CN104777523A - Panoramic detecting system for chassis of motor vehicle at airport crossing and control method - Google Patents
Panoramic detecting system for chassis of motor vehicle at airport crossing and control method Download PDFInfo
- Publication number
- CN104777523A CN104777523A CN201510170046.2A CN201510170046A CN104777523A CN 104777523 A CN104777523 A CN 104777523A CN 201510170046 A CN201510170046 A CN 201510170046A CN 104777523 A CN104777523 A CN 104777523A
- Authority
- CN
- China
- Prior art keywords
- stage
- chassis
- control
- control end
- platform car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a panoramic detecting system for a chassis of a motor vehicle at an airport crossing and a control method. The system comprises a control terminal, a platform terminal and an actuation terminal, wherein the control terminal is a computer provided with a control program; the platform terminal comprises a movable platform car as well as a high-definition camera and an illuminating lamp which are arranged on the movable platform car; the actuation terminal comprises a telescopic manipulator arranged on the platform car and a camera arranged on the telescopic manipulator. According to the panoramic detecting system for the chassis of the motor vehicle at the airport crossing and the control method, panoramic scanning of the chassis of the motor vehicle can be realized, a high-definition chassis picture can be generated, problems can be found out and eliminated, forbidden objects hidden in the chassis can be mechanically and automatically removed, the problem that the forbidden objects cannot be manually removed by a detection worker due to the excessive low chassis is solved, and the system has the characteristics of simplicity and convenience in operation, intuitive and reliable result and mechanical explosive removal.
Description
Technical field
The invention belongs to electromechanical engineering technical field, particularly relate to a kind of airport road crossing motor vehicle chassis panorama detection system and control method.
Background technology
Flourish along with China's Civil Aviation Industry, airport plays more and more important effect in national life.Meanwhile, airport security problem is also more and more subject to the attention of the public.Along with reviving of terrorism force, repeatedly there is the attack of terrorism for airport both at home and abroad.Therefore, each airport all improves anti-probably safe class.
As gateway of not being widely known by the people a kind of in airport, the safety check work that carry interim come in and go out staff and motor vehicle of temporarily marching into the arena of road junction, airport, its safety check level directly can affect the safe operation on airport more.Carry prohibited items secretly to prevent motor vehicle and enter movement area, according to the regulation of CAAC, need to carry out strict motor vehicle inspection, comprise the region, chassis of motor vehicle.But the reflective mirror that in real work, staff is hand-held can cannot see the picture on chassis clearly by the impact of vehicle bottom light, be let pass once week around motor vehicle as routine business under more susceptible condition, therefore there is huge potential safety hazard.
Therefore, researchist proposes multiple solution, comprise improve reflective mirror structure, set up camera and illuminating lamp etc., so that realize can the object of Real Time Observation motor-vehicle chassis picture; Comprise and make buried embedded scanning camera, allow motor vehicle low speed pass through, gather chassis picture, its modified version is overall non-buried.But above-mentioned technical solution exists a common problem, there are security breaches exactly, reflector type detector can cause the labour intensity of staff large and there is safe dead angle, relies on the sense of responsibility of staff completely; Scan-type detector affects greatly by the speed of a motor vehicle, if the speed of a motor vehicle is too fast, staff cannot go out vehicle chassis situation by accurate recognition at all, when detector breaks down, is difficult to timely replacement; Finally, when finding to keep suspicious object under chassis, still suspension chassis height restriction and cannot on-the-spotly get rid of, staff can only be relied on vehicle to be outputed road junction, if bottom keeps explosive, cause huge threat by the life of staff.
Therefore, if develop a kind of easy to operate, visual result on existing Research foundation, independently can get rid of the motor-vehicle chassis check system of suspicious item, greatly will reduce the labour intensity of staff, promote the security ability at road junction, airport, have important practical significance.
Summary of the invention
In order to solve the problem, the object of the present invention is to provide a kind of airport road crossing motor vehicle chassis panorama detection system and control method.
In order to achieve the above object, road crossing motor vehicle chassis, airport provided by the invention panorama detection system comprises control end, platform end and motion end, and described control end is the computing machine being provided with control program; Platform end comprises moveable platform car and the high-definition camera be arranged on moveable platform car and illuminating lamp, and moveable platform car is provided with control device; Motion end comprises the telescopic manipulator be arranged on moveable platform car 5 and the camera be arranged on telescopic manipulator, and control end is connected by wireless network with moveable platform car, high-definition camera and illuminating lamp, telescopic manipulator and camera.
The bottom surface of described moveable platform car is provided with multiple Mecanum wheel.
The control method of road crossing motor vehicle chassis, airport provided by the invention panorama detection system comprises the following step performed in order:
1) judge the S1 stage whether system starts: in this stage, the instruction that control end inputs according to staff, judge whether that starting segmentation detects, if judged result is "Yes", then enters the S3 stage; Otherwise enter the S2 stage;
2) in the S2 stage of system idles: in this stage, system standby 30 seconds, then enters the entrance in S1 stage;
3) user specifies the S3 stage detecting starting point: in this stage, control moveable platform car enters into inside the off hind wheel below static motor-vehicle chassis by control end, this point is set to detect starting point by staff, this point coordinate is recorded as A (0 by control end, 0), the S4 stage is then entered;
4) the S4 stage that panorama detects is started: in this stage, the high-definition camera controlled on moveable platform car and illuminating lamp are opened by control end, then control moveable platform car move forward to off-front wheel position and this point coordinate is recorded as B (0, n), control moveable platform car subsequently move to the near front wheel position left and this point coordinate is recorded as C (m, n), finally control moveable platform car move to left rear wheel position backward and this point coordinate is recorded as D (m, 0), in the process, high-definition camera will shoot the picture of motor-vehicle chassis under the booster action of illuminating lamp, wherein automatically generate a Zhang Quanjing picture from A point to B point, automatically a Zhang Quanjing picture is generated from C point to D point,
5) in the S5 stage of picture splicing: in this stage, the two Zhang Quanjing picture splicings that the S4 stage obtains by control end become a motor-vehicle chassis panorama sketch;
6) the S6 stage that there is suspicious object is judged whether: in this stage, staff on the display of control end according to the motor-vehicle chassis panorama sketch that the S5 stage obtains, judge whether to have concealed suspicious object, if judged result is "Yes", then enter the S7 stage; Otherwise enter the S8 stage;
7) the S7 stage of suspicious object is got rid of: in this stage, telescopic manipulator and camera is opened under the control of control end, then this suspicious object shifted to by corresponding according to this position coordinate control moveable platform car, and telescopic manipulator is just in time positioned at immediately below suspicious object, staff is taken by camera and the picture sending control end to examines suspicious object, when determine errorless after utilize telescopic manipulator this suspicious object to be taken off under booster action at camera, then enter the S9 stage;
8) judge the S8 stage of marching into the arena or leaving the theatre: in this stage, judgement staff is input " marching into the arena " instruction or " leaving the theatre " instruction by control end, if judged result is " marching into the arena " instruction, then enters the S10 stage; If judged result is " leaving the theatre " instruction, then enter the S11 stage;
9) judge the S9 stage whether suspicious object is got rid of completely: in this stage, staff judges on the display of control end whether suspicious object is got rid of completely, if judged result is "Yes", then enters the S8 stage; Otherwise return the S7 stage.
10) the S10 stage of clearance instruction is sent: in this stage, staff sends clearance instruction by control end, then under the control of control end, control moveable platform car shift out from motor-vehicle chassis and turn back to its precalculated position, then system finishing runs;
11) judge whether chassis exists the S11 stage of part loss: in this stage, the chassis panoramic pictures of shooting when this motor vehicle of comparison is marched into the arena by control end and the chassis panoramic pictures of shooting when leaving the theatre, by image processing techniques judge leave the theatre vehicle whether exist part lose situation, if judged result is "Yes", then enter the S12 stage; Otherwise enter the S10 stage;
12) report to the police, the S12 stage of artificial treatment FOD: in this stage, control end will be reported to the police, with point out staff again this vehicle of artificial contrast march into the arena before and after chassis distant view photograph, to be confirmed whether that there is chassis part loses, and this time reports to the police if image recognition software mistake is then ignored; If chassis part occurs really lose, then contact floor manager personnel and manually find loss part, artificial treatment FOD, then return the S2 stage.
Airport provided by the invention road crossing motor vehicle chassis panorama detection system and control method tool have the following advantages: 1) easy to operate.Utilize the moveable platform car being provided with Mecanum wheel, dead angle can not be stayed scanning is carried out to motor-vehicle chassis and take pictures.2) visual result.Utilize the high-definition camera that moveable platform car carries, sliceable go out the complete static images of motor-vehicle chassis, be convenient to staff's observe and decide.3) security is high.Utilize the telescopic manipulator that moveable platform car carries, the scene that can realize suspicious object is got rid of, and reduces the personal injury risk of staff, has better security.
Accompanying drawing explanation
Fig. 1 is the composition frame chart of road crossing motor vehicle chassis, airport provided by the invention panorama detection system.
Fig. 2 is road crossing motor vehicle chassis, airport provided by the invention panorama detection system structural representation.
Fig. 3 is the control method process flow diagram of road crossing motor vehicle chassis, airport provided by the invention panorama detection system.
Embodiment
Below in conjunction with the drawings and specific embodiments, airport provided by the invention road crossing motor vehicle chassis panorama detection system and control method are described in detail.
As shown in Figure 1 and Figure 2, road crossing motor vehicle chassis, airport provided by the invention panorama detection system comprises control end 1, platform end 2 and motion end 3, and described control end 1 is for being provided with the computing machine of control program; Platform end 2 comprises moveable platform car 5 and the high-definition camera 6 that is arranged on moveable platform car 5 and illuminating lamp 7, and moveable platform car 5 is provided with control device; Motion end 3 comprises the telescopic manipulator 8 be arranged on moveable platform car 5 and the camera 9 be arranged on telescopic manipulator 8, and control end 1 is connected by wireless network with moveable platform car 5, high-definition camera 6 and illuminating lamp 7, telescopic manipulator 8 and camera 9.
The bottom surface of described moveable platform car 5 is provided with multiple Mecanum wheel.
As shown in Figure 3, the control method of road crossing motor vehicle chassis, airport provided by the invention panorama detection system comprises the following step performed in order:
1) judge the S1 stage whether system starts: in this stage, the instruction that control end 1 inputs according to staff, judge whether that starting segmentation detects, if judged result is "Yes", then enters the S3 stage; Otherwise enter the S2 stage;
2) in the S2 stage of system idles: in this stage, system standby 30 seconds, then enters the entrance in S1 stage;
3) user specifies the S3 stage detecting starting point: in this stage, control moveable platform car 5 enters into inside the off hind wheel below static motor-vehicle chassis by control end 1, this point is set to detect starting point by staff, this point coordinate is recorded as A (0 by control end 1,0), the S4 stage is then entered;
4) the S4 stage that panorama detects is started: in this stage, the high-definition camera 6 controlled on moveable platform car 5 and illuminating lamp 7 are opened by control end 1, then control moveable platform car 5 move forward to off-front wheel position and this point coordinate is recorded as B (0, n), control moveable platform car 5 subsequently move to the near front wheel position left and this point coordinate is recorded as C (m, n), finally control moveable platform car 5 move to left rear wheel position backward and this point coordinate is recorded as D (m, 0), in the process, high-definition camera 6 will shoot the picture of motor-vehicle chassis under the booster action of illuminating lamp 7, wherein automatically generate a Zhang Quanjing picture from A point to B point, automatically a Zhang Quanjing picture is generated from C point to D point,
5) in the S5 stage of picture splicing: in this stage, the two Zhang Quanjing picture splicings that the S4 stage obtains by control end 1 become a motor-vehicle chassis panorama sketch;
6) the S6 stage that there is suspicious object is judged whether: in this stage, staff on the display of control end 1 according to the motor-vehicle chassis panorama sketch that the S5 stage obtains, judge whether to have concealed suspicious object, if judged result is "Yes", then enter the S7 stage; Otherwise enter the S8 stage;
7) the S7 stage of suspicious object is got rid of: in this stage, telescopic manipulator 8 and camera 9 is opened under the control of control end 1, then this suspicious object shifted to by corresponding according to this position coordinate control moveable platform car 5, and telescopic manipulator 8 is just in time positioned at immediately below suspicious object, staff is taken by camera 9 and the picture sending control end 1 to examines suspicious object, when determine errorless after under the booster action of camera 9, utilize telescopic manipulator 8 this suspicious object to be taken off, then enter the S9 stage;
8) judge the S8 stage of marching into the arena or leaving the theatre: in this stage, judgement staff is input " marching into the arena " instruction or " leaving the theatre " instruction by control end 1, if judged result is " marching into the arena " instruction, then enters the S10 stage; If judged result is " leaving the theatre " instruction, then enter the S11 stage;
9) judge the S9 stage whether suspicious object is got rid of completely: in this stage, staff judges on the display of control end 1 whether suspicious object is got rid of completely, if judged result is "Yes", then enters the S8 stage; Otherwise return the S7 stage.
10) the S10 stage of clearance instruction is sent: in this stage, staff sends clearance instruction by control end 1, then under the control of control end 1, control moveable platform car 5 shift out from motor-vehicle chassis and turn back to its precalculated position, then system finishing runs;
11) judge whether chassis exists the S11 stage of part loss: in this stage, the chassis panoramic pictures of shooting when this motor vehicle of comparison is marched into the arena by control end 1 and the chassis panoramic pictures of shooting when leaving the theatre, by image processing techniques judge leave the theatre vehicle whether exist part lose situation, if judged result is "Yes", then enter the S12 stage; Otherwise enter the S10 stage;
12) report to the police, the S12 stage of artificial treatment FOD: in this stage, control end 1 will be reported to the police, with point out staff again this vehicle of artificial contrast march into the arena before and after chassis distant view photograph, to be confirmed whether that there is chassis part loses, and this time reports to the police if image recognition software mistake is then ignored; If chassis part occurs really lose, then contact floor manager personnel and manually find loss part, artificial treatment FOD (Flying Area in Airport exotic invasive thing), then returns the S2 stage.
Claims (3)
1. road crossing motor vehicle chassis, airport panorama detection system, it is characterized in that: it comprises control end (1), platform end (2) and motion end (3), described control end (1) is for being provided with the computing machine of control program; Platform end (2) comprises moveable platform car (5) and the high-definition camera (6) that is arranged on moveable platform car (5) and illuminating lamp (7), and moveable platform car (5) is provided with control device; Motion end (3) comprises the telescopic manipulator (8) be arranged on moveable platform car (5) and the camera (9) be arranged on telescopic manipulator (8), and control end (1) is connected by wireless network with moveable platform car (5), high-definition camera (6) and illuminating lamp (7), telescopic manipulator (8) and camera (9).
2. road crossing motor vehicle chassis, airport according to claim 1 panorama detection system, is characterized in that: the bottom surface of described moveable platform car (5) is provided with multiple Mecanum wheel.
3. a control method for road crossing motor vehicle chassis, airport as claimed in claim 1 panorama detection system, is characterized in that: described control method comprises the following step performed in order:
1) judge the S1 stage whether system starts: in this stage, the instruction that control end (1) inputs according to staff, judge whether that starting segmentation detects, if judged result is "Yes", then enters the S3 stage; Otherwise enter the S2 stage;
2) in the S2 stage of system idles: in this stage, system standby 30 seconds, then enters the entrance in S1 stage;
3) user specifies the S3 stage detecting starting point: in this stage, control end (1) will control moveable platform car (5) and enter into inside the off hind wheel below static motor-vehicle chassis, this point is set to detect starting point by staff, this point coordinate is recorded as A (0 by control end (1), 0), the S4 stage is then entered;
4) the S4 stage that panorama detects is started: in this stage, control end (1) will control high-definition camera (6) on moveable platform car (5) and illuminating lamp (7) is opened, then control moveable platform car (5) move forward to off-front wheel position and this point coordinate is recorded as B (0, n), control moveable platform car (5) subsequently move to the near front wheel position left and this point coordinate is recorded as C (m, n), finally control moveable platform car (5) move to left rear wheel position backward and this point coordinate is recorded as D (m, 0), in the process, high-definition camera (6) will shoot the picture of motor-vehicle chassis under the booster action of illuminating lamp (7), wherein automatically generate a Zhang Quanjing picture from A point to B point, automatically a Zhang Quanjing picture is generated from C point to D point,
5) in the S5 stage of picture splicing: in this stage, the two Zhang Quanjing picture splicings that the S4 stage obtains by control end (1) become a motor-vehicle chassis panorama sketch;
6) the S6 stage that there is suspicious object is judged whether: in this stage, staff on the display of control end (1) according to the motor-vehicle chassis panorama sketch that the S5 stage obtains, judge whether to have concealed suspicious object, if judged result is "Yes", then enter the S7 stage; Otherwise enter the S8 stage;
7) the S7 stage of suspicious object is got rid of: in this stage, telescopic manipulator (8) and camera (9) is opened under the control of control end (1), then this suspicious object shifted to by corresponding according to this position coordinate control moveable platform car (5), and telescopic manipulator (8) is just in time positioned at immediately below suspicious object, staff is taken by camera (9) and the picture sending control end (1) to examines suspicious object, when determine errorless after under the booster action of camera (9), utilize telescopic manipulator (8) this suspicious object to be taken off, then the S9 stage is entered,
8) judge the S8 stage of marching into the arena or leaving the theatre: in this stage, judgement staff is input " marching into the arena " instruction or " leaving the theatre " instruction by control end (1), if judged result is " marching into the arena " instruction, then enters the S10 stage; If judged result is " leaving the theatre " instruction, then enter the S11 stage;
9) judge the S9 stage whether suspicious object is got rid of completely: in this stage, staff judges on the display of control end (1) whether suspicious object is got rid of completely, if judged result is "Yes", then enters the S8 stage; Otherwise return the S7 stage.
10) the S10 stage of clearance instruction is sent: in this stage, staff sends clearance instruction by control end (1), then under the control of control end (1), control moveable platform car (5) shift out from motor-vehicle chassis and turn back to its precalculated position, then system finishing runs;
11) judge whether chassis exists the S11 stage of part loss: in this stage, the chassis panoramic pictures of shooting when this motor vehicle of comparison is marched into the arena by control end (1) and the chassis panoramic pictures of shooting when leaving the theatre, by image processing techniques judge leave the theatre vehicle whether exist part lose situation, if judged result is "Yes", then enter the S12 stage; Otherwise enter the S10 stage;
12) report to the police, the S12 stage of artificial treatment FOD: in this stage, control end (1) will be reported to the police, with point out staff again this vehicle of artificial contrast march into the arena before and after chassis distant view photograph, to be confirmed whether that there is chassis part loses, and this time reports to the police if image recognition software mistake is then ignored; If chassis part occurs really lose, then contact floor manager personnel and manually find loss part, artificial treatment FOD, then return the S2 stage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510170046.2A CN104777523B (en) | 2015-04-13 | 2015-04-13 | Panoramic detecting system for chassis of motor vehicle at airport crossing and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510170046.2A CN104777523B (en) | 2015-04-13 | 2015-04-13 | Panoramic detecting system for chassis of motor vehicle at airport crossing and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104777523A true CN104777523A (en) | 2015-07-15 |
| CN104777523B CN104777523B (en) | 2017-04-19 |
Family
ID=53619099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510170046.2A Expired - Fee Related CN104777523B (en) | 2015-04-13 | 2015-04-13 | Panoramic detecting system for chassis of motor vehicle at airport crossing and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104777523B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107135373A (en) * | 2017-03-31 | 2017-09-05 | 中车青岛四方机车车辆股份有限公司 | Skirt bottom plate monitoring system and skirt bottom plate monitoring method |
| CN106004925B (en) * | 2016-06-21 | 2018-03-30 | 哈尔滨市科佳通用机电股份有限公司 | Track vehicle floor detection system |
| CN107864310A (en) * | 2017-12-11 | 2018-03-30 | 同方威视技术股份有限公司 | Vehicle chassis scanning system and scan method |
| CN113949811A (en) * | 2021-10-14 | 2022-01-18 | 广州威拓电子科技有限公司 | Method and device for shooting vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07164374A (en) * | 1993-11-08 | 1995-06-27 | Toshio Muraoka | Security robot system |
| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN101883137A (en) * | 2010-06-04 | 2010-11-10 | 上海市闵行第二中学 | Movable security inspection device |
| CN102565872A (en) * | 2012-03-02 | 2012-07-11 | 洛阳圣瑞机电技术有限公司 | Automobile chassis image acquisition device based on linear array charge coupled device (CCD) |
| CN203414606U (en) * | 2013-08-27 | 2014-01-29 | 北京嘉恒中自图像技术有限公司 | Vehicle bottom safety inspection system |
| CN103986912A (en) * | 2014-05-21 | 2014-08-13 | 南京大学 | Double-direction real-time vehicle chassis image synthetic method based on civil IPC |
-
2015
- 2015-04-13 CN CN201510170046.2A patent/CN104777523B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07164374A (en) * | 1993-11-08 | 1995-06-27 | Toshio Muraoka | Security robot system |
| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN101883137A (en) * | 2010-06-04 | 2010-11-10 | 上海市闵行第二中学 | Movable security inspection device |
| CN102565872A (en) * | 2012-03-02 | 2012-07-11 | 洛阳圣瑞机电技术有限公司 | Automobile chassis image acquisition device based on linear array charge coupled device (CCD) |
| CN203414606U (en) * | 2013-08-27 | 2014-01-29 | 北京嘉恒中自图像技术有限公司 | Vehicle bottom safety inspection system |
| CN103986912A (en) * | 2014-05-21 | 2014-08-13 | 南京大学 | Double-direction real-time vehicle chassis image synthetic method based on civil IPC |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106004925B (en) * | 2016-06-21 | 2018-03-30 | 哈尔滨市科佳通用机电股份有限公司 | Track vehicle floor detection system |
| CN107135373A (en) * | 2017-03-31 | 2017-09-05 | 中车青岛四方机车车辆股份有限公司 | Skirt bottom plate monitoring system and skirt bottom plate monitoring method |
| CN107864310A (en) * | 2017-12-11 | 2018-03-30 | 同方威视技术股份有限公司 | Vehicle chassis scanning system and scan method |
| WO2019114321A1 (en) * | 2017-12-11 | 2019-06-20 | 同方威视技术股份有限公司 | Vehicle chassis scanning system and scanning method |
| CN113949811A (en) * | 2021-10-14 | 2022-01-18 | 广州威拓电子科技有限公司 | Method and device for shooting vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104777523B (en) | 2017-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104777523A (en) | Panoramic detecting system for chassis of motor vehicle at airport crossing and control method | |
| US10994419B2 (en) | Controlling a robot in the presence of a moving object | |
| CN110421557A (en) | Environmental perspective perception and the safe early warning of distribution network live line work robot protect system and method | |
| CN102298813B (en) | Photon fence system for monitoring on security protection of perimeter at night | |
| CN107344696B (en) | Tire crane anti-collision based on real time video image identification hits early warning system and its method | |
| CN105893940B (en) | The implementation method of system is fixed in container hoisting anticollision based on edge detection | |
| CN205139699U (en) | Robot keeps away barrier system | |
| WO2021248833A1 (en) | Anti-collision system and method for actively guiding vehicle stopping using camera | |
| CN102693637A (en) | Signal lamp for prompting right-turn vehicle to avoid pedestrians at crossroad | |
| CN102946528A (en) | Airport runway monitoring system based on intelligent video monitoring for whole scenic spot | |
| CN108789500B (en) | Human-machine safety protection system and safety protection method | |
| JP7127597B2 (en) | monitoring device | |
| CN102543029A (en) | Display device and display control method thereof | |
| CN102565873A (en) | Safety check system for three-dimensional vehicle chassis | |
| JP2017030688A (en) | Periphery monitoring device of work machine | |
| KR101745988B1 (en) | A System For Vehicle Inspection | |
| CN107688817A (en) | Danger stage security system based on image recognition | |
| Hasegawa et al. | Diminished reality for hiding a pedestrian using hand-held camera | |
| CN112734908A (en) | Automobile chassis three-dimensional reconstruction system for running vehicles and working method thereof | |
| CN102521841A (en) | Multi-target object tracking method | |
| JP2013009267A (en) | Periphery monitoring device | |
| CN105425945A (en) | Unlocking processing method and system, unlocking control system and display equipment | |
| JP2014119900A (en) | Photographing system | |
| CN106184206B (en) | A kind of intelligent vehicle based on monocular vision principle is from road early warning system and method | |
| JP2018177216A (en) | Device for enabling vehicle to automatically start to move again |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170419 Termination date: 20200413 |