Chassis scanning apparatus and chassis image acquisition control method

Abstract

The present application relates to a chassis scanning apparatus and a chassis image acquisition control method. During chassis detection, the chassis scanning apparatus can be placed below a chassis; a collection component is driven by means of a moving mechanism, so as to move in at least one direction, such that the collection component can collect all of the image information of the chassis; and the acquired image information is fed back to an information processing component, and the information processing component processes the image information and outputs an image of the chassis. By means of the chassis scanning apparatus, a moving mechanism is used to drive a collection component to perform active collection, such that an operation is convenient and fast. Moreover, it is unnecessary to move a vehicle during detection, which is conducive to improving the compatibility of the detection with a space.

Description

Chassis scanning device and chassis image acquisition control method Related Applications

[0001] The present application claims priority to the Chinese patent application No. 2024106583854, filed on May 27, 2024, and entitled "Chassis scanning device and chassis image acquisition control method", the contents of which are hereby incorporated by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicles, and in particular to a chassis scanning device and a chassis image acquisition control method. BACKGROUND

[0003] With the rapid development of economy, the number of cars is also increasing. When a new car is delivered or a used car is purchased, it is necessary to detect whether the appearance of the vehicle is good, which includes whether the bottom has been knocked. If manual detection is performed using a lifting mechanism, the site is highly restricted and the efficiency is low. Therefore, a chassis scanning device is currently used to scan the chassis of a vehicle. However, due to the structural design of the traditional chassis device, it is inconvenient to detect and has poor compatibility with space. SUMMARY

[0004] Therefore, it is necessary to provide a chassis scanning device and a chassis image acquisition control method to improve the convenience of detection and improve the compatibility of the detection process with space.

[0005] In a first aspect, the present application provides a chassis scanning device, comprising: a scanning mechanism, comprising an acquisition component and an information processing component connected electrically, the acquisition component being configured to acquire image information of a chassis, and the information processing component being configured to receive the image information fed back by the acquisition component and acquire an image of the chassis according to the image information; and a moving mechanism configured to drive the acquisition component to move in at least one direction to acquire the image information of the chassis.

[0006] The chassis scanning device described above can be placed below the chassis when detecting the chassis. The moving mechanism drives the acquisition component to move in at least one direction, so that the acquisition component can acquire the entire image information of the chassis. The acquired image information is fed back to the information processing component, and the information processing component processes and outputs the image of the chassis. The chassis scanning device actively acquires by using the moving mechanism to drive the acquisition component, which is convenient to operate. At the same time, the vehicle does not need to move during the detection, which is conducive to improving the compatibility of the detection process with space.

[0007] In some embodiments, the acquisition component and the moving mechanism are both arranged on the information processing component, and the moving mechanism is configured to drive the information processing component to move in at least one direction to drive the acquisition component to move. In this way, the movement of the acquisition component is effectively controlled by driving the information processing component to drive the acquisition component to move.

[0008] In some embodiments, the moving mechanism comprises a first power device and a walking module, the walking module is arranged on the information processing assembly, and the first power device is configured to provide power for walking of the walking module. In this way, the information processing assembly is driven to walk along a set track by using the walking module, so that the chassis overall view image can be effectively acquired by the acquisition assembly.

[0009] In some embodiments, the walking module comprises a driving wheel and a driven wheel arranged on the information processing assembly in a spaced manner, and a walking belt sleeved on the driving wheel and the driven wheel, and the first power device is configured to drive the driving wheel to rotate. In this way, the walking module is designed as the driving wheel, the driven wheel and the walking belt, so that the information processing assembly can be stably moved, and the scanning detection accuracy can be improved.

[0010] In some embodiments, the chassis scanning device further comprises an adjusting mechanism, the moving mechanism is configured to drive the acquisition assembly to move in a first direction, and the adjusting mechanism is configured to adjust a position of the acquisition assembly in a second direction, wherein the first direction intersects the second direction. In this way, the adjusting mechanism is introduced to change the position of the acquisition assembly in the second direction, which is matched with the movement in the first direction, so that the acquisition assembly can acquire any position of the chassis, and the problems such as low ground clearance of the vehicle chassis and small image acquisition field of view can be effectively overcome, thereby effectively acquiring the complete chassis image.

[0011] In some embodiments, the adjusting mechanism comprises a support beam and a second power device, the acquisition assembly is slidingly connected to the support beam, the second power device is configured to drive the acquisition assembly to move in the second direction, and the moving mechanism is configured to drive the support beam to move in the first direction. In this way, the second power device and the support beam are used to make the adjustment of the acquisition assembly in the second direction more stable, and the image acquisition accuracy can be improved.

[0012] In some embodiments, the adjusting mechanism comprises a support wheel arranged on the support beam and configured to walk in the first direction. In this way, the support wheel is introduced to make the movement of the acquisition assembly in the first direction more stable, and the scanning detection accuracy can be further improved.

[0013] In some embodiments, the acquisition assembly is arranged on the adjusting mechanism, the adjusting mechanism is connected with the information processing assembly, and the two are arranged side by side in the first direction, and the moving mechanism is configured to drive the information processing assembly to move in the first direction. In this way, the moving mechanism and the adjusting mechanism can drive the acquisition assembly to move in two directions respectively to meet the acquisition of the chassis overall view image, and meanwhile, the parallel connection between the adjusting mechanism and the information processing assembly can reduce the overall height of the chassis scanning device and expand the image acquisition field of view.

[0014] In some embodiments, the collecting assembly comprises a mirror and a shooting module electrically connected to the information processing assembly, the mirror is located in the shooting range of the shooting module and is used to change the shooting angle of the shooting module. In this way, the mirror is introduced to change the shooting angle of the shooting module and increase the image acquisition field of view of the shooting module, so that the number of round trips of the collecting assembly can be reduced and the scanning detection efficiency can be improved.

[0015] In some embodiments, the shooting end of the shooting module is arranged towards the mirror surface of the mirror, and the mirror surface of the mirror is inclined relative to the horizontal direction and arranged towards the top. In this way, the mirror can reflect more contours of the chassis, so as to increase the image acquisition field of view of the shooting module.

[0016] In some embodiments, the collecting assembly further comprises a support, the shooting module and the mirror are arranged on the support in a spaced manner, and the included angle between the mirror surface of the mirror and the support is adjustable. In this way, the included angle between the mirror surface of the mirror and the support is designed to be adjustable, so that the mirror can be adjusted according to the height of the chassis, so that the chassis scanning device can be suitable for more different chassis scanning detection and improve the application range.

[0017] In some embodiments, the information processing assembly comprises a main control board and a processor, the main control board is used to receive the image information fed back by the collecting assembly and transmit the image information to the processor, and the processor is used to process the image information and output the image of the chassis. In this way, the main control board and the processor are introduced to realize automatic calculation and analysis of the image information fed back by the collecting assembly and improve the intelligence in scanning inspection.

[0018] In some embodiments, the information processing assembly further comprises a communication module electrically connected to the processor, the communication module is used to transmit the image of the chassis output by the processor to a background data platform. In this way, the communication module is introduced to facilitate the transmission of the obtained chassis image to the outside and facilitate the intuitive detection of the chassis by the background.

[0019] In some embodiments, the chassis scanning device further comprises a positioner, the positioner is used to position the position of the collecting assembly below the chassis. In this way, the positioner is introduced to assist the collecting assembly to better complete the scanning and image acquisition of the entire chassis, so that the image acquisition of the chassis is more complete.

[0020] In some embodiments, the moving mechanism drives the information processing assembly to drive the collecting assembly, the positioner is configured as a sensor and is arranged on the top of the information processing assembly, and the sensing end of the positioner is arranged away from the information processing assembly. In this way, the positioner can be quickly positioned at the position of the information processing assembly by reasonably arranging the distribution position of the positioner on the information processing assembly.

[0021] Secondly, this application provides a chassis image acquisition control method, employing any of the chassis scanning devices described above. The method includes the following steps: controlling the acquisition component to move along the length of the chassis on one side of its central axis along its width direction to acquire first image information; controlling the acquisition component to move along the length of the chassis on the other side of the central axis to acquire second image information; and stitching the first and second image information together to obtain an image of the chassis. This design, by controlling the acquisition component to move and acquire image information on both sides of the central axis, and then using stitching technology to obtain a complete chassis image, utilizes the active acquisition component, making operation convenient. Simultaneously, the vehicle does not need to move during the inspection process, which improves the spatial compatibility of the inspection process.

[0022] In some embodiments, the step of controlling the acquisition component to move along the length of the chassis on one side of the central axis along its width direction to acquire first image information includes: controlling the information processing component to drive the acquisition component to move along the length direction so that the acquisition component reaches a first end of the chassis along the length direction; controlling the acquisition component to move relative to the information processing component along the width direction so that the acquisition component is located on one side of the central axis; and controlling the information processing component to move along the length direction toward a second end of the chassis along the length direction. This design facilitates the acquisition component to quickly and stably acquire chassis images on one side of the central axis.

[0023] In some embodiments, the step of controlling the acquisition component to move along the length of the chassis on the other side of the central axis to acquire second image information includes: controlling the acquisition component to move relative to the information processing component in the width direction so that the acquisition component is located on the other side of the central axis; and controlling the information processing component to move along the length direction toward the first end. This design facilitates the acquisition component to quickly and stably acquire chassis images on the other side of the central axis. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the drawings without creative effort.

[0025] Figure 1 is a schematic diagram of the chassis scanning device structure described in some embodiments of this application.

[0026] Figure 2 is a schematic diagram of the internal structure of the information processing component described in some embodiments of this application.

[0027] Figure 3 is a schematic diagram of the coordination between the adjustment mechanism and the acquisition component in some embodiments of this application.

[0028] Figure 4 is a schematic diagram of the acquisition component structure described in some other embodiments of this application.

[0029] Figure 5 is a flowchart of the chassis image acquisition and control method described in some embodiments of this application.

[0030] Figure 6 is a schematic diagram of the chassis scanning device described in some embodiments of this application, showing its structure below the chassis.

[0031] Figure 7 is a schematic diagram of the chassis scanning device under the chassis in some embodiments of this application.

[0032] Figure 8 is a flowchart of the chassis image acquisition and control method described in some embodiments of this application.

[0033] Figure 9 is a flowchart of the chassis image acquisition and control method described in some embodiments of this application.

[0034] 100. Chassis scanning device; 10. Scanning mechanism; 11. Acquisition component; 111. Imaging module; 112. Reflector; 113. Support; 11a. Rotating shaft; 11b. Boss; 11c. First helical gear; 11d. Second helical gear; 11e. Rotating handle; 12. Information processing component; 121. Housing; 122. Main control board; 123. Processor; 124. Positioner; 125. Relay module; 126. Battery; 127. Motor driver; 128. Communication module; 12a. Mounting slot; 12b. Main switch; 2c, Indicator light; 12d, Interface; 12e, Handle; 12f, Mounting surface; 12g, Light source; 13, Moving mechanism; 131, First power unit; 132, Driving wheel; 133, Driven wheel; 134, Travel belt; 14, Adjustment mechanism; 141, Support beam; 142, Second power unit; 143, Lead screw; 144, Slider; 145, Limit sensor; 146, Support wheel; 147, Fixing component; X, First direction; Y, Second direction; 200, Chassis; 210, Central axis; 220, First end; 230, Second end. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0037] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0041] With rapid economic development, the number of cars on the road is increasing daily. When delivering new cars or buying used cars, it is necessary to inspect the vehicle's exterior for damage, including any dents or scratches on the undercarriage. Manual inspection using a lifting mechanism is limited by space constraints and inefficient; therefore, chassis scanning equipment is currently used to scan the vehicle's undercarriage.

[0042] During the scanning inspection, the chassis scanning device is fixed, and the vehicle to be inspected is moved above the chassis scanning device. The vehicle is then moved back and forth according to the inspection requirements, allowing the chassis scanning device to acquire a relatively complete image of the chassis. However, this scanning inspection method requires directing the vehicle to travel along a prescribed route, making the operation complex. Furthermore, moving the vehicle requires a certain amount of space, resulting in poor compatibility with various site conditions.

[0043] Therefore, to address the inconvenience and poor spatial compatibility of traditional chassis inspection operations, this application provides a chassis scanning device. During chassis inspection, the device can be placed beneath the chassis. A moving mechanism drives the acquisition component to move in at least one direction, enabling the acquisition component to capture image information of the entire chassis. The acquired image information is fed back to the information processing component, which processes and outputs the chassis image. This chassis scanning device utilizes a moving mechanism to drive the acquisition component for active acquisition, making operation convenient. Furthermore, the inspection process does not require vehicle movement, which improves the spatial compatibility of the inspection process.

[0044] According to some embodiments of this application, referring to FIG1, this application provides a chassis scanning device 100, which includes a scanning mechanism 10 and a moving mechanism 13. The scanning mechanism 10 includes an acquisition component 11 and an information processing component 12 electrically connected. The acquisition component 11 is used to acquire image information of a chassis 200, and the information processing component 12 is used to receive image information fed back by the acquisition component 11 and acquire an image of the chassis 200 based on the image information. The moving mechanism 13 is used to drive the acquisition component 11 to move along at least one direction to acquire image information of the chassis 200.

[0045] The acquisition component 11 refers to a device capable of acquiring image information of the chassis 200, such as, but not limited to, a line scan camera or an area scan camera. The image information acquired by the acquisition component 11 is fed back to the information processing component 12. After acquiring the image information, the information processing component 12 performs data processing, such as removing duplicate parts from the image information and merging multiple image information to obtain a complete image of the chassis 200.

[0046] The moving mechanism 13 refers to a device capable of driving the acquisition component 11 to move in at least one direction. For example, it can drive the acquisition component 11 to move along the length direction of the chassis 200; or, drive the acquisition component 11 to move along the width direction of the chassis 200; or, drive the acquisition component 11 to move both along the length direction and the width direction of the chassis 200. When the acquisition component 11 can move in more than two directions, the moving mechanism 13 can be designed as a structure formed by combining multiple linear modules, or it can be designed as a trolley with steering function, etc.

[0047] The moving mechanism 13 can drive the acquisition component 11 to move either directly or indirectly. Direct drive means that the moving mechanism 13 can drive the acquisition component 11 to move relative to the information processing component 12, and the output force of the moving mechanism 13 acts directly on the acquisition component 11. The moving mechanism 13 can be, but is not limited to, a lead screw 143, a slider 144 mechanism, a cylinder, a hydraulic cylinder, a linear module, etc.; of course, it can also be an AGV (Automated Guided Vehicle). In this case, the acquisition component 11 and the information processing component 12 can be connected wirelessly or with a sufficiently long wire.

[0048] Indirect drive refers to moving the acquisition component 11 by driving the information processing component 12. In this case, the acquisition component 11 is connected to the information processing component 12, and the output force of the moving mechanism 13 acts on the information processing component 12. Meanwhile, the moving mechanism 13 can also be of various designs, such as, but not limited to, a lead screw 143, a slider 144 mechanism, a cylinder, a hydraulic cylinder, a linear module, etc.; or it can be a self-moving device, such as an AGV.

[0049] With this design, the chassis scanning device 100 utilizes the moving mechanism 13 to drive the acquisition component 11 for active acquisition, making operation convenient. Furthermore, the vehicle does not need to be moved during the inspection process, which improves the spatial compatibility of the inspection process.

[0050] According to some embodiments of this application, please refer to FIG1, the acquisition component 11 and the moving mechanism 13 are both disposed on the information processing component 12. The moving mechanism 13 is used to drive the information processing component 12 to move in at least one direction, so as to drive the acquisition component 11 to move.

[0051] The moving mechanism 13 drives the information processing component 12 to move in at least one direction, indicating that the moving mechanism 13 indirectly drives the acquisition component 11. By driving the information processing component 12 to move, the acquisition component 11 moves accordingly. The acquisition component 11 can be installed on the information processing component 12 in various ways, such as, but not limited to, bolt connection, snap-fit, pin connection, welding, bonding, riveting, etc.

[0052] Considering the limited space under the chassis 200, the installation position of the acquisition component 11 on the information processing component 12 is lowered as much as possible. For example, the acquisition component 11 is connected to the circumferential side of the information processing component 12; or, the acquisition component 11 is located on one side of the information processing component 12, and the connection position of the acquisition component 11 on the information processing component 12 is located at the bottom of the information processing component 12.

[0053] This design allows for effective control of the movement of the acquisition component 11 by driving the information processing component 12 to move the acquisition component 11.

[0054] According to some embodiments of this application, please refer to FIG2, the moving mechanism 13 includes a first power unit 131 and a walking module. The walking module is disposed on the information processing component 12, and the first power unit 131 is used to provide power for the walking module to walk.

[0055] The walking module refers to a device that can move along a predetermined trajectory under the action of the first power unit 131. It can have various structural designs, such as, but not limited to, track modules, roller modules, etc. The first power unit 131 can be an electric motor.

[0056] This design utilizes a walking module to drive the information processing component 12 to walk along a set trajectory, enabling the acquisition component 11 to effectively acquire a full-view image of the chassis 200.

[0057] According to some embodiments of this application, please refer to FIG2, the walking module includes a driving wheel 132 and a driven wheel 133 spaced apart on the information processing component 12, and a walking belt 134 sleeved on the driving wheel 132 and the driven wheel 133, and a first power unit 131 is used to drive the driving wheel 132 to rotate.

[0058] The first power unit 131 drives the drive wheel 132 to rotate. The rotated drive wheel 132 then drives the driven wheel 133 to rotate via the travel belt 134, thus ensuring stable forward movement of the travel module. The connection between the first power unit 131 and the drive wheel 132 can be varied, such as through a coupling or gear meshing. To protect the first power unit 131, it can be housed inside the information processing component 12. For example, the information processing component 12 includes a housing 121, with the drive wheel 132 and driven wheel 133 spaced apart on the housing 121. The first power unit 131 is located inside the housing 121 and is connected to the drive wheel 132 via a transmission connection.

[0059] To achieve effective control of the first power unit 131, a motor driver 127 electrically connected to the first power unit 131 can be installed in the information processing component 12. The motor driver 127 can control the start and stop of the first power unit 131 to meet the walking data acquisition and fixed-point stopping requirements of the data acquisition component 11. The first power unit 131 is a motor.

[0060] Additionally, the walking module can be positioned on one side of the information processing module, which helps reduce the overall height of the information processing module and thus better meets the scanning and detection requirements of chassis 200 at different heights. In some examples, there are two walking modules, each positioned on opposite sides of the information processing module.

[0061] This design, with the walking module consisting of a drive wheel 132, a driven wheel 133, and a walking belt 134, enables the information processing component 12 to move stably, which helps to improve the accuracy of scanning and detection.

[0062] According to some embodiments of this application, referring to FIG1, the chassis scanning device 100 further includes an adjustment mechanism 14, a moving mechanism 13 for driving the acquisition component 11 to move along a first direction X, and an adjustment mechanism 14 for adjusting the position of the acquisition component 11 along a second direction Y, wherein the first direction X intersects with the second direction Y.

[0063] The first direction X can be the length direction of the chassis 200, and the second direction Y can be the width direction of the chassis 200; alternatively, the first direction X can also be the width direction of the chassis 200, and the second direction Y can be the length direction of the chassis 200. When the first direction X is the length direction of the chassis 200 and the second direction Y is the width direction of the chassis 200, during scanning and detection, the position of the acquisition component 11 along the width direction can be adjusted; after adjustment, the acquisition component 11 is driven to move along the length direction, enabling it to acquire an image of the chassis 200 along the length direction; after the movement is complete, the position of the acquisition component 11 along the width direction can be adjusted again, placing it in the blind zone of the previous acquisition, and then the acquisition component 11 is driven to move along the length direction again. This effectively overcomes the problems of the vehicle chassis 200 being low to the ground and having a small field of view, thereby effectively acquiring a complete image of the chassis 200. It should be noted that the number of times the above acquisition steps are repeated can be determined according to actual needs.

[0064] Similarly, when the first direction X is the length direction of the chassis 200 and the second direction Y is the width direction of the chassis 200, the scanning and detection can be performed according to the above acquisition steps, which will not be elaborated here. In addition, in some examples, the first direction X is perpendicular to the second direction Y.

[0065] The adjustment mechanism 14 refers to a component that can change the position of the acquisition component 11 along the second direction Y. Its structure can be designed in various ways. For example, the adjustment mechanism 14 can be a cylinder, hydraulic cylinder, electric cylinder or other equipment, which uses its telescopic function to drive the acquisition component 11 to move in the second direction Y to change its position; or, the adjustment mechanism 14 can also be a lead screw 143, slider 144, gear rack or other structures, as long as it can change the position of the acquisition component 11 in the second direction Y.

[0066] Since the acquisition component 11 needs to move in the first direction X and adjust in the second direction Y, in the structural design, the acquisition component 11 can be mounted on the adjustment mechanism 14 so that the moving mechanism 13 can simultaneously drive the acquisition component 11 and the adjustment mechanism 14 to move together in the first direction X; or, the acquisition component 11 can be mounted on the moving mechanism 13 so that the adjustment mechanism 14 can simultaneously adjust the acquisition component 11 and the moving mechanism 13 in the second direction Y, etc.

[0067] This design incorporates an adjustment mechanism 14 to change the position of the acquisition component 11 in the second direction Y. This, combined with its movement along the first direction X, allows the acquisition component 11 to acquire images of any position on the chassis 200, effectively overcoming problems such as the low ground clearance of the vehicle chassis 200 and the small field of view, thereby effectively obtaining a complete image of the chassis 200.

[0068] According to some embodiments of this application, please refer to FIG3. The adjustment mechanism 14 includes a support beam 141 and a second power unit 142. The acquisition component 11 is slidably connected to the support beam 141. The second power unit 142 is used to drive the acquisition component 11 to move along the second direction Y. The moving mechanism 13 is used to drive the support beam 141 to move along the first direction X.

[0069] The support beam 141 is a structure for sliding installation of the acquisition component 11, which can be designed to extend along the second direction Y. To make the sliding of the acquisition component 11 smoother, a guide rail extending along the second direction Y can be provided on the support beam 141, and the acquisition component 11 is fixed on the guide rail. To limit the sliding stroke of the acquisition component 11 on the support beam 141, a limit sensor 145 can be provided on the support beam 141 for sensing and engaging with the acquisition component 11. Thus, when the acquisition component 11 moves to the limit sensor 145, the limit sensor 145 acquires and feeds back a signal, at which point the second power unit 142 stops working or reverses its operation.

[0070] The second power unit 142 refers to the device that provides power for the acquisition component 11 to slide along the second direction Y. It can be a cylinder, hydraulic cylinder, electric cylinder or other device; it can also be a combination structure of motor and transmission component. For example, the transmission component can include lead screw 143 and slider 144; it can also include meshing gears and racks; or it can be a crank-slider 144 mechanism, etc.

[0071] In some examples, the second power unit 142 includes a motor, a lead screw 143, and a slider 144. The lead screw 143 is rotatably mounted on a support beam 141 and extends along a second direction Y. The slider 144 is fitted onto the lead screw 143, and the acquisition assembly 11 is fixed to the slider 144. Meanwhile, the motor is mounted on the support beam 141 and drives the lead screw 143 to rotate.

[0072] Furthermore, it is easy to understand that since the acquisition component 11 is mounted on the support beam 141, for the moving mechanism 13 to drive the acquisition component 11 to move along the first direction X, it is necessary to drive the support beam 141 and the acquisition component 11 together to move along the first direction X. In some examples, the moving mechanism 13 is mounted on the information processing component 12, and the support beam 141 is connected to the information processing component 12. In this way, the moving mechanism 13 can drive the information processing component 12 to move the support beam 141 along the first direction X. At the same time, in order to reduce the overall height of the chassis scanning device 100, the support beam 141 and the information processing component 12 can be arranged side by side and spaced apart along the first direction X, and a fastener 147 connects the support beam 141 and the information processing component 12.

[0073] This design, through the second power unit 142 and the support beam 141, makes the adjustment of the acquisition component 11 in the second direction Y more stable, which is beneficial to improving the accuracy of image acquisition.

[0074] According to some embodiments of this application, referring to FIG3, the adjustment mechanism 14 includes a support wheel 146, which is disposed on the support beam 141 and configured to travel along a first direction X.

[0075] When the support beam 141 moves together with the acquisition component 11 along the first direction X, the support wheel 146 on the support beam 141 can provide rolling support, so that the support beam 141 moves forward smoothly under the action of the moving mechanism 13.

[0076] The number of support wheels 146 can be one or more. When there are multiple support wheels 146, all support wheels 146 can be distributed at intervals along the second direction Y on the support beam 141.

[0077] This design, with the introduction of support wheels 146, makes the movement of the acquisition component 11 along the first direction X more stable, which further helps to improve the accuracy of scanning detection.

[0078] According to some embodiments of this application, please refer to FIG1, the acquisition component 11 is disposed on the adjustment mechanism 14, the adjustment mechanism 14 is connected to the information processing component 12, and the two are arranged side by side in the first direction X, and the moving mechanism 13 is used to drive the information processing component 12 to move along the first direction X.

[0079] It can be seen that during the scanning and detection process, the adjustment mechanism 14 changes the position of the acquisition component 11 along the second direction Y; the moving mechanism 13 drives the information processing component 12 to move along the first direction X, so as to drive the adjustment mechanism 14 and the acquisition component 11 to move together along the first direction X.

[0080] Since the adjustment mechanism 14 and the information processing component 12 are arranged side by side in the first direction X, the projection of the adjustment mechanism 14 along the first direction X will overlap with one side of the information processing component 12 along the first direction X. This prevents the adjustment mechanism 14 from being superimposed on the top of the information processing component 12, thereby increasing the field of view of the acquisition component 11 below the chassis 200.

[0081] In addition, to facilitate the operator's handling or adjustment of the chassis scanning device 100, a handle 12e can be provided on the information processing component 12. The specific location of the handle 12e on the information processing component 12 can be designed in various ways, such as placing the handle 12e on the side of the information processing component 12 facing away from the adjustment mechanism 14.

[0082] This design facilitates the movement mechanism 13 and adjustment mechanism 14 to drive the acquisition component 11 to move in two directions respectively, so as to meet the acquisition of a full view image of the chassis 200; at the same time, the parallel connection between the adjustment mechanism 14 and the information processing component 12 helps to reduce the overall height of the chassis scanning device 100 and expand the field of view.

[0083] According to some embodiments of this application, please refer to FIG3, the acquisition component 11 includes a reflector 112 and an imaging module 111 electrically connected to the information processing component 12. The reflector 112 is located within the imaging range of the imaging module 111 and is used to change the imaging angle of the imaging module 111.

[0084] Because the image acquisition space below the chassis 200 is limited, if the imaging end of the imaging module 111 is placed vertically upwards, the image range acquired by the imaging module 111 will be relatively small. Therefore, a reflector 112 is added to expand the field of view of the imaging module 111 and increase the acquisition range.

[0085] The reflector 112 refers to a structure capable of reflecting a partial outline of the chassis 200 to the shooting module 111. It can be, but is not limited to, a prism, a plane mirror, etc. The reflector 112 is located within the shooting range of the shooting module 111, which can be understood as: the mirror surface of the reflector 112 is opposite to the shooting end of the shooting module 111.

[0086] Additionally, to ensure clear image capture by the imaging module 111, the chassis scanning device 100 may include a light source 12g. In some examples, the acquisition component 11 is located on one side of the information processing component 12 along the first direction X, and the light source 12g is disposed on the information processing component 12. Simultaneously, to improve illumination, the information processing component 12 has a mounting surface 12f, which is inclined relative to the first direction X and positioned towards one side of the acquisition component 11, and the light source 12g is disposed on the mounting surface 12f.

[0087] This design, by introducing a reflector 112, changes the shooting angle of the imaging module 111, increases the field of view of the imaging module 111, thereby reducing the number of round trips of the acquisition component 11 and improving the scanning and detection efficiency.

[0088] According to some embodiments of this application, please refer to FIG3, the shooting end of the shooting module 111 is arranged facing the mirror surface of the reflector 112, and the mirror surface of the reflector 112 is tilted relative to the horizontal direction and is arranged upward.

[0089] The mirror surface of the reflector 112 is tilted relative to the horizontal direction and is positioned upwards, so that the mirror surface of the reflector 112 is tilted towards the chassis 200, reflecting more of the contours of the chassis 200. In some examples, the reflector 112 is located on one side of the imaging module 111 along the first direction X, and the mirror surface of the reflector 112 is tilted towards the imaging end of the imaging module 111.

[0090] This design allows the reflector 112 to reflect more of the contours of the chassis 200, thereby increasing the field of view of the imaging module 111.

[0091] According to some embodiments of this application, please refer to FIG4, the acquisition component 11 further includes a support 113, the imaging module 111 and the reflector 112 are spaced apart on the support 113, and the included angle between the mirror surface of the reflector 112 and the support 113 is adjustable.

[0092] The angle between the mirror surface of reflector 112 and support 113 is adjustable, meaning that the angle of the mirror surface of reflector 112 toward chassis 200 is adjustable, which is more suitable for image acquisition on different chassis 200. The rotatable connection of reflector 112 on support 113 can have various designs, such as: hinge, gear meshing connection, etc.

[0093] In some examples, referring to Figure 4, the acquisition component 11 also includes a rotating shaft 11a, a first helical gear 11c, a second helical gear 11d, and a rotating handle 11e. The reflector 112 is fixed on the rotating shaft 11a, and the support 113 has a boss 11b. The rotating shaft 11a is rotatably connected to the boss 11b. The first helical gear 11c is sleeved on the rotating shaft 11a, and the second helical gear 11d meshes with the first helical gear 11c and is connected to the rotating handle 11e. Thus, by rotating the rotating handle 11e, the second helical gear 11d and the first helical gear 11c are driven to rotate, which in turn drives the rotating shaft 11a to rotate, thereby causing the reflector 112 to rotate and change the angle between the mirror surface of the reflector 112 and the support 113.

[0094] This design makes the angle between the mirror surface of the reflector 112 and the support 113 adjustable, so that the reflector 112 can be adjusted according to the height of the chassis 200, so that the chassis scanning device 100 can be adapted to scan and detect more different chassis 200, thereby improving its applicability.

[0095] According to some embodiments of this application, please refer to FIG2. The information processing component 12 includes a main control board 122 and a processor 123. The main control board 122 is used to receive image information fed back by the acquisition component 11 and transmit it to the processor 123. The processor 123 is used to process the image information and output the image of the chassis 200.

[0096] The main control board 122 refers to the module that controls the execution of various components, such as controlling the power supply and operation of the moving mechanism 13; or receiving image information fed back by the acquisition component 11 and transmitting it to the processor 123, etc. The processor 123 refers to the component that can perform calculations and processing on the image information fed back by the acquisition component 11, such as, but not limited to, an industrial control computer.

[0097] In addition, to ensure the stable operation of the chassis scanning device 100, the information processing component 12 may also include a battery 126 and a relay module 125. The battery 126 can provide power to the main control board 122, processor 123 and acquisition component 11, and the relay module 125 is used to realize the switching on and off of the circuit.

[0098] This design incorporates a main control board 122 and a processor 123 to automatically calculate and analyze the image information fed back by the acquisition component 11, thereby improving the intelligence of scanning and inspection.

[0099] According to some embodiments of this application, referring to FIG2, the information processing component 12 further includes a communication module 128 electrically connected to the processor 123. The communication module 128 is used to transmit the image of the chassis 200 output by the processor 123 to the background data platform.

[0100] The communication module 128 enables data transmission between the chassis scanning device 100 and an external backend data platform, transmitting the chassis 200 image output by the processor 123 to the backend data platform. The communication module 128 can be a wireless communication module, such as, but not limited to, a Bluetooth module or a 4G communication module.

[0101] This design incorporates a communication module 128, which facilitates the transmission of the acquired chassis 200 images to the outside world, enabling the backend to perform intuitive inspections of the chassis 200.

[0102] According to some embodiments of this application, referring to FIG1, the chassis scanning device 100 further includes a locator 124, which is used to locate the position of the acquisition component 11 below the chassis 200.

[0103] During scanning and inspection, it is necessary to determine the start and end positions of the acquisition component 11 so that it can complete the image acquisition of the entire chassis 200. Therefore, the locator 124 is introduced to assist the acquisition component 11 in better completing the scanning and image acquisition of the entire chassis 200. For example, the locator 124 determines that the acquisition component 11 is located at one end of the chassis 200 along its own length; then, the moving mechanism 13 drives the acquisition component 11 to move along the length direction. When the locator 124 determines that the acquisition component 11 is located at the other end of the chassis 200 along the length direction, the acquisition component 11 is stopped or driven in reverse.

[0104] The locator 124 can be selected from various options, such as, but not limited to, a ranging sensor, a GPS (Global Positioning System) module, etc.

[0105] This design, with the introduction of the locator 124, can assist the acquisition component 11 in better completing the scanning and image acquisition of the entire chassis 200, making the image acquisition of the chassis 200 more complete.

[0106] According to some embodiments of this application, referring to FIG1, the moving mechanism 13 drives the information processing component 12 to drive the acquisition component 11. The locator 124 is configured as a sensor and is disposed on the top of the information processing component 12, with the sensing end of the locator 124 facing away from the information processing component 12.

[0107] The sensing end of the locator 124 is positioned away from the information processing component 12, which means that the sensor of the locator 124 is positioned towards the chassis 200. Thus, during scanning and detection, if the information processing component 12 is below the chassis 200, the sensing end of the locator 124 can sense the presence of an object above it; if the information processing component 12 is moved outside the chassis 200, the sensing end of the locator 124 cannot sense the presence of an object above it, which means that the acquisition component 11 is located at one end of the chassis 200.

[0108] In addition, to reduce the installation height of the locator 124 on the information processing component 12, a mounting groove 12a can be recessed at the top of the information processing component 12, and the locator 124 is located in the mounting groove 12a; at the same time, an indicator light 12c, a main switch 12b and an interface 12d can also be provided in the mounting groove 12a.

[0109] This design, by rationally setting the distribution of the locator 124 on the information processing component 12, makes it easy for the locator 124 to quickly locate the location of the information processing component 12.

[0110] According to some embodiments of this application, please refer to FIG5, this application provides a chassis 200 image acquisition control method, which uses the chassis scanning device 100 of any of the above claims, and the method includes the following steps:

[0111] S100, the control acquisition component 11 moves along the length of the chassis 200 on one side of the central axis 210 along its own width direction to acquire the first image information.

[0112] S200, the control acquisition component 11 moves along the length of the chassis 200 on the other side of the central axis 210 to acquire second image information;

[0113] S300: The first image information and the second image information are stitched together to obtain an image of the chassis 200.

[0114] In step S100, the central axis 210 refers to a line located in the middle of the chassis 200 along its width direction. The acquisition component 11 is located on one side of the central axis 210 along its width direction, and can scan and acquire the contour of the chassis 200 located on one side of the central axis 210. The specific distance between the acquisition component 11 and the central axis 210 in the width direction can be determined according to the dimensions of the chassis 200. For ease of understanding of the width and length directions of the chassis 200, Figure 6 is used as an example. The width direction of the chassis 200 is the direction represented by W in Figure 7, and the length direction of the chassis 200 is the direction represented by L in Figure 6.

[0115] In step S200, the acquisition component 11 is located on the other side of the central axis 210, which is opposite to the acquisition component 11 in step S100. In step S200, the direction of movement of the acquisition component 11 in the length direction can be the same as or opposite to the direction of movement in the length direction in step S100. For example, in step S100, the acquisition component 11 can move from the first end 220 to the second end 230 in the length direction, as shown in Figure 6; after moving to the other side in step S200, the acquisition component 11 can then move back from the second end 230 to the first end 220, as shown in Figure 7. Of course, after completing step S100, the acquisition component 11 can be reset to the first end 220, and after moving to the other side of the central axis 210, it can then move from the first end 220 to the second end 230.

[0116] In step S300, the acquired first and second images are stitched together to obtain a complete image of the chassis 200. The stitching process can be designed in various ways, such as: calibrating the position of the acquisition component 11, establishing a left-right image overlap mapping matrix, and overlapping the first and second images together; then, creating a mask that defines the transparency changes of the image fusion area; and then performing gradient fusion on the overlapping area images, etc.

[0117] This design allows the acquisition component 11 to move and acquire image information from both sides of the central axis 210. Then, a stitching technique is used to obtain a complete image of the chassis 200. This method utilizes the acquisition component 11 for active acquisition, making it convenient to operate. Furthermore, the inspection process does not require vehicle movement, which improves the spatial compatibility of the inspection process.

[0118] According to some embodiments of this application, referring to FIG8, the step of controlling the acquisition component 11 to move along the length direction of the chassis 200 on one side of the central axis 210 along the width direction of the chassis 200 to acquire the first image information includes:

[0119] S110, the control information processing component 12 drives the acquisition component 11 to move along the length direction so that the acquisition component 11 reaches the first end 220 of the chassis 200 along the length direction;

[0120] S120, control the acquisition component 11 to move relative to the information processing component 12 along the width direction so that the acquisition component 11 is located on one side of the central axis 210;

[0121] S130, the control information processing component 12 moves along the length direction toward the second end 230 of the chassis 200 along the length direction.

[0122] The execution order between steps S110 and S120 is not limited; step S110 or step S120 can be executed first. There are several ways to determine whether the acquisition component 11 has reached the first end 220 of the chassis 200. For example, a ranging sensor can be introduced; if the ranging sensor does not detect an object above, it means that the acquisition component 11 is located at the first end 220.

[0123] This design allows the acquisition component 11 to quickly and stably acquire images of the chassis 200 on one side of the central axis 210.

[0124] According to some embodiments of this application, referring to FIG9, S200, the step of controlling the acquisition component 11 to move along the length direction of the chassis 200 on the other side of the central axis 210 to acquire second image information includes:

[0125] S210, control the acquisition component 11 to move relative to the information processing component 12 along the width direction so that the acquisition component 11 is located on the other side of the central axis 210;

[0126] S220, the control information processing component 12 moves along the length direction toward the first end 220.

[0127] After step S130 is completed, the acquisition component 11 is located at the second end 230 of the chassis 200. At this time, simply move the acquisition component 11 to the other side of the central axis 210 to start scanning and acquiring images of the other half of the chassis 200.

[0128] This design allows the acquisition component 11 to quickly and stably acquire images of the chassis 200 on the other side of the central axis 210.

[0129] According to some embodiments of this application, referring to Figures 1 to 9, this application provides a chassis scanning device 100. During the scanning and detection of the chassis 200, the chassis scanning device 100 is placed at the front of the vehicle to be inspected, and the position of the chassis scanning device 100 is adjusted to be in the middle of the vehicle. Then, the device's moving speed is set and the device is started. The drive wheel 132 drives the walking belt 134 to rotate, causing the device to move forward. At the same time, the adjustment mechanism 14 drives the imaging module 111 to move to the far right. When the ranging sensor detects that the device has reached the bottom of the front of the vehicle, the imaging module 111 begins to capture images. During the image acquisition process, the main control board 122 adjusts and controls the transmission of each line of images to the processor 123 for stitching. When the ranging sensor detects that the device has reached the rear of the vehicle, the image acquisition is completed and the device stops. At the same time, the stitched pattern by the processor 123 is transmitted to the background data platform through the communication module 128. Next, the control adjustment mechanism 14 drives the shooting module 111 to move to the far left and restarts the device; the traveling belt 134 rotates in the opposite direction to make the device move backward. When the distance sensor detects that the device has reached the bottom of the rear of the vehicle, the shooting module 111 starts to capture images. When the distance sensor detects that the device has reached the front of the vehicle, the device stops and transmits the images to the background data platform; the background data platform stitches the two images together to create a single image.

[0130] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0131] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A chassis scanning device, the chassis scanning device comprising: The scanning mechanism (10) includes an acquisition component (11) and an information processing component (12) electrically connected. The acquisition component (11) is used to acquire image information of the chassis (200), and the information processing component (12) is used to receive image information fed back by the acquisition component (11) and acquire an image of the chassis (200) based on the image information. A moving mechanism (13) is used to drive the acquisition component (11) to move in at least one direction to acquire image information of the chassis (200).

2. The chassis scanning device according to claim 1, wherein, The acquisition component (11) and the moving mechanism (13) are both located on the information processing component (12). The moving mechanism (13) is used to drive the information processing component (12) to move in at least one direction, thereby driving the acquisition component (11) to move.

3. The chassis scanning device according to claim 2, wherein, The moving mechanism (13) includes a first power unit (131) and a walking module. The walking module is mounted on the information processing component (12). The first power unit (131) is used to provide power for the walking module to move.

4. The chassis scanning device according to claim 3, wherein, The walking module includes a drive wheel (132) and a driven wheel (133) spaced apart on the information processing component (12), and a walking belt (134) sleeved on the drive wheel (132) and the driven wheel (133). The first power unit (131) is used to drive the drive wheel (132) to rotate.

5. The chassis scanning device according to any one of claims 1-4, wherein, The chassis scanning device further includes an adjustment mechanism (14), the moving mechanism (13) is used to drive the acquisition component (11) to move along a first direction (X), and the adjustment mechanism (14) is used to adjust the position of the acquisition component (11) along a second direction (Y), wherein the first direction (X) intersects with the second direction (Y).

6. The chassis scanning device according to claim 5, wherein, The adjustment mechanism (14) includes a support beam (141) and a second power unit (142). The acquisition component (11) is slidably connected to the support beam (141). The second power unit (142) is used to drive the acquisition component (11) to move along the second direction (Y). The moving mechanism (13) is used to drive the support beam (141) to move along the first direction (X).

7. The chassis scanning device according to claim 6, wherein, The adjustment mechanism (14) includes a support wheel (146) which is disposed on the support beam (141) and configured to travel along the first direction (X).

8. The chassis scanning device according to any one of claims 5-7, wherein, The acquisition component (11) is mounted on the adjustment mechanism (14), the adjustment mechanism (14) is connected to the information processing component (12), and the two are arranged side by side in the first direction (X). The moving mechanism (13) is used to drive the information processing component (12) to move along the first direction (X).

9. The chassis scanning device according to any one of claims 1-8, wherein, The acquisition component (11) includes a reflector (112) and a shooting module (111) electrically connected to the information processing component (12). The reflector (112) is located within the shooting range of the shooting module (111) and is used to change the shooting angle of the shooting module (111).

10. The chassis scanning device according to claim 9, wherein, The shooting end of the shooting module (111) is set facing the mirror surface of the reflector (112), and the mirror surface of the reflector (112) is tilted relative to the horizontal direction and set upward.

11. The chassis scanning device according to claim 10, wherein, The acquisition component (11) also includes a support (113), the shooting module (111) and the reflector (112) are spaced apart on the support (113), and the angle between the mirror surface of the reflector (112) and the support (113) is adjustable.

12. The chassis scanning device according to any one of claims 1-11, wherein, The information processing component (12) includes a main control board (122) and a processor (123). The main control board (122) is used to receive image information fed back by the acquisition component (11) and transmit it to the processor (123). The processor (123) is used to process the image information and output the image of the chassis (200).

13. The chassis scanning device according to claim 12, wherein, The information processing component (12) further includes a communication module (128) electrically connected to the processor (123), the communication module (128) being used to transmit the image of the chassis (200) output by the processor (123) to the background data platform.

14. The chassis scanning device according to any one of claims 1-13, wherein, The chassis scanning device also includes a locator (124) for locating the position of the acquisition component (11) below the chassis (200).

15. The chassis scanning device according to claim 14, wherein, The moving mechanism (13) drives the information processing component (12) to drive the acquisition component (11). The locator (124) is configured as a sensor and is located on top of the information processing component (12). The sensing end of the locator (124) is positioned away from the information processing component (12).

16. A chassis image acquisition and control method, employing the chassis scanning device according to any one of claims 1-15, the method comprising the following steps: The control acquisition component (11) moves along the length of the chassis (200) on one side of the central axis (210) along its own width direction to acquire first image information; The acquisition component (11) is controlled to move along the length of the chassis (200) on the other side of the central axis (210) to acquire second image information; The first image information and the second image information are stitched together to obtain an image of the chassis (200).

17. The chassis image acquisition and control method according to claim 16, wherein, The step of controlling the acquisition component (11) to move along the length of the chassis (200) on one side of the central axis (210) along its own width direction to acquire first image information includes: The control information processing component (12) drives the acquisition component (11) to move along the length direction so that the acquisition component (11) reaches the first end (220) of the chassis (200) along the length direction; Control the acquisition component (11) to move relative to the information processing component (12) along the width direction so that the acquisition component (11) is located on one side of the central axis (210); Control the information processing component (12) to move along the length direction and toward the second end (230) of the chassis (200) along the length direction.

18. The chassis image acquisition and control method according to claim 17, wherein, The step of controlling the acquisition component (11) to move along the length direction of the chassis (200) on the other side of the central axis (210) to acquire second image information includes: Control the acquisition component (11) to move relative to the information processing component (12) along the width direction so that the acquisition component (11) is located on the other side of the central axis (210); Control the information processing component (12) to move along the length direction toward the first end (220).

Images