected to the actuator unit.

9. The vehicle outline projection edge line photographing and detection device according to claim 1, characterized in that, The functions of the image processing unit are merged into the shooting unit, forming a comprehensive shooting unit with image processing capabilities. Two integrated shooting units are provided for each vehicle panel. One of them is an integrated shooting unit 1 located at any position above the left side line of the vehicle panel, facing the left side area of ​​the vehicle panel, and connected to the actuator unit via signal. The other is an integrated shooting unit 2 located at any position above the right side line of the vehicle panel, facing the right side area of ​​the vehicle panel, and connected to the actuator unit via signal.

10. A vehicle outline projection edge line photographing and detection device according to claim 1, 6, 7, or 8, characterized in that, The image processing unit has a wake-up function. It is normally in a dormant state and is woken up by the output signal of the actuator unit to enter the working state.

11. The vehicle outline projection edge line photographing and detection device according to claim 1, characterized in that, The shooting unit has a wake-up function. It is normally in a dormant state and is woken up by the corresponding image processing unit outputting a signal to enter the working state.

12. The vehicle outline projection edge line photographing and detection device according to claim 9, characterized in that, The integrated shooting unit has a wake-up function. It is normally in a dormant state and is awakened by the output signal of the actuator unit to enter the working state.

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