WO2019114321A1 - 车辆底盘扫描系统及扫描方法 - Google Patents

车辆底盘扫描系统及扫描方法 Download PDF

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Publication number
WO2019114321A1
WO2019114321A1 PCT/CN2018/102630 CN2018102630W WO2019114321A1 WO 2019114321 A1 WO2019114321 A1 WO 2019114321A1 CN 2018102630 W CN2018102630 W CN 2018102630W WO 2019114321 A1 WO2019114321 A1 WO 2019114321A1
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WIPO (PCT)
Prior art keywords
mobile device
license plate
camera
vehicle
vehicle chassis
Prior art date
Application number
PCT/CN2018/102630
Other languages
English (en)
French (fr)
Inventor
林东
崔锦
胡斌
张延超
张清
谭贤顺
曾军辉
Original Assignee
同方威视技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 同方威视技术股份有限公司 filed Critical 同方威视技术股份有限公司
Priority to EP18887377.2A priority Critical patent/EP3726259A4/en
Publication of WO2019114321A1 publication Critical patent/WO2019114321A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/242—Aligning, centring, orientation detection or correction of the image by image rotation, e.g. by 90 degrees
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/024—Details of scanning heads ; Means for illuminating the original
    • H04N1/028—Details of scanning heads ; Means for illuminating the original for picture information pick-up
    • H04N1/03—Details of scanning heads ; Means for illuminating the original for picture information pick-up with photodetectors arranged in a substantially linear array
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/62—Text, e.g. of license plates, overlay texts or captions on TV images
    • G06V20/625—License plates

Definitions

  • the present disclosure relates to the field of vehicle safety inspection technologies, and in particular, to a vehicle chassis scanning system and a scanning method.
  • vehicle chassis inspection devices are mostly distributed in highway bayonet, border inspection, prisons, important meetings and security sites, to check the vehicle chassis for drugs, explosives, firearms and chassis modification.
  • the vehicle chassis inspection devices currently used mainly include: a fixed vehicle bottom inspection system and a hand-held vehicle inspection mirror.
  • the fixed vehicle bottom inspection system is complicated to install and debug, and it is impossible to inspect the vehicle chassis in the static parking.
  • the hand-held vehicle inspection mirror requires the operator to manually inspect the inspection rod into the vehicle bottom space, which is inconvenient to use and the labor intensity of the operator is large.
  • the purpose of the present disclosure is to provide a vehicle chassis scanning system and a scanning method, which can more accurately and conveniently scan and inspect a vehicle chassis according to requirements.
  • a vehicle chassis scanning system comprising:
  • a line camera and a first partial camera are provided on the mobile device
  • control device configured to move the mobile device under the vehicle chassis to capture a vehicle floor by a line camera to obtain a photo of a portion or all of the vehicle chassis, and to move the mobile device to the suspicious area for passage through the first partial camera pair Partial shooting in suspicious areas.
  • control device is configured to determine whether there is a suspicious object in the photograph of the vehicle bottom, and when it is determined that there is a suspicious object in the photograph of the vehicle bottom, move the mobile device to the suspicious region corresponding to the suspicious object.
  • control device is configured to move the mobile device to the suspicious area corresponding to the suspicious object upon receiving the suspicious object indication command in the vehicle bottom photograph.
  • a second partial camera disposed on the mobile device is further included, and the control device is configured to recognize the license plate number from the photo or video captured by the second partial camera to determine whether the identified license plate number is valid.
  • control device is configured to automatically determine whether the identified license plate number is valid, wherein the criterion according to the determination comprises at least one of the following criteria: whether the number of digits of the license plate number is correct, whether the license plate naming rule is met, whether Declare the list of vehicle number plates in the inspection and whether the shooting is complete; or,
  • the control device is configured to determine whether the identified license plate number is valid according to a confirmation command input by the user, wherein the user inputs whether the confirmed license plate number is valid according to whether the license plate number in the photo or video seen by the naked eye matches the identified license plate number. Instructions.
  • the first partial camera is disposed on the rotation axis of the mobile device itself.
  • the mobile device is provided with an angle compensation mechanism configured to perform angle compensation when the mobile device rotates to maintain the shooting angle of the first partial camera unchanged when the mobile device rotates.
  • the angle compensation mechanism includes a steering gear, and the first partial camera is disposed at an output end of the steering gear, and the steering gear is configured to drive the first partial camera to rotate in reverse when the mobile device rotates, so that the first partial camera is photographed at an angle constant.
  • a first partial camera is provided on top of the mobile device, and/or a line camera is provided at the rear of the mobile device.
  • a distance measuring sensor is further configured to detect whether there is an obstacle above the mobile device, and the control device is configured to determine whether the mobile device enters under the vehicle chassis after receiving the detection signal of the ranging sensor.
  • control device comprises:
  • control panel disposed on the mobile device
  • the remote control terminal is configured to send a remote control signal to the control panel to control at least one of a motion trajectory of the mobile device, a posture change, and a first partial camera shooting angle.
  • control terminal includes a display unit configured to receive and display a bottom photograph taken by the line camera, a live video captured by the first partial camera and the second partial camera.
  • control device further includes a driver and a driving mechanism disposed on the mobile device, the moving device includes a walking portion, and the walking portion includes a damper track disposed on the left and right sides of the body portion, and the control board is configured to receive the control terminal After the signal, motion commands are sent to the drive to control the drive mechanism to drive the damper track movements on both sides.
  • the mobile device is a mobile robot.
  • a vehicle chassis scanning method including:
  • the mobile device is moved to the suspicious area for partial shooting of the suspect area by the first partial camera.
  • the method further includes:
  • the mobile device is moved to the suspicious area to locally photograph the suspicious area by the first partial camera.
  • the method further includes:
  • step of determining whether the identified license plate number is valid includes:
  • the method further includes:
  • the control device provides another identified alternate license plate number for a second determination; or the control device directly receives the entered correct license plate number.
  • the conclusion of the control device after the second judgment is still invalid, it further includes:
  • the control device controls the second partial camera to adjust the shooting angle, position and/or focal length
  • the second partial camera captures the license plate number photo or video of the vehicle to be inspected again;
  • the control device recognizes the license plate number twice from the photo or video taken again by the second partial camera.
  • control device includes an industrial computer and a remote control terminal, and the step of capturing part or all of the vehicle bottom photograph by the line camera specifically includes:
  • the industrial computer reads the shooting information of the line camera in real time
  • the industrial computer performs image stitching on the captured shooting information to form part or all of the vehicle bottom photograph
  • the industrial computer sends the photo of the vehicle to the control terminal.
  • the method further includes:
  • the mobile device is driven out of the underside of the vehicle chassis, and the mobile device is driven into the underside of the vehicle chassis when it is determined that there is a suspicious object in the bottom photo.
  • a vehicle chassis scanning system including a mobile device
  • a first partial camera disposed on the mobile device
  • control device configured to move the mobile device to the suspicious area to perform partial photographing of the suspicious area by the first partial camera
  • the mobile device is provided with an angle compensation mechanism configured to perform angle compensation when the mobile device rotates, so that the shooting angle of the first partial camera remains unchanged when the mobile device rotates.
  • the angle compensation mechanism includes a steering gear, the main body of the steering gear is fixed on the mobile device, the first partial camera is disposed at the output end of the steering gear, and the steering gear is configured to drive the first partial camera to rotate in reverse when the mobile device rotates So that the shooting angle of the first partial camera remains unchanged.
  • the first partial camera is disposed on the rotation axis of the mobile device itself.
  • the vehicle chassis scanning system of the embodiment of the present disclosure is provided with a line camera and a first partial camera on the mobile device, and the control device can move the mobile device under the vehicle chassis to capture part or all of the camera through the line camera.
  • the scanning system is easy to use, can reduce the labor intensity of the operator, can obtain the photo of the vehicle bottom for comprehensive inspection, and can specifically check the suspicious area at the bottom of the vehicle, and can improve the carrying of suspicious objects on the vehicle chassis or Problems such as chassis modification perform the reliability of scanning inspection and improve inspection efficiency.
  • FIG. 1 is a block diagram showing the structure of an embodiment of a vehicle chassis scanning system of the present disclosure
  • FIG. 2 is a block diagram showing another embodiment of a vehicle chassis scanning system of the present disclosure
  • FIG. 3 is a schematic flow chart of one embodiment of a vehicle chassis scanning method according to the present disclosure.
  • FIG. 4 is a schematic flow chart of a specific embodiment of a vehicle chassis scanning method according to the present disclosure.
  • the present disclosure first proposes a vehicle chassis scanning system (hereinafter referred to as "scanning system").
  • the scanning The system comprises a control device 5, a mobile device 1, a line camera 4 and a first partial camera 2.
  • the mobile device 1 may be a mobile robot, a remote control car, etc., and the line camera 4 and the first partial camera 2 are disposed on the mobile device 1.
  • the control device 5 can move the mobile device 1 to the underside of the vehicle chassis according to the scanning demand. By photographing part or all of the vehicle bottom photograph by the line camera 4, it is also possible to move the mobile device 1 to the suspicious area of the vehicle bottom to partially photograph the suspicious area by the first partial camera 2.
  • the line camera 4 and the first partial camera 2 can be separately scanned to realize suspicious object inspection according to requirements, or the two scanning methods can be combined to realize suspicious object inspection.
  • the first partial camera 2 is mounted on the top of the mobile device 1 to obtain a clear photographing effect at a relatively close distance.
  • the line camera 4 can be mounted at the rear of the mobile device 1, for example, during the movement of the mobile device 1 from the rear portion of the vehicle along the center line of the vehicle, the line camera 4 can gradually obtain a line image in the width direction of the vehicle.
  • some or all of the car bottom photos are formed by software stitching.
  • the line camera 4 and the first partial camera 2 may be disposed at other positions of the mobile device 1 as needed.
  • the scanning system enables the mobile device to enter under the chassis of the vehicle and automatically scans by its own movement, which is convenient to use, can reduce the labor intensity of the operator, and can comprehensively and efficiently check the photograph of the vehicle bottom obtained by the line camera. It is also possible to focus on the suspicious area of the bottom of the vehicle in a targeted manner by partial shooting. Therefore, the scanning device is flexible in use, can improve the reliability of scanning and checking the suspicious items carried on the vehicle chassis, and improve the inspection efficiency.
  • the control device 5 can compare the photographed vehicle bottom photograph with the pre-stored normal vehicle bottom photograph, and determine whether there is a suspicious object in the vehicle bottom photograph, and in judging the vehicle bottom photograph
  • the mobile device 1 is moved to a suspicious area corresponding to the suspicious object for further partial scanning.
  • This method can improve the automation and efficiency of the scanning device, save the time required for manually viewing the photo of the vehicle, and is not affected by the operator's experience.
  • the suspicious objects include: the accumulation of drugs, explosives, firearms and abnormal structures after the conversion of the chassis.
  • the operator can also visually determine whether there is a suspicious object in the photograph of the vehicle photograph taken by the line camera 4, and if a suspicious object is found, send a suspicious object indication command to the control device 5 for further partial scanning.
  • the control device 5 can move the mobile device 1 to the suspicious area corresponding to the suspicious object to perform partial scanning when receiving the suspicious object instruction command in the vehicle bottom photograph.
  • the way to judge suspicious objects in this way is more flexible. For some special or previously unsuccessful suspicious objects, it is easy to judge according to the operator's experience, which can reduce the possibility of missed detection.
  • the scanning system of the present disclosure may further include a second partial camera 3 provided at the front of the mobile device 1, for example, at the front of a mobile device such as a robot, and the robot will welcome when moving forward from the front or the rear of the vehicle toward the vehicle.
  • a mobile device such as a robot
  • the robot will welcome when moving forward from the front or the rear of the vehicle toward the vehicle.
  • the license plate number With the license plate number, the license plate number of the vehicle to be inspected can be photographed while the robot is walking, and the road ahead can be photographed.
  • the second partial camera 3 can also be disposed in the middle or the rear of the robot as long as the camera 3 can capture the license plate number against the license plate.
  • the control device 5 includes a computer 54.
  • the industrial computer 54 can read the photo or video captured by the second partial camera 3 to automatically recognize the license plate number, and can be judged by the industrial computer 5 or the operator. Whether the number is valid. Automatic intelligent methods or manual methods can be used to determine whether the license plate number is valid.
  • the automatic intelligent method When the automatic intelligent method is used for judging, it can be judged by the control device whether the number of digits of the recognized license plate number is correct, whether it complies with the license plate naming rule, whether it is in the list of the vehicle number plate declared for detection, and whether the shooting is complete or not. Is the license plate number valid? This method can improve the efficiency of license plate number recognition and improve the automation of the scanning system.
  • the license plate photo or video captured by the second partial camera 3 is presented to the operator together with the recognized license plate number, and the operator can directly observe whether the identified number is correct by the naked eye, of course, if the operator If the recognized license plate number is only seen and the photo is not seen, the operator can also judge according to the above criteria. The operator can click the "Invalid" button in the window to tell the system that the license plate number is invalid.
  • the industrial computer may send another identified alternative license plate number to the judgment module or present to the operator, thereby performing the second time.
  • the industrial computer may send another identified alternative license plate number to the judgment module or present to the operator, thereby performing the second time.
  • the industrial computer can control the second partial camera 3 or the robot to adjust the shooting angle or position or even the focal length, and take the photo again. And then make a second recognition. If it is under the manual judgment mechanism, the operator first judges whether the photographed license plate photo is complete and clear. If it is complete and clear, the operator can manually input the license plate number according to the photographed photo or video; if it is not complete and clear, the industrial control The machine can control the second partial camera 3 or the robot to adjust the shooting angle or position or even the focal length, take a clear picture again, and then perform the second recognition.
  • the operator can directly input the license plate number according to the complete and clear photo without popping up the alternative license plate.
  • the method of manually inputting the license plate number can quickly, directly and accurately input the correct license plate number when the control device 5 determines that the license plate number is invalid, thereby avoiding spending more time at this stage.
  • the control device 5 first stores the license plate number, and then notifies the system to prepare other information of the subsequently photographed vehicle (for example, the vehicle chassis full picture). Corresponding to the license plate number, so as to facilitate subsequent search.
  • the mobile device 1 After storing the effective license plate number, the mobile device 1 is moved under the vehicle chassis.
  • the mobile device 1 can simultaneously have the functions of traveling and attitude changing.
  • the mobile device 1 often needs to change the heading direction by rotation to move to a desired position or move from one suspect area to another suspicious area, but in the process of rotation, directly mounted on the mobile device 1
  • the first partial camera 2 on the other side will also rotate, causing the captured video to sway or the photo to become blurred, and more importantly, the direction of the chassis image to be photographed later is also inconsistent with the direction of the previously captured chassis screen. It is impossible to synchronize the photos taken with the line camera, and the operator may be confused and difficult to accurately locate and manipulate.
  • an angle compensation mechanism may be provided on the robot body.
  • the first partial camera 2 is mounted at the output end of the angle compensation mechanism, and the angle compensation mechanism is used for performing angle compensation when the robot rotates, so that the first part is made when the robot rotates. The shooting angle of the camera 2 remains unchanged.
  • the robot when observing the suspicious position of the vehicle bottom, the robot sometimes needs to rotate and then advances in a preset direction.
  • the angle compensation mechanism can be driven by the control device 5 to move the first partial camera 2 in the opposite direction of the preset direction. Rotating the same angle, so that the shooting angle of the first partial camera 2 remains unchanged, the video display of the suspicious area can be stabilized, and the video picture is shaken due to the rotation of the robot, so that the observer can analyze the video more accurately. Observe and improve the accuracy of suspicious observations.
  • the angle compensation mechanism may include a steering gear 6, which is mounted on the motor output shaft of the steering gear 6 or mounted on the steering wheel, and the first partial camera 2 is disposed upward to capture The chassis of the vehicle.
  • the steering gear 6 can drive the first partial camera 2 to rotate in the reverse direction when the robot rotates.
  • the central axis of the first partial camera 2 is aligned with the motor output shaft of the steering gear 6.
  • the central axis of the first partial camera 2, the motor output shaft of the steering gear, and the rotation axis of the robot are kept consistent, so that the shooting angle of the first partial camera 2 can be more accurately maintained. Keep the video picture stable.
  • the angle compensation mechanism may also be other electric actuators capable of outputting rotational motion.
  • the scanning system of the present disclosure may further include a ranging sensor 7 disposed on the top of the mobile device 1 for detecting whether there is an obstacle above the mobile device 1, and the control device 5 can receive the measurement. It is judged from the detection signal of the sensor 7 whether the mobile device 1 enters or enters under the vehicle chassis so as to be able to acquire effective vehicle bottom scan video and photos.
  • the control device 5 in each of the above embodiments includes a remote control terminal 51 and a control board 52 provided on the mobile device 1.
  • the control terminal 51 can send a remote control signal to the control panel 52 to control the mobile device 1.
  • control terminal 51 can select a handheld terminal, such as a soldier terminal or the like.
  • control terminal 51 can control the forward, backward, steering, and rotation of the robot, and can also control the rotation of the output shaft of the steering gear 6 to adjust the shooting angle of the first partial camera 2.
  • control terminal 51 for example, a single soldier terminal
  • the control terminal 51 may be provided with a control element, such as a joystick or a virtual button, etc.
  • the rocker controls the movement trajectory and posture change of the mobile device 1, or controls the rotation of the steering gear 6 by a button to drive the first partial camera 2 to rotate.
  • control terminal 51 further includes a display unit for receiving and displaying the vehicle bottom photograph taken by the line camera 4, the real-time video captured by the first partial camera 2 and the second partial camera 3.
  • the video window in the display unit can switch between displaying the video images of the first partial camera 2 and the second partial camera 3, and the status window displays status information of the mobile device 1 such as a robot.
  • the control device 5 further includes a driver 53 and a driving mechanism provided on the mobile device 1.
  • the mobile device 1 has a running portion including a damper track disposed on the left and right sides of the robot body, and the control board 52 can receive the control terminal 51. After the signal, the motion command is sent to the driver 53 to control the drive mechanism to drive the damper track motion on both sides.
  • the drive mechanism may be a servo motor or the like having encoder feedback.
  • the damper track can include 4-10 sets of damper support wheels, and the servo motor drives the track movement on the corresponding side.
  • the control terminal 51 sends a control signal to the control board 52, and the control board 52 sends a motion command to the driver 53 to drive the servo motor to drive the vibration-damping track movement.
  • the movement of the damper track can realize the functions of forward, backward, turning and in-situ rotation of the robot, so that the robot can flexibly move in the space at the bottom of the vehicle, so that the camera can shoot at a better angle to the part to be observed, and can make The robot enters or exits the vehicle from a convenient location.
  • the running portion may be a member that can realize a walking function such as a wheel.
  • the use of the vibration-damping track can reduce the camera shake caused by the unevenness of the road surface, so that the picture quality of the photographed vehicle bottom is better, the real-time video display of the shooting is more stable, and the accuracy of the scan of the suspicious object can be improved.
  • the mobile device 1 Since the light of the vehicle bottom is dark, the mobile device 1 is provided with a fill light, and the control device 5 can open the fill light when the vehicle bottom photograph is taken by the line camera 4 or when the suspicious area is partially observed by the first partial camera 2. To increase the light intensity. When the mobile device 1 is driven out of the vehicle, the fill light is turned off.
  • the mobile device 1 is further provided with a battery, which provides power for each module inside the mobile device 1, and has a power self-checking function, and the control panel 52 can read the battery power value.
  • the top portion of the robot body portion is provided with a first partial camera 2 and a distance measuring sensor 7, a front portion is provided with a second partial camera 3, and a rear portion is provided with a line camera 4.
  • the control device 5 includes a hand-held remote control terminal 51, a wireless communication module 8, a control board 52, a drive 53, and a computer 54.
  • the information between the control terminal 51 and the control board 52 or between the control terminal 51 and the industrial computer 54 can be transmitted through the wireless communication module 8, and the two-way data transmission can be realized, and the first partial camera 2 and the second partial camera 3 can be The captured video is transmitted back to the control terminal 51.
  • the control terminal 51 controls the robot to move from the front or the rear of the vehicle toward the vehicle, and the video captured by the second partial camera 3 can be transmitted to the control terminal 51 through the wireless communication module 8 to allow the operator to observe the road condition.
  • the industrial computer 54 can also read the video captured by the second partial camera 3, identify the license plate number through software, and determine whether the license plate number is valid. If it is valid, the license plate number is stored. If it is invalid, it can be controlled by the method given above.
  • the machine 54 further determines or identifies the correct license plate number, or manually enters the correct license plate number and stores it.
  • the computer 54 then informs the system that it is ready to store other information of the subsequently photographed vehicle (e.g., vehicle chassis image, etc.) with the license plate number.
  • the robot can be moved to the underside of the vehicle chassis by the control terminal 51 for scanning inspection.
  • the detection signal of the ranging sensor 7 changes, it is recognized that the robot has entered the vehicle bottom, and the state is sent to the industrial computer 54, and the control panel 52 turns on the fill light.
  • the robot moves along the center line of the vehicle along the length direction, and the line camera 4 is provided with a lens. During the movement, the line camera 4 can capture the line image of the vehicle along the width direction, and the industrial computer 54 acquires the line camera 4 in real time. Information, and through the software to open the image stitching work, when the robot moves to the other end of the vehicle, the overall picture of the car bottom can be obtained.
  • the robot can drive out of the vehicle and the control panel 52 turns off the fill light.
  • the software in the industrial computer 54 determines whether there is a suspicious object in the photograph of the vehicle bottom, or sends the photograph of the vehicle bottom to the control terminal 51 to make the operator judge whether there is a suspicious object, and if there is a suspicious object, continue to correspond to the suspicious object. A partial observation of the suspect area.
  • the robot is moved to the suspicious area of the vehicle bottom by the control terminal 51, and the control panel 52 turns on the fill light, and the robot and the first partial camera 2 are micro-operated to observe the suspicious object of the vehicle, and the video captured by the first partial camera 2 It is transmitted to the control terminal 51 through the wireless communication module 8, and the video window of the control terminal 51 is switched to the first partial camera 2, and the operator observes the suspicious object. If the local observation is not clear, the shooting angle of the first partial camera 2 can be changed for further observation.
  • the control terminal 51 can save the video of the first partial camera 2. After confirming the suspicious object, control the robot to drive out of the vehicle and turn off the fill light.
  • the present disclosure also provides a scanning method based on the above-described vehicle chassis scanning system.
  • the scanning method includes:
  • Step 101 Move the mobile device 1 to the underside of the vehicle chassis to take part or all of the vehicle bottom photograph through the line camera 4;
  • Step 102 Move the mobile device 1 to the suspicious area to perform partial shooting of the suspicious area by the first partial camera 2.
  • steps 101 and 102 can be performed by the control device 5.
  • the scanning system is easy to use, can reduce the labor intensity of the operator, can select the vehicle bottom photo for comprehensive inspection according to the demand, or focus on the suspicious area at the bottom of the vehicle, and can improve the scanning of suspicious items carried on the vehicle chassis. Check the reliability and improve inspection efficiency.
  • the scanning system of the present disclosure further includes:
  • step 101' it is determined whether there is a suspicious object in the photo of the vehicle bottom, and if there is a suspicious object, step 102 is performed.
  • Step 101' may be performed by control device 5, such as industrial computer 54, or may also be performed by an operator.
  • control device 5 such as industrial computer 54
  • the overall scanning is performed to locate the suspicious object, and then the local inspection is performed.
  • This method can quickly locate the suspicious area, improve the scanning efficiency of the suspicious object, and improve the scanning accuracy by focusing on the observation.
  • the scanning method of the present disclosure further includes:
  • Step 100A photographing a license plate number or video of the vehicle to be inspected by the second partial camera 3;
  • Step 100B Identify a license plate number from a photo or video taken by the second partial camera 3;
  • Step 100C Determine whether the identified license plate number is valid, and if it is valid, store it by the control device 5 to correspond to the photo or video taken during the scanning process, and if not, obtain a valid license plate number.
  • the step 100B is performed by the control device 5, and the step 100C may be performed by the control device 5 for automatic intelligent determination or by manual methods. Specifically, the control device 5 can determine whether the license plate number is valid according to whether the identified number of license plate numbers is correct, whether the vehicle license plate naming rule is met, whether the vehicle number plate list is declared to be detected, and whether the shooting is complete.
  • steps 100B and 100C may be performed by the industrial computer 54, and if necessary, the acquired license plate number may be transmitted to the control terminal 51 through the wireless communication module 8; or the second partial camera may also be used. The captured video is transmitted to the control terminal 51, and the control terminal 51 reads or judges the license plate number.
  • the embodiment can determine the license plate number of the vehicle to be inspected by the photo or video captured by the second partial camera 3, first determine whether the identity of the vehicle to be inspected is suspicious, and do not need to be suspicious under the condition that the license plate number and the vehicle to be inspected do not meet. Check the object and directly detain the vehicle for subsequent identity verification. This will save unnecessary inspections and avoid wasting resources.
  • the method is convenient for the photos and videos taken during the subsequent scanning inspection to correspond to the vehicle information to be inspected, and the scanning inspection efficiency and accuracy are improved to further improve the scanning inspection efficiency.
  • step 100C in the case of determining that the identified license plate number is invalid, the step of further obtaining a valid license plate number includes:
  • the control device 5 provides another alternative license plate number for a second determination.
  • the step of further obtaining the valid license plate number further includes:
  • the control device 5 controls the second partial camera 3 to adjust the shooting angle, position and/or focal length
  • the second partial camera 3 captures the license plate number photo or video of the vehicle to be inspected again;
  • the control device 5 recognizes the license plate number twice from the photograph or video photographed again by the second partial camera 3.
  • step 100C if it is determined that the identified license plate number is invalid, the step of further obtaining a valid license plate number includes:
  • the detailed acquisition method of the license plate number of the vehicle to be inspected has been described in detail in the subject of the scanning system.
  • the steps of obtaining the license plate number in the scanning method theme can refer to the previous explanation.
  • control device 5 includes the industrial computer 54 and the remote control terminal 51.
  • the step of capturing some or all of the vehicle bottom photos by the line camera 4 in step 101 specifically includes:
  • Step 101A the industrial computer 54 reads the shooting information of the line camera 4 in real time
  • Step 101B the industrial computer 54 performs image stitching on the captured photographing information to form part or all of the photograph of the vehicle bottom;
  • Step 101C the industrial computer 54 sends the vehicle bottom photo to the control terminal 51. Steps 101A-101C are not shown in the figures.
  • the scanning method of the present disclosure may further include:
  • the mobile device 1 is driven out of the underside of the vehicle chassis, and when it is determined that there is a suspicious object in the bottom photograph, the mobile device 1 is driven into the underside of the vehicle chassis.
  • the method further includes: turning on the A fill light on the mobile device 1.

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Abstract

本公开涉及一种车辆底盘扫描系统及扫描方法，其中，扫描系统包括控制装置(5)、移动装置(1)、线阵相机(4)和第一局部摄像头(2)，线阵相机(4)和第一局部摄像头(2)设在移动装置(1)上，控制装置(5)被配置为使移动装置(1)运动至车辆底盘下方，以通过线阵相机(4)拍摄部分或全部的车底照片，以及使移动装置(1)运动至可疑区域，以通过第一局部摄像头(2)对可疑区域进行局部拍摄。此种扫描系统使用方便，可降低操作人员的劳动强度，既能够获得车底照片以全面地进行检查，又能够从有针对性地重点检查车辆底部的可疑区域，可提高对车辆底盘携带可疑物品进行扫描检查的可靠性，并提高检查效率。

Description

车辆底盘扫描系统及扫描方法
本申请是以申请号为 201711308811.8，申请日为 2017年12月11日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
技术领域
本公开涉及车辆安全检查技术领域，尤其涉及一种车辆底盘扫描系统及扫描方法。
背景技术
目前，车辆底盘检查装置多分布在公路卡口、边防检查、监狱、重要会议和安保场所，用于检查车辆底盘夹藏毒品、爆炸物、枪支以及底盘改装等问题。
目前采用的车辆底盘检查装置主要包括：固定式车底检查系统和手持式车底检查镜。其中，固定式车底检查系统安装调试复杂，不能对静止停放中的车辆底盘进行检查。手持式车底检查镜，需要操作人员人工将检查杆探入车底空间，存在使用不便、操作人员劳动强度大等问题。
发明内容
本公开的目的是提出一种车辆底盘扫描系统及扫描方法，能够根据需求更加灵活方便地对车辆底盘进行扫描检查。
根据本公开的第一方面，提供了一种车辆底盘扫描系统，包括：
移动装置；
线阵相机和第一局部摄像头，设在移动装置上；以及
控制装置，被配置为使移动装置运动至车辆底盘下方，以通过线阵相机拍摄车底来获得车辆底盘的一部分或全部的照片，以及使移动装置运动至可疑区域，以通过第一局部摄像头对可疑区域进行局部拍摄。
进一步地，控制装置被配置为判断车底照片中是否存在可疑物，并在判断出车底照片中存在可疑物时，使移动装置运动至可疑物对应的可疑区域。
进一步地，控制装置被配置为在接收到车底照片中的可疑物指示命令时，使移动装置运动至可疑物对应的可疑区域。
进一步地，还包括设在移动装置上的第二局部摄像头，控制装置被配置为从第二局部摄像头拍摄的照片或视频中识别出车牌号，以便判断识别出的车牌号是否有效。
进一步地，控制装置被配置为自动判断识别出的车牌号是否有效，其中，判断所依据的准则包括以下准则中的至少一种：车牌号码的位数是否正确、是否符合车牌命名规则、是否在申报检测的车辆号牌列表中和拍摄是否完整；或者，
控制装置被配置为根据用户输入的确认指令判断识别出的车牌号是否有效，其中，用户根据肉眼看到的照片或视频中的车牌号码与识别出的车牌号码是否一致来输入确认车牌号是否有效的指令。
进一步地，第一局部摄像头设在移动装置自身的旋转轴线上。
进一步地，移动装置上设有角度补偿机构，被配置为在移动装置旋转时进行角度补偿，以便在移动装置旋转时使第一局部摄像头的拍摄角度保持不变。
进一步地，角度补偿机构包括舵机，第一局部摄像头设在舵机的输出端，舵机被配置为在移动装置旋转时带动第一局部摄像头反向转动，以使第一局部摄像头的拍摄角度保持不变。
进一步地，第一局部摄像头设在移动装置的顶部，和/或线阵相机设在移动装置的后部。
进一步地，还包括测距传感器，被配置为检测移动装置上方是否有障碍物，控制装置被配置为在接收到测距传感器的检测信号后判断移动装置是否进入车辆底盘下方。
进一步地，控制装置包括：
控制板，设在移动装置上；和
远程的控制终端，被配置为向控制板发送遥控信号，以控制移动装置的运动轨迹、姿态变换和第一局部摄像头拍摄角度中的至少一种。
进一步地，控制终端包括显示单元，显示单元被配置为接收并显示线阵相机拍摄的车底照片、第一局部摄像头和第二局部摄像头拍摄的实时视频。
进一步地，控制装置还包括设在移动装置上的驱动器和驱动机构，移动装置包括行走部，行走部包括设置于本体部左右两侧的减震履带，控制板被配置为在接收到控制终端的信号后，将运动指令发送到驱动器，以控制驱动机构带动两侧的减震履带运动。
进一步地，移动装置为可移动式机器人。
根据本公开的第二方面，提供了一种车辆底盘扫描方法，包括：
使移动装置运动至车辆底盘下方，以通过线阵相机拍摄部分或全部的车底照片；
使移动装置运动至可疑区域，以通过第一局部摄像头对可疑区域进行局部拍摄。
进一步地，在通过线阵相机拍摄部分或全部的车底照片后，还包括：
判断车底照片中是否存在可疑物，如果存在可疑物则使移动装置运动至可疑区域，以通过第一局部摄像头对可疑区域进行局部拍摄。
进一步地，在使移动装置运动至车辆底盘下方之前，还包括：
通过第二局部摄像头拍摄待检车辆的车牌号照片或视频；
从第二局部摄像头拍摄的照片或视频中识别出车牌号；
判断识别出的车牌号是否有效。
进一步地，判断识别出的车牌号是否有效的步骤具体包括：
根据识别出来的车牌号位数是否正确、是否符合车牌命名规则、是否在申报检测的车辆号牌列表中和拍摄是否完整中的至少一种来自动判断车牌号码是否有效；或者
接收用户根据肉眼看到的照片或视频中的车牌号码与识别出的车牌号码是否一致输入的确认车牌号是否有效的指令，再根据用户输入的确认指令判断识别出的车牌号是否有效。
进一步地，在判断出识别出的车牌号无效的情况下，还包括：
控制装置提供另一个识别出的备选车牌号码，以便进行二次判断；或者控制装置直接接收输入的正确的车牌号码。
进一步地，如果控制装置在经过二次判断后的结论仍然无效，还包括：
控制装置控制第二局部摄像头调整拍摄角度、位置和/焦距；
第二局部摄像头再次拍摄待检车辆的车牌号照片或视频；
控制装置从第二局部摄像头再次拍摄的照片或视频中二次识别出车牌号。
进一步地，控制装置包括工控机和远程的控制终端，通过线阵相机拍摄部分或全部的车底照片的步骤具体包括：
工控机实时读取线阵相机的拍摄信息；
工控机对读取到的拍摄信息进行图像拼接以形成部分或全部的车底照片；
工控机将车底照片发送至控制终端。
进一步地，在通过线阵相机拍摄部分或全部的车底照片后，还包括：
使移动装置驶出车辆底盘下方，待判断出车底照片中显示存在可疑物时再使移动 装置驶入车辆底盘下方。
根据本公开的第三方面，还提供了一种车辆底盘扫描系统，包括移动装置；
第一局部摄像头，设在移动装置上；以及
控制装置，被配置为使移动装置运动至可疑区域，以通过第一局部摄像头对可疑区域进行局部拍摄；
其中，移动装置上设有角度补偿机构，被配置为在移动装置旋转时进行角度补偿，以便在移动装置旋转时使第一局部摄像头的拍摄角度保持不变。
进一步地，角度补偿机构包括舵机，舵机的主体固定于移动装置上，第一局部摄像头设在舵机的输出端，舵机被配置为在移动装置旋转时带动第一局部摄像头反向转动，以使第一局部摄像头的拍摄角度保持不变。
进一步地，第一局部摄像头设在移动装置自身的旋转轴线上。
基于上述技术方案，本公开实施例的车辆底盘扫描系统，在移动装置上设有线阵相机和第一局部摄像头，控制装置能够使移动装置运动至车辆底盘下方，以通过线阵相机拍摄部分或全部的车底照片，并使移动装置运动至可疑区域，以通过第一局部摄像头对可疑区域进行局部拍摄。此种扫描系统使用方便，可降低操作人员的劳动强度，既能够获得车底照片以全面地进行检查，又能够有针对性地重点检查车辆底部的可疑区域，可提高对车辆底盘携带可疑物品或底盘改装等问题进行扫描检查的可靠性，并提高检查效率。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开车辆底盘扫描系统的一个实施例的模块组成示意图；
图2为本公开车辆底盘扫描系统的另一个实施例的模块组成示意图；
图3为本公开车辆底盘扫描方法的一个实施例的流程示意图；
图4为本公开车辆底盘扫描方法的一个具体实施例的流程示意图。
具体实施方式
以下详细说明本公开。在以下段落中，更为详细地限定了实施例的不同方面。如 此限定的各方面可与任何其他的一个方面或多个方面组合，除非明确指出不可组合。尤其是，被认为是优选的或有利的任何特征可与其他一个或多个被认为是优选的或有利的特征。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。
在本公开的描述中，需要理解的是，术语“上”、“下”、“左”、“右”、“前”、“后”、“内”和“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
为了提高对车辆底盘进行扫描的便捷性和效率，本公开首先提出了一种车辆底盘扫描系统(后续简称“扫描系统”)，在一个示意性的实施例中，参考图1所示，该扫描系统包括控制装置5、移动装置1、线阵相机4和第一局部摄像头2。其中，移动装置1可以是移动式机器人、遥控小车等，线阵相机4和第一局部摄像头2设在移动装置1上，控制装置5能够根据扫描需求使移动装置1运动至车辆底盘下方，以通过线阵相机4拍摄部分或全部的车底照片，也能够使移动装置1运动至车底的可疑区域，以通过第一局部摄像头2对可疑区域进行局部拍摄。
线阵相机4和第一局部摄像头2既可以根据需求单独扫描实现可疑物检查，也可以将两种扫描方式结合实现可疑物检查。可选地，第一局部摄像头2安装在移动装置1的顶部，能够以较近的距离获得清晰的拍摄效果。线阵相机4可安装在移动装置1的后部，例如，在移动装置1沿车辆中心线从车尾部向前部运动的过程中，线阵相机4能够逐渐获得沿车辆宽度方向的线阵图像，最后通过软件拼接处理形成部分或全部的车底照片。另外，也可以按需将线阵相机4和第一局部摄像头2设置在移动装置1的其它位置。
此种扫描系统能够使移动装置进入车辆底盘下方，并通过自身的运动实现自动扫描，使用方便，可降低操作人员的劳动强度，既能够通过线阵相机获得的车底照片进行全面高效的检查，又能够通过局部拍摄有针对性地重点检查车辆底部的可疑区域。由此，该扫描装置使用灵活，可提高对车辆底盘携带可疑物品进行扫描检查的可靠性，并提高检查效率。
在线阵相机4拍摄的车底照片中，控制装置5能够将拍摄的车底照片与预存的正常车底照片进行对比，并判断车底照片中是否存在可疑物，并在判断出车底照片中存 在可疑物时，使移动装置1运动至可疑物对应的可疑区域，以便进一步局部扫描。此种方式能够提高扫描装置的自动化程度和效率，节省人工查看车底照片所需要的时间，且不受操作者经验的影响。其中，可疑物包括：夹藏毒品、爆炸物、枪支以及改装底盘后的异常结构等。
可选地，操作者也能够在线阵相机4拍摄的车底照片中通过肉眼判断出是否存在可疑物，如果发现可疑物则将可疑物指示命令发送给控制装置5，以便进一步局部扫描。控制装置5能够在接收到车底照片中的可疑物指示命令时，使移动装置1运动至可疑物对应的可疑区域进行局部扫描。此种方式判断可疑物的方式更加灵活，对于一些特殊的或之前未出现过的可疑物也便于根据操作者的经验判断出来，能够降低漏检的可能性。
进一步地，本公开的扫描系统还可包括设在移动装置1前部的第二局部摄像头3，例如设在机器人等移动装置的前部，机器人在从车辆前方或者后方朝向车辆前进时，都会迎着车牌号，因而在机器人行走过程中能够拍摄到待检车辆的车牌号，并能拍摄到前方路况。当然，第二局部摄像头3也可以设置在机器人的中部或后部，只要摄像头3能够迎着车牌拍到车牌号即可。
如图2所示，控制装置5包括工控机54，工控机54能够读取第二局部摄像头3拍摄的照片或视频来自动识别出车牌号，并可由工控机5或操作者判断识别出的车牌号是否有效。可采用自动智能的方法或者采用人工方法来判断拍摄的车牌号是否有效。
当采用自动智能方法来判断时，可通过控制装置判断识别出来的车牌号码的位数是否正确、是否符合车牌命名规则、是否在申报检测的车辆号牌列表中、拍摄是否完整等预定准则来判断车牌号码是否有效。此种方法能够提高车牌号识别的效率，提高扫描系统工作的自动化程度。
当采用人工方法来判断时，第二局部摄像头3拍摄的车牌照片或视频与识别出的车牌号被一起呈现给操作者，操作者可直接通过肉眼观察识别的号码是否正确，当然，假如操作者只看到识别出的车牌号而未看到照片，则操作者也可以根据上述准则来判断。操作者可以在窗口中点击“无效”按钮来告诉系统识别出的车牌号无效。
当工控机或者操作者判断识别出的车牌号为无效(错误)时，可以让工控机将识别出的另一个可能的备选车牌号码发送给判断模块或呈现给操作者，从而进行第二次判断。
进一步地，当第二次判断的结论仍然是无效时，进行如下操作：如果是在自动判断机制下，则工控机可以控制第二局部摄像头3或机器人调整拍摄角度或位置甚至焦距，再次拍摄照片，然后进行第二次识别。如果是在人工判断机制下，则首先操作者判断拍摄到的车牌照片是否完整清晰，如果完整清晰，则可以由操作者根据拍摄的照片或视频来手动输入车牌号；如果不完整清晰，则工控机可以控制第二局部摄像头3或机器人调整拍摄角度或位置甚至焦距，再次拍摄出清晰的照片，然后进行第二次识别。
在另一个实施例中，在人工判断机制下，可以在第一次判断得出无效结论后，就可以直接由操作者根据完整清晰的照片手动输入车牌号，而不用弹出备选车牌。人工输入车牌号的方式能够在控制装置5判断出车牌号无效的情况下，快速、直接、准确地输入正确的车牌号，避免在此阶段花费较多时间。
在识别出的车牌号被判断有效或者操作者手动输入好车牌号的情况下，控制装置5首先存储该车牌号，然后通知系统准备将随后拍摄到的车辆的其他信息(例如车辆底盘整图)与该车牌号一起对应存储，从而方便后续查找。
在存储好有效车牌号之后，使移动装置1运动至车辆底盘下方。
为了使移动装置1上的各个拍摄元件能够灵活的从所需角度进行拍摄，移动装置1可同时具备行进和姿态变换的功能。在实际的检测过程中，移动装置1经常需要通过旋转来改变前进方向，从而移动到期望的位置或者从一个可疑区域移动到另一个可疑区域，但是在旋转的过程中，直接安装在移动装置1上的第一局部摄像头2也会随之旋转，从而导致拍摄的视频发生晃动或照片变得模糊，并且更为重要的是之后拍摄的底盘画面的方向与之前拍摄的底盘画面的方向也不一致，无法与线阵相机拍摄的照片进行同步比对，操纵者可能会发生混乱，不易准确定位和操纵。
在进行局部扫描的过程中，为了方便与线阵相机拍摄的照片进行同步比对并防止机器人旋转时拍摄的视频发生抖动或照片变得模糊，在机器人本体上可设有角度补偿机构。下面以移动装置1为可移动式机器人为例说明，第一局部摄像头2安装在角度补偿机构的输出端，角度补偿机构用于在机器人旋转时进行角度补偿，以便在机器人旋转时使第一局部摄像头2的拍摄角度保持不变。
例如，在对车底的可疑位置进行观察时，机器人有时需要旋转然后向预设方向前进，在机器人旋转时可通过控制装置5使角度补偿机构带动第一局部摄像头2朝向预设方向的反方向旋转相同的角度，这样第一局部摄像头2的拍摄角度保持不变，能够 使可疑区域的视频显示保持稳定，防止由于机器人的旋转造成视频画面晃动，以使观察者能够更准确地对视频进行分析观察，提高可疑观察的准确性。
具体地，如图2所示，角度补偿机构可包括舵机6，第一局部摄像头2安装于舵机6的电机输出轴上或安装在舵盘上，第一局部摄像头2朝上设置以拍摄车辆的底盘。舵机6能够在机器人旋转时带动第一局部摄像头2反向转动。在一些实施例中，第一局部摄像头2的中心轴与舵机6的电机输出轴保持轴线一致。在另一些实施例中，第一局部摄像头2的中心轴、舵机的电机输出轴以及机器人的旋转轴线三者保持一致，以便能够更加精确地使第一局部摄像头2的拍摄角度保持不变，保持视频画面的稳定性。当然，将第一局部摄像头2设在机器人本体上偏离其旋转轴线的方式也在本公开的保护范围之内。可替代地，角度补偿机构也可以是其它能够输出旋转运动的电动执行机构。
为了保证移动装置1运动的安全性，本公开的扫描系统还可包括测距传感器7，设在移动装置1顶部，用于检测移动装置1上方是否有障碍物，控制装置5能够在接收到测距传感器7的检测信号后判断移动装置1是否进入或驶入车辆底盘下方，以便能够获取有效的车底扫描视频和照片。
如图2所示，上述各实施例中的控制装置5包括远程的控制终端51和设在移动装置1上的控制板52，控制终端51能够向控制板52发出遥控信号，以控制移动装置1的运动轨迹、姿态变换和第一局部摄像头2拍摄角度中的至少一种。
在一些实施例中，控制终端51可以选择手持终端，例如单兵终端等。例如，控制终端51可控制机器人的前进、后退、转向以及旋转，也可控制舵机6的输出轴转动以调整第一局部摄像头2的拍摄角度。
为了能够方便地通过控制终端51对移动装置1及第一局部摄像头2的转动进行远程控制，控制终端51(例如单兵终端)上可设有操控元件，例如摇杆或虚拟按键等，可通过摇杆控制移动装置1的运动轨迹和姿态变换，或者通过按键控制舵机6转动以带动第一局部摄像头2转动。
进一步地，控制终端51还包括显示单元，显示单元用于接收并显示线阵相机4拍摄的车底照片、第一局部摄像头2和第二局部摄像头3拍摄的实时视频。显示单元中的视频窗口可以切换显示第一局部摄像头2和第二局部摄像头3的视频图像，状态窗口显示例如机器人等移动装置1的状态信息。
控制装置5还包括设在移动装置1上的驱动器53和驱动机构，移动装置1具有 行走部，行走部包括设置于机器人本体左右两侧的减震履带，控制板52能够在接收到控制终端51的信号后，将运动指令发送到驱动器53，以控制驱动机构带动两侧的减震履带运动。例如，驱动机构可以是具备编码器反馈的伺服电机等。减震履带可包括4-10组减震支撑轮，伺服电机驱动相应侧的履带运动。在需要控制移动装置1运动时，控制终端51将控制信号发送至控制板52，控制板52再将运动指令发送到驱动器53，以驱动伺服电机带动减振履带运动。减震履带的运动可以实现机器人的前进、后退、转弯和原地旋转等功能，以便使机器人在车辆底部空间灵活地运动，从而使摄像头以较好的角度拍摄到需要观察的部位，并且能够使机器人从方便的位置驶入或驶出车底。可替代地，行走部也可以是车轮等能够实现行走功能的部件。
采用减振履带能够降低路面不平整引起的摄像头晃动，使拍摄的车底照片画质更优，拍摄的实时视频显示更加稳定，能够提高可疑物扫描的准确性。
由于车底光线较暗，移动装置1上设有补光灯，控制装置5能够在通过线阵相机4拍摄车底照片，或者通过第一局部摄像头2对可疑区域进行局部观察时打开补光灯以增加光照强度。在移动装置1驶出车底时，补光灯关闭。
移动装置1上还设有电池，为移动装置1内部各模块提供电源，并且具备电量自检功能，控制板52可读取电池的电量值。
在一个具体的实施例中，机器人本体部的顶部设有第一局部摄像头2和测距传感器7，前部设有第二局部摄像头3，后部设有线阵相机4。控制装置5包括手持式的远程控制终端51、无线通信模块8、控制板52、驱动器53和工控机54。其中，控制终端51与控制板52之间或者控制终端51与工控机54之间都可以通过无线通信模块8传递信息，能够实现双向数据传输，可将第一局部摄像头2和第二局部摄像头3拍摄的视频传回控制终端51。
下面结合图4所示的流程图来说明本公开扫描系统的工作原理。
当待检查车辆停下时，开始准备工作。首先，将机器人放置在车辆前方或后方，机器人和控制终端51处于开机状态，操作人员通过控制终端51开启扫描流程。
接着，控制终端51控制机器人从车辆前部或后部向靠近车辆的方向移动，第二局部摄像头3拍摄的视频可以通过无线通信模块8传递到控制终端51，以使操作人员观察路况。工控机54也可以读取第二局部摄像头3拍摄的视频，通过软件识别车牌号，并判断出车牌号是否有效，如果有效则存储该车牌号，如果无效则可以通过前面给出的方法由工控机54进一步判断或识别出正确的车牌号，或者由人工手动输入正 确的车牌号并进行存储。然后工控机54通知系统准备将随后拍摄到的车辆的其它信息(例如车辆底盘图像等)与该车牌号一起对应存储。接着，可通过控制终端51使机器人移动至车辆底盘下方进行扫描检查。
机器人进入车辆底盘下方后，测距传感器7的检测信号发生变化，识别出机器人已进入车底，并将该状态发送至工控机54中，同时控制板52开启补光灯。机器人沿着车辆沿长度方向的中心线运动，线阵相机4中设有镜头，在运动过程中线阵相机4能够拍摄车辆沿宽度方向的线阵图像，工控机54实时获取线阵相机4的拍摄信息，并通过软件开启图像拼接处理工作，待机器人运动至车辆另一端时，可获得整体的车底照片。机器人可驶出车底，控制板52关闭补光灯。接着由工控机54中的软件判断车底照片中是否存在可疑物，或者将车底照片发送至控制终端51以使操作者判断是否存在可疑物，如果存在可疑物，则继续针对可疑物对应的可疑区域进行局部观察。
通过控制终端51使机器人运动至车底的可疑区域，同时控制板52打开补光灯，对机器人和第一局部摄像头2进行微动操作以观察车底可疑物，第一局部摄像头2拍摄的视频通过无线通信模块8传送到控制终端51，控制终端51的视频窗口切换到第一局部摄像头2，操作人员观察可疑物。如果局部观察不清晰，可改变第一局部摄像头2的拍摄角度做进一步观察。控制终端51可保存第一局部摄像头2的视频。对可疑物确认完毕后，控制机器人驶出车底，并关闭补光灯。
此外，本公开还提供了一种基于上述车辆底盘扫描系统的扫描方法，在一个示意性的实施例中，如图3所示，该扫描方法包括：
步骤101、使移动装置1运动至车辆底盘下方，以通过线阵相机4拍摄部分或全部的车底照片；
步骤102、使移动装置1运动至可疑区域，以通过第一局部摄像头2对可疑区域进行局部拍摄。
其中，步骤101和102可通过控制装置5执行。此种扫描系统使用方便，可降低操作人员的劳动强度，能够根据需求选择获得车底照片进行全面检查，或者有针对性地重点检查车辆底部的可疑区域，可提高对车辆底盘携带可疑物品进行扫描检查的可靠性，并提高检查效率。
进一步地，在步骤101之后，本公开的扫描系统还包括：
步骤101’、判断车底照片中是否存在可疑物，如果存在可疑物则执行步骤102。
步骤101’可通过控制装置5执行，例如工控机54，或者也可通过操作者执行。该 实施例中先进行整体扫描将对可疑物进行定位后，再进行局部检查，此种方式能够快速地定位出可疑区域，提高可疑物扫描效率，还能通过重点观察的方式提高扫描准确性。
进一步地，在步骤101之前，本公开的扫描方法还包括：
步骤100A、通过第二局部摄像头3拍摄待检车辆的车牌号照片或视频；
步骤100B、从第二局部摄像头3拍摄的照片或视频中识别出车牌号；
步骤100C、判断识别出的车牌号是否有效，如果有效则由控制装置5进行存储，以便与扫描过程中拍摄的照片或视频相对应，如果无效则进一步获取有效的车牌号。
其中，步骤100B由控制装置5执行，步骤100C既可以由控制装置5进行自动智能判断，也可通过人工方法进行判断。具体地，控制装置5可以根据识别出来的车牌号位数是否正确、是否符合车牌命名规则、是否在申报检测的车辆号牌列表中和拍摄是否完整来判断车牌号码是否有效。在采用自动智能的方法获取车牌号时，步骤100B和100C可以由工控机54执行，如果有需要可以将获取的车牌号通过无线通信模块8发送至控制终端51；或者也可以将第二局部摄像头3拍摄的视频发送至控制终端51，由控制终端51进行车牌号的读取或判断。
该实施例能够通过第二局部摄像头3拍摄的照片或视频判断出待检车辆有效的车牌号，首先判断待检车辆的身份是否可疑，在车牌号与待检车辆不符合的条件下无需进行可疑物检查，直接扣留车辆，待后续进行身份核实，这样可节省不必要的检查环节，以避免浪费资源。该方法便于使后续扫描检查过程中拍摄的照片和视频与待检车辆信息相对应，提高扫描检查效率和准确性进一步提高扫描检查效率。
在步骤100C中，在判断出识别出的车牌号无效的情况下，进一步获取有效的车牌号的步骤包括：
控制装置5提供另一个备选车牌号码，以便进行二次判断。
在此基础上，如果控制装置5在经过二次判断后的结论仍然无效，则进一步获取有效的车牌号的步骤还包括：
控制装置5控制第二局部摄像头3调整拍摄角度、位置和/焦距；
第二局部摄像头3再次拍摄待检车辆的车牌号照片或视频；
控制装置5从第二局部摄像头3再次拍摄的照片或视频中二次识别出车牌号。
在另一个实施例中，步骤100C在判断出识别出的车牌号无效的情况下，进一步获取有效的车牌号的步骤包括：
直接接收由操作者根据完整清晰的照片手动输入的车牌号。
关于待检车辆车牌号的详细获取方式已经在扫描系统的主题中进行了详细介绍，扫描方法主题中获取车牌号的各个步骤可以参考前面的阐述。
在一个具体的实施例中，控制装置5包括工控机54和远程的控制终端51，步骤101中通过线阵相机4拍摄部分或全部的车底照片的步骤具体包括：
步骤101A、工控机54实时读取线阵相机4的拍摄信息；
步骤101B、工控机54对读取到的拍摄信息进行图像拼接以形成部分或全部的车底照片；
步骤101C、工控机54将车底照片发送至控制终端51。步骤101A-101C在图中未示出。
在步骤101之后，本公开的扫描方法还可包括：
使移动装置1驶出车辆底盘下方，待判断出车底照片中显示存在可疑物时再使移动装置1驶入车辆底盘下方。
另外，为了使拍摄的照片或视频更清晰，在通过线阵相机4拍摄部分或全部的车底照片，或者通过所述第一局部摄像头2对可疑区域进行局部拍摄之前，还包括：开启所述移动装置1上的补光灯。
关于更具体的扫描方法已经在扫描系统的主题部分进行了详细的阐述，这两部分内容可以相互借鉴。
以上对本公开所提供的一种车辆底盘扫描系统及扫描方法进行了详细介绍。本文中应用了具体的实施例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以对本公开进行若干改进和修饰，这些改进和修饰也落入本公开权利要求的保护范围内。

Claims (25)

  1. 一种车辆底盘扫描系统，包括：
    移动装置(1)；
    线阵相机(4)和第一局部摄像头(2)，设在所述移动装置(1)上；以及
    控制装置(5)，被配置为使所述移动装置(1)运动至车辆底盘下方，以通过所述线阵相机(4)拍摄车底来获得车辆底盘的一部分或全部的照片，以及使所述移动装置(1)运动至可疑区域，以通过所述第一局部摄像头(2)对可疑区域进行局部拍摄。
  2. 根据权利要求1所述的车辆底盘扫描系统，其中所述控制装置(5)被配置为判断所述车底照片中是否存在可疑物，并在判断出所述车底照片中存在可疑物时，使所述移动装置(1)运动至可疑物对应的可疑区域。
  3. 根据权利要求1所述的车辆底盘扫描系统，其中所述控制装置(5)被配置为在接收到车底照片中的可疑物指示命令时，使所述移动装置(1)运动至可疑物对应的可疑区域。
  4. 根据权利要求1所述的车辆底盘扫描系统，还包括设在所述移动装置(1)上的第二局部摄像头(3)，所述控制装置(5)被配置为从所述第二局部摄像头(3)拍摄的照片或视频中识别出车牌号，以便判断识别出的车牌号是否有效。
  5. 根据权利要求4所述的车辆底盘扫描系统，
    所述控制装置(5)被配置为自动判断识别出的车牌号是否有效，其中，判断所依据的准则包括以下准则中的至少一种：车牌号码的位数是否正确、是否符合车牌命名规则、是否在申报检测的车辆号牌列表中和拍摄是否完整；或者，
    所述控制装置(5)被配置为根据用户输入的确认指令判断识别出的车牌号是否有效，其中，用户根据肉眼看到的照片或视频中的车牌号码与识别出的车牌号码是否一致来输入确认车牌号是否有效的指令。
  6. 根据权利要求1所述的车辆底盘扫描系统，其中，所述第一局部摄像头(2)设在所述移动装置(1)自身的旋转轴线上。
  7. 根据权利要求1所述的车辆底盘扫描系统，其中，所述移动装置(1)上设有角度补偿机构，被配置为在所述移动装置(1)旋转时进行角度补偿，以便在所述移动装置(1)旋转时使所述第一局部摄像头(2)的拍摄角度保持不变。
  8. 根据权利要求7所述的车辆底盘扫描系统，其中，所述角度补偿机构包括舵机(6)，所述第一局部摄像头(2)设在所述舵机(6)的输出端，所述舵机(6)被配置为在所述移动装置(1)旋转时带动所述第一局部摄像头(2)反向转动，以使所述第一局部摄像头(2)的拍摄角度保持不变。
  9. 根据权利要求1所述的车辆底盘扫描系统，其中，所述第一局部摄像头(2)设在所述移动装置(1)的顶部，和/或所述线阵相机(4)设在所述移动装置(1)的后部。
  10. 根据权利要求1所述的车辆底盘扫描系统，还包括测距传感器(7)，被配置为检测所述移动装置(1)上方是否有障碍物，所述控制装置(5)被配置为在接收到所述测距传感器(7)的检测信号后判断所述移动装置(1)是否进入车辆底盘下方。
  11. 根据权利要求1所述的车辆底盘扫描系统，其中，所述控制装置(5)包括：
    控制板(52)，设在所述移动装置(1)上；和
    远程的控制终端(51)，被配置为向所述控制板(52)发送遥控信号，以控制所述移动装置(1)的运动轨迹、姿态变换和所述第一局部摄像头(2)拍摄角度中的至少一种。
  12. 根据权利要求11所述的车辆底盘扫描系统，其中，所述控制终端(51)包括显示单元，所述显示单元被配置为接收并显示所述线阵相机(4)拍摄的车底照片、所述第一局部摄像头(2)和第二局部摄像头(3)拍摄的实时视频。
  13. 根据权利要求11所述的车辆底盘扫描系统，其中，所述控制装置(5)还包括设在所述移动装置(1)上的驱动器(53)和驱动机构，所述移动装置(1)包括行走部，所述行走部包括设置于本体部左右两侧的减震履带，所述控制板(52)被配置为在接收到所述控制终端(51)的信号后，将运动指令发送到所述驱动器(53)，以控制所述驱动机构带动两侧的所述减震履带运动。
  14. 根据权利要求1所述的车辆底盘扫描系统，其中，所述移动装置(1)为可移动式机器人。
  15. 一种基于权利要求1所述车辆底盘扫描系统的扫描方法，包括：
    使所述移动装置(1)运动至车辆底盘下方，以通过所述线阵相机(4)拍摄部分或全部的车底照片；
    使所述移动装置(1)运动至可疑区域，以通过所述第一局部摄像头(2)对可疑区域进行局部拍摄。
  16. 根据权利要求15所述的车辆底盘扫描方法，在通过所述线阵相机(4)拍摄部分或全部的车底照片后，还包括：
    判断所述车底照片中是否存在可疑物，如果存在可疑物则使所述移动装置(1)运动至可疑区域，以通过所述第一局部摄像头(2)对可疑区域进行局部拍摄。
  17. 根据权利要求15所述的车辆底盘扫描方法，在使所述移动装置(1)运动至车辆底盘下方之前，还包括：
    通过第二局部摄像头(3)拍摄待检车辆的车牌号照片或视频；
    从所述第二局部摄像头(3)拍摄的照片或视频中识别出车牌号；
    判断识别出的车牌号是否有效。
  18. 根据权利要求17所述的车辆底盘扫描方法，其中，判断识别出的车牌号是否有效的步骤具体包括：
    根据识别出来的车牌号位数是否正确、是否符合车牌命名规则、是否在申报检测的车辆号牌列表中和拍摄是否完整中的至少一种来自动判断车牌号码是否有效；或者
    接收用户根据肉眼看到的照片或视频中的车牌号码与识别出的车牌号码是否一致输入的确认车牌号是否有效的指令，再根据用户输入的确认指令判断识别出的车牌号是否有效。
  19. 根据权利要求17所述的车辆底盘扫描方法，在判断出识别出的车牌号无效的情况下，还包括：
    所述控制装置(5)提供另一个识别出的备选车牌号码，以便进行二次判断；或者所述控制装置(5)直接接收输入的正确的车牌号码。
  20. 根据权利要求19所述的车辆底盘扫描方法，如果所述控制装置(5)在经过二次判断后的结论仍然无效，还包括：
    所述控制装置(5)控制所述第二局部摄像头(3)调整拍摄角度、位置和/焦距；
    所述第二局部摄像头(3)再次拍摄待检车辆的车牌号照片或视频；
    所述控制装置(5)从所述第二局部摄像头(3)再次拍摄的照片或视频中二次识别出车牌号。
  21. 根据权利要求15所述的车辆底盘扫描方法，其中，所述控制装置(5)包括工控机(54)和远程的控制终端(51)，通过所述线阵相机(4)拍摄部分或全部的车底照片的步骤具体包括：
    所述工控机(54)实时读取所述线阵相机(4)的拍摄信息；
    所述工控机(54)对读取到的拍摄信息进行图像拼接以形成部分或全部的车底照片；
    所述工控机(54)将所述车底照片发送至所述控制终端(51)。
  22. 根据权利要求15所述的车辆底盘扫描方法，在通过所述线阵相机(4)拍摄部分或全部的车底照片后，还包括：
    使所述移动装置(1)驶出车辆底盘下方，待判断出所述车底照片中显示存在可疑物时再使所述移动装置(1)驶入车辆底盘下方。
  23. 一种车辆底盘扫描系统，包括：
    移动装置(1)；
    第一局部摄像头(2)，设在所述移动装置(1)上；以及
    控制装置(5)，被配置为使所述移动装置(1)运动至可疑区域，以通过所述第一局部摄像头(2)对可疑区域进行局部拍摄；
    其中，所述移动装置(1)上设有角度补偿机构，被配置为在所述移动装置(1)旋转时进行角度补偿，以便在所述移动装置(1)旋转时使所述第一局部摄像头(2)的拍摄角度保持不变。
  24. 根据权利要求23所述的车辆底盘扫描系统，其中，所述角度补偿机构包括舵机(6)，舵机(6)的主体固定于移动装置(1)上，所述第一局部摄像头(2)设在所述舵机(6)的输出端，所述舵机(6)被配置为在所述移动装置(1)旋转时带动所述第一局部摄像头(2)反向转动，以使所述第一局部摄像头(2)的拍摄角度保持不变。
  25. 根据权利要求23所述的车辆底盘扫描系统，其中，所述第一局部摄像头(2)设在所述移动装置(1)自身的旋转轴线上。
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