CN103954234B - A kind of vehicle's contour and wheelbase self-calibration Measurement Algorithm - Google Patents
A kind of vehicle's contour and wheelbase self-calibration Measurement Algorithm Download PDFInfo
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Abstract
The present invention discloses a kind of self-calibration Measurement Algorithm of vehicle's contour and wheelbase automatic measurement system, comprises the following steps：Step 1, measuring system data；Step 2, activation system, distance measuring unit carries out geodetic correction, and obtains correction parameter and be transferred to integrated data processing unit；Step 3, measure tested vehicle and transmit data；Calculate vehicle's contour and wheelbase.The present invention is capable of the data of vehicle's contour and vehicle wheelbase of the automatic measurement including car length, both ensures measurement accuracy, improves measurement efficiency again.
Description
Technical field
The present invention relates to fields of measurement, the self-calibration Measurement Algorithm of particularly a kind of vehicle's contour and wheelbase.
Background technology
With the rapid development of economy, newly-increased vehicles number is surprising every year in China, to prevent part passenger-cargo carriage from changing privately
Vehicle dimension is filled, must all outer profile size detection be carried out to vehicle every year at the vehicle management of Public Security Department of the Ministry of Public Security.Currently
The Traditional Man measuring method of use is less efficient, and cost of labor is higher, and by the labyrinth of tested vehicle influenceed and by
The restriction of survey tool, measurement accuracy have larger error.This is with regard to an urgent demand using automated process and automatics to vehicle
Outer profile size is detected, and both ensures measurement accuracy, improves measurement efficiency again.
To realize the automatic monitoring of measurement vehicle dimension, also there are some method for automatic measurement and device in recent years, at present
Find out from the existing vehicle checking method data related to device and Patents data, currently vehicle dimension is examined
The measurement apparatus of survey mainly includes laser scanner, laser radar, imaging device, picking sensor array etc..Application No.
201210119598.7 Chinese patent disclose a kind of vehicle dimension automatic measurement system and its measuring method based on light curtain,
The system needs multiple picking sensor arrays, and complicated, power consumption is larger, once there is sensor damage in sensor array in addition
It is bad, it is not easy detection and later period maintenance.The Chinese patent of Application No. 201020645084.1 discloses one kind and utilizes laser scanning
The vehicle dimension of instrument and imaging device examines measurement apparatus automatically, the device based on imaging device, supplemented by laser scanner, into
This is higher, complicated, and image is vulnerable to the influence of complex background, light and shade, job insecurity.Application No.
201210175516.0 Chinese patent disclose it is a kind of using Laser Radar Scanning carry out vehicle dimension measuring method and dress
Put, this method has the following disadvantages：(1) wheelbase of vehicle can not be detected；(2) shadow of the vehicle mirrors to width can not be removed
Ring；(3) due to the limitation of radar installation site, dead angle be present in the scanning of vehicle width, it is vehicle to survey vehicle width
Upper surface width, it is not necessarily the Breadth Maximum of vehicle.(4) this method is unable to reach the required precision of the application novelty items.
In a word, existing vehicle dimension method for automatic measurement and installation cost are higher, and performance is not complete, and availability is not high.
The content of the invention
To overcome technical problem present in prior art, the present invention provides a kind of vehicle's contour and wheelbase automatic measurement
The self-calibration Measurement Algorithm of system.
A kind of vehicle's contour and wheelbase self-calibration Measurement Algorithm, comprises the following steps：
Step 1, before system starts, the width L6 and height L7 of near-end arched door frame are measured；
Step 2, activation system, the second laser radar of second distance measuring unit and the 3rd of the 3rd distance measuring unit the
Laser radar carries out geodetic correction automatically, and obtains correction parameter and be transferred to integrated data processing unit, integrated data processing list
N ary operation obtains second laser radar standard angle α 1 and the 3rd laser radar standard angle α 2；
Step 3, tested vehicle enters sense channel, triggers profile measure-controlling unit respectively and wheelbase measurement control is single
Member, profile measurement control unit send signal to the first distance measuring unit, and wheelbase measure-controlling unit is to the first range measurement
Unit sends signal, and the first distance measuring unit scans the relevant parameter of vehicle acquisition vehicle according to trigger signal；Second distance
Measuring unit and the 3rd distance measuring unit scanning vehicle obtain the relevant parameter of vehicle；Three distance measuring units will be obtained
Vehicle parameter real-time Transmission give integrated data processing unit；
Step 4, vehicle rolls sense channel away from, and the parameter that three distance measuring units obtain is transferred to integrated data processing list
Member finishes, and vehicle's contour and wheelbase is calculated in the relevant parameter that integrated data processing unit obtains according to step 1 to step 3
Data.
Compared with prior art, its remarkable advantage is the present invention：(1) the technical program is simple in construction, is passed by 3 distances
Sensor and 2 groups of measurement sensors are formed, and installation site is convenient, easy to maintain；(2) tested vehicle only needs low speed to pass through sense channel
, without stopping, vehicle is completely by that can draw measurement result after sense channel, whole detection time is not over 30
Second, compared with manual measurement, greatly save human cost and improve time efficiency；(3) using installed in the 2 of different height
Individual laser radar is realized to the height and width of different height vehicle without dead angle accurate measurement；(4) advanced just using installed in headstock
The laser radar in front accurately measures the wheelbase of the vehicle in motion；(5) histogram principle is utilized, based on protrusion sampled point filtering
Interference data are eliminated, the interference of the data such as reflective mirror in vehicle width measurement process, can be eliminated；(6) measurement accuracy passes through
Error analysis and experiment test, in the case where ensureing that installation accuracy meets the requirements, the measurement error of each value can control
Within 1%.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present system overall framework schematic diagram；
Fig. 3 is vehicle commander's measuring principle figure；
Fig. 4 is laser radar geodetic correction measurement standard angle schematic diagram before the measurement of overall width overall height；
Fig. 5 is overall width overall height measuring principle figure；
Fig. 6 is wheelbase measuring principle figure.
Embodiment
Below in conjunction with the accompanying drawings, vehicle's contour and wheelbase automatic measurement provided by the invention is described in detail by embodiment
System and measuring method.It should be understood that these implementations are only illustrative of the invention and is not intended to limit the scope of the invention.
A kind of vehicle's contour and wheelbase automatic measurement system, including three distance measuring units, profile measurement control unit,
Wheelbase measure-controlling unit, evidence obtaining unit, integrated data processing unit and sense channel；Described sense channel is by near-end arched door
Frame and distal end arched door frame composition, two arched door framves are parallel and are each perpendicular to horizontal plane, described distance measuring unit, profile measurement
Control unit, wheelbase measure-controlling unit, evidence obtaining unit are arranged on sense channel；Three distance measuring units are respectively first
Distance measuring unit B1, second distance measuring unit B2 and the 3rd distance measuring unit B3, described profile measurement control unit
It is connected with the first distance measuring unit B1, wheelbase measure-controlling unit is connected with the first distance measuring unit B1, range measurement list
Member be connected with integrated data processing unit, integrated data processing unit also respectively with second distance measuring unit B2 and the 3rd distance
The real-time status of measuring unit B3 connections, described evidence obtaining unit monitors and registration of vehicle operation detection.
Specifically, three distance measuring units are respectively the first distance measuring unit B1, second distance measuring unit
The distally mounted arched door frame crossbeam center of B2 and the 3rd distance measuring unit B3, the first described distance measuring unit B1, second
Distance measuring unit B2 and the 3rd distance measuring unit B3 is arranged on two columns of near-end arched door frame with reality with different height
Now to the height and width of different height vehicle without dead angle accurate measurement, for example, in actually measuring, measuring unit is from tested vehicle
More remote precision is lower, if second distance measuring unit B2 and the 3rd distance measuring unit B3 is located at same height, it is difficult to simultaneously full
The measurement request of sufficient oversize vehicle and middle-size and small-size vehicle, if being in different height, when measuring middle-size and small-size vehicle, apart from ground compared with
Low distance measuring unit more enters away from tested vehicle distance, and the data of measurement are more accurate, when measuring oversize vehicle, apart from ground compared with
High distance measuring unit more enters apart from vehicle, and the data of measurement are more accurate；Its height of car of the middle-size and small-size vehicle of in general is 1.5
Rice is fixed apart from the relatively low distance measuring unit in ground and erected with near-end arched door at 3 meters away from ground of post between 2 meter,
And the height of oversize vehicle is generally more than 3 meters, therefore fixes apart from the higher distance measuring unit in ground and erected with near-end arched door
At 3.5 meters away from ground of post.Each distance measuring unit includes a laser radar and a range measurement front-end processing
Device, the data transmission terminal of the range measurement FEP are connected with laser radar, range measurement FEP transmitting terminal
It is connected with integrated data processing unit, the first distance measuring unit B1 the first range measurement FEP receiving terminal and profile
Measure-controlling unit connects with wheelbase measure-controlling unit.Wherein, the laser radar uses single line laser radar, the radar one
Frame launches multi-strip scanning line, and when barrier is arrived in scan line scanning, laser radar receives signal that scan line is reflected back can be with
Measure the length of the scan line and the scan line and the angle of ground normal vector (direction is downward) between radar and barrier.
The range measurement FEP can be that embedded board is embedded in laser radar or other have calculating and received
The device of signalling function, range measurement FEP and integrated data processing unit, profile measurement control unit and wheelbase
The connected mode of measure-controlling unit can be wireless connection, or wired connection, by this mounting means, first away from
The trigger signal of profile measurement control unit or wheelbase measure-controlling unit can be transferred to laser from measuring nose processor
The parameter that radar makes laser radar start or stop scanning and obtain Laser Radar Scanning is transferred to integrated data processing list
Member carries out data operation.
Described profile measurement control unit includes one group of profile measurement sensor and profile measurement FEP forms,
The profile measurement sensor is made up of two photoelectric tubes, and a photoelectric tube is the first transmitting terminal, and another photoelectric tube is first
Receiving terminal, the transmitting terminal of profile measurement sensor first are located at near-end arched door frame crossbeam center, and profile measurement sensor first receives
End is located at the projected position of the transmitting terminal of profile measurement sensor first in the horizontal plane, profile measurement FEP data transfer
End be connected with the transmitting terminal of profile measurement sensor first, profile measurement FEP transmitting terminal respectively with three range measurement lists
The range measurement FEP receiving terminal connection of member.Wherein, the profile measurement FEP can be embedded development
Plate is embedded in the transmitting terminal of profile measurement sensor first, the range measurement of profile measurement FEP and distance measuring unit
The connected mode of FEP receiving terminal can be wireless connection, or wired connection, by this mounting means, when
When vehicle triggers profile measurement sensor, signal is passed to distance measuring unit by profile measurement FEP, controls laser
Radar starts or stopped to scan vehicle.
As a modification of the present invention, profile measurement control unit respectively with second distance measuring unit B2 and the 3rd away from
From measuring unit B3 connections, specifically, second distance measuring unit B2 second distance measuring nose processor receiving terminal and wheel
Wide measure-controlling unit connection, the 3rd distance measuring unit B3 the 3rd range measurement FEP receiving terminal and profile measurement
Control unit connects.This connected mode can rise second distance measuring unit B2 and the 3rd distance measuring unit B3 scanning
When starting from vehicle triggering profile control unit.
Wheelbase measure-controlling unit includes one group of wheelbase measurement sensor and wheelbase measuring nose processor group into described
Wheelbase measurement sensor is made up of two photoelectric tubes, and a photoelectric tube is the second transmitting terminal, and another photoelectric tube is the second reception
End, the transmitting terminal of wheelbase measurement sensor second are installed on near-end arched door and erect post side, the receiving terminal of wheelbase measurement sensor second
Be installed among sense channel and close to the position of near-end arched door frame, the receiving terminal of wheelbase measurement sensor second and first away from
From measuring unit B1, profile measurement sensor group into a plane, the plane is perpendicular to horizontal plane；Described wheelbase measuring nose
Processor data transmission end is connected with the transmitting terminal of wheelbase measurement sensor second, wheelbase measuring nose processor transmitting terminal and first
The range measurement FEP receiving terminal connection of distance measuring unit.Wherein, the wheelbase measuring nose processor can be
Embedded board is embedded in the transmitting terminal of wheelbase measurement sensor first, wheelbase measuring nose processor and the first range measurement
The connected mode of the range measurement FEP receiving terminal of unit can be wireless connection, or wired connection, pass through
This mounting means, when wheel of vehicle triggers wheelbase measurement sensor, signal is passed to the by wheelbase measuring nose processor
One distance measuring unit, control first laser radar start or stopped to scan vehicle.
The evidence obtaining unit is made up of multiple video cameras, monitors and registration of vehicle runs the real-time status detected, in this hair
Bright middle evidence obtaining unit is made up of 4 video cameras, respectively A1, A2, A3, A4, is respectively arranged at near-end arched door frame crossbeam in
Position, distal end arched door frame are entreated close to two middle position, near-end arched door frame column upper ends.
The integrated data processing unit is typically the computer of calculation function, for receiving each distance measuring unit
Scan the data obtained and calculated by program member and obtain the exact numerical of vehicle's contour and wheelbase.
A kind of vehicle's contour and wheelbase self-calibration Measurement Algorithm, Measurement Algorithm comprise the following steps：
Step 1, before system starts, the width L6 and height L7 of near-end arched door frame are measured；
Step 2, activation system, second distance measuring unit B2 second laser radar and the 3rd distance measuring unit B3's
3rd laser radar carries out geodetic correction automatically, and obtains correction parameter and be transferred to integrated data processing unit, at integrated data
Reason unitary operation obtains second laser radar standard angle α 1 and the 3rd laser radar standard angle α 2；
Step 3, tested vehicle enters sense channel, triggers profile measure-controlling unit respectively and wheelbase measurement control is single
Member, profile measurement control unit send signal to the first distance measuring unit B1, and wheelbase measure-controlling unit is surveyed to the first distance
Measure unit B 1 and send signal, the first distance measuring unit B1 scans the relevant parameter of vehicle acquisition vehicle according to trigger signal；The
Two distance measuring unit B2 and the 3rd distance measuring unit B3 scanning vehicles obtain the relevant parameter of vehicle；Three range measurement lists
Member gives the vehicle parameter real-time Transmission obtained to integrated data processing unit；
Step 4, vehicle rolls sense channel away from, and the parameter that three distance measuring units obtain is transferred to integrated data processing list
Member finishes, and vehicle's contour and wheelbase is calculated in the relevant parameter that integrated data processing unit obtains according to step 1 to step 3
Data.
The specific method that second laser radar geodetic corrects to obtain second laser radar standard angle α 1 in step 2 is：First
The sense channel when scan line of the frame of second laser radar emission one scans no tested vehicle carries out geodetic correction, and second is swashed
The length and scan line of scan line between optical radar and ground and the data of the angle of horizontal plane normal vector (direction is downward) pass
It is defeated by integrated data processing unit；Then integrated data processing unit selection is distributed in two of sense channel center line both sides and swept
Line and its angle with horizontal plane normal vector (direction is downward) are retouched, and the angle of horizontal plane normal vector (direction is downward) is larger sweeps
Retouch line and be defined as second laser radar datum line M1, another is second laser radar boost line M2, M1 and horizontal plane normal vector
Angle (direction is downward) is defined as β 1, and M2 is defined as β 2 with horizontal plane normal vector angle (direction is downward)；Then second is calculated to swash
Optical radar standard angle α 1
The specific acquisition methods that the 3rd laser radar geodetic corrects to obtain the 3rd laser radar standard angle α 2 in step 2 are：
3rd laser radar first launch a frame scan line scan no tested vehicle when sense channel, by the 3rd laser radar with
The length and scan line of scan line between ground and the data of the angle of horizontal plane normal vector (direction is downward) are transferred to synthesis
Data processing unit；Then integrated data processing unit selection be distributed in sense channel center line both sides two scan lines and its
With the angle of horizontal plane normal vector (direction is downward), larger scan line is than fixed with the angle of horizontal plane normal vector (direction is downward)
Justice is the 3rd laser radar datum line M3, another be the 3rd laser radar boost line M4, M3 with horizontal plane normal vector (direction to
Under) angle is defined as β 3, M4 is defined as β 4 with horizontal plane normal vector (direction is downward) angle；Then the 3rd laser radar mark is calculated
Quasi- angle α 2
Scanning survey vehicle includes Vehicle length measurement, vehicle width measurement, height of car measurement and vehicle in step 3
Wheelbase measures；
Tested vehicle head passes through the near-end arched door frame on Measurement channel, vehicle head triggering profile in Vehicle length measurement
Measure-controlling unit, profile measurement control unit are signaled to the first distance measuring unit B1, the first distance measuring unit B1
In the scan line scanning of the frame of first laser radar emission one vehicle and get parms, including vehicle head triggering profile measurement control
The first length D1 away from scan line between laser radar and vehicle head during unit processedhWith the normal vector on scan line and ground (side
To downwards) angle theta 1h, first laser radar emission when h span triggers profile measure-controlling unit for vehicle head
The quantity of the scan line of one frame；When vehicle tail passes through the near-end arched door frame on Measurement channel, vehicle tail triggering profile measurement
Control unit, profile measurement control unit are signaled in the first distance measuring unit B1, the first distance measuring unit B1
The scan line scanning vehicle of the frame of first laser radar emission one simultaneously gets parms, including vehicle tail triggering profile measurement control is single
When first between first laser radar and vehicle head scan line length D2iWith the normal vector on scan line and ground (direction is downward)
Angle theta 2i, the frame of first laser radar emission one sweeps when i span triggers profile measure-controlling unit for vehicle tail
The quantity for retouching line starts to scan vehicle and got parms；
Height of car and vehicle width measure simultaneously, and tested vehicle enters the near-end arch of sense channel in measurement process
Door frame, the second distance measuring unit B2 second laser radar emission scan lines of both sides different height and the 3rd distance measuring unit
Signals of vehicles is arrived in the transmitting scan line scanning of the laser radars of B3 the 3rd, when the tailstock crosses the near-end arched door frame of sense channel, second
Distance measuring unit B2 and second distance measuring unit B3 complete the scanning to vehicle, get parms during this including：The
The length D3 of scan line between dual-laser radar and vehicle(j,k)And the 3rd scan line between laser radar and vehicle length
D4(m,n), and the angle theta 3 of the normal vector on the scan line of second laser radar emission and ground (direction is downward)(j,k)With the 3rd
The angle theta 4 of the scan line of laser radar transmitting and the normal vector (direction is downward) on ground(m,n), wherein j span is second
Laser radar launches the quantity of the scan line of a frame, and k span is the frame number of second laser radar emission, m value model
The quantity for the scan line for launching a frame for the 3rd laser radar is enclosed, n span is the frame number of the 3rd laser radar transmitting；
When first group of wheel of tested vehicle is by wheelbase measure-controlling unit in vehicle wheelbase measurement, triggering wheelbase measurement,
The first laser that wheelbase measure-controlling unit is sent a signal in the first distance measuring unit B1, the first distance measuring unit B1
The scan line scanning vehicle of the frame of radar emission one simultaneously gets parms, including the during first group of wheel triggering wheelbase measure-controlling unit
The length D5 of scan line between one laser radar and vehicle headxWith scan line and the angle theta of the normal vector on ground 5x, x value
Scope is the quantity of the scan line of the frame of first laser radar emission one when first group of wheel of vehicle triggers wheelbase measure-controlling unit；
Hereafter, to the trigger signal of each wheel, the first distance measuring unit B1 scans tested vehicle, and obtains last group of wheel
Pass through parameter during wheelbase measure-controlling unit, including first laser thunder during last group of wheel triggering wheelbase measure-controlling unit
Up to the length D6 of scan line between vehicle headyWith the angle theta 6 of the normal vector on scan line and ground (direction is downward)y, y's takes
It is worth the scan line that scope is the frame of first laser radar emission one when last group of wheel of vehicle triggers wheelbase measure-controlling unit
Quantity.
The specific calculating process of integrated data processing unit is in step 4：
The computational methods of vehicle commander：First when integrated data processing unit selection headstock triggers profile measure-controlling unit first
The most short scan line of the scan line reclaimed water plane projection of the frame of first laser radar emission one, is designated as in distance measuring unit B1
D1min, it is designated as θ 1 with ground normal vector (direction is downward) anglemin, specific method is：Integrated data processing unit calculates first
The scan line of laser radar transmitting is in horizontal plane projector distance K1h=D1h×sinθ1h, choose minimum K1hCorresponding scan line
It is designated as D1min；First laser radar emission one in first distance measuring unit B1 when choosing tailstock triggering profile measure-controlling unit
The most short scan line of the scan line reclaimed water plane projection of frame, is designated as D2min, it is designated as θ with ground normal vector angle (direction is downward)
2min, specific method is：Integrated data processing unit calculates the scan line of first laser radar emission in horizontal plane projector distance
K2i=D2i×sinθ2i, choose minimum K2iCorresponding scan line is designated as D2min；Calculate Vehicle length
The computational methods of overall width：By the D3 of second laser radar surveying(j,k)With θ 3(j,k)With second laser radar standard angle α
1 correction obtains the projected length of every scan line of second laser radar emission on the ground
W1(j,k)=D3(j,k)·cos(θ3(j,k)-β1-α1)；
By the D4 of the 3rd lidar measurement(m,n)With θ 4(m,n)The 3rd is obtained with the 3rd laser radar standard angle α 2 corrections
The projected length of every scan line of laser radar transmitting on the ground
W2(m,n)=D4(m,n)·cos(θ4(m,n)-β3-α2)；
Then from W1(j,k)And W2(m,n)Choose minimum value L4=min { W1(j,k)And L5=min { W2(m,n)}；Finally calculate
Overall width Lw=L6-L4-L5；
The computational methods of overall height：Second is calculated according to second laser radar standard angle α 1 and second laser radar datum line M1
Laser radar apart from ground height L31=M1 × sin α 1, according to the 3rd laser radar standard angle α 2 and the 3rd laser radar base
Directrix M3 calculates height L32=M3 × sin α 2 on second laser distance by radar ground；By the D3 of second laser radar surveying(j,k)
With θ 3(j,k)Every scan line for obtaining second laser radar emission is corrected on ground with second laser radar standard angle α 1
Projected length H1=D3(j,k)·sin(θ3(j,k)- β 1- α 1), by the D4 of the 3rd lidar measurement(m,n)With θ 4(m,n)With the 3rd
The corrections of laser radar standard angle α 2 obtain projected length H2 of the every scan line of second laser radar emission on ground
=D4(m,n)·sin(θ4(m,n)-β3-α2)；Calculate the height of car L obtained using the data of second laser radar surveyingh1=
L31+H1, calculate the height of car L obtained using the data of the 3rd lidar measurementh2=L32+H2, from Lh1And Lh2Middle selection
Larger numerical value is as height of car Lh=max { Lh1,Lh2}；The computational methods of vehicle commander：Integrated data processing unit selection first
The frame of first laser radar emission one is swept in the first distance measuring unit B1 during first group of wheel triggering wheelbase measure-controlling unit
The most short scan line of line reclaimed water plane projection is retouched, is designated as D5min, it is designated as θ 5 with horizontal plane normal vector anglemin, specific method
For：Integrated data processing unit calculates the scan line of first laser radar emission in horizontal plane projector distance K5x=D5x×sinθ
5x, choose minimum K5xCorresponding scan line is designated as D5min；The when choosing last group of wheel triggering wheelbase measure-controlling unit
The most short scan line of the scan line reclaimed water plane projection of the frame of first laser radar emission one, is designated as in one distance measuring unit B1
D6min, it is designated as θ 6 with horizontal plane normal vector anglemin, specific method is：Integrated data processing unit calculates first laser radar
The scan line of transmitting is in horizontal plane projector distance K6y=D6y×sinθ6y, choose minimum K6yCorresponding scan line is designated as
D6min；Calculate Vehicle length
Vehicle width is calculated after eliminating vehicle mirrors data using histogram in the calculating process of overall width, utilizes Nogata
Figure eliminate vehicle mirrors data detailed process be：By W1(j,k)All data form histogram from low to high, by W2(m,n)Institute
There are data to form histogram from low to high；Integrated data processing unit is deleted when calculating | W1(j,k)|、|W2(m,n)| in have phase step type
Overall width is calculated after the data of change.
Vehicle width is calculated after eliminating vehicle mirrors data using the morphological feature of vehicle in the calculating process of overall width,
Using vehicle morphological feature eliminate vehicle mirrors data detailed process be：
Before vehicle width is calculated, type of vehicle is inputted to integrated data processing unit；
According to the D3 obtained(j,k)、D4(m,n)、θ3(j,k)、θ4(m,n)Calculate between second laser radar and vehicle on ground
On projector distance W1(j,k)=D3(j,k)×sinθ3(j,k), projection between the 3rd laser radar and vehicle on the ground away from
From W1(m,n)=D4(m,n)×sinθ4(m,n)；
Calculate the average value of all projector distances between second laser radar and vehicle on the groundWith the 3rd
The average value of all projector distances between laser radar and vehicle on the ground
The data to be deleted of integrated data processing Unit selection are W1(j,k)In be less thanData and W2(m,n)In
It is less thanData, the data deleted are different according to type of vehicle, for oversize vehicle, integrated data processing list
Member delete data for vehicle tyre for the first time by the data before wheelbase measure-controlling unit, it is comprehensive for middle-size and small-size vehicle
The data that conjunction data processing unit is deleted begin through the data before near-end arched door frame for vehicle highest point.
Claims (4)
1. a kind of vehicle's contour and wheelbase self-calibration Measurement Algorithm, this method is realized based on following systems：
System include near-end arched door frame, the second distance measuring unit (B2) that is respectively arranged on two columns of near-end arched door frame and
3rd distance measuring unit (B3), the first distance measuring unit (B1), profile measurement control unit, wheelbase measure-controlling unit,
Integrated data processing unit, sense channel；Characterized in that, Measurement Algorithm comprises the following steps：
Step 1, the relevant parameter of measuring system,
Measure the width L6 and height L7 of near-end arched door frame；
Step 2, activation system, second distance measuring unit B2 second laser radar and the 3rd of the 3rd distance measuring unit B3 the
Laser radar carries out geodetic correction automatically, and obtains correction parameter and be transferred to integrated data processing unit, integrated data processing list
N ary operation obtains second laser radar standard angle α 1 and the 3rd laser radar standard angle α 2；
Step 3, scanning survey vehicle and get parms, obtained parameter be transferred to integrated data processing unit,
Vehicle enters sense channel, triggers profile measure-controlling unit and wheelbase measure-controlling unit, profile measurement control respectively
Unit sends signal to the first distance measuring unit (B1), and wheelbase measure-controlling unit is sent to the first distance measuring unit (B1)
Signal, the first distance measuring unit (B1) scan the relevant parameter of vehicle acquisition vehicle according to trigger signal；Vehicle enters detection
Passage, second distance measuring unit (B2) and the 3rd distance measuring unit (B3) scanning vehicle obtain the relevant parameter of vehicle；Three
Individual distance measuring unit gives the vehicle parameter real-time Transmission obtained to integrated data processing unit；
Step 4, computing obtains the profile of vehicle and the data of wheelbase,
Vehicle rolls sense channel away from, and the parameter that three distance measuring units obtain is transferred to integrated data processing unit and finished, comprehensive
Close the data that vehicle's contour and wheelbase is calculated in the relevant parameter that data processing unit obtains according to step 1 and step 4.
2. vehicle's contour according to claim 1 and wheelbase self-calibration Measurement Algorithm, it is characterised in that in the step 2
The specific method that second laser radar geodetic corrects to obtain second laser radar standard angle α 1 is：Second laser radar emission first
The sense channel when scan line of one frame scans no tested vehicle carries out geodetic correction, by between second laser radar and ground
The length of scan line and the data of angle of scan line and horizontal plane normal vector be transferred to integrated data processing unit；Then it is comprehensive
Close data processing unit selection and be distributed in two scan lines of sense channel center line both sides and its folder with horizontal plane normal vector
Angle, larger scan line ratio is defined as second laser radar datum line M1 with the angle of horizontal plane normal vector, and another is second
Laser radar boost line M2, M1 are defined as β 1 with horizontal plane normal vector angle, and M2 is defined as β 2 with horizontal plane normal vector angle；So
Second laser radar standard angle α 1 is calculated afterwards
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The specific acquisition methods that the 3rd laser radar geodetic corrects to obtain the 3rd laser radar standard angle α 2 in step 2 are：First
3rd laser radar launches sense channel during scan line no tested vehicle of scanning of a frame, by the 3rd laser radar and ground
Between the length of scan line and the data of angle of scan line and horizontal plane normal vector be transferred to integrated data processing unit；So
Afterwards integrated data processing unit selection be distributed in sense channel center line both sides two scan lines and its with horizontal plane normal vector
Angle, larger scan line ratio is defined as the 3rd laser radar datum line M3 with the angle of horizontal plane normal vector, and another is
3rd laser radar boost line M4, M3 is defined as β 3 with horizontal plane normal vector angle, and M4 is defined as β with horizontal plane normal vector angle
4；Then the 3rd laser radar standard angle α 2 is calculated
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3. vehicle's contour according to claim 2 and wheelbase self-calibration Measurement Algorithm, it is characterised in that：Scanned in step 3
Measuring vehicle includes Vehicle length measurement, vehicle width measurement, height of car measurement and vehicle wheelbase measurement；
Tested vehicle head passes through the near-end arched door frame on sense channel, vehicle head triggering profile measurement in Vehicle length measurement
Control unit, profile measurement control unit are signaled to the first distance measuring unit (B1), the first distance measuring unit (B1)
In the scan line scanning of the frame of first laser radar emission one vehicle and get parms, obtaining parameter includes：Trigger on vehicle head
The first length D1 away from scan line between laser radar and vehicle head during profile measurement control unithWith scan line and ground
The angle theta 1 of normal vectorh, first laser radar emission one when h span triggers profile measure-controlling unit for vehicle head
The quantity of the scan line of frame；When vehicle tail passes through the near-end arched door frame on sense channel, vehicle tail triggering profile measurement control
Unit processed, profile measurement control unit are signaled to the first distance measuring unit (B1), in the first distance measuring unit (B1)
The scan line scanning of the frame of first laser radar emission one vehicle and get parms, including vehicle tail triggering profile measurement control
During unit between first laser radar and vehicle head scan line length D2iWith scan line and the angle theta of the normal vector on ground
2i, the scan line of the frame of first laser radar emission one when i span triggers profile measure-controlling unit for vehicle tail
Quantity starts to scan vehicle and got parms；
Height of car and vehicle width measure simultaneously, and tested vehicle enters the near-end arched door of sense channel in measurement process
Frame, second distance measuring unit (B2) the second laser radar emission scan line of both sides different height and the 3rd distance measuring unit
(B3) signals of vehicles is arrived in the 3rd laser radar transmitting scan line scanning, when the tailstock crosses the near-end arched door frame of sense channel, the
Two distance measuring units (B2) and second distance measuring unit (B3) complete the scanning to vehicle, and get parms during this bag
Include：The length D3 of scan line between second laser radar and vehicle(j,k)And the 3rd scan line between laser radar and vehicle length
Spend D4(m,n), and the angle theta 3 of the normal vector on the scan line of second laser radar emission and ground (direction is downward)(j,k)With
The angle theta 4 of the scan line of three laser radars transmitting and the normal vector (direction is downward) on ground(m,n), wherein j span is the
The quantity of the scan line of the frame of dual-laser radar emission one, k span are the frame number of second laser radar emission, m value
Scope is the quantity for the scan line that the 3rd laser radar launches a frame, and n span is the frame number of the 3rd laser radar transmitting；
When first group of wheel of tested vehicle is by wheelbase measure-controlling unit in vehicle wheelbase measurement, triggering wheelbase measurement, wheelbase
Measure-controlling unit sends a signal to the first distance measuring unit (B1), the first laser thunder in the first distance measuring unit (B1)
Scan line up to one frame of transmitting scans vehicle and got parms, including first during first group of wheel triggering wheelbase measure-controlling unit
The length D5 of scan line between laser radar and vehicle headxWith scan line and the angle theta of the normal vector on ground 5x, x value model
Enclose the quantity of the scan line of the frame of first laser radar emission one when triggering wheelbase measure-controlling unit for first group of wheel of vehicle；This
Afterwards, to the trigger signal of each wheel, the first distance measuring unit (B1) scans tested vehicle, and obtains last group of wheel
Pass through parameter during wheelbase measure-controlling unit, including first laser thunder during last group of wheel triggering wheelbase measure-controlling unit
Up to the length D6 of scan line between vehicle headyWith scan line and the angle theta of the normal vector on ground 6y, y span is car
The quantity of the scan line of the frame of first laser radar emission one during last group wheel triggering wheelbase measure-controlling unit.
4. vehicle's contour according to claim 3 and wheelbase self-calibration Measurement Algorithm, it is characterised in that：It is comprehensive in step 4
The specific calculating process of data processing unit is：
The computational methods of vehicle commander：First distance when integrated data processing unit selection headstock triggers profile measure-controlling unit first
The most short scan line of the scan line reclaimed water plane projection of the frame of first laser radar emission one, is designated as D1 in measuring unit (B1)min,
It is designated as θ 1 with horizontal plane normal vector anglemin, the first distance measuring unit (B1) when choosing tailstock triggering profile measure-controlling unit
The most short scan line of the scan line reclaimed water plane projection of the middle frame of first laser radar emission one, is designated as D2min, itself and horizontal plane normal direction
Amount angle is designated as θ 2min；Calculate Vehicle length
The computational methods of overall width：By the D3 of second laser radar surveying(j,k)With θ 3(j,k)Corrected with second laser radar standard angle α 1
Obtain the projected length of every scan line of second laser radar emission on the ground
W1(j, k)=D3(j, k)·cos(θ3(j, k)-β1-α1)
By the D4 of the 3rd lidar measurement(m,n)With θ 4(m,n)Corrected with the 3rd laser radar standard angle α 2 and obtain the 3rd laser thunder
Up to every scan line projected length on the ground of transmitting
W2(m, n)=D4(m, n)·cos(θ4(m, n)-β3-α2)
Then from W1(j,k)And W2(m,n)Choose minimum value L4=min { W1(j, k)And L5=min { W2(m, n)}；Finally calculate overall width
Lw=L6-L4-L5；
The computational methods of overall height：Second laser is calculated according to second laser radar standard angle α 1 and second laser radar datum line M1
Height L31=M1 × sin α 1 on distance by radar ground, according to the 3rd laser radar standard angle α 2 and the 3rd laser radar datum line
M3 calculates height L32=M3 × sin α 2 on second laser distance by radar ground；By the D3 of second laser radar surveying(j,k)And θ
3(j,k)Every scan line for obtaining second laser radar emission is corrected on ground with second laser radar standard angle α 1
Projected length H1=D3(j, k)·sin(θ3(j, k)- β 1- α 1), by the D4 of the 3rd lidar measurement(m,n)With θ 4(m,n)Swashed with the 3rd
The corrections of optical radar standard angle α 2 obtain projected length H2=of the every scan line of second laser radar emission on ground
D4(m, n)·sin(θ4(m, n)-β3-α2)；Calculate the height of car L obtained using the data of second laser radar surveyingh1=L31+
H1, calculate the height of car L obtained using the data of the 3rd lidar measurementh2=L32+H2, from Lh1And Lh2Middle selection is larger
Numerical value as height of car Lh=max { Lh1, Lh2}；
The computational methods of wheelbase：First first group of wheel of integrated data processing unit selection triggering wheelbase measure-controlling unit when the
The most short scan line of the scan line reclaimed water plane projection of the frame of first laser radar emission one, is designated as in one distance measuring unit (B1)
D5min, it is designated as θ 5 with horizontal plane normal vector anglemin, first when choosing last group of wheel triggering wheelbase measure-controlling unit
The most short scan line of the scan line reclaimed water plane projection of the frame of first laser radar emission one, is designated as in distance measuring unit (B1)
D6min, it is designated as θ 6 with horizontal plane normal vector anglemin；Wherein K5x=D5x×sinθ5x, choose minimum K5xCorresponding scanning
Line is designated as D5min；
K6y=D6y×sinθ6y, choose minimum K6yCorresponding scan line is designated as D6min；Calculate vehicle wheel base length
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| CN103954222B (en) * | 2014-04-29 | 2017-03-29 | 南京理工大学 | A kind of vehicle's contour and wheelbase automatic measurement system and Measurement Algorithm |
| CN105509669A (en) * | 2014-09-25 | 2016-04-20 | 中联重科股份有限公司 | Vehicle size detection method and device |
| CN104406796B (en) * | 2014-10-11 | 2017-06-30 | 马拴委 | The laser scanning measurement and localization method in a kind of compartment |
| CN105403162B (en) * | 2015-10-15 | 2018-04-03 | 南京理工大学 | The automatic testing method of semitrailer outer profile size |
| CN107990831B (en) * | 2017-12-27 | 2024-05-28 | 同方威视技术股份有限公司 | Vehicle length measuring device and vehicle outline measuring system |
| CN108895968B (en) * | 2018-05-15 | 2020-08-25 | 天津杰泰高科传感技术有限公司 | Vehicle measuring device and method |
| CN110125945B (en) * | 2018-11-29 | 2022-04-26 | 重庆智田科技有限公司 | Plant row following method of harvesting robot |
| CN109557525A (en) * | 2019-01-31 | 2019-04-02 | 浙江工业大学 | A kind of automatic calibration method of laser radar formula vehicle overall dimension measuring instrument |
| CN114111606B (en) * | 2020-08-25 | 2022-12-23 | 同方威视技术股份有限公司 | System and method for measuring vehicle parameters |
| CN112255641A (en) * | 2020-09-30 | 2021-01-22 | 成都新成汽车检测设备有限公司 | Method for measuring automobile wheel base |
| CN112611574B (en) * | 2020-11-30 | 2022-08-09 | 重庆长安汽车股份有限公司 | Vehicle wheel base measuring method |
| CN113959343A (en) * | 2021-10-22 | 2022-01-21 | 深圳市拓巨智能科技有限公司 | Device and method for measuring width and height of vehicle outline |
| CN114111681B (en) * | 2021-11-24 | 2023-06-06 | 福建汉特云智能科技有限公司 | Wheelbase calibration method and system for robot chassis |
| CN113970310B (en) * | 2021-11-24 | 2023-06-06 | 福建汉特云智能科技有限公司 | Robot chassis wheelbase calibration method and system |
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| DE3409522C2 (en) * | 1984-03-15 | 1986-06-05 | Daimler-Benz Ag, 7000 Stuttgart | Device for measuring the area of the projection of a test object onto a plane |
| GB9115745D0 (en) * | 1991-07-20 | 1991-09-04 | Longdin & Browning Surveys Lim | Method and apparatus for dimensional measurement |
| CN102175172B (en) * | 2010-12-30 | 2012-07-04 | 南京理工大学 | Image-identification-based system for detecting contour dimension of motor vehicle |
| CN102679889B (en) * | 2012-05-30 | 2014-04-16 | 北京恒华伟业科技股份有限公司 | Vehicle size measurement method and device |
| CN203037847U (en) * | 2013-01-10 | 2013-07-03 | 倪忠英 | A length, width, and height automatic detecting device of transport vehicles on a highway |
| CN103322918B (en) * | 2013-05-24 | 2016-01-20 | 陕西科技大学 | The equipment of measuring vehicle height and measuring method thereof |
| CN103954222B (en) * | 2014-04-29 | 2017-03-29 | 南京理工大学 | A kind of vehicle's contour and wheelbase automatic measurement system and Measurement Algorithm |
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