CN109283592A - Vehicle chassis detection system and vehicle chassis detection method - Google Patents
Vehicle chassis detection system and vehicle chassis detection method Download PDFInfo
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- CN109283592A CN109283592A CN201811415670.4A CN201811415670A CN109283592A CN 109283592 A CN109283592 A CN 109283592A CN 201811415670 A CN201811415670 A CN 201811415670A CN 109283592 A CN109283592 A CN 109283592A
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- vehicle chassis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
The invention discloses a kind of vehicle chassis detection system and vehicle chassis detection methods.The vehicle chassis detection system includes: information acquisition module, and information acquisition module includes the first visible images acquisition unit, infrared imaging unit and gray scale-height image acquisition unit；Identity information acquisition module, for acquiring the identity information of vehicle；Control module；Message processing module, message processing module and information acquisition module and identity information acquisition module communication connection, for transferring vehicle chassis history image and matching the first visible images with vehicle chassis history image to identify whether with the presence of foreign matter, infrared view, gray scale-height image and the first visible images are matched to obtain the temperature difference and difference in height of foreign matter region Yu its neighboring area when there are foreign matter, the risk of foreign matter is judged according to temperature difference and difference in height.The vehicle chassis detection system has many advantages, such as that recognition efficiency is high, recognition accuracy is high.
Description
Technical field
The present invention relates to technical field of vision detection, specially a kind of vehicle chassis detection system based on multisensor and
Detection method.
Background technique
As automobile is more more and more universal in daily life, vehicle safety problem is increasingly valued by people.Especially
It is the chassis of automobile, due to its unique crypticity, is often utilized by criminal, such as hides bomb on the chassis of automobile
Deng.If these vehicles are driven to the place explosion that the crowd is dense, consequence is hardly imaginable.
Existing vehicle bottom testing equipment mainly has: the Chinese patent of Patent No. ZL201420863559.2 discloses one kind
Camera is mounted in handheld device to improve the reflective microscopy of original hand-held by Handheld vehicle bottom detection device, the device
Measurement equipment solves the problems such as light is poor, photo cannot shoot storage；The Chinese patent of Patent No. ZL201510415195.0
A kind of vehicle bottom detection device of multi-thread battle array induction original part is disclosed, which is placed in three linear array inductions under the same camera
Forward sight, direct-view, the scanning in three direction of backsight may be implemented in original part on the basis of not increasing camera cost in this way；The patent No.
A kind of vehicle bottom detection device that image capture module is integrated, the device are disclosed for the Chinese patent of ZL201520592486.2
Line array sensor plate and integrated mainboard are laterally juxtaposed to one block of plate, effectively by vehicle bottom detection system from 20cm height pressure
It has been reduced within 10cm.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention the
On the one hand a kind of vehicle chassis detection system is proposed, the vehicle chassis detection system includes: information acquisition module, the information
Acquisition module includes for acquiring the first visible images acquisition unit of the first visible images, for acquiring infrared view
Infrared imaging unit and for acquiring gray scale-height image gray scale-height image acquisition unit；Identity information acquisition mould
Block, for acquiring the identity information of vehicle, the identity information includes at least one of license board information and vehicle model information；Control
Module, the control module include the first visible images acquisition unit controller, infrared imaging cell controller, gray scale-
Height image acquisition unit controller and identity information acquisition module controller, the first visible images acquisition unit control
Device be connected with the first visible images acquisition unit so as to control the opening of the first visible images acquisition unit and
It closes, the infrared imaging cell controller is connected to control the infrared imaging list with the infrared imaging unit
The opening and closing of member, the gray scale-height image acquisition unit controller are connected with the gray scale-height image acquisition unit
To control the opening and closing of the gray scale-height image acquisition unit, the identity information acquisition module controller and institute
Identity information acquisition module is stated to be connected to control the opening and closing of the identity information acquisition module；Message processing module,
The message processing module and each of the information acquisition module and the identity information acquisition module communication connection are used
In the vehicle chassis history image for transferring storage according to the identity information and by first visible images and the vehicle
Chassis history image is matched to identify whether with the presence of foreign matter, by the infrared view, described when there are foreign matter
Gray scale-height image and first visible images are matched to obtain the temperature of foreign matter region Yu its neighboring area
Degree difference and difference in height, the risk of foreign matter is judged according to the temperature difference and the difference in height.
Vehicle chassis detection system according to an embodiment of the present invention has the advantages that recognition efficiency is high, recognition accuracy is high.
In addition, vehicle chassis detection system according to the above embodiment of the present invention can also have following additional technology special
Sign:
According to one embodiment of present invention, the first visible images acquisition unit is CCD camera, the gray scale-
Height image acquisition unit is laser range sensor, it is preferable that the gray scale-height image acquisition unit is multiple Laser Measurings
Away from sensor, multiple laser range sensors are arranged at interval along the first preset direction, the two neighboring Laser Measuring
Away from sensor distance pre-determined distance.
According to one embodiment of present invention, the first visible images acquisition unit and the infrared imaging unit
It is arranged at interval along the second preset direction, the first visible images acquisition unit and the infrared imaging unit are in institute
It states on the second preset direction relatively, first preset direction is perpendicular to second preset direction.
According to one embodiment of present invention, the vehicle chassis detection system further comprises: vehicle bottom scanning platform；With
And first light compensating lamp and the second light compensating lamp, first light compensating lamp be located at the first of the width centreline of vehicle bottom scanning platform
Side, second light compensating lamp are located at second side of the width centreline of vehicle bottom scanning platform, it is preferable that described first is visible
Each of light image acquisition unit and the infrared imaging unit are located at the width centreline of vehicle bottom scanning platform
On.
According to one embodiment of present invention, the vehicle chassis detection system further comprises the row for measuring vehicle
The vehicle speed measurement module of speed is sailed, the vehicle speed measurement module is located on the width centreline of vehicle bottom scanning platform, wherein
The control module and the vehicle speed measurement module communication connection, the row of the vehicle for being measured according to the vehicle speed measurement module
Sail the line frequency of the first visible images acquisition unit described in speed control.
According to one embodiment of present invention, the message processing module includes: vehicle chassis history image storage unit,
For storing the vehicle chassis history image；With matching primitives unit, it is used for first visible images and the vehicle
Chassis history image is matched to identify whether with the presence of foreign matter, when there are foreign matter, carry out Foreign bodies so as to
To the foreign matter region, the infrared view, the gray scale-height image and first visible images are carried out
It matches to obtain the temperature difference and difference in height of foreign matter region Yu its neighboring area when there is foreign matter, according to the temperature
The poor and described difference in height judges the risk of foreign matter, it is preferable that when the difference in height is more than or equal to the first preset value, then judges
Foreign matter has risk, it is preferable that first preset value is 5 centimetres；When the temperature difference is more than or equal to the second preset value,
Then judge that foreign matter has risk, it is preferable that second preset value is 10 degrees Celsius.
According to one embodiment of present invention, the vehicle chassis detection system further comprises: external receiving module, institute
External receiving module and the message processing module communication connection are stated, for showing first visible images, described infrared
Line image, the gray scale-height image, the foreign matter region, temperature difference and difference in height.
Second aspect of the present invention proposes that a kind of vehicle chassis detection method, the vehicle chassis detection method include following step
It is rapid: to obtain the first visible images, infrared view, gray scale-height image of vehicle chassis；The identity information of vehicle is acquired,
The identity information includes at least one of license board information and vehicle model information；With the vehicle for transferring storage according to the identity information
Chassis history image and first visible images are matched with the vehicle chassis history image to identify and to be
It is no with the presence of foreign matter, when there are foreign matter, by the infrared view, the gray scale-height image and first visible light
Image is matched to obtain the temperature difference and difference in height of foreign matter region Yu its neighboring area, according to the temperature difference and
The difference in height judges the risk of foreign matter.
It is excellent that vehicle chassis detection method according to an embodiment of the present invention also has that recognition efficiency is high, recognition accuracy is high
Point.
According to one embodiment of present invention, when the difference in height is more than or equal to the first preset value, then judge that foreign matter has
Dangerous property, it is preferable that first preset value is 5 centimetres；When the temperature difference is more than or equal to the second preset value, then judge
Foreign matter has risk, it is preferable that second preset value is 10 degrees Celsius.
According to one embodiment of present invention, the vehicle chassis detection method further comprises measuring the traveling speed of vehicle
Degree controls the first visible images acquisition unit of the first visible images of acquisition according to the travel speed of the vehicle of measurement
Line frequency.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is the partial structural diagram of vehicle chassis detection system according to an embodiment of the present invention；
Fig. 2 is the topological diagram of vehicle chassis detection system according to an embodiment of the present invention；
Fig. 3 is the flow chart of vehicle chassis detection method according to an embodiment of the present invention.
Vehicle chassis detection system 10,
Information acquisition module 110, the first visible images acquisition unit 111, infrared imaging unit 112, gray scale-height
Image acquisition units 113, inductance coil 116, vehicle speed measurement module 150,
Vehicle bottom scanning platform 120,
First light compensating lamp 131, the second light compensating lamp 132, erecting bed 140,
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings.Below with reference to
The embodiment of attached drawing description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings vehicle chassis detection system 10 according to an embodiment of the present invention is described.As shown in Figure 1, according to this
The vehicle chassis detection system 10 of inventive embodiments includes information acquisition module 110, identity information acquisition module 160, control mould
Block and message processing module 170.
Information acquisition module 110 include for acquire the first visible images acquisition unit 111 of the first visible images,
It is adopted for acquiring the infrared imaging unit 112 of infrared view and for acquiring gray scale-height image gray scale-height image
Collect unit 113.Identity information acquisition module 160 is used to acquire the identity information of vehicle, the identity information include license board information and
At least one of vehicle model information.
The control module includes the first visible images acquisition unit controller, infrared imaging cell controller, gray scale-
Height image acquisition unit controller and identity information acquisition module controller.The first visible images acquisition unit controller
It is connected with the first visible images acquisition unit 111 to control the opening and closing of the first visible images acquisition unit 111,
The infrared imaging cell controller is connected to control the opening of infrared imaging unit 112 with infrared imaging unit 112
And closing, the gray scale-height image acquisition unit controller are connected to control ash with gray scale-height image acquisition unit 113
The opening and closing of degree-height image acquisition unit 113.The identity information acquisition module controller and identity information acquisition module
160 are connected to control the opening and closing of identity information acquisition module 160.
Message processing module 170 and each of information acquisition module 110 and identity information acquisition module 160 communication link
It is logical.Message processing module 170 is used to transfer the vehicle chassis history image of storage and this is first visible according to the identity information
Light image is matched with the vehicle chassis history image to identify whether with the presence of foreign matter, by infrared ray when there are foreign matter
Image, gray scale-height image and the first visible images are matched to obtain foreign matter region and its neighboring area
Temperature difference and difference in height judge the risk of foreign matter according to the temperature difference and the difference in height.
The present invention also provides vehicle chassis detection methods.Vehicle chassis detection method according to an embodiment of the present invention includes
Following steps:
Obtain the first visible images, infrared view and the gray scale-height image of vehicle chassis.
The identity information of vehicle is acquired, which includes at least one of license board information and vehicle model information.
The vehicle chassis history image of storage is transferred according to the identity information and by first visible images and the vehicle
Chassis history image is matched to identify whether with the presence of foreign matter.When there are foreign matter, by the infrared view, the ash
Degree-height image and first visible images are matched to obtain the temperature difference of foreign matter region Yu its neighboring area
And difference in height, the risk of foreign matter is judged according to the temperature difference and the difference in height.
It is according to an embodiment of the present invention to implement to can use vehicle chassis detection system 10 according to an embodiment of the present invention
Vehicle chassis detection method.
Vehicle chassis detection system 10 according to an embodiment of the present invention passes through the first visible images acquisition unit 111 of setting
With identity information acquisition module 160, so as to which the vehicle chassis of first visible images on the chassis of vehicle and storage is gone through
Whether history image is matched, it is possible thereby to identify and (judge) with the presence of foreign matter.
Vehicle chassis detection system 10 according to an embodiment of the present invention passes through setting infrared imaging unit 112 and gray scale-
Height image acquisition unit 113, it is hereby achieved that the infrared view on the chassis of vehicle and gray scale-height image.Thus exist
It identifies there are when foreign matter, it can be by the way that the infrared view, the gray scale-height image and first visible images be carried out
Matching, to obtain the temperature difference and difference in height of foreign matter region with the neighboring area of the foreign matter region, it can obtain
The three-dimensional properties of foreign matter are obtained, and then judge the risk of foreign matter according to the temperature difference and the difference in height.
It is possible thereby to avoid generating erroneous judgement to the risk of the foreign matter on the chassis of vehicle, so that identification effect not only can be improved
Rate, and the accuracy rate of identification can be improved.
Therefore, vehicle chassis detection system 10 according to an embodiment of the present invention has recognition efficiency height, recognition accuracy high
The advantages that.Correspondingly, vehicle chassis detection method according to an embodiment of the present invention also has recognition efficiency height, recognition accuracy high
The advantages that.
As shown in Figure 1, in some embodiments of the invention, vehicle chassis detection system 10 may include information collection mould
Block 110, control module, identity information acquisition module 160 and message processing module 170.
Information acquisition module 110 includes the first visible images acquisition unit 111, infrared imaging unit 112 and gray scale-
Height image acquisition unit 113.Preferably, the first visible images acquisition unit 111 can be CCD camera, infrared imaging
Unit 112 can be infrared camera, and gray scale-height image acquisition unit 113 can be laser range sensor.
As shown in Figure 1, gray scale-height image acquisition unit 113 can be multiple laser range sensors, multiple laser
Distance measuring sensor can be arranged at interval along the first preset direction, the two neighboring laser range sensor interval it is default away from
From.That is, multiple laser range sensors can be in line to form array, by range information real-time rendering at
Gray scale-the height image.
For example, gray scale-height image acquisition unit 113 can be 19 laser range sensors, 19 Laser Measurings
It can equally spacedly be arranged along first preset direction away from sensor, two neighboring 12 centimetres of laser range sensor interval-
13 centimetres.Preferably, which can be horizontally oriented and perpendicular to the driving direction of vehicle.
As shown in Figure 1, vehicle chassis detection system 10 further comprises vehicle bottom scanning platform 120,131 and of the first light compensating lamp
Second light compensating lamp 132.By the way that vehicle bottom scanning platform 120 is arranged, so as to reduce the travel speed of vehicle, to obtain more
Clearly, more accurate first visible images, the infrared view, the gray scale-height image.It is mended by setting first
Light lamp 131 and the second light compensating lamp 132, suitably illuminate so as to provide intensity for the first visible images acquisition unit 111
Light, to obtain first visible images be more clear, more accurate.
Preferably, the first light compensating lamp 131 be located at the width centreline of vehicle bottom scanning platform 120 the first side it is (such as left
Side), the second light compensating lamp 132 is located at second side (such as right side) of the width centreline of vehicle bottom scanning platform 120.Wherein, vehicle bottom
The width centreline of scanning platform 120 refers to: the width direction along vehicle bottom scanning platform 120 of vehicle bottom scanning platform 120 extends
Center line.It is possible thereby to the illumination light of even intensity be provided for the first visible images acquisition unit 111, to obtain more
Clearly, more accurate first visible images.
As shown in Figure 1, the first light compensating lamp 131 can be multiple (such as three), the second light compensating lamp 132 is also possible to multiple
(such as three).Preferably, the width of multiple first light compensating lamps 131 and the opposite vehicle bottom scanning platform 120 of multiple second light compensating lamps 132
It is symmetrical to spend center line.It is possible thereby to provide intensity more uniform illumination light for the first visible images acquisition unit 111, so as to
Obtain first visible images be more clear, more accurate.
In one embodiment of the invention, as shown in Figure 1, the first visible images acquisition unit 111 and infrared ray at
As unit 112 is arranged at interval along the second preset direction, the first visible images acquisition unit 111 and infrared imaging unit
112 is opposite on second preset direction, and first preset direction is perpendicular to second preset direction.It is possible thereby to make vehicle bottom
The result of disk detection system 10 is more reasonable.Preferably, which can be consistent with the driving direction of vehicle.
As illustrated in fig. 1, it is preferred that each in the first visible images acquisition unit 111 and infrared imaging unit 112
Person is located on the width centreline of vehicle bottom scanning platform 120.It is possible thereby to make the first visible images acquisition unit 111 and vehicle
Relative positional relationship it is consistent with the relative positional relationship of infrared imaging unit 112 and vehicle, so as to more accurate
Ground matches the infrared view and first visible images, to find out on the infrared view more accurately
The foreign matter region, and then the neighboring area of the foreign matter region and the foreign matter region can be obtained more accurately
Temperature difference.
Vehicle chassis detection system 10 can also include erecting bed 140, and erecting bed 140 can be set on the ground.Wherein,
One visible images acquisition unit 111, infrared imaging unit 112, inductance coil 116 and vehicle speed measurement module 150 are ok
It is located on erecting bed 140.Preferably, mounting groove, 111 He of the first visible images acquisition unit can be equipped on erecting bed 140
Infrared imaging unit 112 can be located in the mounting groove.
When vehicle passes through information acquisition module 110, inductance coil 116 can be triggered, to make 131 He of the first light compensating lamp
Second light compensating lamp 132 is opened.Meanwhile first visible images acquisition unit 111 acquire the first visible of vehicle chassis (vehicle bottom)
Light image, infrared imaging unit 112 acquire the infrared view of vehicle chassis, and gray scale-height image acquisition unit 113 acquires
Gray scale-height image (three-dimensional information at scanning car bottom) of vehicle chassis.Preferably, it is flat to be located at the scanning of vehicle bottom for inductance coil 116
On the width centreline of platform 120.
The control module can also include vehicle checker and light filling lamp controller.The vehicle checker can be with 116 phase of inductance coil
Connect to control the opening and closing of inductance coil 116.The light filling lamp controller can be with the first light compensating lamp 131 and the second light filling
Lamp 132 is connected, to control the opening and closing of the first light compensating lamp 131 and the second light compensating lamp 132.
As shown in Figure 1, vehicle chassis detection system 10 further comprises the speed survey for measuring the travel speed of vehicle
Module 150 is measured, vehicle speed measurement module 150 is located on the width centreline of vehicle bottom scanning platform 120.The control module and speed are surveyed
150 communication connection of module is measured, the travel speed of the vehicle for measuring according to vehicle speed measurement module 150 controls the first visible light figure
As the line frequency of acquisition unit 111.It is possible thereby to obtain the first visible images that are more complete, being more clear.
Specifically, vehicle speed measurement module 150 measures the movement of vehicle in video within the unit time by camera
Distance, to estimate that velocity information is real-time transmitted to the control module by the travel speed of vehicle, vehicle speed measurement module 150, in turn
Control the line frequency of the first visible images acquisition unit 111 of information acquisition module 110.
At the same time, identity information acquisition module 160 acquires the identity information of vehicle, which includes license board information
At least one of with vehicle model information.
In some examples of the invention, message processing module 170 include vehicle chassis history image storage unit and
With computing unit.
The vehicle chassis history image storage unit is for storing vehicle chassis history image, the vehicle chassis history image
The image (visible images) of vehicle chassis when for no foreign matter.The vehicle of vehicle chassis history image storage unit storage
Chassis history image can be provided by public security department, to store the vehicle chassis history image of all vehicles.Work as vehicle chassis
When detection system 10 is used for a certain unit (such as a certain enterprise, a certain cell or a certain organ), the vehicle chassis history image
Storage unit can only store the vehicle chassis history image of the vehicle of the unit.The vehicle chassis history image storage unit is also
It can store the vehicle chassis history image of all or most of vehicle.
Preferably, which has the function of networking share.
Message processing module 170 and each of information acquisition module 110 and identity information acquisition module 160 communication link
It is logical.For example, message processing module 170 wirelessly connects with each of information acquisition module 110 and identity information acquisition module 160
It is logical.Information acquisition module 110 can be by the first visible images, infrared view, gray scale-height of collected vehicle chassis
Image is sent to message processing module 170, and identity information acquisition module 160 can send the identity information of collected vehicle
Give message processing module 170 (the matching primitives unit).
The matching primitives unit can be according to the identity information of the vehicle, from the vehicle chassis history image storage unit
Transfer the vehicle chassis history image corresponding with the vehicle.Identity information acquisition module 160 can be with the preferential collection vehicle
License board information, thus the matching primitives unit can be deposited according to the license board information of the vehicle from the vehicle chassis history image
Storage unit transfers the vehicle chassis history image of the vehicle itself.
Identity information acquisition module 160 can also acquire the vehicle model information of the vehicle.The matching primitives unit can basis
The vehicle model information of the vehicle, the vehicle chassis for transferring the affiliated vehicle of the vehicle from the vehicle chassis history image storage unit are gone through
History image.For example, the matching primitives unit judges that the vehicle of the vehicle is Volvo according to the vehicle model information of the vehicle
V90, then the matching primitives unit transfers the vehicle chassis history figure of Volvo V90 from the vehicle chassis history image storage unit
Picture.
Preferably, identity information acquisition module 160 can acquire the license board information and vehicle model information of vehicle simultaneously.Thus may be used
With in the vehicle chassis history image of the not stored vehicle of vehicle chassis history image storage unit itself, the matching meter
Unit is calculated according to the vehicle model information of the vehicle, transfers the affiliated vehicle of the vehicle from the vehicle chassis history image storage unit
Vehicle chassis history image.
Then, the matching primitives unit first visible images are matched with the vehicle chassis history image so as to
Identify whether with the presence of foreign matter.If there is no foreign matter, then checking terminates；If there is foreign matter, then foreign matter can be demarcated, example
Such as foreign matter is demarcated with red frame.
When there are foreign matter, which carries out Foreign bodies to obtain the foreign matter region, the matching
Computing unit can match the infrared view, the gray scale-height image and first visible images, to obtain
The temperature difference and difference in height of the neighboring area of foreign matter region and the foreign matter region.
By matching, can be obtained in the infrared view and the gray scale-height image foreign matter region and
The neighboring area of the foreign matter region, and then the neighboring area of available foreign matter region and the foreign matter region
Temperature difference and difference in height.
The foreign matter region refer to the foreign matter image (infrared view, the gray scale-height image, this first can
Light-exposed image) on edge included by image-region.That is, the foreign matter region, which refers to, shows foreign matter on image
Part edge included by image-region.The neighboring area of the foreign matter region is that the foreign matter region expands outwardly
Obtained image-region.Preferably, the edge of the neighboring area of the foreign matter region and the edge of the foreign matter region
Distance can be less than or equal to 15 centimetres.
When the chassis of vehicle attachment paper, polybag, the foreign matters such as leaf, due to existing detection system can not obtain it is different
The three-dimensional properties of object, therefore be easy to generate erroneous judgement to the risk of foreign matter.Vehicle chassis detection system 10 can be according to foreign matter institute
Temperature difference and difference in height in region and the neighboring area of the foreign matter region, to judge that foreign matter whether there is danger, thus
Foreign matter can be no longer regarded as with risk, to eliminate when the foreign matters such as paper, polybag, leaf are adhered on the chassis of vehicle
Erroneous judgement to the risk of foreign matter improves recognition efficiency and recognition accuracy.
Preferably, when the difference in height is more than or equal to the first preset value, then judge that foreign matter has risk.More preferably
Ground, first preset value are 5 centimetres.It is further preferred that first preset value is 10 centimetres.
Preferably, when the temperature difference is more than or equal to the second preset value, then judge that foreign matter has risk.More preferably
Ground, second preset value are 5 degrees Celsius.It is further preferred that second preset value is 10 degrees Celsius.Since vehicle itself has
Higher temperature, when vehicle chassis has foreign matter to block and foreign matter thickness is larger, due to the specific heat capacity and heat transfer coefficient of vehicle chassis
It is different from the specific heat capacity of foreign matter and heat transfer coefficient, therefore the temperature of vehicle chassis and the temperature of foreign matter have larger difference.When this
When temperature difference is more than or equal to the second preset value, then judge that foreign matter has risk.
The secondary detection information can be recorded in database, reference number of a document is " license plate+vehicle+date+place ".
Vehicle chassis detection system 10 may further include external receiving module 180, external receiving module 180 and information
170 communication connection of processing module, external receiving module 180 is for showing first visible images, the infrared view, the ash
Degree-height image, foreign matter region (going out foreign matter with red collimation mark, there are positions), temperature difference and difference in height.
Specifically, external receiving module 180 may include the hardware such as display, keyboard, mouse.Vehicle chassis this
One visible images meeting real-time display over the display, and goes out foreign matter region with red collimation mark.Operator (safety inspector) is also
The infrared view, the gray scale-height image, the temperature difference and the difference in height of vehicle chassis can be checked by display.
Operator can transfer first visible images, the infrared view and the gray scale-by mouse etc. in real time
Height image is checked, and can carry out partial enlargement.For example, may determine that the body of foreign matter by the temperature difference and the difference in height
Product.If checking in exception, can manual early warning, notify field in safety inspector to vehicle carry out field review.
Risk mentioned herein refers to that vehicle chassis detection system 10 prompts foreign matter that may have reality to operator
Risk, but need safety inspector's field review is for confirmation whether really to there is risk.
As depicted in figs. 1 and 2, information acquisition module 110 may further include the type and concentration for measuring gas
Gas measurement unit 114 and actinometry unit 115 for measuring radiation wavelength and radiation intensity.The control module is into one
Step includes gas measurement unit controller and actinometry cell controller.The gas measurement unit controller and gasmetry list
Member 114 is connected to control the opening and closing of gas measurement unit 114, the actinometry cell controller and actinometry list
Member 115 is connected to control the opening and closing of actinometry unit 115.
When there are foreign matter, the risk of foreign matter is judged according to the concentration and the radiation intensity, when the concentration is more than or equal to
When preset concentration or the radiation intensity are more than or equal to default radiation intensity, then judge that foreign matter has risk.Those skilled in the art
Member it is understood that when the concentration is more than or equal to preset concentration and the radiation intensity and is more than or equal to default radiation intensity,
Judge that foreign matter has risk.
Vehicle chassis detection system 10 according to an embodiment of the present invention passes through setting gas measurement unit 114 and actinometry
Unit 115, it is hereby achieved that the type and concentration of radiation wavelength, radiation intensity and gas.Thus identifying that there are different
When object, so as to by judge the concentration whether be more than or equal to the preset concentration or the radiation intensity whether to be more than or equal to this pre-
If radiation intensity, to judge the risk of foreign matter.It is possible thereby to avoid generating erroneous judgement to the risk of the foreign matter on the chassis of vehicle,
To not only can be further improved recognition efficiency, but also it can be further improved the accuracy rate of identification.
Therefore, vehicle chassis detection system 10 according to an embodiment of the present invention has recognition efficiency height, recognition accuracy high
The advantages that.Correspondingly, vehicle chassis detection method according to an embodiment of the present invention also has recognition efficiency height, recognition accuracy high
The advantages that.
Gas measurement unit 114 and actinometry unit 115 can be located on erecting bed 140.Gas measurement unit 114
It can be gas sensor, actinometry unit 115 can be radiation detecting instrument.
Information acquisition module 110 can send out the type of collected radiation wavelength, radiation intensity and gas and concentration
Give message processing module 170 (the matching primitives unit).
Preferably, when gas measurement unit 114 detects flammable explosive gas, which is 10%LEL；Work as gas
When bulk measurement unit 114 detects chlorine, which is 0.5ppm；It, should when gas measurement unit 114 detects phosgene
Preset concentration is 0.1ppm；When gas measurement unit 114 detects sulfur dioxide, which is 2pm；Work as gasmetry
When unit 114 detects formaldehyde, which is 0.5ppm；When gas measurement unit 114 detects ozone, this presets dense
Degree is 0.1ppm.
It is further preferred that the preset concentration is 30%LEL when gas measurement unit 114 detects flammable explosive gas；
When gas measurement unit 114 detects chlorine, which is 1ppm；When gas measurement unit 114 detects phosgene,
The preset concentration is 0.2ppm；When gas measurement unit 114 detects sulfur dioxide, which is 5pm；When gas is surveyed
When amount unit 114 detects formaldehyde, which is 0.8ppm；When gas measurement unit 114 detects ozone, this is default
Concentration is 0.2ppm.
Specifically, when gas measurement unit 114 detects flammable explosive gas, when the preset concentration is less than 10%
When LEL, no explosion danger；When the preset concentration is more than or equal to 10%LEL and is less than 30%LEL, exists and fire danger；When this
When preset concentration is more than or equal to 30%LEL, has and greatly fire danger.
When gas measurement unit 114 detects chlorine, phosgene, sulfur dioxide, formaldehyde and ozone respectively, when this preset it is dense
When degree is respectively smaller than 0.5ppm, 0.1ppm, 2pm, 0.5ppm and 0.1ppm, as there is no toxic gases to handle；When this is default
Concentration be respectively greater than be equal to 0.5ppm, 0.1ppm, 2pm, 0.5ppm and 0.1ppm and be respectively smaller than 1ppm, 0.2ppm, 5pm,
When 0.8ppm and 0.2ppm, as there are the processing of the toxic gas of low danger classes；It is equal to when the preset concentration is respectively greater than
When 1ppm, 0.2ppm, 5pm, 0.8ppm and 0.2ppm, as there are the processing of the toxic gas of high-risk grade.
Preferably, when the radiation wavelength is long wave, medium wave or shortwave, which is 10v/m；When the radiation
When wavelength is ultrashort wave, which is 5v/m；When the radiation wavelength is microwave, which is 10 μ
W/cm2,
It is further preferred that the default radiation intensity is 25v/m when the radiation wavelength is long wave, medium wave or shortwave；When this
When radiation wavelength is ultrashort wave, which is 512v/m；When the radiation wavelength is microwave, the default radiation intensity
For 40 μ W/cm2,
It, can when actinometry unit 115 detects radiation intensity, but the radiation intensity is less than the default radiation intensity
Judged with merging first visible images, according to first visible images, using BP neural network, by acquired results
Decision-level fusion is carried out, to obtain more accurate judging result.
External receiving module 180 can be also used for showing first visible images, the concentration and the radiation intensity.Vehicle
Chassis detection system 10 may further include alarm module, the alarm module be used for the concentration be more than or equal to preset concentration or
The radiation intensity is more than or equal to default radiation intensity alarm, and there may be dangers in safety inspector's vehicle in prompting field, and
Excessive value is shown on display.
In one embodiment of the invention, information acquisition module 110 further comprise for acquire vehicle front and
Second visible images acquisition unit of second visible images at least one of the back side.That is, this is second visible
Light image can be the direct picture of vehicle, be also possible to the back side image of vehicle, which can be vehicle
Direct picture and back side image.Message processing module 170 is used for first visible images and second visible images
It is associated storage.
It is possible thereby to carry out retrospect inspection to vehicle.That is, when vehicle chassis detection system 10 be not detected it is latent
Dangerous material, emerging dangerous material but cause danger event when, can not only recall associated first visible images
With second visible images, to find out the vehicle for concealing dangerous material, and can to vehicle chassis detection system 10 into
Row improves.
Preferably, message processing module 170 be used for first visible images, second visible images and they
Shooting time be associated storage.The second visible images acquisition unit can be CCD camera.
Preferably, the matching primitives unit be used for in the front and back of first visible images and vehicle extremely
Second visible images of few one are associated, and message processing module 170 further comprises information memory cell, which deposits
Storage unit is used to store first visible images and second visible images being associated together.
The control module further comprises the second visible images acquisition unit controller, second visible images acquisition
Cell controller is connected to control beating for the second visible images acquisition unit with the second visible images acquisition unit
It is open and close.
First visible images acquisition unit 111 and the second visible images acquisition unit can be along the second default sides
To being arranged at interval, the first visible images acquisition unit 111 and the second visible images acquisition unit are second pre- at this
It is opposite on set direction.It is possible thereby to keep the structure of vehicle chassis detection system 10 more reasonable.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected or can communicate each other；It can be directly connected, can also indirectly connected through an intermediary, it can be with
It is the interaction relationship of the connection or two elements inside two elements, unless otherwise restricted clearly.For this field
For those of ordinary skill, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of vehicle chassis detection system characterized by comprising
Information acquisition module, the information acquisition module include adopting for acquiring the first visible images of the first visible images
Collect unit, the infrared imaging unit for acquiring infrared view and for acquiring gray scale-height image gray scale-height map
As acquisition unit；
Identity information acquisition module, for acquiring the identity information of vehicle, the identity information includes license board information and vehicle letter
At least one of breath；
Control module, the control module include the first visible images acquisition unit controller, the control of infrared imaging unit
Device, gray scale-height image acquisition unit controller and identity information acquisition module controller, the first visible images acquisition
Cell controller is connected to control the first visible images acquisition unit with the first visible images acquisition unit
Opening and closing, the infrared imaging cell controller is connected described infrared to control with the infrared imaging unit
The opening and closing of line imaging unit, the gray scale-height image acquisition unit controller and the gray scale-height image acquire
Unit is connected to control the opening and closing of the gray scale-height image acquisition unit, the identity information acquisition module control
Device processed is connected to control the opening and closing of the identity information acquisition module with the identity information acquisition module；
In message processing module, the message processing module and the information acquisition module and the identity information acquisition module
Each communication connection, for transferred according to the identity information storage vehicle chassis history image and can by described first
Light-exposed image is matched with the vehicle chassis history image to identify whether with the presence of foreign matter, by institute when there are foreign matter
Infrared view, the gray scale-height image and first visible images are stated to be matched to obtain foreign matter location
The temperature difference and difference in height in domain and its neighboring area judge the risk of foreign matter according to the temperature difference and the difference in height.
2. vehicle chassis detection system according to claim 1, which is characterized in that the first visible images acquisition is single
Member is CCD camera, and the gray scale-height image acquisition unit is laser range sensor, it is preferable that the gray scale-height map
Picture acquisition unit is multiple laser range sensors, and multiple laser range sensors are set at interval along the first preset direction
It sets, two neighboring laser range sensor interval pre-determined distance.
3. vehicle chassis detection system according to claim 1, which is characterized in that the first visible images acquisition is single
The first and described infrared imaging unit is arranged at interval along the second preset direction, the first visible images acquisition unit and
The infrared imaging unit is opposite on second preset direction, and first preset direction is default perpendicular to described second
Direction.
4. vehicle chassis detection system according to claim 1, which is characterized in that further comprise: vehicle bottom scanning platform；
And
First light compensating lamp and the second light compensating lamp, first light compensating lamp are located at the of the width centreline of vehicle bottom scanning platform
Side, second light compensating lamp are located at second side of the width centreline of vehicle bottom scanning platform, it is preferable that described first can
Each of light-exposed image acquisition units and the infrared imaging unit are located at the widthwise central of vehicle bottom scanning platform
On line.
5. vehicle chassis detection system according to claim 4, which is characterized in that further comprise for measuring vehicle
The vehicle speed measurement module of travel speed, the vehicle speed measurement module are located on the width centreline of vehicle bottom scanning platform,
Described in control module and the vehicle speed measurement module communication connection, vehicle for being measured according to the vehicle speed measurement module
Travel speed controls the line frequency of the first visible images acquisition unit.
6. vehicle chassis detection system according to claim 1, which is characterized in that the message processing module includes:
Vehicle chassis history image storage unit, for storing the vehicle chassis history image；With
Matching primitives unit is known for matching first visible images with the vehicle chassis history image
Not not whether with the presence of foreign matter, when there are foreign matter, progress Foreign bodies, will be described infrared to obtain the foreign matter region
Line image, the gray scale-height image and first visible images are matched to obtain foreign matter when there is foreign matter
The temperature difference and difference in height of region and its neighboring area judge the danger of foreign matter according to the temperature difference and the difference in height
Property,
Preferably, when the difference in height is more than or equal to the first preset value, then judge that foreign matter has risk, it is preferable that described
First preset value is 5 centimetres；When the temperature difference is more than or equal to the second preset value, then judge that foreign matter has risk, preferably
Ground, second preset value are 10 degrees Celsius.
7. vehicle chassis detection system according to claim 1, which is characterized in that further comprise:
External receiving module, the external receiving module and the message processing module communication connection, for showing described first
Visible images, the infrared view, the gray scale-height image, the foreign matter region, temperature difference and difference in height.
8. a kind of vehicle chassis detection method, which comprises the following steps:
The first visible images, the infrared view, gray scale-height image for obtaining vehicle chassis, acquire the identity information of vehicle,
The identity information includes at least one of license board information and vehicle model information；With
The vehicle chassis history image of storage is transferred according to the identity information and by first visible images and the vehicle
Chassis history image is matched to identify whether with the presence of foreign matter, when there are foreign matter, by the infrared view, institute
It states gray scale-height image and first visible images is matched to obtain foreign matter region and its neighboring area
Temperature difference and difference in height judge the risk of foreign matter according to the temperature difference and the difference in height.
9. vehicle chassis detection method according to claim 8, which is characterized in that when the difference in height is more than or equal to first
When preset value, then judge that foreign matter has risk, it is preferable that first preset value is 5 centimetres；When the temperature difference be greater than etc.
When the second preset value, then judge that foreign matter has risk, it is preferable that second preset value is 10 degrees Celsius.
10. vehicle chassis detection method according to claim 8 or claim 9, which is characterized in that further comprise measurement vehicle
Travel speed controls the first visible images acquisition of the first visible images of acquisition according to the travel speed of the vehicle of measurement
The line frequency of unit.
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| CN201811415670.4A CN109283592B (en) | 2018-11-26 | 2018-11-26 | Vehicle chassis detection system and vehicle chassis detection method |
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| CN110031911A (en) * | 2019-05-10 | 2019-07-19 | 同方威视技术股份有限公司 | Vehicle chassis check device, method and vehicle scan system |
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