CN104655249A - System and method for automatically measuring dimension and weight of road vehicle - Google Patents
System and method for automatically measuring dimension and weight of road vehicle Download PDFInfo
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- CN104655249A CN104655249A CN201510113795.1A CN201510113795A CN104655249A CN 104655249 A CN104655249 A CN 104655249A CN 201510113795 A CN201510113795 A CN 201510113795A CN 104655249 A CN104655249 A CN 104655249A
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Abstract
The invention relates to a system and a method for automatically measuring dimension and weight of a road vehicle, in particular to an integrated system and an integrated method for rapidly and dynamically measuring the length, width, height and weight of a vehicle, and aims at effectively solving the problems in overloading detection work at present. According to the system, the dimension information of the vehicle is measured in a front and back portal frames manner; the width and height information of the vehicle in a single lane is measured by combination of two two-dimensional laser radars on the front portal frame, so that the measurement problem caused by vehicle deformation can be effectively avoided; and the length information of the vehicle in the single lane is indirectly measured by virtue of a single laser radar on the rear portal frame; and starting and stopping information of the single vehicle is provided for a shaft-type weighing scale by virtue of a laser radar separation vehicle on the front portal frame. The system has the advantages of high measurement speed and high accuracy, and normal running of the vehicle is not affected.
Description
Technical field
The present invention relates to a kind of road vehicle dimension and weight automatic measurement system and method, the integral system of especially dynamic Quick Measurement vehicle length, weight and method.
Background technology
Along with developing rapidly of national economy, highway construction scale is increasing, and highway in China total kilometrage has exceeded 4,000,000 kilometers, ranks first in the world.Highway freight passenger traffic is great to Development of National Economic, but in order to pursue larger profit, vehicle overload transport has become very general problem, but it is the serious superelevation of vehicle, ultra-wide, overlength, overweight, bring great harm to transport by road, seriously jeopardize people's life's property and national wealth safety.In order to avoid overrun vehicle is set out on a journey, the places such as charge station at different levels and important highway-entrance all establish overrun testing project, accomplish early to find early process, eliminate safe hidden trouble to overrun vehicle.
But the overrun management is very complicated with an arduous job, and China has all dropped into a large amount of funds every year in overload remediation, and the phenomenon that transfinites obtains alleviation, but regulation effect is still only desirable.One very important in the reason causing regulation effect undesirable is that the overrun testing means of vehicle and equipment are perfect not.Be mainly used in the vehicle equipment division of labor at present relatively clearer and more definite, each equipment room does not occur simultaneously in measurement means, so just causes the waste of equipment and the waste in space; And the physical dimensions such as the length and width for vehicle are high, main limit for height hurdle and the mode such as human eye empirical observations, tape measure direct contact type of still relying on is measured, this just causes, and measuring accuracy is low, measurement efficiency is poor, increase workload and the working time of operating personnel, and reduces communications and transportation speed.
Summary of the invention
The present invention is directed to the deficiency of current overrun testing means, propose the dynamic physical dimension of Quick Measurement vehicle of a kind of mode utilizing two-dimensional laser radar and shaft type weighing scale to organically combine and the automobile overweight detecting system of weight, and testing result can be outputted in existing computing machine and carry out judging whether vehicle transfinites.This system has measurement range and is up to 30 meters, and precision controlling is in centimetre-sized; Check weighing precision is high, and vehicle Negotiation speed is fast, does not affect the normal traveling of vehicle, greatly reduce the workload of operating personnel, synchronously can obtain physical dimension and the weight information of vehicle, and can be separated vehicle, prevent two or many vehicles to be used as a measurement.
Concrete technical scheme of the present invention is as follows:
A kind of road vehicle dimension and weight automatic measurement system, comprises front portal frame 7, back gantry 8, laser radar, shaft type weighing scale 6, server 9, load cell 10, bearing column 11, gag lever post 12; Shaft type weighing scale 6 is placed between front portal frame 7 and back gantry 8, apart from front portal frame about 7 half meters; Load cell 10 is placed on four angles place below shaft type weighing scale 6 respectively with pillar 11 of weighing, and the gag lever post 12 that can only move up and down is placed in the groove under shaft type weighing scale 6; Server 9 is connected by netting twine with the laser radar on front portal frame 7 and back gantry 8; Server 9 is connected by RS232 Serial Port Line with shaft type weighing scale 6; The placement parallel with back gantry 8 of front portal frame 7; Front portal frame 7 is installed the laser radar of the plane of scanning motion perpendicular to road surface, and the both sides in each track arrange two laser radars, and every many tracks just increase an instrumentation radar; Back gantry 8 is installed the plane of scanning motion and is parallel to vehicle heading, laser radar perpendicular to road surface, installation site is in the centre in every bar track; The distance of the lidar measurement vehicle distances back gantry 8 on back gantry 8; Shaft type weighing scale 6 is installed near the position of front portal frame 7 in every bar track, just front axle is reached shaft type measurement weighing apparatus 6 after making vehicle sail front portal frame 7 into and carry out weighing measurement, vehicle rolls last group axletree after front portal frame 7 away from and reaches shaft type weighing scale 6 and carry out weighing measurement, and adding up to measurement result each time after vehicle sails out of shaft type weighing scale 6 obtains the overall weight of vehicle; In shaft type weighing scale 6, load cell 10 is for being converted to electric signal by pressure, and bearing column 11 is for support shaft type weighing scale 6, and gag lever post 12 ensure that shaft type weighing scale 6 only has one degree of freedom, namely only there is the motion perpendicular to road surface.
Comprise 5 laser radars; 3 are fixed on front portal frame 7, and 2 are fixed on back gantry 8, measure the vehicle in two tracks.
Adopt the wide high information of double laser radar multiple measurement vehicle, adopt laser radar to be separated the method for different vehicles; Adopt the length information of the mode measuring vehicle of indirect inspection.
Comprise the wide high measurement of vehicle, the measurement of Vehicle length and the measurement of vehicle weight;
The wide high measuring method of described vehicle is as follows:
On front portal frame 7, Laser Radar Scanning plane orthogonal is in vehicle heading, when vehicle is by this plane of scanning motion, due to the continual rapid scanning of laser radar, obtain a series of vehicle ' s contour information, by coordinate transform the profile information of vehicle is transformed into the coordinate points in set coordinate system, in set coordinate system, the smooth linear that Kalman filtering and fitting a straight line obtain vehicle ' s contour is carried out to vehicle ' s contour, the maxima and minima of the transverse and longitudinal coordinate in this group group information is found out, i.e. X
max, X
min, Y
max, Y
min, by formula
H＝H
0-Y
min
W＝X
max-X
min
Wherein, H
0for the height on laser radar distance road surface, H is height of car, and W is vehicle width;
Each profile obtains a Width x Height value, through process, weeds out some obvious non-wide high data, these a series of data is being got average, as the wide high information of the vehicle finally recorded;
Simultaneously when there being vehicle to enter the surface sweeping plane of the laser radar in certain track on front portal frame 7, just obvious change can be there is in the laser radar echo signal on this track, the data of laser radar reach server 9 through netting twine, produce vehicle and sail signal Q into after server 9 resolves
in, then by server 9 weighing operation through RS232 Serial Port Line notifies shaft type weighing scale 6; In like manner, after vehicle rolls front portal frame 7 away from, the echoed signal of laser radar can produce sudden change again, produces and roll signal Q away from after server 9 resolves
out, notify that shaft type weighing scale 6 stops weighing operation by server 9 through RS232 Serial Port Line more simultaneously; Server 9 is according to Q
in, Q
outas the separation signal of vehicle, being carried out by the weighing data of the shaft type weighing scale 6 between these two signals adding up obtains complete vehicle weight;
The measuring method of described Vehicle length is as follows:
The laser radar that back gantry 8 is installed is used for the length of measuring vehicle, when vehicle just rolls front portal frame 7 away from, laser radar on back gantry 8 records a distance value Lx, the i.e. distance of now vehicle distances back gantry, because the distance between front portal frame 7 and back gantry 8 is known, namely just securing when mounted, is L
0, by formula
L＝L
0-L
X
Obtain the length L of vehicle;
The measuring method of described vehicle weight is as follows:
Shaft type weighing scale 6 on certain track sails signal Q into according to vehicle
injudge whether have vehicle to sail on this track, counting when judging to start working when having vehicle to sail into heavy, rolling signal Q away from when receiving
outafter, meter heavily terminates, and cumulative summation obtains the overall weight of vehicle, starts the meter weight of next car when again receiving and sailing signal into.
Before vehicular traffic is measured, first measuring system arranged and demarcate, require and measuring accuracy requirement for the different track speed of a motor vehicle, before adjustment, portal frame 7 and the laser radar on back gantry 8, select suitable sweep frequency, to do not have vehicle by time road surface scan, its state is set to original state, and calibration result is kept in server 9, weighs to shaft type, 6 row carry out demarcation of weighing, and guarantee the accuracy of Output rusults.
Below the further elaboration that technique scheme of the present invention and design concept are done:
Part I is the dimensional measurement part of native system, comprises portal frame, two-dimensional laser radar and some supporting stationary installations;
Part II is the weight measurement part of native system, comprises shaft type weighing scale and stationary installation;
Part III is Survey Software and the communications portion of native system, comprises for reading and processing the software of two-dimensional laser radar data and shaft type weighing scale data and carry out with master server the communication protocol that communicates.
Part I of the present invention uses the length, width and height information of the vehicle on three single tracks of two-dimensional laser radargrammetry, and often increasing a track needs increase by two two-dimensional laser radars.And the Kalman filter etc. using the software described in Part III to provide carries out filtering to primary data, and then adopt the mode of fitting a straight line to obtain the outline line of vehicle, thus obtain the dimension information of vehicle, and dimension information is delivered to server by the communication protocol described in Part III, the high level for overrun testing is resolved.The check weighing that two-dimensional laser radar is Part II simultaneously provides Vehicles separation information.
Part II of the present invention, by the weight of shaft type weighing scale measuring vehicle single shaft, carries out the cumulative weight obtaining full car to the weight of each axle again after vehicle all measures weighing apparatus by shaft type.And weight information is delivered to server by the communication protocol described in Part III, the high level for overrun testing is resolved.Rely on the two-dimensional laser radar described in Part I judge sailing into of vehicle and roll away from simultaneously.
Therefore and slow-down is even stopped acceptance detection native system uses high sweep frequency, high precision, high-resolution two-dimensional laser thunder makes, to reach the object that real time high-speed is measured by inspection vehicle.Shaft type weighing scale adopts the design of restraint of liberty degree, makes shaft type weighing scale weight-bearing surface only perpendicular to the motion of vehicle heading, avoids the component of vehicle heading, be measure more accurate.Utilize two-dimensional laser radar to be separated vehicle makes shaft type weighing scale accurately can obtain the weight of single vehicle simultaneously.Three parts recited above combine and complete the overrun testing of vehicle, indispensable.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of native system.
Fig. 2 is the wide high dimensional measurement schematic diagram of the vehicle of native system.
Fig. 3 is the Vehicle length instrumentation plan of native system.
Fig. 4 is the vehicle weight instrumentation plan of native system.
Fig. 5 is the set coordinate system in the wide high measurement of vehicle of native system.
In figure, each modular construction is two-dimensional laser radar 1,2,3,4,5, shaft type weighing scale 6, front portal frame 7, back gantry 8, server 9, load cell 10, bearing column 11, gag lever post 12.
Embodiment
Below in conjunction with accompanying drawing and implementation process, the present invention will be further described illustrates, but this description is only for explaining the present invention, and can not be interpreted as limitation of the present invention.
The first, install:
Because some situation vehicle of overrun vehicle is out of shape, or the loading of goods has made the profile of vehicle irregular, extreme difficulties is brought to dimensional measurement, in order to overcome the difficult problem that this situation causes, be necessary also to measure the profile of side, compartment, in the irregular situation of car looks, require to can be good at the profile information scanning vehicle, avoid the measuring error because the distortion of vehicle and the incorrect loading of goods bring.Laser radar should be arranged on the both sides of road, utilize the height and the width of double laser radar multiple measurement vehicle, as shown in Figures 1 and 2, front portal frame 7 is installed the laser radar of the plane of scanning motion perpendicular to road surface, bicycle road needs two laser radars, two-way traffic needs to add installation public laser radar, i.e. three laser radars in the middle of adjacent lane, often increases a track by that analogy and just increases an instrumentation radar.Back gantry 8 is installed the plane of scanning motion and is parallel to vehicle heading, laser radar perpendicular to road surface, installation site is in the centre in every bar track.The distance of the lidar measurement vehicle distances back gantry 8 on back gantry 8.Shaft type weighing scale 6 is installed near the position of front portal frame 7 in every bar track, just front axle is reached shaft type measurement weighing apparatus 6 after making vehicle sail front portal frame 7 into like this and carry out weighing measurement, vehicle rolls last group axletree after front portal frame 7 away from and reaches shaft type weighing scale 6 and carry out weighing measurement, and adding up to measurement result each time after vehicle sails out of shaft type weighing scale 6 obtains the overall weight of vehicle.In shaft type weighing scale 6, load cell 10 is for being converted to electric signal by pressure, and bearing column 11 is for support shaft type weighing scale 6, and gag lever post 12 ensure that shaft type weighing scale 6 only has one degree of freedom, namely only there is the motion perpendicular to road surface.
The second, demarcate:
Before vehicular traffic is measured, first measuring system arranged and demarcate, require and measuring accuracy requirement for the different track speed of a motor vehicle, portal frame 7 and the laser radar on back gantry 8 before adjustment, select suitable sweep frequency, to do not have vehicle by time road surface scan, its state is set to original state, and calibration result is kept in server 9.To the capable demarcation of weighing of shaft type weighing scale, guarantee the accuracy of Output rusults.
Section three, measure:
Measure and be divided into the wide high measurement of vehicle, the measurement of Vehicle length and the measurement of vehicle weight.
The wide high measurement of vehicle:
On front portal frame 7, Laser Radar Scanning plane orthogonal is in vehicle heading, when vehicle is by this plane of scanning motion, due to the continual rapid scanning of laser radar, obtain a series of vehicle ' s contour information, by coordinate transform the profile information of vehicle is transformed into the coordinate points in set coordinate system, as Fig. 5, in set coordinate system, the smooth linear that Kalman filtering and fitting a straight line obtain vehicle ' s contour is carried out to vehicle ' s contour.The maxima and minima of the transverse and longitudinal coordinate in this group group information is found out, i.e. X
max, X
min, Y
max, Y
min.By formula
H＝H
0-Y
min
W＝X
max-X
min
Wherein, H
0for demarcate in second section calibration phase laser radar distance road surface height, H is height of car, and W is vehicle width.
Each profile obtains a Width x Height value, through process, weeds out some obvious non-wide high data, these a series of data is being got average, as the wide high information of the vehicle finally recorded.
Simultaneously when there being vehicle to enter the surface sweeping plane of the laser radar in certain track on front portal frame 7, just can there is obvious change in the laser radar echo signal on this track, produces vehicle simultaneously and sail signal Q into
in, after vehicle rolls front portal frame 7 away from, the echoed signal of laser radar can produce sudden change again, produces roll signal Q away from this
out.
The measurement of Vehicle length:
The laser radar that back gantry 8 is installed is used for the length of measuring vehicle, and as shown in Figure 3, when vehicle just rolls front portal frame 7 away from, the laser radar on back gantry 8 records a distance value Lx, i.e. the distance of now vehicle distances back gantry.Because the distance between front portal frame 7 and back gantry 8 is known, namely just securing when mounted, is L
0, by formula
L＝L
0-L
X
Obtain the length L of vehicle.
The measurement of vehicle weight:
Shaft type weighing scale 6 on certain track sails signal Q into according to vehicle
injudge whether have vehicle to sail on this track, counting when judging to start working when having vehicle to sail into heavy, rolling signal Q away from when receiving
outafter, meter heavily terminates, and cumulative summation obtains the overall weight of vehicle.The meter weight of next car is started when again receiving and sailing signal into.
Although more employ laser radar 1,2,3,4,5 herein, shaft type weighing scale 6, front portal frame 7, back gantry 8, server 9, load cell 10, bearing column 11, term such as gag lever post 12 grade, does not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (5)
1. a road vehicle dimension and weight automatic measurement system, is characterized in that: comprise front portal frame (7), back gantry (8), laser radar, shaft type weighing scale (6), server (9), load cell (10), bearing column (11), gag lever post (12); Shaft type weighing scale (6) is placed between front portal frame (7) and back gantry (8), load cell (10) is placed on the corner place of shaft type weighing scale (6) below respectively with pillar (11) of weighing, and the gag lever post that can only move up and down (12) is placed in the groove under shaft type weighing scale (6); Server (9) is connected by netting twine with the laser radar on front portal frame (7) and back gantry (8); Server 9 is connected by RS232 Serial Port Line with shaft type weighing scale (6); Front portal frame (7) and back gantry (8) parallel placement; At the laser radar of front portal frame (7) the upper installation plane of scanning motion perpendicular to road surface, the both sides in each track arrange two laser radars, and every many tracks just increase an instrumentation radar; Be parallel to vehicle heading, laser radar perpendicular to road surface at the upper plane of scanning motion of installing of back gantry (8), installation site is in the centre in every bar track; The distance of the lidar measurement vehicle distances back gantry (8) on back gantry (8); Shaft type weighing scale (6) is installed near the position of front portal frame (7) in every bar track, just front axle is reached shaft type measurement weighing apparatus (6) after making vehicle sail front portal frame (7) into and carry out weighing measurement, vehicle roll away from front portal frame (7) afterwards last group axletree reach shaft type weighing scale (6) and carry out weighing measurement, adding up to measurement result each time after vehicle sails out of shaft type weighing scale (6) obtains the overall weight of vehicle; In shaft type weighing scale (6), load cell (10) is for being converted to electric signal by pressure, bearing column (11) is for support shaft type weighing scale (6), gag lever post (12) ensure that shaft type weighing scale (6) only has one degree of freedom, namely only there is the motion perpendicular to road surface.
2. a kind of road vehicle dimension and weight automatic measurement system according to claim 1, is characterized in that: comprise 5 laser radars; 3 are fixed on front portal frame (7), and 2 are fixed on back gantry (8), measure the vehicle in two tracks.
3. based on a road vehicle dimension and weight method for automatic measurement for system described in claim 1 or 2, it is characterized in that: the wide high information adopting double laser radar multiple measurement vehicle, adopt laser radar to be separated the method for different vehicles; Adopt the length information of the mode measuring vehicle of indirect inspection.
4. a kind of road vehicle dimension and weight method for automatic measurement according to claim 2, is characterized in that: comprise the wide high measurement of vehicle, the measurement of Vehicle length and the measurement of vehicle weight;
The wide high measuring method of described vehicle is as follows:
On front portal frame 7, Laser Radar Scanning plane orthogonal is in vehicle heading, when vehicle is by this plane of scanning motion, due to the continual rapid scanning of laser radar, obtain a series of vehicle ' s contour information, by coordinate transform the profile information of vehicle is transformed into the coordinate points in set coordinate system, in set coordinate system, the smooth linear that Kalman filtering and fitting a straight line obtain vehicle ' s contour is carried out to vehicle ' s contour, the maxima and minima of the transverse and longitudinal coordinate in this group group information is found out, i.e. X
max, X
min, Y
max, Y
min, by formula
H＝H
0-Y
min
W＝X
max-X
min
Wherein, H
0for the height on laser radar distance road surface, H is height of car, and W is vehicle width;
Each profile obtains a Width x Height value, through process, weeds out some obvious non-wide high data, these a series of data is being got average, as the wide high information of the vehicle finally recorded;
When there being vehicle to enter the surface sweeping plane of the laser radar in front portal frame (7) certain track upper, just obvious change can be there is in the laser radar echo signal on this track, the data of laser radar reach server (9) through netting twine, and after server (9) resolves, generation vehicle sails signal Q into
in, then by server (9) weighing operation through RS232 Serial Port Line notifies shaft type weighing scale (6); In like manner, after vehicle rolls front portal frame (7) away from, the echoed signal of laser radar can produce sudden change again, and after server (9) resolves, signal Q is rolled in generation away from
out, notify that shaft type weighing scale (6) stops weighing operation by server (9) through RS232 Serial Port Line more simultaneously; Server (9) is according to Q
in, Q
outas the separation signal of vehicle, being carried out by the weighing data of the shaft type weighing scale (6) between these two signals adding up obtains complete vehicle weight;
The measuring method of described Vehicle length is as follows:
The length of measuring vehicle is used at the upper laser radar installed of back gantry (8), when vehicle just rolls front portal frame (7) away from, laser radar on back gantry (8) records a distance value Lx, the i.e. distance of now vehicle distances back gantry, because the distance between front portal frame (7) and back gantry (8) is known, namely just securing when mounted, is L
0, by formula
L＝L
0-L
X
Obtain the length L of vehicle;
The measuring method of described vehicle weight is as follows:
When shaft type weighing scale (6) on certain track receives the beginning weighing-up wave of server (9), the vehicle sailed into is weighed, each weighing results is sent to server (9), is added up by server (9); When shaft type weighing scale (6) receives the stopping weighing-up wave of server (9), stop weighing to vehicle, meter heavily terminates.Cumulative summation obtains the overall weight of vehicle, starts the meter weight of next car when again receiving and sailing signal into.
5. a kind of road vehicle dimension and weight method for automatic measurement according to claim 4, it is characterized in that: before vehicular traffic is measured, first measuring system arranged and demarcate, require and measuring accuracy requirement for the different track speed of a motor vehicle, portal frame (7) and the laser radar on back gantry (8) before adjustment, select suitable sweep frequency, to do not have vehicle by time road surface scan, its state is set to original state, calibration result is kept in server (9), shaft type (6) row of weighing is weighed demarcation, guarantee the accuracy of Output rusults.
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| CN201510113795.1A CN104655249B (en) | 2015-03-16 | 2015-03-16 | System and method for automatically measuring dimension and weight of road vehicle |
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|---|---|---|---|
| CN201510113795.1A CN104655249B (en) | 2015-03-16 | 2015-03-16 | System and method for automatically measuring dimension and weight of road vehicle |
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| CN104655249B CN104655249B (en) | 2017-04-12 |
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