CN102679889A - Vehicle size measurement method and device - Google Patents
Vehicle size measurement method and device Download PDFInfo
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- CN102679889A CN102679889A CN2012101755160A CN201210175516A CN102679889A CN 102679889 A CN102679889 A CN 102679889A CN 2012101755160 A CN2012101755160 A CN 2012101755160A CN 201210175516 A CN201210175516 A CN 201210175516A CN 102679889 A CN102679889 A CN 102679889A
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Abstract
The invention discloses a vehicle size measurement method and a device. The vehicle size measurement method comprises scanning a plane vertical to the running direction of a vehicle by a laser radar to measure the width and the height of the vehicle; and scanning a plane parallel to running direction of the vehicle and vertical to the horizontal plane by the laser radar to measure the length of the vehicle. According to the vehicle size measurement method and device provided by the invention, the critical positions in the three dimensions of length, width and height of the vehicle can be measured by the laser radar, and the vehicle size can be calculated by reducing the critical positions on both ends in each dimension. Accordingly, the problem in quickly and accurately measuring the vehicle size is solved, thereby realizing quick and accurate measurement.
Description
Technical field
The present invention relates to field of measurement, in particular to a kind of measuring method and device of vehicle dimension.
Background technology
In the prior art; The dynamic overload overrun detecting device of each charge station only can detect axle load; Some geometric parameters for vehicle then can not be discerned, the size of vehicle for example, and these geometric parameters have great significance for transfiniting operation of traffic safety and effective control.Some charge station directly carries out contact type measurement with tape measure to vehicle, and this is low, the efficiency of measurement difference of measuring method measuring accuracy of appearance and increase operating personnel's workload and working time just.
Realize that road vehicle accurately the measuring fast of detecting of transfiniting seems particularly important in current traffic transport industry.But there is not universally recognized short-cut method at present.
Problem to the size of vehicle in the prior art can't quick and precisely be measured does not propose effective solution at present as yet.
Summary of the invention
The invention provides a kind of measuring method and device of vehicle dimension, the problem that can't quick and precisely be measured with the size that solves vehicle in the prior art at least.
To achieve these goals, according to an aspect of the present invention, a kind of measuring method of vehicle dimension is provided.
The measuring method of vehicle according to the invention size comprises: through laser radar scanning perpendicular to the plane of vehicle heading width and height with measuring vehicle; And be parallel to vehicle heading and perpendicular to the plane of surface level length with measuring vehicle through laser radar scanning.
Further, through laser radar scanning perpendicular to the plane of vehicle heading with the width of measuring vehicle with highly comprise: the critical localisation information of obtaining said apparatus vehicle both sides is to record the width of said apparatus vehicle; And the critical localisation information of obtaining said apparatus vehicle roof and bottom is to record the height of said apparatus vehicle.
Further; The critical localisation information of obtaining said apparatus vehicle both sides comprises with the width that records the said apparatus vehicle: maximal value and the minimum value of obtaining the horizontal ordinate of said apparatus vehicle ' s contour on first coordinate system; Wherein, said apparatus first coordinate system is first coordinate system perpendicular to the said apparatus vehicle heading; According to the width that the maximal value and the minimum value of the horizontal ordinate on said apparatus first coordinate system records the said apparatus vehicle, the critical localisation information of obtaining said apparatus vehicle roof and bottom comprises with the height that records the said apparatus vehicle: maximal value and the minimum value of obtaining the ordinate of said apparatus vehicle ' s contour on said apparatus first coordinate system; The height that records the said apparatus vehicle according to the maximal value and the minimum value of the ordinate on said apparatus first coordinate system.
Further; The width that records the said apparatus vehicle according to the maximal value and the minimum value of the horizontal ordinate on said apparatus first coordinate system comprises: with the maximal value of the horizontal ordinate on said apparatus first coordinate system and the difference between the minimum value width as the said apparatus vehicle, the height that records the said apparatus vehicle according to the maximal value and the minimum value of the ordinate on said apparatus first coordinate system comprises: with the maximal value of the ordinate on said apparatus first coordinate system and the difference between the minimum value height as the said apparatus vehicle.
Further; Be parallel to vehicle heading and comprise through laser radar scanning: maximal value and the minimum value of obtaining the horizontal ordinate of said apparatus vehicle ' s contour on said apparatus second coordinate system perpendicular to the plane of surface level length with measuring vehicle; Wherein, said apparatus second coordinate system is to be parallel to the said apparatus vehicle heading and perpendicular to the coordinate system of surface level; The length that records the said apparatus vehicle according to the maximal value and the minimum value of the horizontal ordinate on said apparatus second coordinate system.
Further; Obtaining the said apparatus vehicle ' s contour comprises in the maximal value and the minimum value of the horizontal ordinate on said apparatus second coordinate system: (X1 is Y1) with the coordinate (X2, Y2) of second measurement point on said apparatus second coordinate system to measure the coordinate of first measurement point on said apparatus second coordinate system; When said apparatus second measurement point recorded the said apparatus vehicle through said apparatus second measurement point, said apparatus first measurement point was measured the angle theta apart from l and measuring beam and ground of said apparatus vehicle to said apparatus first measurement point; The minimum value of obtaining the horizontal ordinate of said apparatus vehicle ' s contour on said apparatus second coordinate system is the abscissa value X1+l*cos θ of first measurement point; And the maximal value of obtaining the horizontal ordinate of said apparatus vehicle ' s contour on said apparatus second coordinate system is the abscissa value X2 of second measurement point, and the length that records the said apparatus vehicle according to the maximal value and the minimum value of the horizontal ordinate on said apparatus second coordinate system comprises: maximal value and minimum value to the ordinate on said apparatus second coordinate system are got difference to record the length of said apparatus vehicle.
Further; Before through plane the width and height with measuring vehicle of laser radar scanning perpendicular to vehicle heading; Said method also comprises: the sweep frequency that the said apparatus laser radar that is installed in different tracks is provided with coupling; Wherein, the said apparatus sweep frequency is provided with according to the requirement of measuring accuracy.
To achieve these goals, according to another aspect of the present invention, a kind of measurement mechanism of vehicle dimension is provided, this device is used to carry out the measuring method of any one vehicle dimension provided by the invention.
A kind of measurement mechanism of vehicle dimension is provided according to a further aspect in the invention.This measurement mechanism comprises: first measuring unit is used for through laser radar scanning perpendicular to the plane of vehicle heading width and the height with measuring vehicle; And second measuring unit, be used for being parallel to vehicle heading and perpendicular to the plane of surface level length with measuring vehicle through laser radar scanning.
Further, said apparatus first measuring unit comprises: first measures subelement, and the critical localisation information that is used to obtain said apparatus vehicle both sides is to record the width of said apparatus vehicle; And second measure subelement, and the critical localisation information that is used to obtain said apparatus vehicle roof and bottom is to record the height of said apparatus vehicle.
Further; Said apparatus first is measured subelement and is comprised: first acquisition module; Be used to obtain the maximal value and the minimum value of the horizontal ordinate of said apparatus vehicle ' s contour on said apparatus first coordinate system; Wherein, said apparatus first coordinate system is first coordinate system perpendicular to the said apparatus vehicle heading; First measurement module; Be used for the width that maximal value and minimum value according to the horizontal ordinate on said apparatus first coordinate system record the said apparatus vehicle; Said apparatus second is measured subelement and comprised: second acquisition module is used to obtain the maximal value and the minimum value of the ordinate of said apparatus vehicle ' s contour on said apparatus first coordinate system; Second measurement module is used for the height that maximal value and minimum value according to the ordinate on said apparatus first coordinate system record the said apparatus vehicle.
Further; Said apparatus first measurement module also is used for the maximal value of the horizontal ordinate on said apparatus first coordinate system and the difference between the minimum value width as the said apparatus vehicle, and said apparatus second measurement module also is used for the maximal value of the ordinate on said apparatus first coordinate system and the difference between the minimum value height as the said apparatus vehicle.
Further; Said apparatus second measuring unit comprises: obtain subelement; Be used to obtain the maximal value and the minimum value of the horizontal ordinate of said apparatus vehicle ' s contour on said apparatus second coordinate system; Wherein, said apparatus second coordinate system is to be parallel to the said apparatus vehicle heading and perpendicular to the coordinate system of surface level; The 3rd measures subelement, is used for the length that maximal value and minimum value according to the horizontal ordinate on said apparatus second coordinate system record the said apparatus vehicle.
Further, said apparatus obtains subelement and comprises: the 3rd measurement module, and (X1 is Y1) with the coordinate (X2, Y2) of second measurement point on said apparatus second coordinate system to be used to measure the coordinate of first measurement point on said apparatus second coordinate system; The 4th measurement module is used for when said apparatus second measurement point records the said apparatus vehicle through said apparatus second measurement point, measures the angle theta apart from l and measuring beam and ground of said apparatus vehicle to said apparatus first measurement point; The 3rd acquisition module, the minimum value that is used to obtain the horizontal ordinate of said apparatus vehicle ' s contour on said apparatus second coordinate system is the abscissa value X1+l*cos θ of first measurement point; And the 4th acquisition module; The maximal value that is used to obtain the horizontal ordinate of said apparatus vehicle ' s contour on said apparatus second coordinate system is the abscissa value X2 of second measurement point, and said apparatus the 3rd is measured subelement and also is used for the maximal value and the minimum value of the ordinate on said apparatus second coordinate system are got difference to record the length of said apparatus vehicle.
Through the present invention; Owing to adopt laser radar to record the critical localisation of vehicle in a length and width Senior Three dimension; And through the two ends critical localisation being subtracted each other in each dimension; Therefore promptly tried to achieve the size of vehicle, solved the problem that the size of vehicle can't quick and precisely be measured, and then reached measured effect quick and precisely.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is the structured flowchart according to the measurement mechanism of the vehicle dimension of the embodiment of the invention;
Fig. 2 is the structured flowchart according to the measurement mechanism of the vehicle dimension of first preferred embodiment of the invention;
Fig. 3 is the structured flowchart according to the measurement mechanism of the vehicle dimension of second preferred embodiment of the invention;
Fig. 4 is the process flow diagram according to the measuring method of the vehicle dimension of the embodiment of the invention;
Fig. 5 is the synoptic diagram according to the wide high measurement of vehicle of the embodiment of the invention;
Fig. 6 is the profile synoptic diagram according to the wide high measurement of vehicle of the embodiment of the invention;
Fig. 7 is the structural representation according to the portal frame of the embodiment of the invention; And
Fig. 8 is the synoptic diagram according to the vehicle linear measure longimetry of the embodiment of the invention.
Embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the present invention.
The embodiment of the invention provides a kind of measurement mechanism of vehicle dimension, below the measurement mechanism of the vehicle dimension that the embodiment of the invention provided is introduced.
Fig. 1 is the structured flowchart according to the measurement mechanism of the vehicle dimension of the embodiment of the invention.
As shown in Figure 1, the measurement mechanism of this vehicle dimension comprises first measuring unit 11 and second measuring unit 12.
The function of first measuring unit 11 and second measuring unit 12 all can realize through CPU.
In the present embodiment; Owing to adopt laser radar to record the critical localisation of vehicle in a length and width Senior Three dimension; And through the two ends critical localisation being subtracted each other in each dimension; Therefore promptly tried to achieve the size of vehicle, solved the problem that the size of vehicle can't quick and precisely be measured, and then reached measured effect quick and precisely.
Fig. 2 is the structured flowchart according to the measurement mechanism of the vehicle dimension of first preferred embodiment of the invention.This embodiment can be used as preferred implementation embodiment illustrated in fig. 1.
As shown in Figure 2, the measurement mechanism of this vehicle dimension comprises first measuring unit 11 and second measuring unit 12, and wherein, first measuring unit 11 comprises that first measures the subelement 111 and the second measurement subelement 112.
The critical localisation information that the first measurement subelement 111 is used to obtain the vehicle both sides is to record the width of vehicle.
The critical localisation information that the second measurement subelement 112 is used to obtain vehicle roof and bottom is to record the height of vehicle.
In this embodiment, through obtaining the critical localisation of vehicle, be the size on this dimension in the difference of two critical localisations on each dimension in the high direction of length and width.
In order to confirm preferably, to come critical localisation the position is represented more exactly through coordinate.
First acquisition module is used to obtain the maximal value and the minimum value of the horizontal ordinate of vehicle ' s contour on first coordinate system, and wherein, first coordinate system is first coordinate system perpendicular to vehicle heading.
First measurement module is used for recording according to the maximal value of the horizontal ordinate on first coordinate system and minimum value the width of vehicle.
Second acquisition module is used to obtain the maximal value and the minimum value of the ordinate of vehicle ' s contour on first coordinate system.
Second measurement module is used for recording according to the maximal value of the ordinate on first coordinate system and minimum value the height of vehicle.
At this moment, the difference of coordinate is the length and the width of vehicle, and preferably, first measurement module also is used for the maximal value of the horizontal ordinate on first coordinate system and the difference between the minimum value width as vehicle.
Second measurement module also is used for the maximal value of the ordinate on first coordinate system and the difference between the minimum value height as vehicle.
Fig. 3 is the structured flowchart according to the measurement mechanism of the vehicle dimension of second preferred embodiment of the invention.This embodiment can be used as preferred implementation embodiment illustrated in fig. 2.
As shown in Figure 3; The measurement mechanism of this vehicle dimension comprises that first measuring unit 11, second measuring unit 12, first measure subelement 111 and second and measure subelement 112; Wherein, second measuring unit 12 comprises that obtaining subelement 121 and the 3rd measures subelement 122.
Obtain maximal value and minimum value that subelement 121 is used to obtain the horizontal ordinate of vehicle ' s contour on second coordinate system, wherein, second coordinate system is to be parallel to vehicle heading and perpendicular to the coordinate system of surface level.
The 3rd measures subelement 122 is used for the length that maximal value and minimum value according to the horizontal ordinate on second coordinate system record vehicle.
In the present embodiment, through on vehicle traveling direction, setting up coordinate system and can trying to achieve the length of automobile through the coordinate difference.
Obtain subelement 121 and can comprise the 3rd measurement module, the 4th measurement module, the 3rd acquisition module and the 4th acquisition module.
The 3rd measurement module is used to measure the coordinate of first measurement point, and (X1 is Y1) with the coordinate (X2, Y2) of second measurement point.
The 4th measurement module is used for when second measurement point records vehicle through second measurement point, and measuring vehicle is to the angle theta apart from l and measuring beam and ground of first measurement point.
The minimum value that the 3rd acquisition module is used to obtain the horizontal ordinate of vehicle ' s contour on second coordinate system is the abscissa value X1+l*cos θ of first measurement point.
The maximal value that the 4th acquisition module is used to obtain the horizontal ordinate of vehicle ' s contour on second coordinate system is the abscissa value X2 of second measurement point.
The 3rd measures subelement 123 also is used for the maximal value and the minimum value of the ordinate on second coordinate system are got difference to record the length of vehicle.
The embodiment of the invention also provides a kind of measuring method of vehicle dimension, and this method can be carried out based on the measurement mechanism of above-mentioned vehicle dimension.
Fig. 4 is the process flow diagram according to the measuring method of the vehicle dimension of the embodiment of the invention.
Present embodiment provides a kind of laser radar of realizing in big dynamic range; The method of measuring fast accurately is can accurately measure physical dimension under the situation of 180km/h in the speed of a motor vehicle, and measuring accuracy is in centimetre-sized; Measuring Time is short; Do not influence the cruising of vehicle, reduced operating personnel's workload greatly, satisfy the requirement of measuring accuracy and measuring speed simultaneously.
As shown in Figure 4, the measuring method of this vehicle dimension comprises that following step S402 is to step S404.
Step S402, through laser radar scanning perpendicular to the plane of vehicle heading width and height with measuring vehicle.
Particularly, the critical localisation information of obtaining the vehicle both sides is to record the width of vehicle.Concrete steps are: maximal value and the minimum value of at first obtaining the horizontal ordinate of vehicle ' s contour on first coordinate system; Wherein, First coordinate system is first coordinate system perpendicular to vehicle heading, the width that records vehicle according to the maximal value and the minimum value of the horizontal ordinate on first coordinate system then.
After the maximal value of obtaining the horizontal ordinate on first coordinate system and minimum value, with the maximal value of the horizontal ordinate on first coordinate system and the difference between the minimum value width as vehicle.
The critical localisation information of obtaining vehicle roof and bottom with the concrete steps of the height that records vehicle is: at first obtain the maximal value and the minimum value of the ordinate of vehicle ' s contour on first coordinate system, the height that records vehicle according to the maximal value and the minimum value of the ordinate on first coordinate system then.
After the maximal value of obtaining the ordinate on first coordinate system and minimum value, with the maximal value of the ordinate on first coordinate system and the difference between the minimum value height as vehicle.
Because some situation vehicle of overrun vehicle is out of shape; Perhaps the loading of goods has made that the profile of vehicle is irregular, brings very big difficulty to dimensional measurement, in order to overcome the difficult problem that this situation causes; Be necessary the profile of side, compartment is also measured; Under the irregular situation of car looks, can be good at scanning the profile information of vehicle, the measurement mistake of avoiding the incorrect loading because of the distortion of vehicle and goods to bring.When laser radar is installed, a public laser radar in the middle of the adjacent lane, the wide height of promptly simple survey, the bicycle road needs 2 laser radars, and two-way traffic needs 3, and track of later every increase just increases an instrumentation radar.
Before vehicular traffic is measured; Earlier measuring system is provided with and demarcates, require and the measuring accuracy requirement, select suitable sweep frequency to the different track speed of a motor vehicle; To do not have vehicle through the time the road surface scan; Its state is set to original state, demarcates after the completion, begins vehicular traffic is measured.
What laser radar scanned is a plane, and Fig. 5 is the synoptic diagram according to the wide high measurement of vehicle of the embodiment of the invention, and is as shown in Figure 5; This plane is perpendicular to vehicle heading, when vehicle passes through this plane of scanning motion, because the continual quick scanning of laser radar; Obtain a series of vehicle ' s contour information; These information are coordinate points in the coordinate system of demarcating one by one, and it is exactly the approximate contours of vehicle xsect that these points couple together, and the profile synoptic diagram is as shown in Figure 6; Each car passes through, and measuring system all can obtain a plurality of vehicle cross-sectional profiles information that are made up of coordinate points.The maximal value and the minimum value of the horizontal ordinate in this group group information are found out, i.e. x
Max, x
Min, y
Max, y
MinBy formula H=H
0-y
MinAnd W=X
Max-X
MinCan try to achieve height of car H and vehicle width W, wherein, true origin is at laser radar position, H
0Be the height of laser radar apart from ground.
Each profile all obtains a width value, through handling, weeds out some significantly non-wide high data, the data of these some row is being got average, as the wide high information of the vehicle that records at last.
Step S404 is parallel to vehicle heading and perpendicular to the plane of the surface level length with measuring vehicle through laser radar scanning.
Concrete grammar is maximal value and a minimum value of obtaining the horizontal ordinate of vehicle ' s contour on second coordinate system, and wherein, second coordinate system is to be parallel to vehicle heading and perpendicular to the coordinate system of surface level.
In the present embodiment, (X1, Y1) with the coordinate (X2, Y2) of second measurement point on second coordinate system, vehicle is at first through second measurement point, then through first measurement point to measure the coordinate of first measurement point on second coordinate system.
When second measurement point records vehicle through second measurement point; The first measurement point measuring vehicle is to the angle theta apart from l and measuring beam and ground of first measurement point; The minimum value that can further obtain the horizontal ordinate of vehicle ' s contour on second coordinate system through above data is the abscissa value X1+l*cos θ of first measurement point; At last, the maximal value of obtaining the horizontal ordinate of vehicle ' s contour on second coordinate system is the abscissa value X2 of second measurement point.
According to the maximal value X2 and the minimum value X1 of the horizontal ordinate on second coordinate system, can record the length of vehicle.Particularly, in the present embodiment, the maximal value and the minimum value of the ordinate on second coordinate system are got difference to record the length of vehicle.
Present embodiment sets up two portal frames on highway, the structural representation of this portal frame is as shown in Figure 7, and the laser radar that is used to measure the vehicle commander is installed on second portal frame, and the plane of scanning motion is parallel to vehicle heading and perpendicular to ground.The synoptic diagram of surveying vehicle length is as shown in Figure 8; When vehicle just passes through first portal frame, be used to measure wide high laser radar data and produce saltus step, give and survey information acquisition signal of long laser radar; This lidar measurement scans the positional information of vehicle headstock this moment, by formula L=L
0-lcos θ can try to achieve vehicle length, and wherein, L is a vehicle length; L
0Be two distances between the portal frame, be the difference of X2 and X1; L is the distance apart from headstock that laser radar records; θ is the angle of Laser Measurement circuit and surface level.Through above formula, can calculate the length of vehicle.
Before beginning measurement; Need carry out some preliminary works; For example, before through plane the width and height with measuring vehicle of laser radar scanning, the sweep frequency of coupling need be set also to the laser radar that is installed in different tracks perpendicular to vehicle heading; Wherein, the flat rate of scanning is provided with according to the requirement of measuring accuracy.
Need to prove; Can in computer system, carry out in the step shown in the process flow diagram of accompanying drawing such as a set of computer-executable instructions; And; Though logical order has been shown in process flow diagram, in some cases, can have carried out step shown or that describe with the order that is different from here.
Obviously, it is apparent to those skilled in the art that above-mentioned each module of the present invention or each step can realize with the general calculation device; They can concentrate on the single calculation element; Perhaps be distributed on the network that a plurality of calculation element forms, alternatively, they can be realized with the executable program code of calculation element; Thereby; Can they be stored in the memory storage and carry out, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize by calculation element.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. the measuring method of a vehicle dimension is characterized in that, comprising:
Through laser radar scanning perpendicular to the plane of vehicle heading width and height with measuring vehicle; And
Be parallel to vehicle heading and perpendicular to the plane of surface level length through laser radar scanning with measuring vehicle.
2. the measuring method of vehicle dimension according to claim 1 is characterized in that, through laser radar scanning perpendicular to the plane of vehicle heading with the width of measuring vehicle with highly comprise:
The critical localisation information of obtaining said vehicle both sides is to record the width of said vehicle; And
The critical localisation information of obtaining said vehicle roof and bottom is to record the height of said vehicle.
3. the measuring method of vehicle dimension according to claim 2 is characterized in that,
The critical localisation information of obtaining said vehicle both sides comprises with the width that records said vehicle:
Obtain the maximal value and the minimum value of the horizontal ordinate of said vehicle ' s contour on first coordinate system, wherein, said first coordinate system is first coordinate system perpendicular to said vehicle heading;
The width that records said vehicle according to the maximal value and the minimum value of the horizontal ordinate on said first coordinate system,
The critical localisation information of obtaining said vehicle roof and bottom comprises with the height that records said vehicle:
Obtain the maximal value and the minimum value of the ordinate of said vehicle ' s contour on said first coordinate system;
The height that records said vehicle according to the maximal value and the minimum value of the ordinate on said first coordinate system.
4. the measuring method of vehicle dimension according to claim 3 is characterized in that,
The width that records said vehicle according to the maximal value and the minimum value of the horizontal ordinate on said first coordinate system comprises:
With the maximal value of the horizontal ordinate on said first coordinate system and the difference between the minimum value width as said vehicle,
The height that records said vehicle according to the maximal value and the minimum value of the ordinate on said first coordinate system comprises:
With the maximal value of the ordinate on said first coordinate system and the difference between the minimum value height as said vehicle.
5. the measuring method of vehicle dimension according to claim 4 is characterized in that, is parallel to vehicle heading and comprises perpendicular to the plane of the surface level length with measuring vehicle through laser radar scanning:
Obtain the maximal value and the minimum value of the horizontal ordinate of said vehicle ' s contour on said second coordinate system, wherein, said second coordinate system is to be parallel to said vehicle heading and perpendicular to the coordinate system of surface level;
The length that records said vehicle according to the maximal value and the minimum value of the horizontal ordinate on said second coordinate system.
6. the measuring method of vehicle dimension according to claim 5 is characterized in that,
Maximal value and the minimum value of obtaining the horizontal ordinate of said vehicle ' s contour on said second coordinate system comprise:
(X1 is Y1) with the coordinate (X2, Y2) of second measurement point on said second coordinate system to measure the coordinate of first measurement point on said second coordinate system;
When said second measurement point recorded said vehicle through said second measurement point, said first measurement point was measured the angle theta apart from l and measuring beam and ground of said vehicle to said first measurement point;
The minimum value of obtaining the horizontal ordinate of said vehicle ' s contour on said second coordinate system is the abscissa value X1+l*cos θ of first measurement point; And
The maximal value of obtaining the horizontal ordinate of said vehicle ' s contour on said second coordinate system is the abscissa value X2 of second measurement point,
The length that records said vehicle according to the maximal value and the minimum value of the horizontal ordinate on said second coordinate system comprises:
Maximal value and minimum value to the ordinate on said second coordinate system are got difference to record the length of said vehicle.
7. the measuring method of vehicle dimension according to claim 1 is characterized in that, before through plane the width and height with measuring vehicle of laser radar scanning perpendicular to vehicle heading, said method also comprises:
The said laser radar that is installed in different tracks is provided with the sweep frequency of coupling, and wherein, said sweep frequency is provided with according to the requirement of measuring accuracy.
8. the measurement mechanism of a vehicle dimension is characterized in that, comprising:
First measuring unit is used for through laser radar scanning perpendicular to the plane of vehicle heading width and the height with measuring vehicle; And
Second measuring unit is used for being parallel to vehicle heading and perpendicular to the plane of the surface level length with measuring vehicle through laser radar scanning.
9. the measurement mechanism of vehicle dimension according to claim 8 is characterized in that, said first measuring unit comprises:
First measures subelement, and the critical localisation information that is used to obtain said vehicle both sides is to record the width of said vehicle; And
Second measures subelement, and the critical localisation information that is used to obtain said vehicle roof and bottom is to record the height of said vehicle.
10. the measurement mechanism of vehicle dimension according to claim 9 is characterized in that,
Said first measures subelement comprises:
First acquisition module is used to obtain the maximal value and the minimum value of the horizontal ordinate of said vehicle ' s contour on said first coordinate system, and wherein, said first coordinate system is first coordinate system perpendicular to said vehicle heading;
First measurement module is used for the width that maximal value and minimum value according to the horizontal ordinate on said first coordinate system record said vehicle,
Said second measures subelement comprises:
Second acquisition module is used to obtain the maximal value and the minimum value of the ordinate of said vehicle ' s contour on said first coordinate system;
Second measurement module is used for the height that maximal value and minimum value according to the ordinate on said first coordinate system record said vehicle.
11. the measurement mechanism of vehicle dimension according to claim 10 is characterized in that,
Said first measurement module also is used for the maximal value of the horizontal ordinate on said first coordinate system and the difference between the minimum value width as said vehicle,
Said second measurement module also is used for the maximal value of the ordinate on said first coordinate system and the difference between the minimum value height as said vehicle.
12. the measurement mechanism of vehicle dimension according to claim 11 is characterized in that, said second measuring unit comprises:
Obtain subelement, be used to obtain the maximal value and the minimum value of the horizontal ordinate of said vehicle ' s contour on said second coordinate system, wherein, said second coordinate system is to be parallel to said vehicle heading and perpendicular to the coordinate system of surface level;
The 3rd measures subelement, is used for the length that maximal value and minimum value according to the horizontal ordinate on said second coordinate system record said vehicle.
13. the measurement mechanism of vehicle dimension according to claim 12 is characterized in that,
The said subelement that obtains comprises:
The 3rd measurement module, (X1 is Y1) with the coordinate (X2, Y2) of second measurement point on said second coordinate system to be used to measure the coordinate of first measurement point on said second coordinate system;
The 4th measurement module is used for when said second measurement point records said vehicle through said second measurement point, measures the angle theta apart from l and measuring beam and ground of said vehicle to said first measurement point;
The 3rd acquisition module, the minimum value that is used to obtain the horizontal ordinate of said vehicle ' s contour on said second coordinate system is the abscissa value X1+l*cos θ of first measurement point; And
The 4th acquisition module, the maximal value that is used to obtain the horizontal ordinate of said vehicle ' s contour on said second coordinate system is the abscissa value X2 of second measurement point,
The said the 3rd measures subelement also is used for the maximal value and the minimum value of the ordinate on said second coordinate system are got difference to record the length of said vehicle.
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| CN103528533A (en) * | 2013-09-17 | 2014-01-22 | 山西国强科技发展有限责任公司 | Automatic lorry length measuring device |
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