CN207820027U - Vehicle chassis scanning system - Google Patents

Abstract

The utility model is related to a kind of vehicle chassis scanning systems, including control device (5), mobile device (1), line-scan digital camera (4) and First partial camera (2), line-scan digital camera (4) and First partial camera (2) are located in mobile device (1), control device (5) can be such that mobile device (1) moves to below vehicle chassis, to pass through the underbody photo of line-scan digital camera (4) photographing section or whole, and mobile device (1) can be made to move to suspicious region, to carry out local shooting to suspicious region by First partial camera (2).Such scanning system is easy to use, the labor intensity of operating personnel can be reduced, underbody photo can either be obtained comprehensively to be checked, the suspicious region of vehicle bottom can be checked from targetedly emphasis again, it can be improved and the reliability of inspection is scanned to vehicle chassis carrying suspicious object, and improve inspection efficiency.

Description

Vehicle chassis scanning system

Technical field

The utility model is related to vehicle safety Examined effect field more particularly to a kind of vehicle chassis scanning systems.

Background technology

Currently, vehicle chassis check device is distributed in highway bayonet, frontier inspection, prison, momentous conference and security field more Institute, for checking the problems such as vehicle chassis mails drugs, explosive, gun and chassis refit.

The vehicle chassis check device used at present includes mainly：Fixed underbody checks system and Handheld vehicle bottom inspection Mirror.Wherein, fixed underbody checks that system installation and debugging are complicated, cannot check the vehicle chassis in static park.Hand It holds formula underbody and checks mirror, need operating personnel that inspection bar is manually probeed into underbody space, there are inconvenient for use, operating personnel to work The problems such as intensity is big.

Utility model content

The purpose of this utility model is to propose a kind of vehicle chassis scanning system, can have more demand more flexible and conveniently Inspection is scanned to vehicle chassis.

To achieve the above object, on the one hand the utility model provides a kind of vehicle chassis scanning system, including control dress Set, mobile device, line-scan digital camera and First partial camera, line-scan digital camera and First partial camera are set on the mobile device, Control device can be such that mobile device moves to below vehicle chassis, to be shone by the underbody of line-scan digital camera photographing section or whole Piece, and mobile device can be made to move to suspicious region, to carry out local shooting to suspicious region by First partial camera.

Further, control device can judge to whether there is suspicious item in underbody photo, and judge underbody photo In there are so that mobile device is moved to the corresponding suspicious region of suspicious item.

Further, control device can make mobile device when the suspicious item in receiving underbody photo indicates to order Move to the corresponding suspicious region of suspicious item.

Further, scanning system further includes the second local cameras set on the mobile device, and control device can be from License plate number is identified in the photo or video of the shooting of second local cameras, to judge whether the license plate number identified is effective.

Further, control device can the license plate number that identifies of automatic decision it is whether effective, criterion based on judgement Including at least one of following criterion：Whether the digit of the number-plate number is correct, whether meets car plate naming rule, whether in Shen In the number plate of vehicle list that inspection declaration is surveyed and whether complete shoot；Or

Control device can confirm that instruction judges whether the license plate number identified is effective according to input by user, wherein use Family according in the photo or video visually seen the number-plate number and the number-plate number that identifies whether unanimously come input validation vehicle Whether the trade mark effectively instructs.

Further, First partial camera is located on the rotation axis of mobile device itself.

Further, mobile device is equipped with angle compensation mechanism, for carrying out angle compensation when mobile device rotates, To remain unchanged the shooting angle of First partial camera when mobile device rotates.

Further, angle compensation mechanism includes steering engine, and First partial camera is installed on the output end of steering engine, steering engine energy It is enough to drive First partial camera to rotate backward when mobile device rotates, so that the shooting angle of First partial camera is kept It is constant.

Further, First partial camera is mounted on the top of mobile device and/or line-scan digital camera is mounted on mobile fill The rear portion set.

Further, scanning system further includes distance measuring sensor, whether has barrier above mobile device for detecting, controls Device processed can judge whether mobile device enters below vehicle chassis after the detection signal for receiving distance measuring sensor.

Further, control device includes long-range control terminal and sets control panel on the mobile device, control terminal Remote signal can be sent out to control panel, the movement locus, posture changing and First partial camera to control mobile device are clapped Take the photograph at least one of angle.

Further, control terminal includes display unit, and display unit is used to receive and show line-scan digital camera shooting The real-time video of underbody photo, First partial camera and the shooting of the second local cameras.

Further, control device further includes driver and the driving mechanism set on the mobile device, and mobile device includes Running part, running part include the damping crawler belt being set at left and right sides of body part, and control panel can receive control terminal After signal, movement instruction is sent to driver, to control the damping caterpillar drive that driving mechanism drives both sides.

Further, mobile device is packaged type robot.

On the other hand the utility model additionally provides a kind of vehicle chassis scanning system, including control device, mobile device With First partial camera, the First partial camera is located in the mobile device, and the control device can make described Mobile device moves to suspicious region, to carry out local shooting, the shifting to suspicious region by the First partial camera Dynamic device is equipped with angle compensation mechanism, for carrying out angle compensation when the mobile device rotates, so as in the movement Device makes the shooting angle of the First partial camera remain unchanged when rotating.

Further, the angle compensation mechanism includes steering engine, and the main body of steering engine is fixed in mobile device, and described first Local cameras is installed on the output end of the steering engine, and the steering engine can drive described first when the mobile device rotates Local cameras rotates backward, so that the shooting angle of the First partial camera remains unchanged.

The First partial camera is located on the rotation axis of the mobile device itself.

Based on the above-mentioned technical proposal, the vehicle chassis scanning system of the utility model embodiment, is equipped on the mobile device Line-scan digital camera and First partial camera, control device can be such that mobile device moves to below vehicle chassis, to pass through linear array The underbody photo of camera photographing section or whole, and mobile device can be made to move to suspicious region, to be taken the photograph by First partial As head carries out local shooting to suspicious region.Such scanning system is easy to use, can reduce the labor intensity of operating personnel, can Underbody photo is enough obtained comprehensively to be checked, and can check the suspicious region of vehicle bottom from targetedly emphasis, The problems such as suspicious object or chassis refit are carried to vehicle chassis can be improved and be scanned the reliability of inspection, and improve inspection effect Rate.

Description of the drawings

Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application, The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model It limits.In the accompanying drawings：

Fig. 1 is the module composition schematic diagram of one embodiment of the utility model vehicle chassis scanning system；

Fig. 2 is the module composition schematic diagram of another embodiment of the utility model vehicle chassis scanning system；

Fig. 3 is the flow diagram of one embodiment of the utility model vehicle chassis scan method；

Fig. 4 is the flow diagram of a specific embodiment of the utility model vehicle chassis scan method.

Specific implementation mode

The utility model described further below.In the following paragraphs, the different aspect of embodiment is defined in more detail. The various aspects so limited can be combined with any other one side or many aspects, can not be combined unless explicitly stated otherwise.Especially It is, it is considered to be preferred or advantageous any feature can be considered as preferred or advantageous spy with other one or more Sign.

The terms descriptions merely for convenience such as " first " that occurs in the utility model, " second ", with distinguish have it is identical The different building blocks of title are not offered as priority or primary-slave relation.

In the description of the present invention, it should be understood that term "upper", "lower", "left", "right", "front", "rear", The orientation or positional relationship of the instructions such as "inner" and "outside" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching State the utility model, do not indicate or imply the indicated device must have a particular orientation, with specific azimuth configuration and Operation, therefore should not be understood as the limitation to scope of protection of the utility model.

In order to improve the convenience and efficiency that are scanned to vehicle chassis, the utility model first proposed a kind of vehicle Chassis scanning system (follow-up abbreviation " scanning system "), in a schematical embodiment, refering to what is shown in Fig. 1, the scanning system System includes control device 5, mobile device 1, line-scan digital camera 4 and First partial camera 2.Wherein, mobile device 1 can be mobile Formula robot, remote operated vehicle etc., line-scan digital camera 4 and First partial camera 2 are set on the mobile device 1, and control device 5 being capable of root Mobile device 1 is set to move to below vehicle chassis according to scanning demand, to be shone by the underbody of 4 photographing section of line-scan digital camera or whole Piece can also make mobile device 1 move to the suspicious region of underbody, to be carried out to suspicious region by First partial camera 2 Part shooting.

Line-scan digital camera 4 and First partial camera 2 both can be scanned individually according to demand realizes suspicious item inspection, can also Two kinds of scan modes are implemented in combination with suspicious item inspection.Optionally, First partial camera 2 is mounted on the top of mobile device 1, Clearly shooting effect can be obtained with closer distance.Line-scan digital camera 4 can be mounted on the rear portion of mobile device 1, for example, moving Along during vehicle centre-line is anteriorly moved from tailstock portion, line-scan digital camera 4 can gradually be obtained along vehicle width dynamic device 1 The linear array images in direction form all or part of underbody photo finally by software splicing.Alternatively, it is also possible on demand will The other positions in mobile device 1 are arranged in line-scan digital camera 4 and First partial camera 2.

Such scanning system can be such that mobile device enters below vehicle chassis, and be swept automatically by the movement of itself realization It retouches, it is easy to use, the labor intensity of operating personnel can be reduced, the underbody photo that can either be obtained by line-scan digital camera carries out comprehensive It is efficient to check, and the suspicious region that targetedly emphasis checks vehicle bottom, the as a result, scanning can be shot by part Device using flexible can be improved and be scanned the reliability of inspection to vehicle chassis carrying suspicious object, and improves inspection efficiency.

Line-scan digital camera 4 shoot underbody photo in, control device 5 can by the underbody photo of shooting with prestore it is normal Underbody photo is compared, and judges to whether there is suspicious item in underbody photo, and there are suspicious in judging underbody photo When object, mobile device 1 is set to move to the corresponding suspicious region of suspicious item, so as to further partial sweep.Such mode can carry The degree of automation and efficiency of high scanning means, saving manually checks the underbody photo required time, and is not passed through by operator The influence tested.Wherein, suspicious item includes：Mail the anomaly sxtructure etc. behind drugs, explosive, gun and repacking chassis.

Optionally, operator also can be in the underbody photo that line-scan digital camera 4 is shot by visually judging whether there is Suspicious item, if it find that suspicious item instruction order is then sent to control device 5 by suspicious item, so as to further partial sweep.Control Device 5 processed can make mobile device 1 move to suspicious item corresponding when the suspicious item in receiving underbody photo indicates to order Suspicious region carries out partial sweep.Such mode judges that the mode of suspicious item is more flexible, special or before not for some The suspicious item occurred also allows for being come out according to the micro-judgment of operator, can reduce the possibility of missing inspection.

Further, the scanning system of the utility model may also include the second part camera shooting for being located at 1 front of mobile device First 3, such as it is located at the front of robot, robot, all can be in face of vehicle when advancing from vehicle front or rear towards vehicle The trade mark, thus the license plate number of vehicle to be checked can be taken during robot ambulation, and front road conditions can be taken.When So, the second local cameras 3 can also be arranged at the middle part or rear portion of robot, as long as camera 3 can be photographed in face of car plate License plate number, but the front road conditions taken in this way may be blocked, therefore be not most preferred.

As shown in Fig. 2, control device 5 includes industrial personal computer 54, industrial personal computer 54 can read the shooting of the second local cameras 3 Photo or video automatically identify license plate number, and can judge whether the license plate number that identify is effective by industrial personal computer 5 or operator. The method of automated intelligent can be used or judge whether the license plate number of shooting is effective using manual method.

When judging, the digit for the number-plate number that control device identifies can be passed through using automated intelligent method It is whether correct, whether meet car plate naming rule, whether in the number plate of vehicle list for declaring detection, shooting it is whether complete etc. pre- It fixes, to judge whether the number-plate number is effective.Such method can improve the efficiency of license plate number identification, improve scanning system work The degree of automation of work.

When using manual method come when judging, the photo or video of the car plate of the second local cameras 3 shooting with identify License plate number be presented to operator together, whether the number that operator can directly observe by the naked eye identification correct, certainly, false Photo is not seen as operator only sees the license plate number identified, then operator can also judge according to above-mentioned criterion.Behaviour Author can click engineering noise button to tell the license plate number that system identification goes out invalid in the window.

When industrial personal computer or operator judge the license plate number identified as invalid (mistake) when, can allow industrial personal computer will be another A possible alternative number-plate number is sent to judgment module or is presented to operator, judges to carry out second.

Further, it when the conclusion judged when second is still invalid, proceeds as follows：If it is in automatic decision Under mechanism, then industrial personal computer can control the second local cameras 3 or robot adjustment shooting angle or position even focal length, again Photo is shot, second is then carried out and identifies.Judge the vehicle taken if it is person under artificial judgment mechanism, is not then operated first Whether licence plate piece is complete clear, if complete clear, can be manually entered according to the photo of shooting or video by operator License plate number；If imperfect clear, industrial personal computer can control the second local cameras 3 or robot adjustment shooting angle or position Even focal length is set, shoots photo again, second is then carried out and identifies.

It in another embodiment, can be after first time judges to obtain invalidity determination under artificial judgment mechanism, so that it may To be directly manually entered license plate number according to complete clear photograph by operator, and without popping up alternative car plate.It is manually entered vehicle The mode of the trade mark can in the case where control device 5 judges that license plate number is invalid, quickly, directly, accurately input correctly License plate number avoids spending more time in this stage.

In the case where the license plate number identified is judged effectively or operator has been manually entered license plate number, control device 5 store the license plate number first, then notify system to prepare the other information of the vehicle that will then take that (such as vehicle chassis is whole Figure) the corresponding storage together with the license plate number, it is searched to conveniently follow-up.

After the good effective license plate number of storage, mobile device 1 is made to move to below vehicle chassis.

In order to enable each capturing element in mobile device 1 flexibly to be shot from required angle, mobile device 1 The function of traveling and posture changing can be provided simultaneously with.In actual detection process, mobile device 1 be frequently necessary to by rotate come Change direction of advance, to be moved to desired position or be moved to another suspicious region from a suspicious region, still During rotation, the First partial camera 2 being mounted directly on the mobile device 1 can also rotate with, so as to cause bat The video taken the photograph shakes or photo thickens, and what is more important after shoot chassis picture direction with before The direction of the chassis picture of shooting is also inconsistent, and the photo that can not be shot with line-scan digital camera, which synchronizes, to be compared, and operator may Confusion can occur, be not easy to be accurately positioned and manipulate.

In one embodiment, mobile device 1 is packaged type robot, is illustrated below for robot with mobile device 1, The set-up mode of each capturing element is described in detail.

During carrying out partial sweep, is synchronized for convenience with the photo of line-scan digital camera shooting and compare and prevent Shake occurs for the video that robot is shot when rotating or photo thickens, and angle compensation machine can be equipped on robot body Structure, First partial camera 2 be mounted on angle compensation mechanism output end, angle compensation mechanism be used for when robot is rotated into Row angle compensation, to remain unchanged the shooting angle of First partial camera 2 when robot rotates.For example, to vehicle When the suspected locations at bottom are observed, then robot advances sometimes for rotation to preset direction, can when robot rotates Angle compensation mechanism is set to drive First partial camera 2 identical towards the negative direction rotation of preset direction by control device 5 The shooting angle of angle, such First partial camera 2 remains unchanged, and the video of suspicious region can be made to show and keep stablizing, Prevent the rotation due to robot from video pictures being caused to shake, so that observer more accurately can carry out analysis sight to video It examines, improves the accuracy of suspicious observation.

Specifically, as shown in Fig. 2, angle compensation mechanism may include that steering engine 6, First partial camera 2 are installed on steering engine 6 On motor output shaft or on the steering wheel, First partial camera 2 is towards the chassis of photographs vehicle.Steering engine 6 can be in machine First partial camera 2 is driven to rotate backward when people rotates, it is preferable that make the central shaft and steering engine of First partial camera 2 Motor output shaft is consistent, it is further preferred that making the motor output shaft and machine of the central shaft of First partial camera 2, steering engine The rotation axis three of people is consistent, so as to which the shooting angle of First partial camera 2 is more accurately made to keep not Become, keeps the stability of video pictures.Certainly, First partial camera 2 is located on robot body and deviates its rotation axis Mode is also within the protection scope of the utility model.Alternatively, angle compensation mechanism can also be that other can export rotation The dynamic electric operator of transhipment.

In order to ensure that the safety of the movement of mobile device 1, the scanning system of the utility model may also include distance measuring sensor 7, it is located at 1 top of mobile device, for detecting whether 1 top of mobile device has barrier, control device 5 that can be surveyed receiving Judge whether mobile device 1 enters or drive into below vehicle chassis after detection signal away from sensor 7, so as to obtain effectively Underbody scan video and photo.

As shown in Fig. 2, the control device 5 in the various embodiments described above includes long-range control terminal 51 and is located at mobile device Control panel 52 on 1, control terminal 51 can send out remote signal to control panel 52, with control mobile device 1 movement locus, At least one of 2 shooting angle of posture changing and First partial camera.

Preferably, control terminal 51 can select handheld terminal, such as individual soldier's terminal etc..For example, control terminal 51 is controllable Advance, retrogressing, steering and the rotation of robot processed also can control the output shaft of steering engine 6 to rotate to adjust First partial camera shooting First 2 shooting angle.

It is remote in order to be carried out to the rotation of mobile device 1 and First partial camera 2 conveniently by control terminal 51 Process control can be equipped with actuation member, such as rocking bar or virtual key etc. in control terminal 51 (such as individual soldier's terminal), can be by shaking Bar controls the movement locus and posture changing of mobile device 1, or controls the rotation of steering engine 6 by button to drive First partial to take the photograph As head 2 rotates.

Further, control terminal 51 further includes display unit, and display unit is for receiving and showing that line-scan digital camera 4 is shot Underbody photo, First partial camera 2 and the second local cameras 3 shooting real-time video.Video window in display unit Mouth can switch the video image of display First partial camera 2 and the second local cameras 3, and status window shows such as machine The status information of the mobile devices such as people 1.

Control device 5 further includes driver 53 and the driving mechanism set on the mobile device 1, and mobile device 1 has walking Portion, running part include the damping crawler belt being set at left and right sides of robot body, and control panel 52 can receive control terminal After 51 signal, movement instruction is sent to driver 53, to control the damping caterpillar drive that driving mechanism drives both sides.Example Such as, driving mechanism can be the servo motor etc. for having encoder feedback.Damping crawler belt may include 4-10 group shock-absorbing support wheels, watch Take the caterpillar drive of motor driving corresponding side.When needing to control the movement of mobile device 1, control terminal 51 will control signal and send To control panel 52, movement instruction is sent to driver 53 by control panel 52 again, to drive servo motor to drive vibration damping caterpillar drive. The functions such as the advance of robot, retrogressing may be implemented, turns and rotates in place in the movement of damping crawler belt, to make robot in vehicle Bottom space neatly moves, and to the position for making camera be observed to needs with preferable angle shot, and can make Robot drives into or is driven out to underbody from convenient position.Alternatively, running part, which can also be wheel etc., can realize walking work( The component of energy.

Camera caused by pavement roughness can be reduced using vibration damping crawler belt to shake, and make the underbody photo image quality of shooting more Excellent, the real-time video of shooting, which is shown, more to be stablized, and the accuracy of suspicious item scanning can be improved.

Due to underbody dark, mobile device 1 is equipped with light compensating lamp, and control device 5 can pass through the linear array phase Machine 4 shoots underbody photo, or by First partial camera 2 to opening light compensating lamp when suspicious region progress part observation to increase Add intensity of illumination.When mobile device 1 is driven out to underbody, light compensating lamp is closed.

It is additionally provided with battery in mobile device 1, provides power supply for the 1 each module in inside of mobile device, and have electricity self-test The charge value of battery can be read in function, control panel 52.

In a specific embodiment, the top in robot body portion is equipped with First partial camera 2 and ranging senses Device 7, front are equipped with the second local cameras 3, and rear portion is equipped with line-scan digital camera 4.Control device 5 includes that the remote control of hand-held is whole End 51, wireless communication module 8, control panel 52, driver 53 and industrial personal computer 54.Wherein, between control terminal 51 and control panel 52 Or module 8 information can be transmitted by radio communication between control terminal 51 and industrial personal computer 54, it can realize bi-directional data Transmission, can pass the video that First partial camera 2 and the second local cameras 3 are shot back control terminal 51.

Illustrate the operation principle of the utility model scanning system with reference to flow chart shown in Fig. 4.

When vehicle to be checked stops, work is begun preparing for.First, robot is placed on vehicle front or rear, machine Device people and control terminal 51 are in open state, and operating personnel open scanning process by control terminal 51.

Then, control terminal 51 controls robot and is moved from front part of vehicle or rear portion to close to the direction of vehicle, second game The video that portion's camera 3 is shot module 8 can be transmitted to control terminal 51 by radio communication, so that operating personnel observe road Condition.Industrial personal computer 54 can also read the video of the second local cameras 3 shooting, identify license plate number by software, and judge vehicle Whether the trade mark is effective, and the license plate number is stored if effectively, can be by method that front provides by industrial personal computer if invalid 54 further judge or identify correct license plate number, or by manually inputting correct license plate number and being stored.So 54 notice system of industrial personal computer prepares the other information (such as vehicle chassis image etc.) and the vehicle for the vehicle that will then take afterwards The trade mark corresponding storage together.Then, robot can be made to be moved to below vehicle chassis by control terminal 51 and be scanned inspection.

After robot enters below vehicle chassis, the detection signal of distance measuring sensor 7 changes, and identifies robot It is sent in industrial personal computer 54 into underbody, and by the state, while control panel 52 opens light compensating lamp.Robot is along vehicle along long The center line movement in direction is spent, camera lens is equipped in line-scan digital camera 4, line-scan digital camera 4 can shoot vehicle along wide during the motion The linear array images in direction are spent, industrial personal computer 54 obtains the photographing information of line-scan digital camera 4 in real time, and is opened at image mosaic by software Science and engineering is made, and when robot moves to the vehicle other end, can get whole underbody photo.Robot can be driven out to underbody, control Plate 52 closes light compensating lamp.Then judged to whether there is suspicious item in underbody photo by the software in industrial personal computer 54, or by underbody Photo is sent to control terminal 51 so that operator judges whether suspicious item, if there is suspicious item, then continuing with can It doubts the corresponding suspicious region of object and carries out local observation.

Make robot motion to the suspicious region of underbody by control terminal 51, while control panel 52 opens light compensating lamp, it is right Robot and First partial camera 2 carry out inching operation to observe underbody suspicious item, the video that First partial camera 2 is shot Module 8 is transmitted to control terminal 51 by radio communication, and the video window of control terminal 51 is switched to First partial camera 2, Operating personnel observe suspicious item.If part observation is unintelligible, the shooting angle of changeable First partial camera 2 is done further Observation.Control terminal 51 can save the video of First partial camera 2.After confirming to suspicious item, control robot is driven out to Underbody, and close light compensating lamp.

It is schematical real at one the following detailed description of the scan method based on the utility model vehicle chassis scanning system It applies in example, as shown in figure 3, the scan method includes：

Step 101 makes mobile device 1 move to below vehicle chassis, to pass through 4 photographing section of line-scan digital camera or whole Underbody photo；

Step 102 makes mobile device 1 move to suspicious region, to be carried out to suspicious region by First partial camera 2 Part shooting.

Wherein, step 101 and 102 can be executed by control device 5.Such scanning system is easy to use, can reduce operation The labor intensity of personnel can select acquisition underbody photo to be checked comprehensively according to demand, or targetedly emphasis is examined The suspicious region for looking into vehicle bottom can be improved and be scanned the reliability of inspection to vehicle chassis carrying suspicious object, and improves Check efficiency.

Further, after step 101, the scanning system of the utility model further includes：

Step 101 ', judge in underbody photo whether there is suspicious item, then follow the steps 102 if there is suspicious item.

Step 101 ' it can be executed by control device 5, such as industrial personal computer 54, or can also be executed by operator.The reality It applies and is first carried out in example after entire scan will position suspicious item, then carry out toposcopy, such mode can rapidly determine Position goes out suspicious region, improves suspicious item scan efficiency, moreover it is possible to scanning accuracy is improved by way of primary part observation.

Further, before step 101, the scan method of the utility model further includes：

Step 100A, the license plate number photo or video of vehicle to be checked are shot by the second local cameras 3；

Step 100B, license plate number is identified from the photo or video that the second local cameras 3 is shot；

Step 100C, judge whether the license plate number identified is effective, is stored by control device 5 if effectively, with Just corresponding with the photo or video shot in scanning process, further obtain effective license plate number if invalid.

Wherein, step 100B is executed by control device 5, and step 100C both can carry out automated intelligent by control device 5 and sentence It is disconnected, it can also be judged by manual method.Specifically, control device 5 can according to the license plate number digit identified whether Correctly, whether meet car plate naming rule, whether completely judge with shooting in the number plate of vehicle list for declaring detection Whether the number-plate number is effective.When obtaining license plate number using the method for automated intelligent, step 100B and 100C can be by industrial personal computers 54 execute, if necessary can module 8 is sent to control terminal 51 by radio communication by the license plate number of acquisition；Or also may be used Be sent to control terminal 51 with the video for shooting the second local cameras 3, by control terminal 51 carry out license plate number reading or Judge.

The photo or video that the embodiment can be shot by the second local cameras 3 judge the effective vehicle of vehicle to be checked The trade mark first determines whether the identity of vehicle to be checked is suspicious, without carrying out under the conditions of license plate number and vehicle to be checked are incongruent Suspicious item inspection can save unnecessary inspection link, and to avoid waste of resource, acquisition license plate number is convenient and efficient, also allows for making The photo and video shot in follow up scan checking process is corresponding with information of vehicles to be checked, improves scanography efficiency and accurate Property further increases scanography efficiency.

In step 100C, in the case where the license plate number for judging to identify is invalid, effective car plate is further obtained Number the step of include：

Control device 5 provides another alternative number-plate number, to carry out secondary judgement.

On this basis, if control device 5 is still invalid in the conclusion after secondary judgement, further obtaining has The step of license plate number of effect further includes：

Control device 5 controls the second local cameras 3 adjustment shooting angle, position and/focal length；

Second local cameras 3 shoots the license plate number photo or video of vehicle to be checked again；

Control device 5 is secondary from the photo or video that the second local cameras 3 is shot again to identify license plate number.

In another embodiment, step 100C is further obtained in the case where the license plate number for judging to identify is invalid The step of taking effective license plate number include：

License plate number is directly manually entered according to complete clear photograph by operator, control device 5 directly receives operator The correct number-plate number of input.

Detailed acquisition modes about vehicle license plate number to be checked have been described in detail in the theme of scanning system, Each step of license plate number is obtained in scan method theme can refer to the elaboration of front.

In a specific embodiment, control device 5 includes industrial personal computer 54 and long-range control terminal 51, step 101 In by 4 photographing section of line-scan digital camera or whole underbody photo the step of specifically include：

Step 101A, industrial personal computer 54 reads the photographing information of line-scan digital camera 4 in real time；

Step 101B, industrial personal computer 54 carries out image mosaic to form all or part of underbody to the photographing information read Photo；

Step 101C, underbody photo is sent to control terminal 51 by industrial personal computer 54.Step 101A-101C does not show in figure Go out.

After step 101, the scan method of the utility model may also include：

Make below 1 outgoing vehicles chassis of mobile device, wait judging that there are make shifting again when suspicious item for display in underbody photo Dynamic device 1 drives into below vehicle chassis.

In addition, in order to which the photo or video that make shooting are apparent, in the underbody by 4 photographing section of line-scan digital camera or whole Photo, or before carrying out local shooting to suspicious region by the First partial camera 2, further include：Open the shifting Light compensating lamp on dynamic device 1.

Detailed elaboration is carried out in the theme part of scanning system about more specific scan method, this two parts Content can be used for reference mutually.

A kind of vehicle chassis scanning system provided by the utility model is described in detail above.It is used herein Specific embodiment is expounded the principles of the present invention and embodiment, the explanation of above example is only intended to Help understands the method and its core concept of the utility model.It should be pointed out that coming for those skilled in the art It says, without departing from the principle of this utility model, several improvements and modifications can be made to this utility model, these change It is also fallen into the protection domain of the utility model claims into modification.

Claims (17)

1. a kind of vehicle chassis scanning system, which is characterized in that including control device (5), mobile device (1), line-scan digital camera (4) With First partial camera (2), the line-scan digital camera (4) and First partial camera (2) are located in the mobile device (1), The control device (5) can be such that the mobile device (1) moves to below vehicle chassis, to pass through the line-scan digital camera (4) Underbody is shot to obtain some or all of photo of vehicle chassis, and it is suspicious that the mobile device (1) can be made to move to Region, to carry out local shooting to suspicious region by the First partial camera (2).

2. vehicle chassis scanning system according to claim 1, which is characterized in that the control device (5) can judge It whether there is suspicious item in the underbody photo, and make the movement there are when suspicious item in judging the underbody photo Device (1) moves to the corresponding suspicious region of suspicious item.

3. vehicle chassis scanning system according to claim 1, which is characterized in that the control device (5) can connect When receiving the suspicious item instruction order in underbody photo, the mobile device (1) is made to move to the corresponding suspicious region of suspicious item.

4. vehicle chassis scanning system according to claim 1, which is characterized in that further include being located at the mobile device (1) the second local cameras (3) on, the photo that the control device (5) can shoot from second local cameras (3) Or license plate number is identified in video, to judge whether the license plate number identified is effective.

5. vehicle chassis scanning system according to claim 4, which is characterized in that

The control device (5) can the license plate number that identifies of automatic decision it is whether effective, wherein criterion packet based on judgement Include at least one of following criterion：Whether whether the digit of the number-plate number is correct, whether meet car plate naming rule, declaring In the number plate of vehicle list of detection and whether complete shoot；Alternatively,

The control device (5) can confirm that instruction judges whether the license plate number identified is effective according to input by user, wherein User according in the photo or video visually seen the number-plate number and the number-plate number that identifies whether unanimously come input validation Whether license plate number effectively instructs.

6. vehicle chassis scanning system according to claim 1, which is characterized in that the First partial camera (2) sets On the mobile device (1) rotation axis of itself.

7. vehicle chassis scanning system according to claim 1 or 6, which is characterized in that the mobile device (1) is equipped with Angle compensation mechanism, for carrying out angle compensation when the mobile device (1) rotates, to be revolved in the mobile device (1) Remain unchanged the shooting angle of the First partial camera (2) when turning.

8. vehicle chassis scanning system according to claim 7, which is characterized in that the angle compensation mechanism includes steering engine (6), the First partial camera (2) is installed on the output end of the steering engine (6), and the steering engine (6) can be in the movement Device (1) drives the First partial camera (2) to rotate backward when rotating, so that the bat of the First partial camera (2) Angle is taken the photograph to remain unchanged.

9. vehicle chassis scanning system according to claim 1, which is characterized in that First partial camera (2) peace The rear portion of the mobile device (1) is mounted on mounted in the top of the mobile device (1) and/or the line-scan digital camera (4).

10. vehicle chassis scanning system according to claim 1, which is characterized in that further include distance measuring sensor (7), use In detecting whether have barrier above the mobile device (1), the control device (5) can receive the ranging sensing Judge whether the mobile device (1) enters below vehicle chassis after the detection signal of device (7).

11. vehicle chassis scanning system according to claim 1, which is characterized in that the control device (5) includes long-range Control terminal (51) and the control panel (52) that is located in the mobile device (1), the control terminal (51) can be to described Control panel (52) sends out remote signal, to control the movement locus, posture changing and the First partial of the mobile device (1) At least one of camera (2) shooting angle.

12. vehicle chassis scanning system according to claim 11, which is characterized in that the control terminal (51) includes Display unit, the display unit are used to receive and show the underbody photo of the line-scan digital camera (4) shooting, the First partial The real-time video of camera (2) and the second local cameras (3) shooting.

13. vehicle chassis scanning system according to claim 11, which is characterized in that the control device (5) further includes Driver (53) and the driving mechanism being located in the mobile device (1), the mobile device (1) includes running part, the row It includes the damping crawler belt being set at left and right sides of body part to walk portion, and the control panel (52) can receive the control terminal (51) after signal, movement instruction is sent to the driver (53), is driven described in both sides with controlling the driving mechanism Damping caterpillar drive.

14. vehicle chassis scanning system according to claim 1, which is characterized in that the mobile device (1) is removable Formula robot.

15. a kind of vehicle chassis scanning system, which is characterized in that including control device (5), mobile device (1) and First partial Camera (2), the First partial camera (2) are located in the mobile device (1), and the control device (5) can make institute It states mobile device (1) and moves to suspicious region, to carry out local bat to suspicious region by the First partial camera (2) It takes the photograph, the mobile device (1) is equipped with angle compensation mechanism, for carrying out angle compensation when the mobile device (1) rotates, To make the shooting angle of the First partial camera (2) remain unchanged when the mobile device (1) rotates.

16. vehicle chassis scanning system according to claim 15, which is characterized in that the angle compensation mechanism includes rudder The main body of machine (6), steering engine (6) is fixed in mobile device (1), and the First partial camera (2) is installed on the steering engine (6) Output end, the steering engine (6) can drive the First partial camera (2) reversed when the mobile device (1) rotates Rotation, so that the shooting angle of the First partial camera (2) remains unchanged.

17. vehicle chassis scanning system according to claim 15, which is characterized in that the First partial camera (2) It is located on the mobile device (1) rotation axis of itself.