Vehicle chassis inspection device and method

Abstract

A vehicle chassis inspection device and method. The vehicle chassis inspection device comprises a control unit (13), and a reflective sensor (11), an imaging unit (14), an illumination intensity measurement unit (12) and a light-emitting unit (15) which are communicationally connected to the control unit (13). The control unit (13) is configured to determine, when a first signal is received, that a vehicle enters a preset photographing range, and control the imaging unit (14) and the light-emitting unit (15) to be turned on. The imaging unit (14) is configured to photograph a vehicle chassis to obtain a vehicle chassis image. The illumination intensity measurement unit (12) is configured to measure the illumination intensity on the basis of a preset acquisition frequency. The control unit (13) is further configured to determine whether the illumination intensity is within a preset range, and when the illumination intensity is determined to be less than the preset range, on the basis of a preset light intensity compensation relationship, determine the compensation light intensity corresponding to the illumination intensity, and control the light-emitting unit (15) to provide the compensation light intensity, so that the illumination intensity is within the preset range.

Description

Vehicle chassis inspection device and inspection method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application 202311785303.4, filed on December 22, 2023, entitled “Vehicle Chassis Inspection Device and Inspection Method,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application belongs to the field of vehicle inspection technology, and in particular relates to a vehicle chassis inspection device and inspection method. Background Art

[0004] Vehicle chassis inspection devices are mostly distributed at highway checkpoints, border inspections, prisons, important meetings and security locations. Vehicle chassis inspection devices can integrate functions such as chassis image comparison and suspicious object identification to check whether the vehicle chassis has been modified or whether it carries suspicious objects.

[0005] Currently, vehicle chassis inspection devices use image acquisition equipment to photograph the vehicle chassis from below the vehicle. However, different lighting environments and different vehicles will affect the imaging during the photographing process, resulting in uneven imaging quality of the vehicle chassis, which affects the inspection results. Summary of the Invention

[0006] The embodiments of the present application provide a vehicle chassis inspection device and inspection method, which can effectively improve the imaging quality of the vehicle chassis.

[0007] In a first aspect, an embodiment of the present application provides a vehicle chassis inspection device, which includes a control unit and a reflective sensor, an imaging unit, a light intensity detection unit, and a light emitting unit that are communicatively connected to the control unit; wherein,

[0008] a reflective sensor configured to send a first signal to the control unit when receiving a reflected signal, and to send a second signal to the control unit when not receiving a reflected signal;

[0009] a control unit, configured to, upon receiving a first signal, determine that the vehicle has entered a preset shooting range and control the imaging unit and the light-emitting unit to turn on, and upon receiving a second signal, determine that the vehicle has left the preset shooting range and control the imaging unit and the light-emitting unit to turn off;

[0010] A light emitting unit, configured to provide a compensating light intensity to the imaging unit;

[0011] An imaging unit, used for photographing the vehicle chassis to obtain an image of the vehicle chassis;

[0012] A light intensity detection unit, configured to detect light intensity according to a preset acquisition frequency;

[0013] The control unit is also used to determine whether the light intensity is within a preset range, and when it is determined that the light intensity is less than the preset range, determine the compensation light intensity corresponding to the light intensity according to the preset light intensity compensation relationship, and control the light-emitting unit to provide the compensation light intensity so that the light intensity is within the preset range.

[0014] In some implementations of the first aspect, the reflective sensor includes a diffuse reflective photoelectric sensor, an ultrasonic sensor, or an infrared sensor.

[0015] In some implementations of the first aspect, the control unit is further configured to obtain a first mapping relationship between light intensity within a preset range and exposure time, determine the exposure time corresponding to the light intensity within the preset range based on the first mapping relationship, and send the exposure time to the imaging unit;

[0016] The imaging unit is further configured to take pictures according to the exposure time.

[0017] In some implementations of the first aspect, the imaging unit includes a line array camera;

[0018] a linear array camera, configured to sequentially image the vehicle chassis along a first direction to obtain a plurality of chassis image segments;

[0019] The control unit is further configured to stitch the multiple chassis image segments together to obtain an initial vehicle chassis image;

[0020] The control unit is further configured to perform correction processing on the initial vehicle chassis image along a second direction perpendicular to the first direction to obtain a vehicle chassis image.

[0021] In some implementations of the first aspect, the control unit is further configured to perform image recognition on the vehicle chassis image to generate an inspection result of the vehicle chassis, wherein the inspection result includes whether a suspicious object exists on the vehicle chassis.

[0022] In some implementations of the first aspect, the device further includes a visual detection unit communicatively connected to the control unit, configured to obtain a relative moving speed between the vehicle and the device;

[0023] The control unit is further configured to obtain a second mapping relationship between the preset moving speed and the imaging speed, determine the imaging speed corresponding to the relative moving speed according to the second mapping relationship, and send the imaging speed to the imaging unit;

[0024] The imaging unit is further used to photograph the vehicle chassis according to the imaging speed to obtain an image of the vehicle chassis.

[0025] In some implementations of the first aspect, the visual detection unit is further configured to obtain vehicle identification information of the vehicle;

[0026] A control unit is used to bind the vehicle identification information with the vehicle chassis image.

[0027] In a second aspect, an embodiment of the present application provides a vehicle chassis inspection method, which is applied to a vehicle chassis inspection device as in the first aspect or any of the implementations of the first aspect, and includes:

[0028] receiving a feedback signal, wherein the feedback signal is a first signal generated by the reflective sensor when the reflective sensor receives the reflection signal, or a second signal generated by the reflective sensor when the reflective sensor does not receive the reflection signal;

[0029] When the feedback signal is a first signal, it is determined that the vehicle has entered a preset shooting range, and the imaging unit and the light-emitting unit are controlled to be turned on. When the feedback signal is a second signal, it is determined that the vehicle has left the preset shooting range, and the imaging unit and the light-emitting unit are controlled to be turned off. The light-emitting unit is used to provide a compensation light intensity to the imaging unit, and the imaging unit is used to shoot the vehicle chassis to obtain an image of the vehicle chassis;

[0030] Get the light intensity collected based on the preset collection frequency;

[0031] Determine whether the light intensity is within a preset range, and if the light intensity is less than the preset range, determine the compensation light intensity corresponding to the light intensity according to the preset light intensity compensation relationship, and control the light-emitting unit to provide the compensation light intensity so that the light intensity is within the preset range.

[0032] Embodiments of the present application provide a vehicle chassis inspection device and method. The vehicle chassis inspection device includes a control unit and a reflective sensor communicatively connected to the control unit, an imaging unit, a light intensity detection unit, and a light emitting unit. The reflective sensor and the control unit cooperate to quickly determine whether the vehicle is within a preset shooting range. When the vehicle is within the preset shooting range, the control unit can control the imaging unit and the light emitting unit to turn on. When the light emitting unit is turned on, it effectively increases the brightness of the ambient light under the vehicle, thereby improving the clarity of the image captured by the imaging unit. Furthermore, in the vehicle chassis inspection device, the light intensity detection unit can detect the light intensity of the imaging unit's shooting environment according to a preset acquisition frequency. If the light intensity is determined to be less than a preset range, the light intensity detection unit determines a corresponding compensation light intensity based on a preset light intensity compensation relationship, and controls the light emitting unit to provide the compensation light intensity to ensure that the light intensity is within the preset range. This stabilizes the light intensity for the imaging unit, effectively improving the image quality of the vehicle chassis, and ensuring high stability in the image quality of the vehicle chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] FIG1 is a schematic structural diagram of a vehicle chassis inspection device provided in an embodiment of the present application;

[0035] FIG2 is a schematic diagram of a process for inspecting a vehicle chassis according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0038] In related technologies, vehicle chassis inspection devices can integrate functions such as chassis image comparison and suspicious object identification to detect modifications and the presence of suspicious objects. These devices can be deployed at the entrances and exits of locations requiring vehicle chassis inspections, such as highway checkpoints, border checkpoints, prisons, important conferences, and security facilities.

[0039] At present, vehicle chassis inspection devices mainly use imaging units (such as cameras and other image acquisition devices) to photograph the vehicle chassis from under the vehicle. However, during the process of photographing the vehicle chassis, different lighting environments and vehicles of different sizes will affect the light intensity required for normal imaging of the imaging unit, resulting in the captured image being easily underexposed or underexposed, causing problems such as loss of picture details or unclear visibility of the subject, resulting in uneven imaging quality of the vehicle chassis and affecting the inspection results of the vehicle chassis.

[0040] In order to solve the above technical problems, the embodiments of the present application provide a vehicle chassis inspection device and inspection method, which can effectively improve the imaging quality of the vehicle chassis.

[0041] The following first introduces the vehicle chassis inspection device provided by an embodiment of the present application in conjunction with the accompanying drawings. Figure 1 is a schematic structural diagram of a vehicle chassis inspection device provided by an embodiment of the present application. As shown in Figure 1, the vehicle chassis inspection device 10 may include a control unit 13 and a reflective sensor 11, an imaging unit 14, a light intensity detection unit 12, and a light emitting unit 15 that are communicatively connected to the control unit 13.

[0042] The reflective sensor 11 is configured to send a first signal to the control unit 13 when receiving a reflected signal, and to send a second signal to the control unit 13 when not receiving a reflected signal;

[0043] The control unit 13 is configured to, upon receiving the first signal, determine that the vehicle has entered a preset shooting range and control the imaging unit 14 and the light-emitting unit 15 to turn on, and upon receiving the second signal, determine that the vehicle has left the preset shooting range and control the imaging unit 14 and the light-emitting unit 15 to turn off;

[0044] The light emitting unit 15 is used to provide compensation light intensity to the imaging unit 14;

[0045] An imaging unit 14 is used to photograph the vehicle chassis to obtain an image of the vehicle chassis;

[0046] A light intensity detection unit 12 is used to detect light intensity according to a preset acquisition frequency;

[0047] The control unit 13 is also used to determine whether the light intensity is within a preset range, and when it is determined that the light intensity is less than the preset range, it determines the compensation light intensity corresponding to the light intensity according to the preset light intensity compensation relationship, and controls the light-emitting unit 15 to provide the compensation light intensity so that the light intensity is within the preset range.

[0048] Specifically, the reflective sensor 11 usually has a signal transmitting element and a signal receiving element. The signal (e.g., electromagnetic wave) emitted by the signal transmitting element is reflected by an object and received by the signal receiving element. Therefore, the reflective sensor 11 can emit a signal and receive a reflected signal. For example, after the reflective sensor 11 emits a signal, it determines whether a reflected signal is received, thereby determining whether an object exists (e.g., passes by) a specific position (e.g., directly in front) of the reflective sensor 11. If an object exists at the specific position of the reflective sensor 11, the reflective sensor 11 can receive the reflected signal from the object, generate a first signal, and send (feedback) it to the control unit 13. If no object exists at the specific position of the reflective sensor 11, the reflective sensor 11 will not receive the reflected signal, and a second signal will be generated and sent to the control unit 13.

[0049] In some embodiments, the reflective sensor includes but is not limited to any one of the following sensors: diffuse reflective photoelectric sensor, ultrasonic sensor or infrared sensor, etc. The reflective sensor 11 can be selected according to the application requirements of the actual application scenario and is not specifically limited here.

[0050] In some embodiments, the vehicle chassis inspection device 10 can be placed on a road section where a vehicle is traveling. In other embodiments, the vehicle chassis inspection device 10 can move under the chassis of a stationary vehicle autonomously or in a controlled manner.

[0051] When the reflective sensor 11 is in operation, it can continuously or intermittently emit signals and determine whether a reflected signal is received. For example, while the vehicle and the vehicle chassis inspection device 10 are in relative motion, the reflective sensor 11 can continuously emit signals and, when continuously receiving signals reflected from the vehicle, continuously send a first signal to the control unit 13. When continuously not receiving a reflected signal, the reflective sensor 11 can also continuously send a second signal to the control unit 13. For example, the first signal can be a high level, and the second signal can be a low level.

[0052] Based on this, the control unit 13 can determine that the vehicle enters the preset shooting range when receiving the first signal, and then control the imaging unit 14 and the light-emitting unit 15 to turn on, and when receiving the second signal, it can determine that the vehicle leaves the preset shooting range and control the imaging unit 14 and the light-emitting unit 15 to turn off.

[0053] In some embodiments, the reflective sensor 11 may be disposed adjacent to the imaging unit 14, or may be disposed separately from the imaging unit 14. The control unit 13 may immediately control the imaging unit 14 and the light emitting unit 15 to turn on according to the received first signal or second signal, so that when the vehicle enters a preset shooting range, the imaging unit 14 may immediately or after a delay capture the vehicle chassis to obtain an image of the vehicle chassis.

[0054] Here, the preset imaging range can include the entire chassis area of ​​the vehicle, or it can include a portion of the area in front of the vehicle chassis, such as the front and rear bumper areas of the vehicle. This can be achieved by, for example, setting the positional relationship between the reflective sensor 11 and the imaging unit 14 on the vehicle chassis inspection device 10.

[0055] As a specific example, a reflective sensor 11 is located on the road surface, and a vehicle is moving toward reflective sensor 11, wherein the signal transmission direction of reflective sensor 11 is perpendicular to the direction of vehicle movement. Based on this, after the vehicle chassis blocks the transmission signal of reflective sensor 11, reflective sensor 11 receives the signal reflected by the vehicle chassis and generates a first signal. The control unit 13 determines that the vehicle has entered the preset imaging range based on the received first signal. If the vehicle chassis no longer blocks the transmission signal of reflective sensor 11, reflective sensor 11 generates a second signal. The control unit 13 determines that the vehicle has left the preset imaging range based on the received second signal.

[0056] In another optional embodiment, the reflective sensor 11 is provided separately from the imaging unit 14 in the vehicle chassis inspection device 10, wherein the reflective sensor 11 is provided at a predetermined height above the ground, and the signal transmission direction of the reflective sensor 11 is perpendicular to the direction of movement of the vehicle. For example, the predetermined height can be set according to the height of the vehicle's head. After the head of the vehicle blocks the transmission signal of the reflective sensor 11, the reflective sensor 11 receives the signal reflected by the vehicle's chassis and generates a first signal. The control unit 13 determines that the vehicle has entered a preset imaging range based on the received first signal. If the head of the vehicle no longer blocks the transmission signal of the reflective sensor 11, the reflective sensor 11 generates a second signal. The control unit 13 determines that the vehicle has left the preset imaging range based on the received second signal.

[0057] Continuing with the example of a reflective sensor 11 positioned on the road surface and a moving vehicle, the signal transmission direction of reflective sensor 11 is opposite to the vehicle's direction of movement and forms an acute angle with the ground. When the vehicle reaches a predetermined distance in front of the main body of reflective sensor 11, reflective sensor 11 receives the reflected signal from the vehicle, generating a first signal. Based on this, when triggered to capture, imaging unit 14 can capture an image of the portion of the area in front of the vehicle's chassis.

[0058] Because the vehicle's chassis blocks light, the entire space beneath the vehicle is relatively dark. Therefore, upon determining that the vehicle has entered the preset imaging range, control unit 13 also controls light emitting unit 15 to turn on, providing compensatory light intensity to imaging unit 14 to increase the illumination intensity of the space beneath the vehicle. In other words, imaging unit 14 captures the vehicle's chassis with light emitting unit 15 turned on.

[0059] In some embodiments of the present application, the vehicle chassis inspection device 10 may further include a light intensity detection unit 12. When a vehicle enters a preset shooting range, the light intensity detection unit 12 may detect light intensity according to a preset acquisition frequency and transmit the light intensity collected at each time to the control unit 13. The preset acquisition frequency may be determined based on the relative speed between the vehicle chassis inspection device 10 and the vehicle, and may be set to, for example, 60-100 Hz.

[0060] It is understood that, for example, when the vehicle chassis inspection device 10 moves from the front to the rear of the vehicle, the light intensity detected by the light intensity detection unit 12 immediately after entering and leaving the rear of the vehicle is significantly lower than the ambient light intensity, but significantly higher than the light intensity detected when the vehicle chassis inspection device 10 is completely under the vehicle. This change in light intensity can cause underexposure or overexposure of the vehicle chassis image. Therefore, during the vehicle chassis inspection process, the light intensity detected by the light intensity detection unit 12 needs to be controlled.

[0061] To this end, the control unit 13 is also used to determine whether the light intensity is within a preset range, and when it is determined that the light intensity is less than the preset range, the control unit 13 determines the compensation light intensity corresponding to the light intensity according to the preset light intensity compensation relationship, and controls the light-emitting unit 15 to provide the corresponding compensation light intensity so that the light intensity is within the preset range. Thus, the imaging unit 14 shoots the vehicle chassis under the light intensity within the preset range. It should be noted that the preset range of light intensity refers to a range of light intensity suitable for shooting by the imaging unit 14 or the desired range, which can be determined, for example, based on the shooting parameters of the imaging unit. Exemplarily, when the light intensity collected by the light intensity detection unit 12 is within the preset range, at this time, the light intensity of the bottom space of the vehicle meets the shooting requirements, and there is no need to adjust the light intensity of the bottom space of the vehicle.

[0062] When the light intensity collected by the light intensity detection unit 12 is less than the preset range, at this time, the light intensity is less than the minimum value in the preset range, and the light intensity of the bottom space of the vehicle is difficult to meet the shooting requirements. Therefore, it is necessary to increase the light intensity of the bottom space of the vehicle, which is beneficial to improve the clarity of the imaging.

[0063] In addition, when the light intensity collected by the light intensity detection unit 12 is greater than the preset range, at this time, the light intensity is greater than the maximum value in the preset range, and the light intensity of the space below the vehicle is difficult to meet the shooting requirements, so it is necessary to reduce the light intensity of the space below the vehicle. When the light intensity is greater than the maximum value in the preset range, overexposure may occur during imaging, affecting the imaging quality of the vehicle chassis. At this time, the control unit 13 can control the light emitting unit 15 to reduce the light intensity so that the light intensity is within the preset range. In addition, the vehicle chassis inspection device 10 can also be provided with a movable light shielding plate, for example, between the light emitting unit 15 and the imaging unit 14, and the position of the light shielding plate is controlled and adjusted by the control unit 13 so that the light intensity is within the preset range.

[0064] Optionally, in order to deal with human factors that deliberately create light and affect the image of the vehicle chassis, the control unit 13 can generate an alarm message when the light intensity collected by the light intensity detection unit 12 is greater than a preset range to remind the site staff to check the vehicle condition in time.

[0065] According to an embodiment of the present application, when the vehicle is within a preset shooting range, the control unit 13 controls the imaging unit 14 and the light-emitting unit 15 to turn on, wherein, after the light-emitting unit 15 is turned on, it can effectively increase the light intensity of the bottom of the vehicle and improve the clarity of the image captured by the imaging unit 14. At the same time, in the vehicle chassis inspection device 10, the light intensity detection unit 12 can detect the light intensity of the shooting environment in which the imaging unit 14 is located according to a preset acquisition frequency, and when it is determined that the light intensity is less than a preset range, it determines the compensation light intensity corresponding to the light intensity according to a preset light intensity compensation relationship, and controls the light-emitting unit 15 to provide the compensation light intensity so that the light intensity is within the preset range. As a result, the shooting light intensity of the imaging unit 14 is stable, which can effectively improve the imaging quality of the vehicle chassis, and the imaging quality of the vehicle chassis is highly stable.

[0066] In some embodiments of the present application, optionally, the control unit 13 is also used to obtain a first mapping relationship between the light intensity within a preset range and the exposure time, and determine the exposure time corresponding to the light intensity within the preset range based on the first mapping relationship, and send the exposure time to the imaging unit 14; the imaging unit 14 is also used to shoot according to the exposure time.

[0067] Specifically, the exposure time can affect the amount of light entering the imaging unit 14. A longer exposure time results in more light entering, while a shorter exposure time results in less light entering. Therefore, based on a first mapping relationship between light intensity within a preset range and exposure time, the exposure time corresponding to the light intensity within the preset range can be determined according to the first mapping relationship. This allows for flexible determination of an appropriate exposure time based on the light intensity.

[0068] According to the embodiments of the present application, the imaging quality of the vehicle chassis can be effectively improved, and the imaging quality of the vehicle chassis is highly stable.

[0069] In some embodiments of the present application, the imaging unit includes a line array camera; wherein the line array camera is used to sequentially image the vehicle chassis along a first direction to obtain multiple chassis image segments; the control unit 13 is also used to splice the multiple chassis image segments to obtain an initial vehicle chassis image; and the control unit 13 is also used to correct the initial vehicle chassis image along a second direction perpendicular to the first direction to obtain a vehicle chassis image.

[0070] For example, a line scan camera can be conveniently used to capture images of moving vehicles. During the capture process, the vehicle chassis inspection device 10 can drive the line scan camera to move in a certain direction and capture images during the process. Each capture can generate a line image, which is also a chassis image segment.

[0071] In an embodiment of the present application, the line scan camera moves relative to the vehicle chassis, wherein the line scan camera can be in a stationary state while the vehicle is in a moving state, or the vehicle can be in a stationary state while the line scan camera is in a moving state.

[0072] Here, the first direction is defined as a direction parallel to the relative movement direction between the vehicle and the vehicle chassis inspection unit. For example, if the line scan camera is stationary and the vehicle is moving, the front and rear ends of the vehicle will sequentially pass over the line scan camera along the first direction. For another example, if the vehicle is stationary, the line scan camera will move from the front to the rear of the vehicle along the first direction.

[0073] After the linear array camera sequentially images along the first direction, a plurality of chassis image segments may be obtained. Next, the control unit 13 may splice the plurality of chassis image segments along the first direction to obtain an initial vehicle chassis image.

[0074] Image distortion in a line scan camera can be caused by the shape of the lens or by the non-parallelism between the lens and the vehicle chassis. Generally, image distortion is more pronounced the further away from the lens center the image is. For example, when the vehicle chassis inspection device 10 photographs the vehicle chassis along a first direction, the further away the vehicle chassis is from the line scan camera in a second direction perpendicular to the first direction, the more pronounced the image distortion. Therefore, to improve image quality, a preset image correction algorithm can be used to correct the initial vehicle chassis image along a second direction perpendicular to the first direction to produce a vehicle chassis image. The second direction is parallel to the line image captured by the line scan camera during each capture. Since the ends of each line image are relatively far from the center of the line scan camera lens, each line image is significantly more complete. Correcting the initial vehicle chassis image along the second direction can improve the image quality of the vehicle chassis image and enhance the accuracy of vehicle chassis inspection.

[0075] In some embodiments, the control unit 13 is further configured to perform image recognition on the vehicle chassis image to generate an inspection result of the vehicle chassis, wherein the inspection result may include whether a suspicious object exists on the vehicle chassis.

[0076] Specifically, the control unit 13 may be configured with a trained image recognition model, and by inputting the vehicle chassis image into the image recognition model, an inspection result of whether a suspicious object exists on the vehicle chassis is obtained.

[0077] Optionally, a vehicle chassis image database may be configured in the control unit 13. The control unit 13 may compare and analyze the obtained vehicle chassis image with the vehicle chassis images in the image database to generate an inspection result. For example, if the obtained vehicle chassis image is inconsistent with the vehicle chassis images in the image database, the inspection result may include the presence of a suspicious object on the vehicle chassis. If the vehicle chassis image is consistent with the vehicle chassis images in the image database, the inspection result may include the absence of a suspicious object on the vehicle chassis.

[0078] In some embodiments, the vehicle chassis inspection device 10 further includes a visual detection unit in communication with the control unit 13, configured to obtain the relative movement speed between the vehicle and the vehicle chassis inspection device 10. The control unit 13 is further configured to obtain a second mapping relationship between a preset movement speed and an imaging speed, determine an imaging speed corresponding to the relative movement speed based on the second mapping relationship, and transmit the imaging speed to the imaging unit 14. The imaging unit 14 is further configured to photograph the vehicle chassis based on the imaging speed to obtain an image of the vehicle chassis. The visual detection unit may be an infrared or visible light camera.

[0079] Specifically, the visual detection unit can be set on the vehicle chassis inspection device 10, and can collect the relative position of the vehicle and the vehicle chassis inspection device 10. For example, by obtaining at least two vehicle images, the distance between the vehicle and the vehicle chassis inspection device 10 can be determined based on any two vehicle images. Based on the distance difference and the shooting time difference between the two vehicle images, the relative moving speed between the vehicle and the vehicle chassis inspection device 10 can be obtained.

[0080] For example, regarding the imaging speed, or shooting frequency, of a line scan camera, the required shooting frequency for the line scan camera at different relative vehicle speeds to ensure image clarity can be determined through experiments. A curve showing how the shooting frequency changes with a preset moving speed can then be fitted. This curve represents a second mapping relationship between the preset moving speed and the imaging speed.

[0081] During the vehicle chassis inspection process, the imaging speed corresponding to the relative movement speed can be determined based on the second mapping relationship. The imaging speed is then transmitted via imaging unit 14, which can then capture the vehicle chassis based on the imaging speed to obtain a vehicle chassis image. This allows high-definition vehicle chassis images to be obtained while the vehicle is moving, effectively improving the accuracy and efficiency of vehicle inspections.

[0082] In some embodiments, the visual detection unit is further used to obtain vehicle identification information of the vehicle; and the control unit 13 is used to bind the vehicle identification information with the vehicle chassis image.

[0083] Specifically, after acquiring a vehicle image, the visual inspection unit can identify the vehicle image and obtain vehicle identification information, such as the license plate number and vehicle model. By binding the vehicle identification information with the vehicle chassis image, the chassis inspection results can be easily associated with the specific vehicle, facilitating the timely identification of the vehicle, especially when there may be suspicious objects on the vehicle chassis.

[0084] In some embodiments of the present application, based on the same inventive concept as the vehicle chassis inspection device provided in the embodiments of the present application, the embodiments of the present application further provide a vehicle chassis inspection method. Specifically, as shown in FIG2 , the vehicle chassis inspection method may include steps 201 to 204. It should be noted that the method may be primarily executed by the control unit 13.

[0085] Step 201: receiving a feedback signal, wherein the feedback signal is a first signal generated by the reflective sensor when receiving a reflection signal, or a second signal generated by the reflective sensor when not receiving a reflection signal;

[0086] Step 202: When the feedback signal is a first signal, it is determined that the vehicle has entered a preset shooting range, and the imaging unit and the light-emitting unit are controlled to be turned on. When the feedback signal is a second signal, it is determined that the vehicle has left the preset shooting range, and the imaging unit and the light-emitting unit are controlled to be turned off. The light-emitting unit is used to provide compensation light intensity to the imaging unit, and the imaging unit is used to capture the vehicle chassis to obtain a vehicle chassis image.

[0087] Step 203, obtaining light intensity collected based on a preset collection frequency;

[0088] Step 204, determine whether the light intensity is within the preset range, and if the light intensity is determined to be less than the preset range, determine the compensation light intensity corresponding to the light intensity according to the preset light intensity compensation relationship, and control the light-emitting unit to provide the compensation light intensity so that the light intensity is within the preset range.

[0089] Specifically, the feedback signal may be a signal generated by the reflective sensor and sent to the control unit. The feedback signal may include the first signal or the second signal.

[0090] When the reflective sensor receives a reflected signal, it generates a first signal; when it does not receive a reflected signal, it generates a second signal. Reflective sensors play a key role in vehicle undercarriage inspection systems. Their feedback signals are used by the control unit to determine whether a vehicle enters or leaves a preset imaging range.

[0091] The imaging unit can capture the vehicle chassis and obtain image data, while the light-emitting unit is responsible for providing compensation light intensity to ensure shooting quality.

[0092] The control unit controls the opening and closing of the imaging unit in response to the feedback signal of the reflective sensor, thereby ensuring that photography is performed only when the vehicle is within a preset shooting range, thereby reducing power consumption.

[0093] The control unit determines whether the ambient light intensity, measured continuously or intermittently by the light intensity detection unit at a preset acquisition frequency, is within a preset range. If the light intensity is below the preset range, the control unit automatically adjusts the output power of the light-emitting unit based on a preset light intensity compensation relationship to achieve light intensity compensation and ensure image quality. This makes the system applicable to various vehicle chassis inspection scenarios, especially in environments with less than ideal lighting conditions.

[0094] The vehicle chassis inspection device and method according to the embodiments of the present application improve the image quality and efficiency of vehicle chassis photography. The use of a reflective sensor ensures that images are taken when the vehicle enters a preset range. By automatically adjusting the step-by-step light intensity provided by the light-emitting unit in combination with light intensity, clear chassis images can be obtained under varying lighting conditions, thereby improving the reliability and accuracy of vehicle chassis inspection results.

[0095] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0096] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0097] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0098] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A vehicle chassis inspection device, comprising a control unit and a reflective sensor, an imaging unit, a light intensity detection unit and a light emitting unit connected to the control unit in communication; wherein: The reflective sensor is used to send a first signal to the control unit when receiving a reflected signal, and is used to send a second signal to the control unit when not receiving a reflected signal; The control unit is configured to, upon receiving the first signal, determine that the vehicle has entered a preset shooting range and control the imaging unit and the light-emitting unit to turn on, and upon receiving the second signal, determine that the vehicle has left the preset shooting range and control the imaging unit and the light-emitting unit to turn off; The light emitting unit is used to provide compensation light intensity to the imaging unit; The imaging unit is used to photograph the vehicle chassis to obtain a vehicle chassis image; The light intensity detection unit is used to detect the light intensity according to a preset acquisition frequency; The control unit is also used to determine whether the light intensity is within a preset range, and when it is determined that the light intensity is less than the preset range, determine the compensated light intensity corresponding to the light intensity according to a preset light intensity compensation relationship, and control the light-emitting unit to provide the compensated light intensity so that the light intensity is within the preset range.

2. The device according to claim 1, wherein: The reflective sensor includes a diffuse reflective photoelectric sensor, an ultrasonic sensor or an infrared sensor.

3. The device according to claim 1, wherein: The control unit is further configured to obtain a first mapping relationship between the light intensity within the preset range and the exposure time, determine the exposure time corresponding to the light intensity within the preset range according to the first mapping relationship, and send the exposure time to the imaging unit; The imaging unit is further used to take photos according to the exposure time.

4. The device according to claim 1, wherein: The imaging unit comprises a line array camera; The linear array camera is used to sequentially image the vehicle chassis along a first direction to obtain a plurality of chassis image segments; The control unit is further used to stitch the multiple chassis image segments to obtain an initial vehicle chassis image; The control unit is further used to perform correction processing on the initial vehicle chassis image along a second direction perpendicular to the first direction to obtain the vehicle chassis image.

5. The device according to claim 1, wherein: The control unit is further used to perform image recognition on the vehicle chassis image to generate an inspection result of the vehicle chassis, wherein the inspection result includes whether a suspicious object exists on the vehicle chassis.

6. The device according to claim 1, wherein: further comprising a visual detection unit in communication with the control unit, for obtaining a relative moving speed between the vehicle and the device; The control unit is further configured to obtain a second mapping relationship between a preset moving speed and an imaging speed, determine an imaging speed corresponding to the relative moving speed according to the second mapping relationship, and send the imaging speed to the imaging unit; The imaging unit is further used to photograph the vehicle chassis according to the imaging speed to obtain a vehicle chassis image.

7. The device according to claim 6, wherein: The visual detection unit is further used to obtain vehicle identification information of the vehicle; The control unit is used to bind the vehicle identification information with the vehicle chassis image.

8. A vehicle chassis inspection method, the method being applied to the vehicle chassis inspection device according to any one of claims 1 to 7, the method comprising: Receiving a feedback signal, wherein the feedback signal is a first signal generated by the reflective sensor when the reflective sensor receives the reflection signal, or is a second signal generated by the reflective sensor when the reflective sensor does not receive the reflection signal; When the feedback signal is the first signal, it is determined that the vehicle enters a preset shooting range, and the imaging unit and the light-emitting unit are controlled to be turned on; when the feedback signal is the second signal, it is determined that the vehicle leaves the preset shooting range, and the imaging unit and the light-emitting unit are controlled to be turned off, wherein the light-emitting unit is used to provide compensation light intensity to the imaging unit, and the imaging unit is used to shoot the vehicle chassis to obtain a vehicle chassis image; Obtain the light intensity collected based on the preset collection frequency; Determine whether the light intensity is within a preset range, and when it is determined that the light intensity is less than the preset range, determine the compensation light intensity corresponding to the light intensity according to a preset light intensity compensation relationship, and control the light-emitting unit to provide the compensation light intensity so that the light intensity is within the preset range.

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