Vehicle bottom environment test camera, vehicle bottom environment test method, and vehicle system

Abstract

A vehicle bottom environment test camera, a vehicle bottom environment test method, and a vehicle system. The camera comprises a first reflection assembly, a second reflection assembly, and a photosensitive assembly; the first reflection assembly has an arc-shaped curved surface, and the radian of the arc-shaped curved surface is a preset bending angle; the first reflection assembly is used for acquiring a vehicle bottom ambient light signal within a preset bending angle range and reflecting the vehicle bottom ambient light signal; the second reflection assembly is used for reflecting the vehicle bottom ambient light signal to the photosensitive assembly; and the photosensitive assembly is used for carrying out imaging processing on the vehicle bottom ambient light signal to obtain a vehicle bottom image result corresponding to the field of view environment of the first reflection assembly.

Description

Under-vehicle environment detection camera, under-vehicle environment detection method, and vehicle system

[0001] Related applications

[0002] This application claims priority to Chinese patent applications filed on September 20, 2023, with application number 202311222618.8, entitled “Under-vehicle environment detection camera, under-vehicle environment detection method and vehicle system”, filed on January 11, 2024, with application number 202420064894.X, entitled “Self-cleaning camera and vehicle”, and filed on May 17, 2024, with application number 202410621893.5, entitled “Lens integrated structure, panoramic camera and image processing method”, the entire text of which is hereby incorporated by reference. Technical Field

[0003] The present application relates to the technical field of safety detection equipment, and in particular to a vehicle bottom environment detection camera, a vehicle bottom environment detection method, and a vehicle system. Background Art

[0004] To ensure vehicle safety, a large number of cameras are installed inside and outside the vehicle, including forward-looking, surround-looking, perimeter-looking, rear-looking, in-cabin passenger monitoring (OMS), driver monitoring (DMS) and other cameras, to achieve full-range monitoring and perception of the vehicle's surroundings and interior, thereby improving vehicle safety.

[0005] The environment under a vehicle significantly impacts safety during startup and parking. Many safety issues arise from insufficient and untimely observation of the vehicle's underbody during startup and parking. For example, if the presence of living organisms (such as humans or small animals) under the vehicle is not promptly detected during startup, accidents can occur. However, existing technologies lack effective cameras for observing the vehicle's underbody, resulting in low safety levels.

[0006] Currently, there is no effective solution to the problem of low accuracy in vehicle bottom environment detection.

[0007] Summary of the Invention

[0008] According to various embodiments of the present application, a vehicle bottom environment detection camera, a vehicle bottom environment detection method, and a vehicle system are provided.

[0009] In a first aspect, the present application provides a vehicle bottom environment detection camera. The camera comprises: a first reflective component, a second reflective component, and a photosensitive component;

[0010] The first reflective component has an arc-shaped surface, and the curvature of the arc-shaped surface is a preset bending angle; the first reflective component is used to obtain the vehicle bottom ambient light signal within the preset bending angle range and reflect the vehicle bottom ambient light signal;

[0011] The second reflective component is used to reflect the ambient light signal from the bottom of the vehicle to the photosensitive component;

[0012] The photosensitive component is used to perform imaging processing on the ambient light signal under the vehicle to obtain an image result of the vehicle under the vehicle corresponding to the field of view environment of the first reflective component; wherein the field of view environment is determined according to a preset bending angle.

[0013] In one embodiment, the camera further includes a lens assembly;

[0014] The lens assembly is installed between the first reflective assembly and the photosensitive assembly, and is used to gather the ambient light signal from the bottom of the vehicle to the surface of the photosensitive assembly.

[0015] In one embodiment, the axis of the second reflective component coincides with the axis of the first reflective component.

[0016] In one embodiment, the second reflective component is further configured to rotate a preset rotation angle around a preset second reflective component fixed point upon obtaining a preset second reflective component control instruction, wherein the rotation angle is determined according to the control instruction.

[0017] In one embodiment, the camera includes a protective cover structure:

[0018] The protective cover structure is arranged outside the first reflective component, the second reflective component and the photosensitive component.

[0019] In one embodiment, the camera is connected to a preset console;

[0020] The console is used to identify and process the underbody image results based on the fully trained target recognition model, obtain the underbody recognition results for the underbody environment, and send the underbody recognition results to a preset display module for display processing.

[0021] In one embodiment, the second reflective component structure is at least one of the following: a planar structure and a curved structure.

[0022] In one embodiment, the camera further comprises:

[0023] Mounting seat;

[0024] an optical lens, disposed on the mounting seat;

[0025] The light-transmitting cover comprises an annular cover body fixedly mounted on the mounting seat and arranged around the optical lens, and a front cover body fixedly connected to the annular cover body;

[0026] The first reflective component includes a curved reflector, and the second reflective component includes a folding reflective element;

[0027] The folding and reflecting element is fixedly arranged on the rear side of the front cover, and the folding and reflecting element has a refractive area located in front of the optical lens and a reflective area arranged around the refractive area; and

[0028] The curved reflector is fixedly connected to the mounting seat and comprises a light window located in the light path between the folding and reflecting element and the optical lens, and an annular reflective curved surface located around the light window and facing away from the optical lens.

[0029] In one embodiment, the reflective element includes a light-transmitting substrate fixedly connected to the front cover, a refractive structure formed on the light-transmitting substrate, and a reflective structure formed on the light-transmitting substrate and located around the refractive structure.

[0030] In one embodiment, the refractive structure is a Fresnel lens structure formed on the light-transmitting substrate.

[0031] In one embodiment, the reflective structure is a high-reflective film attached to the front surface or the back surface of the light-transmitting substrate.

[0032] In one embodiment, the curved reflector is a glass reflector with an anti-reflection film coated on the central area or a metal reflector with a hole opened on the central area.

[0033] In one embodiment, the mounting seat includes an annular mounting portion for the optical lens to pass through, an annular plug-in portion to be plugged and fixed to the curved reflector, and an annular fixing portion arranged around the annular plug-in portion; the front edge of the annular cover body is fixedly connected to the front cover body, and the rear edge of the annular cover body is fixedly connected to the annular fixing portion.

[0034] In one embodiment, the mounting seat, the optical lens, the light-transmitting cover, the curved reflector and the folding and reflecting element are arranged in the light-sensing path of the photosensitive component.

[0035] In one embodiment, the photosensitive component also includes a circuit board, a photosensitive chip that can be electrically mounted on the front side of the circuit board, and a connector that can be electrically mounted on the back side of the circuit board; the optical lens is fixed to the circuit board to be located in the photosensitive path of the photosensitive chip.

[0036] In one embodiment, the photosensitive chip has a central photosensitive area corresponding to the refractive area of ​​the refracting element, an annular photosensitive area arranged around the central photosensitive area and corresponding to the reflective area of ​​the refracting element, and an edge photosensitive area located around the annular photosensitive area.

[0037] In one embodiment, the camera further includes a rear shell fixedly connected to the mounting base, and the connector passes through the rear shell.

[0038] In one embodiment, the first reflective component includes a curved reflector, the second reflective component includes a flat reflector, and the camera further includes:

[0039] A camera module, comprising the photosensitive component, a lens assembly disposed on the photosensitive side of the photosensitive component, and a light-transmitting cover covering the lens assembly, wherein the lens assembly comprises an optical lens, the plane reflector located below the optical lens, and the curved reflector located around the optical lens, the plane reflector having a reflective plane facing the optical lens; the curved reflector having a light window located in the optical path between the plane reflector and the optical lens, and an annular reflective curved surface located around the light window and facing away from the optical lens;

[0040] a lifting mechanism provided on the vehicle chassis, drivingly connected to the camera module, and configured to drive the camera module to rise and fall relative to the vehicle chassis to switch between a retracted state and an extended state; when the camera module is in the extended state, the light-transmitting cover is configured to extend downward through a gap in the vehicle chassis, so that the camera module can collect environmental information under the vehicle; and when the camera module is in the retracted state, the light-transmitting cover is configured to retract upward and block the gap in the vehicle chassis; and

[0041] A cleaning mechanism is provided on the chassis of the vehicle and is arranged around the light-transmitting cover to clean the light-transmitting cover during the lifting and lowering process of the camera module.

[0042] In one embodiment, the light-transmitting cover includes an annular cover body surrounding the optical lens and a front cover body fixedly connected to the lower edge of the annular cover body; the plane reflector is fixedly mounted on the upper surface of the front cover body.

[0043] In one embodiment, the camera module further includes a pressure ring, which includes an annular screw connection portion threadedly connected to the optical lens and an abutting portion and a fixing portion arranged on the annular screw connection portion; the abutting portion extends in a bent manner from the annular screw connection portion to abut the curved reflector; the fixing portion extends downward from the annular screw connection portion to fixedly connect the upper edge of the annular cover body.

[0044] In one embodiment, the camera module further includes an upper shell; the pressure ring further includes a mounting portion extending upward from the annular threaded portion, and the upper shell is fixedly mounted on the mounting portion to cover the optical lens and the photosensitive component.

[0045] In one embodiment, the photosensitive component includes a circuit board, a photosensitive chip that can be electrically mounted on the lower side of the circuit board, and a connector that can be electrically mounted on the upper side of the circuit board; the optical lens is fixed to the circuit board to be located in the photosensitive path of the photosensitive chip; the connector passes through the upper shell.

[0046] In one embodiment, the lifting mechanism includes a lifting guide rail fixed to the vehicle chassis, a driving screw rod set on the vehicle chassis, and a screw nut threadedly connected to the driving screw rod and slidable up and down on the lifting guide rail; the screw nut is fixedly connected to the camera module.

[0047] In one embodiment, the cleaning mechanism includes one or more of a flannel, a brush, a nozzle, and an air nozzle.

[0048] In one embodiment, the cleaning mechanism is an annular brush fixedly mounted on the inner wall of the notch of the vehicle chassis, and the annular brush surrounds the annular cover and slidably contacts the outer peripheral surface of the annular cover.

[0049] In a second aspect, the present application further provides a vehicle, comprising:

[0050] a chassis having a notch; and

[0051] Any of the above-mentioned cameras is arranged on the vehicle chassis at a position corresponding to the notch.

[0052] In a third aspect, the present application further provides an image processing method, comprising:

[0053] Separating the original image obtained by the central photosensitive area and the annular photosensitive area of ​​the photosensitive chip in the camera to obtain independent central area images and annular area images;

[0054] Processing the central area image and the annular area image respectively and correspondingly through a mutually independent forward view ISP process and a surround view ISP process to obtain a forward view image and a surround view image; and

[0055] The forward-view image and the surround-view image are output and / or displayed.

[0056] In a fourth aspect, the present application further provides a method for detecting an undercar environment, the method comprising:

[0057] The first reflective component obtains the vehicle bottom ambient light signal within a preset bending angle range and reflects the vehicle bottom ambient light signal; wherein the first reflective component has a curved surface, and the curvature of the curved surface is the preset bending angle;

[0058] The second reflective component reflects the ambient light signal from the bottom of the vehicle to the photosensitive component;

[0059] The photosensitive component performs imaging processing on the ambient light signal under the vehicle to obtain an image result of the vehicle under the vehicle corresponding to the field of view environment of the first reflective component; wherein the field of view environment is determined according to a preset bending angle.

[0060] In a fifth aspect, the present application further provides a vehicle system, the vehicle system comprising a console and a camera;

[0061] The camera is located at the bottom of the vehicle and connected to the console, and is used to obtain the vehicle bottom ambient light signal based on the detection instruction output by the console, and execute the above-mentioned vehicle bottom environment detection method based on the vehicle bottom ambient light signal.

[0062] In one embodiment, the camera is a telescopic structure, and the console is further used to control the camera to extend when the vehicle is started and / or when the vehicle is in reverse state to detect the environment under the vehicle;

[0063] The console is further configured to control the camera to retract when the vehicle's speed is greater than or equal to a preset speed threshold, and / or when the vehicle is stopped;

[0064] The console is also used to control the extension of the camera based on the detection instructions.

[0065] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the disclosed drawings without any creative work.

[0067] FIG1 is a structural block diagram of a vehicle bottom environment detection camera according to an embodiment.

[0068] FIG. 2A is a side view of a first reflective component in one embodiment.

[0069] FIG. 2B is a top view of the first reflective component in one embodiment.

[0070] FIG3 is a schematic diagram of a process of generating a vehicle bottom image result by a photosensitive component in one embodiment.

[0071] 4A and 4B are schematic structural diagrams of a lens assembly in an optional embodiment.

[0072] FIG5 is a schematic diagram of a second reflective component after rotation in one embodiment.

[0073] FIG6 is a schematic diagram of a process for displaying vehicle bottom recognition results in one embodiment.

[0074] FIG7A is a schematic diagram showing an embodiment in which the second reflective component is a concave curved structure.

[0075] FIG7B is a schematic diagram showing an embodiment in which the second reflective component is a convex curved structure.

[0076] FIG8 is a schematic diagram of the camera structure in an optional embodiment.

[0077] FIG9 is a schematic diagram of the camera structure in an optional embodiment.

[0078] FIG10 is a flow chart of a method for detecting an undercar environment in one embodiment.

[0079] FIG11 is a structural block diagram of a vehicle system in one embodiment.

[0080] FIG12 is a schematic diagram of the camera installation position in one embodiment.

[0081] FIG13 is a schematic structural diagram of a vehicle bottom environment detection camera according to an embodiment.

[0082] FIG14 is an enlarged schematic diagram of a folding and reflecting element of a lens integrated structure in a vehicle bottom environment detection camera according to an embodiment.

[0083] FIG15 is a top view schematically showing a photosensitive chip of a photosensitive component in a vehicle bottom environment detection camera according to an embodiment.

[0084] FIG16 is a schematic diagram of the optical path of a vehicle bottom environment detection camera according to an embodiment.

[0085] FIG17 is a flowchart of an image processing method according to an embodiment.

[0086] FIG18 is a three-dimensional schematic diagram of a vehicle bottom environment detection camera according to an embodiment.

[0087] FIG19 is an exploded diagram of a vehicle bottom environment detection camera according to an embodiment.

[0088] FIG20 is a cross-sectional schematic diagram of a camera module in an underbody environment detection camera in an extended state according to an embodiment.

[0089] FIG21 is a cross-sectional schematic diagram showing a camera module in a retracted state in a vehicle bottom environment detection camera according to an embodiment.

[0090] FIG22 is an enlarged schematic diagram of a part A in the vehicle bottom environment detection camera shown in FIG21 .

[0091] Explanation of the main component symbols: 110, vehicle bottom environment detection camera; 111, first reflection component; 112, second reflection component; 1110, control console; 1, lens integrated structure; 10, optical lens; 20, light-transmitting cover; 21, annular cover body; 22, front cover body; 30, refractive element; 301, refractive area; 302, reflective area; 31, light-transmitting base; 32, refractive structure; 33, reflective structure; 40, curved reflector; 401, light window; 402, annular reflective curved surface; 403, annular plane; 50, mounting seat; 51, annular mounting portion; 52, annular plug-in portion; 53, annular fixing portion; 60. Photosensitive component; 61. Circuit board; 62. Photosensitive chip; 621. Central photosensitive area; 622. Annular photosensitive area; 623. Edge photosensitive area; 63. Connector; 70. Back shell; 120. Camera module; 12. Lens assembly; 10. Optical lens; 122. Plane reflector; 1220. Reflective plane; 14. Pressing ring; 141. Annular screw connection; 142. Abutment portion; 143. Fixed connection portion; 144. Mounting portion; 15. Upper shell; 16. Lifting mechanism; 17. Lifting guide rail; 18. Drive screw; 19. Screw nut; 80. Cleaning mechanism; 81. Annular brush; 2. Chassis. DETAILED DESCRIPTION

[0092] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0093] Those skilled in the art should understand that, in the disclosure of this application, the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms should not be understood as limiting this application.

[0094] In this application, the term "a" or "an" in the claims and the specification should be understood as "one or more." That is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple. Unless the disclosure of this application clearly indicates that the number of the element is only one, the term "a" or "an" should not be understood as unique or singular, and the term "a" or "an" should not be understood as a limitation on quantity.

[0095] In the description of this application, it should be understood that "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of this application, it should be noted that, unless otherwise clearly specified and limited, "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through a medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0096] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0097] In one embodiment, as shown in FIG1 , a vehicle bottom environment detection camera 110 is provided. The camera 110 includes: a first reflective component 111 , a second reflective component 112 , and a photosensitive component 60 ;

[0098] The first reflective component 111 has an arc-shaped surface, and the curvature of the arc-shaped surface is a preset bending angle; the first reflective component 111 is used to obtain the vehicle bottom ambient light signal within the preset bending angle range and reflect the vehicle bottom ambient light signal.

[0099] The first reflective component 111 is generally an annular structure with a circular hole in the middle. In some embodiments, the middle may also be a square hole, etc., and has an arc-shaped surface. The arc-shaped surface is bent according to a preset bending angle. The preset bending angle meets optical requirements and can also be determined by the user and pre-designed with simulation software. It can be made into a quadratic surface, a free-form surface, or other forms of curved surface. The annular curved surface reflects 360 degrees of incident light, so that the horizontal viewing angle is 360 degrees. The curvature of the annular curved surface in the vertical direction is designed as required to ensure that the field of view and imaging angle of the camera 110 meet the requirements. Figure 2A is a side view of the first reflective component 111 in one embodiment, and Figure 2B is a top view of the first reflective component 111 in one embodiment. Based on the first reflective component 111, the vehicle bottom ambient light signal is obtained and reflected to the second reflective component 112.

[0100] The second reflective component 112 is used to reflect the vehicle bottom ambient light signal to the photosensitive component 60 .

[0101] In general, the first reflective component 111 is located between the second reflective component 112 and the photosensitive component 60. The second reflective component 112 is used to reflect the vehicle bottom ambient light signal obtained by the first reflective component 111 to the photosensitive component 60. The second reflective component 112 is generally a structure composed of at least one reflective mirror.

[0102] The photosensitive component 60 is used to perform imaging processing on the vehicle bottom environment light signal to obtain a vehicle bottom image result corresponding to the field of view environment of the first reflective component 111; wherein the field of view environment is determined according to a preset bending angle.

[0103] The photosensitive component 60 is generally composed of a photoelectric sensor, which processes the underbody ambient light signal after at least two reflections to obtain an underbody image result. Furthermore, FIG3 is a schematic diagram of the process by which the photosensitive component 60 generates an underbody image result in one embodiment. First, the sensor converts the underbody ambient light signal into an underbody ambient photoelectric signal. The underbody ambient photoelectric signal is transmitted via a serial transmission unit and a serial reception unit. The underbody ambient photoelectric signal is then transmitted to a camera driver. The camera driver controls the received photoelectric signal. An image signal processor digitally processes the received underbody ambient photoelectric signal and optimizes the image signal, such as through exposure control, brightness adjustment, white balance, and color correction. The image is then corrected for distortion, such as by a CPU or DSP. Finally, the underbody image result is obtained and output. The field of view is determined by a preset bending angle of the first reflective component 111, which is proportional to the field of view.

[0104] In the related art, there are usually two methods for observing the bottom of a vehicle: one is a fisheye camera, and the other is transparent chassis technology. Among them, the fisheye camera is closer to solving the problem of imaging observation under the vehicle. The fisheye camera has a wide-angle field of view and can achieve an observation angle greater than 180 degrees or even 190 degrees. However, larger angles are difficult to achieve with a fisheye lens of the penetrating lens type. Furthermore, fisheye cameras usually have problems such as large distortion and a large proportion of close-up shots. The focal lengths at different angles do not match the observation environment under the vehicle. Among them, transparent chassis technology uses a camera at the front (or rear) of the vehicle to observe the situation under the vehicle. Transparent chassis technology can only be observed when the vehicle is moving, which has limitations. It cannot observe the complete state when the vehicle is stationary. When the vehicle is stationary, especially when the vehicle has just started, observing the situation under the vehicle is particularly important. Furthermore, transparent chassis technology essentially uses the camera at the front (or rear) of the vehicle to fill in the environmental image under the vehicle while the vehicle is moving. It is a virtual imaging technology, not real-time imaging in the physical sense. In the present application, it can be seen from the above-mentioned first reflecting component 111, second reflecting component 112 and photosensitive component 60 that, on the one hand, 360-degree annular imaging is achieved based on the first reflecting component 111, and the camera can clearly image at different field angles by setting a preset bending angle; on the other hand, the light signal can be reflected to the photosensitive component 60 for imaging through the second reflecting component 112, and the camera can also better adapt to the short-distance environment such as the bottom of the vehicle, so as to achieve clear imaging of the bottom of the vehicle environment, effectively solving the problems of large distortion, inability to real-time imaging, and small field of view existing in related technologies.

[0105] In one embodiment, the camera further comprises a lens assembly;

[0106] The lens assembly is installed between the first reflective assembly and the photosensitive assembly, and is used to gather the ambient light signal from the bottom of the vehicle to the surface of the photosensitive assembly.

[0107] Specifically, the lens assembly is composed of a plurality of lenses. This group of lenses converges the horizontal 360-degree light after being reflected twice by the first reflective assembly and the second reflective assembly, and focuses it on the surface of the photosensitive assembly to form a clear 360-degree panoramic image. Figures 4A and 4B show optional embodiments of two lens assemblies, including six lens lenses, namely the first lens (numbered 3) to the sixth lens (numbered 8). (3), (4), (5), etc. in Figures 4A and 4B represent different lens numbers, and S5, S6, etc. represent different mirror surfaces. It can be understood that the lens assemblies numbered (1) and (2) are the lenses of the second reflective assembly and the first reflective assembly respectively. In fact, the number and shape of the lenses in the lens assembly are not limited. As long as the design can meet the imaging requirements, it is possible to use several lenses. Through the lens assembly, the acquired vehicle bottom ambient light signal can be focused on the surface of the photosensitive assembly to achieve clear imaging. Furthermore, the lenses in the lens assembly can also be selected according to the actual application scenario to meet the needs of different application environments. (9) in Figures 4A and 4B are filters, and the transmittance of light signals of different wavelengths is different. An infrared cutoff filter can be selected to make the camera a visible light camera; or a filter that transmits infrared light but cuts off visible light can be selected to make the camera an infrared camera. Surface S18 (IMA) represents the imaging surface of the photosensor chip.

[0108] In one embodiment, the second reflective component and the first reflective component have an axis that coincides with each other.

[0109] Specifically, when the second reflective component is composed of a reflective surface, the axis of the second reflective component coincides with the axis of the first reflective component, so that the center and the periphery of the first reflective component have the same resolution.

[0110] In one embodiment, the second reflective component is further configured to rotate around a preset second reflective component fixed point by a preset rotation angle upon obtaining a preset second reflective component control instruction, wherein the rotation angle is determined according to the control instruction.

[0111] Specifically, FIG5 is a schematic diagram of an embodiment of a second reflective component after rotation. The second reflective component control command is generally issued by a user, and based on the second reflective component control command, the second reflective component is controlled to rotate around a preset second reflective component fixed point by a preset rotation angle. Optionally, the second reflective component fixed point is generally the center point of the second reflective component, that is, after the rotation, the second reflective component is tilted relative to the central axis of the first reflective component and is no longer perpendicular. At this time, after two reflections, the image formed on the surface of the photosensitive component is still a circular 360-degree in the horizontal direction. In the vertical direction, as the tilt angle changes, the vertical angle range seen from different directions will change slightly. That is, the upper and lower boundaries of the field of view will move with the rotation of the second reflective component. In actual application, the user can control the rotation of the second reflective component while observing the result of the rotation. Through the above-mentioned second reflective component, the field of view of the vehicle under the vehicle environment can be flexibly changed in actual application, so that the camera of the present application can flexibly adapt to the complex environment under the vehicle and adjust the boundary range of the field of view in real time as needed, making the observation and detection of the vehicle under the vehicle environment more comprehensive.

[0112] In one embodiment, the camera includes a protective cover structure:

[0113] The protective cover structure is arranged outside the first reflective component, the second reflective component and the photosensitive component.

[0114] Specifically, the protective cover structure is a transparent structure. Optionally, in order to better adapt to the reflective component and the lens component, the cross-section of the protective cover structure can be a parabolic structure to protect the above-mentioned reflective component and the photosensitive component and reduce the possibility of lens contamination.

[0115] In one embodiment, the camera is connected to a preset console;

[0116] The console is used to identify and process the underbody image results based on the fully trained target recognition model, obtain the underbody recognition results for the underbody environment, and send the underbody recognition results to a preset display module for display processing.

[0117] Specifically, the console includes a recognition module and a display module, which are integrated into the above-mentioned console. The target recognition model in the recognition module is used to recognize and process the vehicle bottom image results to obtain the vehicle bottom recognition results. The vehicle bottom recognition results include prompt information for living objects or obstacles. Furthermore, the console can issue an alarm based on the prompt information. Then, the vehicle bottom recognition results are further displayed based on the display module, wherein the user can select a display mode, including but not limited to display modes such as anti-distortion and overhead projection. Figure 6 is a flow chart of displaying the vehicle bottom recognition results in one embodiment. Through the above-mentioned console, users can more conveniently view the detection results of the vehicle bottom environment, effectively play the role of safety inspection, and help users better control vehicle driving.

[0118] In one embodiment, the second reflective component structure is at least one of the following: a planar structure and a curved structure.

[0119] Specifically, Figures 7A and 7B are schematic diagrams of the structure of a second reflective assembly in one embodiment. The second reflective assembly can have a planar structure or a curved structure. Figure 7A illustrates a second reflective assembly having a concave curved surface. This concave curved surface structure, in conjunction with the first reflective assembly, reflects the ambient light signal from under the vehicle. After reflecting the light signal to the lens assembly, it forms an image on the surface of the photosensitive assembly, such that the horizontal direction remains a 360-degree circular shape. The vertical angle range seen in the vertical direction is determined by the first reflective assembly, the concave curved second reflective assembly, and the lens assembly. Figure 7B illustrates a second reflective assembly having a convex curved surface structure. This convex curved surface structure, in conjunction with the first reflective assembly, reflects the ambient light signal from under the vehicle. After reflecting the light signal to the lens assembly, it forms an image on the surface of the photosensitive assembly, such that the horizontal direction remains a 360-degree circular shape. The vertical angle range seen in the vertical direction is determined by the first reflective assembly, the convex curved second reflective assembly, and the lens assembly. When the second reflective component is a planar structure, the horizontal range remains 360 degrees, while the vertical angle range is determined by the first reflective component, the planar second reflective component, and the lens assembly. This second reflective component allows for flexible adjustment of the field of view based on actual application scenarios, providing more comprehensive observation and detection of the vehicle's underbody, significantly reducing safety hazards while driving.

[0120] This embodiment also provides an optional embodiment of a vehicle bottom environment detection camera. FIG8 and FIG9 are schematic diagrams of the camera structure in an optional embodiment.

[0121] The camera is composed of a first reflective component, a second reflective component, a lens component, a protective cover structure, and a photosensitive component. The first reflective component is an annular structure with a circular hole in the middle. The first reflective component has an arc-shaped surface with a curvature of a preset curvature angle. Based on the first reflective component, the vehicle bottom ambient light signal within the preset curvature angle range is captured and reflected to the second reflective component. Furthermore, during the design phase of the camera, the normal angle of each point on the reflective surface of the first reflective component can be adjusted according to the height distance from the ground so that the center and the surrounding areas have the same resolution. The first reflective component is arranged between the second reflective component and the lens component. The second reflective component can be a flat mirror structure or a curved mirror structure, and is used to reflect the vehicle bottom ambient light signal to the lens component. Furthermore, the second reflective component is mostly a circular structure, and the axis of the second reflective component coincides with that of the first reflective component. Based on the control command of the second reflective component issued by the user, it can be tilted and rotated around the axis to adapt to different vehicle bottom environments and change the field of view. The above-mentioned lens assembly is generally composed of multiple lenses, which can focus the ambient light signal from the bottom of the vehicle on the surface of the photosensitive component to achieve clear imaging. Furthermore, in actual applications, a color filter is provided between the photosensitive component and the lens component. Depending on the imaging requirements, the color filter can be a visible light filter that cuts off infrared light, or an infrared filter that transmits infrared light, for color imaging or infrared imaging. Finally, a protective cover structure is provided on the outside of the first reflective component, the second reflective component, the lens component, the color filter, and the photosensitive component. Based on this protective cover structure, the possibility of camera contamination can be reduced and the above-mentioned components can be protected. Finally, the photosensitive component images and corrects the ambient light signal from the bottom of the vehicle to obtain the image result of the bottom of the vehicle.

[0122] Each module in the aforementioned undercar environment detection camera can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0123] Based on the same inventive concept, the present application also provides an undercar environment detection method for implementing the above-mentioned undercar environment detection camera. The solution provided by this method is similar to the solution described in the above-mentioned system. Therefore, the specific limitations of one or more undercar environment detection method embodiments provided below can be found in the above-mentioned limitations of the undercar environment detection camera and will not be repeated here.

[0124] In one embodiment, a method for detecting an undercar environment is further provided, as shown in FIG10 , which is a flow chart of a method for detecting an undercar environment;

[0125] Step S1010: The first reflective component obtains a vehicle bottom ambient light signal within a preset bending angle range and reflects the vehicle bottom ambient light signal; wherein the first reflective component has a curved surface, and the curvature of the curved surface is the preset bending angle;

[0126] Specifically, the first reflective component is generally an annular structure with a circular hole in the center. In some embodiments, the center can also be a square hole, etc., and has an arc-shaped curved surface. The arc-shaped curved surface is bent according to a preset bending angle that meets optical requirements. The preset bending angle can also be determined by the user and pre-designed with simulation software. It can be formed into a quadratic surface, a free-form surface, or other curved surface. The annular curved surface reflects 360 degrees of incident light, resulting in a 360-degree horizontal viewing angle. The vertical curvature of the annular curved surface is designed as required to ensure that the camera's field of view and imaging angle meet the requirements. The first reflective component captures the vehicle's underbody ambient light signal and reflects it to the second reflective component.

[0127] Step S1020: The second reflective component reflects the vehicle bottom ambient light signal to the photosensitive component;

[0128] Specifically, in general, the first reflective component is located between the second reflective component and the photosensitive component, and the second reflective component is used to reflect the vehicle bottom ambient light signal obtained by the first reflective component to the photosensitive component. The second reflective component is generally composed of at least one reflective mirror.

[0129] In step S1030, the photosensitive component performs imaging processing on the vehicle bottom ambient light signal to obtain a vehicle bottom image result corresponding to the field of view environment of the first reflective component; wherein the field of view environment is determined according to a preset bending angle.

[0130] Specifically, the photosensitive component is generally composed of a photoelectric sensor, which performs imaging processing on the vehicle bottom ambient light signal after at least two reflections to obtain the vehicle bottom image result. Specifically, the vehicle bottom ambient light signal is first transmitted to the camera driver through a serializer, and the image signal processor is controlled by the camera driver to perform imaging processing on the vehicle bottom ambient light signal and perform corrections such as white balance and color correction. Then, anti-distortion corrections and other corrections are performed based on the single-chip microcomputer, and finally the above-mentioned vehicle bottom image result is obtained and output. The field of view environment is determined by the preset bending angle of the first reflective component. Through the above method, clear and comprehensive imaging of the short-distance environment under the vehicle is achieved. Compared with related technologies, the field of view range is larger and the imaging is more flexible, which effectively reduces the possibility of safety accidents.

[0131] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0132] In one embodiment, as shown in FIG11 , a vehicle system is provided, the vehicle system including a console 1110 and a camera 110 ;

[0133] The camera 110 is located at the bottom of the vehicle and connected to the console 1110. It is used to obtain the vehicle bottom ambient light signal based on the detection instruction output by the console 1110, and execute the vehicle bottom environment detection method described above based on the vehicle bottom ambient light signal.

[0134] Specifically, Figure 12 is a schematic diagram of the installation location of camera 110 in one embodiment. In this embodiment, camera 110 is mounted on the vehicle chassis, which can be at the center of the front axle, the center of the rear axle, or near the right rear wheel. Based on the detection instructions output by console 1110, it obtains the vehicle's bottom ambient light signal. In actual use, the console 1110 also integrates a recognition module and a display module to identify and display images generated based on the vehicle's bottom ambient light signal for user viewing.

[0135] In one embodiment, the camera 110 is a telescopic structure, and the console 1110 is further used to control the camera 110 to extend when the vehicle is started and / or when the vehicle is in reverse state, so as to detect the environment under the vehicle;

[0136] The console 1110 is further configured to control the camera to retract when the vehicle's speed is greater than or equal to a preset speed threshold, and / or when the vehicle is stopped.

[0137] The console 1110 is further configured to control the camera to extend based on a detection instruction.

[0138] Specifically, the above-mentioned speed threshold can be set by the user, such as 30km / h. When the vehicle is in the starting and reversing state, which is also a time when the safety hazard is higher, the camera can be set to automatically extend to start detecting the environment under the vehicle. Furthermore, when the driving speed is greater than the speed threshold, in order to prevent the camera from being scratched, the camera can be set to automatically retract. Furthermore, it can also be set to control the camera to extend to check the environment under the vehicle based on the detection instruction when the user needs to check the environment under the vehicle, and retract according to actual needs. The above method can effectively avoid the camera being exposed to the outside for a long time, which may cause stains, scratches, etc., and flexibly determine the extension and retraction of the camera without affecting actual use, which can better adapt to the actual application environment.

[0139] Considering that the relevant camera not only has a central blind spot, that is, the image on the back of the plane reflector is invisible, but also the center of the image obtained is the shadow of the lens in the plane reflector, resulting in wasted pixels in the central area of ​​the camera's photosensitive chip. This application provides an undercar environment detection camera and image processing method that can eliminate the central blind spot and improve pixel utilization.

[0140] Specifically, referring to Figures 13 to 16 of the accompanying drawings in the specification of this application, according to an embodiment of the present application, a vehicle bottom environment detection camera is provided, which may include a lens integrated structure 1 and a photosensitive component 60. The lens integrated structure 1 is arranged in the photosensitive path of the photosensitive component 60, so that the object light is first modulated by the lens integrated structure 1 and then received by the photosensitive component 60 to form an image.

[0141] More specifically, as shown in Figures 14 and 16, the lens integrated structure 1 may include an optical lens 10, a light-transmitting cover 20, a reflective element 30, a curved reflector 40, and a mounting base 50. The optical lens 10 is mounted on the mounting base 50. The light-transmitting cover 20 includes an annular cover body 21 fixedly mounted on the mounting base 50 and arranged around the optical lens 10, and a front cover body 22 fixedly connected to the annular cover body 21. The reflective element 30 is fixedly mounted on the rear side of the front cover body 22 and has a refractive region 301 located in front of the optical lens 10 and a reflective region 302 arranged around the refractive region 301. The curved reflector 40 is fixedly connected to the mounting base 50 and has an optical window 401 located in the optical path between the reflective element 30 and the optical lens 10, and an annular reflective curved surface 402 located around the optical window 401 and facing away from the optical lens 10.

[0142] It should be noted that the first reflective component 111 includes a curved reflector 40 , and the second reflective component 112 includes a folding element 30 .

[0143] In this way, as shown in Figure 16, the circumferential object light first passes through the annular cover body 21 of the light-transmitting cover 20 and is then reflected by the annular reflective surface 402 of the curved reflector 40 to the reflective area 302 of the folding element 30, and is then reflected by the reflective area 302 of the folding element 30 to pass through the light window 401 of the curved reflector 40 and enter the optical lens 10, and finally is modulated by the optical lens 10 to be received by the photosensitive component 60 to obtain a circumferential image; at the same time, the forward object light first passes through the front cover body 22 of the light-transmitting cover 20, and is then refracted by the refractive area 301 of the folding element 30 to pass through the light window 401 of the curved reflector 40 and enter the optical lens 10, and finally is modulated by the optical lens 10 to be received by the photosensitive component 60 to obtain a forward image.

[0144] It is worth noting that, since the reflective region 302 in the folding element 30 of the present application is located around the refractive region 301, and the diameter of the reflective region 302 is controlled so as not to affect the imaging of the π mirror structure formed by the reflective region 302 and the annular reflective curved surface 402, the reflective region 302 in the folding element 30 can reflect the annular object light reflected by the annular reflective curved surface 402 to pass through the light window 401 of the curved reflector 40 and enter the optical lens 10, and the refractive region 301 in the folding element 30 can refract through the front cover 22. The forward object light passes through the light window 401 of the curved reflector 40 and enters the optical lens 10. Therefore, the camera of the present application can not only achieve a horizontal 360° circular field of view and obtain a 360° surround image, but also eliminate the forward blind spot and obtain a 180° forward image; that is, the camera of the present application can increase the field of view of the system and achieve a 540° panoramic field of view. It can not only detect the situation thoroughly, play a role in safety inspection, automatic driving assisted parking, etc., and facilitate auxiliary control of the vehicle; it can also be used in conference systems or security monitoring and other fields.

[0145] For example, as shown in FIG14 , the reflective element 30 may include a light-transmitting base 31 fixedly connected to the front cover 22, a refractive structure 32 formed on the light-transmitting base 31, and a reflective structure 33 formed on the light-transmitting base 31 and located around the refractive structure 32. Thus, the reflective element 30 has an integrated structure, which not only facilitates installation and fixation, reducing assembly difficulty, but also helps to reduce occupied space and lower the overall height of the camera. At the same time, the reflective element 30 and the curved reflector 40 are completely covered within the light-transmitting cover 20 to prevent dirt and contamination.

[0146] Optionally, the refractive structure 32 is implemented as a Fresnel lens structure to adjust the incident angle of the forward object light, not only taking into account the field of view in both the circumferential and forward directions, eliminating the forward blind spot, but also facilitating the expansion of the forward field of view. At the same time, the refractive structure 32 of the present application can adopt a Fresnel lens design to adjust the equivalent concave lens focal length to adjust the size of the forward field of view.

[0147] Optionally, the Fresnel lens structure is formed on the transparent substrate 31, acting as a concave lens. This allows the forward object light to first form a virtual image, which is then modulated by the optical lens 10 to form an image in the central photosensitive area of ​​the photosensitive component 60. It will be appreciated that, compared to conventional concave lenses or lens assemblies, the use of a Fresnel lens structure in this application also reduces the overall thickness of the refractive element 30, resulting in a lighter weight and easier manufacturing. Furthermore, the Fresnel lens structure mentioned in this application can be located on either the front or rear side of the transparent substrate 31, and this will not be further described in this application.

[0148] Optionally, the reflective structure 33 is implemented as a high-reflection film for reflecting the annular object light reflected by the curved reflector 40 , so that the annular object light is modulated by the optical lens 10 to form an image in the annular photosensitive area of ​​the photosensitive component 60 .

[0149] 14 , the high reflective film is attached to the front surface of the transparent substrate 31. It is understood that the high reflective film mentioned in this application can be a metal coating plated or deposited on the front surface of the transparent substrate 31.

[0150] It is worth noting that in other examples of this application, the high-reflective film can be located on the rear surface of the light-transmitting substrate 31, as long as it can achieve the desired reflective effect. This application will not elaborate on this. In addition, the annular cover body 21 and the front cover body 22 of the light-transmitting cover 20 mentioned in this application are both made of transparent materials to ensure that the annular object light and the forward object light are transmitted and avoid the formation of blind spots.

[0151] Optionally, as shown in FIG. 13 and FIG. 16 , the front cover body 22 is integrally connected to the annular cover body 21 to form a light-transmitting cover 20 having an integrated structure.

[0152] Optionally, the outer peripheral surface of the annular cover body 21 in the light-transmitting cover 20 of the present application may be, but is not limited to, implemented as a cylindrical surface, a conical surface, or a prism surface.

[0153] Optionally, the annular reflective surface 402 of the curved reflector 40 can be implemented as a free-form surface. It is understood that, in view of the curvature and shape of the free-form surface, the present application can perform simulation analysis during the early optical design to ensure that the curvature of the free-form surface meets the design requirements.

[0154] In addition, the curved reflector 40 of the present application can be made of a light-transmitting material such as glass, or can be made of an opaque material such as metal, as long as it can provide the required light window 401 and the annular reflective curved surface 402. For example, the curved reflector 40 can be implemented as a glass reflector with an anti-reflection film coated on the central area, so that the central area coated with the anti-reflection film forms the light window 401; or, the curved reflector 40 can also be implemented as a metal reflector with an opening in the central area, so that the central area of ​​the opening forms the light window 401. It can be understood that the central area mentioned in the present application refers to the area corresponding to the optical path interface between the curved reflector 40 and the optical lens 10. The range of the interface can be determined based on the optical simulation structure. Generally, considering the existence of tolerance, a slightly larger range of the interface can be reserved, such as 1mm to 2mm.

[0155] Optionally, as shown in FIG13 , the mounting base 50 includes an annular mounting portion 51 for the optical lens 10 to pass through, an annular plug-in portion 52 plugged and fixed to the curved reflector 40, and an annular fixing portion 53 arranged around the annular plug-in portion 52; the front edge of the annular cover 21 is fixedly connected to the front cover 22, and the rear edge of the annular cover 21 is fixedly connected to the annular fixing portion 53. It is understood that the fixed connection mentioned in this application can be implemented, but is not limited to, as a threaded connection, plug-in connection, clip connection, or adhesive connection, as long as the optical lens 10, the light-transmitting cover 20, the reflective element 30, and the curved reflector 40 can be highly integrated together, which is conducive to significantly reducing the number of parts and components, reducing the difficulty of assembly, and facilitating meeting the development needs of low cost and small size.

[0156] According to the above-mentioned embodiment of the present application, as shown in Figures 13 and 16, the camera may further include a rear shell 70 fixedly connected to the mounting base 50 for covering the optical lens 10 and the photosensitive component 60.

[0157] Optionally, as shown in Figures 13 and 16, the photosensitive component 60 includes a circuit board 61, a photosensitive chip 62 that can be electrically mounted on the front side of the circuit board 61, and a connector 63 that can be electrically mounted on the rear side of the circuit board 61; the optical lens 10 is fixed to the circuit board 61 to be located in the photosensitive path of the photosensitive chip 62; the connector 63 passes through the rear shell 70 for external communication or electrical connection.

[0158] Optionally, as shown in FIG15 , the photosensitive chip 62 includes a central photosensitive area 621 corresponding to the refractive area 301 of the folding element 30, an annular photosensitive area 622 surrounding the central photosensitive area 621 and corresponding to the reflective area 302 of the folding element 30, and an edge photosensitive area 623 surrounding the annular photosensitive area 622. Thus, after being modulated by the optical lens 10, the annular object light is transmitted to the annular photosensitive area 622 of the photosensitive chip 62 for photosensitive imaging, thereby obtaining a folding image. Simultaneously, after being modulated by the optical lens 10, the forward object light is transmitted to the central photosensitive area 621 of the photosensitive chip 62 for photosensitive imaging, thereby obtaining a forward image.

[0159] It is worth noting that since the central photosensitive area 621 and the annular photosensitive area 622 of the photosensitive chip 62 receive forward object light and circumferential object light respectively, that is, they see different fields of view, if the same image signal processing (ISP) process is used for processing, one will often be lost while the other. For example, when the camera is used under the vehicle, the annular photosensitive area 622 will receive the brighter circumferential object light around the vehicle, while the central photosensitive area 621 can only receive the darker forward object light under the vehicle, and it is impossible to form a clear image in the entire field of view. In order to solve this problem, an embodiment of the present application further provides an image processing method, which can process the forward image of the central photosensitive area and the surround image of the annular photosensitive area respectively through two independent image signal processing processes, so as to improve the image processing efficiency while achieving clear imaging in the entire field of view.

[0160] For example, as shown in FIG17 , the image processing method of the present application may include the following steps:

[0161] S100: Separating an original image acquired through a central photosensitive area and an annular photosensitive area of ​​a photosensitive chip in a camera to obtain a central area image and an annular area image that are independent of each other;

[0162] S200: Processing the central area image and the annular area image respectively and correspondingly through a mutually independent forward view ISP process and a surround view ISP process to obtain a forward view image and a surround view image; and

[0163] S300: Outputting and / or displaying the front view image and the surround view image.

[0164] It is worth noting that in step S100 of the image processing method of the present application, the original image (such as the RAW image) can be separated by the region of interest, but is not limited to; in addition, the forward-looking ISP process and the surround-looking ISP process mentioned in the present application can include, but are not limited to, BLC (English: Black Level Correction; Chinese: Black Level Shadow Correction), LSC (English: Lens Shading Correction; Chinese: Lens Shadow Correction), AE (English: Automatic Exposure; Chinese: Automatic Exposure), AWB (English: Auto White Balance; Chinese: Automatic White Balance), Gamma correction, noise reduction, and sharpening.

[0165] It is understandable that in other examples of the present application, after obtaining the forward-view image and the surround-view image, image fusion may be performed first, and then the image may be output and / or displayed, which will not be described in detail in the present application.

[0166] Considering that relevant undercar cameras are not only susceptible to contamination by dirt and dust, but also easily damaged by impacts from flying sand and gravel, Furthermore, undercar cameras protruding from the bottom of the vehicle chassis lower the vehicle's chassis height, seriously affecting the vehicle's obstacle-crossing performance. This application provides an undercar environment detection camera and vehicle that can achieve self-cleaning capabilities while addressing the issue of impacts from flying sand and gravel, thereby improving the camera's safe use.

[0167] Specifically, referring to Figures 18 to 22 of the accompanying drawings in the specification of this application, a vehicle is provided according to an embodiment of the present application, which may include an underbody environment detection camera 110 and a chassis 2 with a gap. The underbody environment detection camera 110 is arranged on the chassis 2 and corresponds to the position of the gap to serve as an underbody camera for collecting underbody environment information, so as to facilitate the driver to understand the blind spot situation under the vehicle in real time and improve driving safety.

[0168] More specifically, as shown in Figures 18 to 21 , the underbody environment detection camera 110 may include a camera module 120, a lifting mechanism 16 for positioning on the vehicle chassis 2, and a cleaning mechanism 80 for positioning on the vehicle chassis 2. The camera module 120 includes a photosensitive component 61, a lens assembly 12 disposed on the photosensitive side of the photosensitive component 61, and a light-transmitting cover 20 covering the lens assembly 12. The lifting mechanism 16 is drivably connected to the camera module 120 and is configured to elevate the camera module 120 relative to the vehicle chassis 2 to switch between a retracted state and an extended state. When the camera module 120 is in the extended state, the light-transmitting cover 20 extends downward through a notch in the vehicle chassis 2, enabling the camera module 120 to capture underbody environment information. When the camera module 120 is in the retracted state, the light-transmitting cover 20 retracts upward and blocks the notch in the vehicle chassis 2. The cleaning mechanism 80 is arranged around the light-transmitting cover 20 to clean the light-transmitting cover 20 during the lifting process of the camera module 120 .

[0169] In this way, before the vehicle starts to move, as shown in FIG20 , the lifting mechanism 16 can drive the camera module 120 to descend to be in an extended state, so that the light-transmitting cover 20 of the camera module 120 extends out of the gap of the vehicle chassis 2, thereby collecting vehicle bottom environment information through the camera module 120, so as to feedback the blind spot situation under the vehicle to the driver, thereby reducing safety hazards; after the vehicle starts to move (such as when the vehicle speed is higher than a certain threshold), as shown in FIG21 ... The camera module 120 is raised to be in a retracted state, so that the light-transmitting cover 20 of the camera module 120 is retracted and blocks the gap of the vehicle chassis 2, which can not only prevent the mud and sand splashed during the vehicle's driving from contaminating or damaging the camera module 120, but also prevent the mud and sand or water stains splashed during the vehicle's driving from invading the interior of the vehicle chassis 2 through the gap of the vehicle chassis 2 and causing corrosion; at the same time, the raised camera module 120 can also prevent being damaged by obstacles, increase the chassis height of the vehicle, and enhance the vehicle's obstacle-crossing performance. It is understandable that when the vehicle starts to stop, the lifting mechanism 16 can drive the camera module 120 to descend to be in an extended state; and after the vehicle stops completely, the lifting mechanism 16 can drive the camera module 120 to rise to be in a retracted state.

[0170] Furthermore, as the camera module 120 is raised and lowered by the lifting mechanism 16, the light-transmitting cover 20 of the camera module 120 slides up and down relative to the cleaning mechanism 80, allowing the cleaning mechanism 80 disposed on the vehicle chassis 2 to completely clean the light-transmitting cover 20, thereby ensuring clear imaging from the camera module 120 and preventing contamination of the light-transmitting cover 20 that would affect the imaging quality of the camera module 120. It is understood that when the imaging from the camera module 120 is unclear, the lifting mechanism 16 can repeatedly drive the camera module 120 to raise and lower the camera module 120, allowing the cleaning mechanism 80 to repeatedly clean the light-transmitting cover 20 until the imaging is clear.

[0171] Exemplarily, as shown in Figures 20 and 21, the lens assembly 12 in the camera module 120 may include an optical lens 10, a plane reflector 122 located below the optical lens 10, and a curved reflector 40 located around the optical lens 10; the plane reflector 122 has a reflecting plane 1220 facing the optical lens 10; the curved reflector 40 has a light window 401 located in the optical path between the plane reflector 122 and the optical lens 10 and an annular reflecting curved surface 402 located around the light window 401 and facing away from the optical lens 10. In this way, the object light is first reflected by the annular reflective surface 402 of the curved reflector 40 to the reflective plane 1220 of the plane reflector 122, and then reflected by the reflective plane 1220 to pass through the light window 401 of the curved reflector 40 and enter the optical lens 10, and finally modulated by the optical lens 10 to be received by the photosensitive component 60 to form an image, which facilitates increasing the system's field of view and achieving horizontal 360° surround view, meeting the field of view requirements of the vehicle bottom environment.

[0172] Optionally, as shown in Figures 20 and 21, the light-transmitting cover 20 includes an annular cover body 21 surrounding the optical lens 10 and a front cover body 22 fixedly connected to the lower edge of the annular cover body 21; the plane reflector 122 is fixedly mounted on the upper surface of the front cover body 22. In this way, when the camera module 120 is in the extended state, the annular cover body 21 of the light-transmitting cover 20 extends out of the gap of the vehicle chassis 2, so that the object light can pass through the annular cover body 21 and be reflected by the annular reflective surface 402 and the reflective plane 1220 in turn to enter the optical lens 10 and be received by the photosensitive component 60 to form an image; when the camera module 120 is in the retracted state, the annular cover body 21 of the light-transmitting cover 20 retracts into the vehicle chassis 2, and the gap of the vehicle chassis 2 is blocked by the front cover body 22 of the light-transmitting cover 20, which can prevent the splashing mud and sand from contaminating or damaging the annular cover body 21, and can also prevent water stains from invading the interior of the vehicle chassis 2 through the front cover body 22, thereby avoiding corrosion.

[0173] Optionally, as shown in Figures 20 to 22, the camera module 120 may further include a pressure ring 14, which includes an annular screw connection portion 141 threadedly connected to the optical lens 10 and an abutment portion 142 and a fixing portion 143 arranged on the annular screw connection portion 141; the abutment portion 142 extends in a bent manner from the annular screw connection portion 141 to abut the curved reflector 40; the fixing portion 143 extends downward from the annular screw connection portion 141 to fixedly connect the upper edge of the annular cover body 21. It can be understood that the pressure ring 14 in the underbody environment detection camera 110 of the present application can not only firmly fix the curved reflector 40 on the optical lens 10, but also serve as a fixed base for the light-transmitting cover 20, so that the optical lens 10, the light-transmitting cover 20, the plane reflector 122 and the curved reflector 40 can be highly integrated together with only one component, which is conducive to greatly reducing the number of components, reducing the difficulty of assembly, and facilitating meeting the development needs of low cost and small volume.

[0174] Exemplarily, as shown in Figure 22, the abutment portion 142 is integrally connected to the inner periphery of the annular threaded portion 141, and the fixing portion 143 is integrally connected to the outer periphery of the annular threaded portion 141 to form a mounting groove between the fixing portion 143 and the abutment portion 142 that is adapted to the upper edge of the annular cover body 21.

[0175] Optionally, as shown in Figures 20 to 22, the curved reflector 40 further has an annular plane 403 located around the annular reflective curved surface 402. The abutting portion 142 of the pressure ring 14 presses against the annular plane 403 of the curved reflector 40, thereby increasing the contact area between the pressure ring 14 and the curved reflector 40, improving the pressing and fixing effect, and preventing the pressure ring 14 from contacting and damaging the annular reflective curved surface 402. It is understood that an elastic gasket can be provided between the curved reflector 40 and the optical lens 10 to prevent the curved reflector 40 and / or the optical lens 10 from being crushed while adjusting the distance between the optical lens 10 and the curved reflector 40.

[0176] According to the above-mentioned embodiment of the present application, as shown in Figures 19 and 22, the camera module 120 may further include an upper shell 15; the pressure ring 14 further includes a mounting portion 144 extending upward from the annular screw portion 141, and the upper shell 15 is fixedly mounted on the mounting portion 144 to cover the optical lens 10 and the photosensitive component 60.

[0177] Optionally, the upper shell 15 and the annular cover 21 can be fixedly mounted on the mounting portion 144 and the mounting groove of the pressure ring 14 respectively by, but not limited to, methods such as glue fixation or threaded connection.

[0178] Optionally, as shown in Figures 20 and 21, the photosensitive component 60 includes a circuit board 61, a photosensitive chip 62 that can be electrically mounted on the lower side of the circuit board 61, and a connector 63 that can be electrically mounted on the upper side of the circuit board 61; the optical lens 10 is fixed to the circuit board 61 to be located in the photosensitive path of the photosensitive chip 62; the connector 63 passes through the upper shell 15 for external communication or electrical connection.

[0179] According to the above embodiment of the present application, as shown in Figures 18 to 21, the lifting mechanism 16 may include a lifting guide rail 17 fixed to the vehicle chassis 2, a driving screw 18 provided on the vehicle chassis 2, and a screw nut 19 threadedly connected to the driving screw 18 and slidably mounted on the lifting guide rail 17; the screw nut 19 is fixedly connected to the camera module 120. In this way, when the driving screw 18 rotates relative to the vehicle chassis 2, the screw nut 19 slides along the lifting guide rail 17 under the action of the driving screw 18, thereby driving the camera module 120 to rise and fall and retract or extend into the gap of the vehicle chassis 2.

[0180] Optionally, the upper housing 15 of the camera module 120 is fixed to the screw nut 19 by fixing screws.

[0181] It is worth noting that the outer peripheral surface of the annular cover body 21 in the light-transmitting cover 20 of the present application can be, but is not limited to, implemented as a cylindrical, conical, or prism-shaped surface. The annular reflective surface 402 of the curved reflector 40 can be implemented as a free-form surface. It is understood that, given the curvature and shape of the free-form surface, simulation analysis can be performed during the early stages of optical design to ensure that the curvature of the free-form surface meets the design requirements.

[0182] In addition, the cleaning mechanism 80 of the present application may include but is not limited to structures such as flannel, brush, nozzle (for spraying liquid) or air nozzle (for spraying gas), as long as it can clean the annular cover body 21 of the light-transmitting cover 20, and this application will not go into details about this.

[0183] Optionally, as shown in Figures 19 to 21, the cleaning mechanism 80 is implemented as an annular brush 81 fixed to the inner wall of the gap in the vehicle chassis 2. The annular brush 81 surrounds the annular cover body 21 and slidably contacts the outer peripheral surface of the annular cover body 21. It can not only better clean the annular cover body 21 of the light-transmitting cover 20, but also can well seal the gap in the vehicle chassis 2.

[0184] It is worth noting that the curved reflector 40 of the present application can be made of a light-transmitting material such as glass, or can be made of an opaque material such as metal, as long as it can provide the required light window 401 and annular reflective curved surface 402. In addition, the plane reflector 122 of the present application can also be coated with a high-reflective film to enhance the reflection effect and thus improve the imaging quality.

[0185] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0186] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0187] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A vehicle bottom environment detection camera, characterized in that: The camera comprises: a first reflective component, a second reflective component and a photosensitive component; The first reflective component has an arc-shaped surface, and the curvature of the arc-shaped surface is a preset bending angle; the first reflective component is used to obtain the vehicle bottom ambient light signal within the preset bending angle range and reflect the vehicle bottom ambient light signal; The second reflecting component is used to reflect the vehicle bottom ambient light signal to the photosensitive component; The photosensitive component is used to perform imaging processing on the vehicle bottom environment light signal to obtain a vehicle bottom image result corresponding to the field of view environment of the first reflective component; wherein the field of view environment is determined according to the preset bending angle.

2. The camera according to claim 1, wherein: The camera also includes a lens assembly; The lens component is installed between the first reflective component and the photosensitive component, and is used to gather the vehicle bottom ambient light signal to the surface of the photosensitive component.

3. The camera according to claim 1, wherein: The axis of the second reflective component coincides with the axis of the first reflective component.

4. The camera according to claim 1, wherein: The second reflection component is further used to rotate a preset rotation angle around a preset second reflection component fixed point when a preset second reflection component control instruction is obtained, wherein the rotation angle is determined according to the control instruction.

5. The camera according to claim 1, wherein: The camera comprises a protective cover structure: The protective cover structure is arranged outside the first reflective component, the second reflective component and the photosensitive component.

6. The camera according to claim 1, wherein: The camera is connected to a preset console; The console is used to perform recognition processing on the underbody image result based on a well-trained target recognition model, obtain an underbody recognition result for the underbody environment, and send the underbody recognition result to a preset display module for display processing.

7. The camera according to claim 1, wherein: The second reflective component structure is at least one of the following: a planar structure and a curved structure.

8. The camera according to claim 1, wherein: The camera also includes: Mounting seat; An optical lens, arranged on the mounting seat; The light-transmitting cover comprises an annular cover body fixedly mounted on the mounting seat and arranged around the optical lens, and a front cover body fixedly connected to the annular cover body; The first reflective component includes a curved reflector, and the second reflective component includes a folding and reflecting element; The folding and reflecting element is fixedly arranged on the rear side of the front cover body, and the folding and reflecting element has a refractive area located in front of the optical lens and a reflective area arranged around the refractive area; and The curved reflector is fixedly connected to the mounting seat, and comprises a light window located in the light path between the folding and reflecting element and the optical lens, and an annular reflective curved surface located around the light window and facing away from the optical lens.

9. The camera according to claim 8, wherein: The reflective element includes a light-transmitting substrate fixedly connected to the front cover, a refractive structure formed on the light-transmitting substrate, and a reflective structure formed on the light-transmitting substrate and located around the refractive structure.

10. The camera according to claim 9, wherein: The refractive structure is a Fresnel lens structure formed on the light-transmitting substrate.

11. The camera according to claim 9, wherein: The reflective structure is a high-reflective film attached to the front surface or the back surface of the light-transmitting substrate.

12. The camera according to any one of claims 8 to 11, wherein: The curved reflector is a glass reflector with an anti-reflection film coated on the central area or a metal reflector with a hole opened on the central area.

13. The camera according to any one of claims 8 to 11, wherein: The mounting seat includes an annular mounting portion for the optical lens to pass through, an annular plug-in portion to be plugged and fixed to the curved reflector, and an annular fixing portion arranged around the annular plug-in portion; the front edge of the annular cover body is fixedly connected to the front cover body, and the rear edge of the annular cover body is fixedly connected to the annular fixing portion.

14. The camera according to claim 8, wherein: The mounting seat, the optical lens, the light-transmitting cover, the curved reflector and the folding and reflecting element are arranged in the light-sensing path of the light-sensing component.

15. The camera according to claim 14, wherein: The photosensitive component also includes a circuit board, a photosensitive chip that can be electrically mounted on the front side of the circuit board, and a connector that can be electrically mounted on the back side of the circuit board; the optical lens is fixed to the circuit board to be located in the photosensitive path of the photosensitive chip.

16. The camera according to claim 15, wherein: The photosensitive chip has a central photosensitive area corresponding to the refractive area of ​​the folding and reflecting element, an annular photosensitive area arranged around the central photosensitive area and corresponding to the reflective area of ​​the folding and reflecting element, and an edge photosensitive area located around the annular photosensitive area.

17. The camera according to claim 15 or 16, wherein: The camera also includes a rear shell fixedly connected to the mounting base, and the connector passes through the rear shell.

18. The camera according to claim 1, wherein: The first reflective component includes a curved reflector, the second reflective component includes a flat reflector, and the camera further includes: A camera module, comprising the photosensitive component, a lens component arranged on the photosensitive side of the photosensitive component, and a light-transmitting cover covering the lens component, wherein the lens component comprises an optical lens, the plane reflector located below the optical lens, and the curved reflector located around the optical lens, the plane reflector having a reflective plane facing the optical lens; the curved reflector having a light window located in the light path between the plane reflector and the optical lens, and an annular reflective curved surface located around the light window and facing away from the optical lens; A lifting mechanism for being arranged on a vehicle chassis, drivingly connected to the camera module, and driving the camera module to lift relative to the vehicle chassis to switch between a retracted state and an extended state; when the camera module is in the extended state, the light-transmitting cover is used to extend downward through the gap of the vehicle chassis, so that the camera module can collect information about the environment under the vehicle; when the camera module is in the retracted state, the light-transmitting cover is used to retract upward and block the gap of the vehicle chassis; and The cleaning mechanism used to be arranged on the chassis of the vehicle is arranged around the light-transmitting cover to clean the light-transmitting cover during the lifting process of the camera module.

19. The camera according to claim 18, wherein: The light-transmitting cover comprises an annular cover body surrounding the optical lens and a front cover body fixedly connected to the lower edge of the annular cover body; the plane reflector is fixedly arranged on the upper surface of the front cover body.

20. The camera according to claim 19, wherein: The camera module further includes a pressure ring, which includes an annular screw connection portion threadedly connected to the optical lens and an abutment portion and a fixing portion arranged on the annular screw connection portion; the abutment portion extends in a bent manner from the annular screw connection portion to abut the curved reflector; the fixing portion extends downward from the annular screw connection portion to fix the upper edge of the annular cover body.

21. The camera according to claim 20, wherein: The camera module further includes an upper shell; the pressure ring further includes a mounting portion extending upward from the annular threaded portion, and the upper shell is fixedly mounted on the mounting portion to cover the optical lens and the photosensitive component.

22. The camera according to claim 21, wherein: The photosensitive component includes a circuit board, a photosensitive chip that can be electrically mounted on the lower side of the circuit board, and a connector that can be electrically mounted on the upper side of the circuit board; the optical lens is fixed to the circuit board to be located in the photosensitive path of the photosensitive chip; the connector passes through the upper shell.

23. A camera according to any one of claims 18 to 22, wherein: The lifting mechanism includes a lifting guide rail fixed to the vehicle chassis, a driving screw rod arranged on the vehicle chassis, and a screw nut threadedly connected to the driving screw rod and slidably mounted on the lifting guide rail; the screw nut is fixedly connected to the camera module.

24. A camera according to any one of claims 18 to 22, wherein: The cleaning mechanism includes one or more of a flannel, a brush, a nozzle and an air nozzle.

25. A camera according to any one of claims 19 to 22, wherein: The cleaning mechanism is an annular brush fixedly mounted on the inner wall of the notch of the vehicle chassis. The annular brush surrounds the annular cover body and slidably contacts the outer peripheral surface of the annular cover body.

26. A vehicle, characterized in that: include: The chassis of the vehicle has a gap; and The camera as described in any one of claims 1 to 25 is arranged at a position on the vehicle chassis corresponding to the notch.

27. An image processing method, characterized in that: The method comprises: Separating the original image obtained by the central photosensitive area and the annular photosensitive area of ​​the photosensitive chip in the camera to obtain a central area image and an annular area image that are independent of each other; The central area image and the annular area image are processed respectively and correspondingly by a mutually independent forward-view ISP process and a surround-view ISP process to obtain a forward-view image and a surround-view image; and The forward-view image and the surround-view image are output and / or displayed.

28. A method for detecting the vehicle bottom environment, characterized in that: The method comprises: The first reflective component obtains the vehicle bottom ambient light signal within a preset bending angle range, and reflects the vehicle bottom ambient light signal; wherein the first reflective component has a curved surface, and the curvature of the curved surface is the preset bending angle; The second reflective component reflects the vehicle bottom ambient light signal to the photosensitive component; The photosensitive component performs imaging processing on the vehicle bottom environment light signal to obtain a vehicle bottom image result corresponding to the field of view environment of the first reflective component; wherein the field of view environment is determined according to the preset bending angle.

29. A vehicle system, characterized in that: The system includes a console and a camera; The camera is located at the bottom of the vehicle and connected to the console, and is used to obtain the bottom vehicle ambient light signal based on the detection instruction output by the console, and execute the bottom vehicle environment detection method as described in claim 28 based on the bottom vehicle ambient light signal.

30. The system of claim 29, wherein: The camera is a telescopic structure, and the console is also used to control the camera to extend when the vehicle is started and / or when the vehicle is in a reverse state, so as to detect the environment under the vehicle; The console is further used to control the camera to be retracted when the vehicle's running speed is controlled to be greater than or equal to a preset vehicle speed threshold, and / or when the vehicle is controlled to be in a stopped state; The console is also used to control the camera to extend based on the detection instruction.

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