CN104655249B - 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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- CN104655249B CN104655249B CN201510113795.1A CN201510113795A CN104655249B CN 104655249 B CN104655249 B CN 104655249B CN 201510113795 A CN201510113795 A CN 201510113795A CN 104655249 B CN104655249 B CN 104655249B
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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, especially dynamic are quick measure
Vehicle length, the integral system of weight and method.
Background technology
With developing rapidly for national economy, highway construction scale is increasing, and highway in China total kilometrage has been over
4000000 kilometers, rank first in the world.Highway freight passenger traffic is great to Development of National Economic, but in order to pursue bigger profit
Profit, vehicle overload transport have become very universal problem, but the serious superelevation of vehicle, ultra-wide, overlength, overweight, to public affairs
Road transport brings greatly harm, seriously jeopardizes people's life's property and national wealth safety.In order to avoid overrun vehicle
Upper road, the place such as charge stations at different levels and important highway-entrance all establish overrun testing project, accomplish morning to overrun vehicle
It was found that early processed, eliminate safe hidden trouble.
But the overrun management is one extremely complex with arduous work, and China has all been put in terms of overload remediation every year in a large number
Fund, the phenomenon that transfinites alleviated, but regulation effect is still only preferable.In the reason for causing regulation effect undesirable
Critically important one is that the overrun testing means and equipment of vehicle are not perfect enough.It is currently used primarily in vehicle equipment division of labor ratio
Relatively clearly, each equipment room thus causes the waste of equipment and the waste in space without occuring simultaneously in measurement means；And
The physical dimensions such as the length and width height for vehicle, it is main still to rely on limit for height hurdle and human eye empirical observations, tape measure direct contact type
Measure etc. mode, this results in, and certainty of measurement is low, measurement efficiency is poor, increase workload and the labor time of operator, and
Reduce transportation speed.
The content of the invention
Deficiency of the present invention for current overrun testing means, it is proposed that one kind is weighed with shaft type using two-dimensional laser radar
The overall dimensions and the automobile overweight detecting system of weight of the quick measuring vehicle of mode dynamic that weighing apparatus is organically combined, and will can detect
As a result carry out judging whether vehicle transfinites in exporting existing computer.There is the system measurement range to be up to 30 meters, essence
Degree control is in Centimeter Level；Check weighing high precision, vehicle are fast by speed, do not affect the normally travel of vehicle, greatly reduce behaviour
Make the workload of personnel, can synchronously obtain the overall dimensions and weight information of vehicle, and vehicle can be separated, prevent
Only two or many vehicles are measured as one.
The concrete technical scheme of the present invention is as follows：
A kind of road vehicle dimension and weight automatic measurement system, including 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 on front gantry
Between frame 7 and back gantry 8, apart from 7 half meters or so of front portal frame；Load cell 10 is individually positioned in axle with pillar 11 of weighing
At four angles below formula weighing scale 6, the gag lever post 12 that can only be moved 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 led to shaft type weighing scale 6
Cross the connection of RS232 Serial Port Lines；Front portal frame 7 and back gantry 8 are placed in parallel；The plane of scanning motion is installed vertical on front portal frame 7
In the laser radar on road surface, the both sides in each track arrange two laser radars, and a measurement thunder is increased by per many tracks
Reach；The plane of scanning motion is installed parallel to vehicle heading, perpendicular to the laser radar on road surface, installation site on back gantry 8
In the centre in every track；The distance of the lidar measurement vehicle distances back gantry 8 on back gantry 8；In every track
Shaft type weighing scale 6 is installed in the upper position near front portal frame 7, makes vehicle that front axle reached shaft type just after sailing front portal frame 7 into
Measurement weighing apparatus 6 carries out weighing measurement, and after vehicle rolls front portal frame 7 away from, last group of axletree reaches shaft type weighing scale 6 and carry out survey of weighing
Amount, vehicle add up to measurement result each time after sailing out of shaft type weighing scale 6 and obtain the overall weight of vehicle；Shaft type weighing scale 6
For being the signal of telecommunication by pressure conversion, bearing column 11 is used for support shaft type weighing scale 6 to middle load cell 10, and gag lever post 12 protects
6 only one of which degree of freedom of shaft type weighing scale is demonstrate,proved, that is, has only existed the motion perpendicular to road surface.
Including 5 laser radars；3 are fixed on front portal frame 7, and 2 are fixed on back gantry 8, to two tracks
Interior vehicle is measured.
Using the wide high information of double laser radar measurement in a closed series vehicle, the side of different vehicles is separated using laser radar
Method；The length information of measuring vehicle by the way of measuring indirectly.
Including the high measurement of vehicle width, the measurement of Vehicle length and the measurement of vehicle weight；
The high measuring method of the vehicle width is as follows：
On front portal frame 7, Laser Radar Scanning plane is perpendicular to vehicle heading, when vehicle passes through this plane of scanning motion
When, due to the continual quick scanning of laser radar, a series of vehicle's contour information is obtained, by coordinate transform by vehicle
Profile information is transformed into the coordinate points in set coordinate system, vehicle's contour is carried out in set coordinate system Kalman filtering with it is straight
Line fitting obtains the smooth linear of vehicle's contour, and the maxima and minima of the transverse and longitudinal coordinate in this group of group information is found out
Come, i.e. Xmax, Xmin, Ymax, Ymin, by formula
H=H0-Ymin
W=Xmax-Xmin
Wherein, H0For laser radar apart from road surface height, H is height of car, and W is vehicle width；
Each profile obtains a Width x Height value, through processing, weeds out some significantly non-wide high data,
This series of data is taken into average, as the wide high information of the vehicle for finally measuring；
Simultaneously when there is vehicle to enter the surface sweeping plane of the laser radar in certain track on front portal frame 7, on the track
Laser radar echo signal will occur significantly change, and the data Jing netting twine of laser radar reaches server 9, Jing servers 9
Vehicle is produced after resolving and sails signal Q intoin, then work of being weighed through RS232 Serial Port Lines notify shaft type weighing scale 6 by server 9
Make；In the same manner, after vehicle rolls front portal frame 7 away from, the echo-signal of laser radar can produce mutation again, Jing after server 9 is resolved
Signal Q is rolled in generation away fromout, while notifying that shaft type weighing scale 6 stop weighing operation through RS232 Serial Port Lines by server 9 again；Clothes
Business device 9 is according to Qin、QoutAs the separation signal of vehicle, the weighing data of the shaft type weighing scale 6 between the two signals is entered
Row is cumulative to obtain complete vehicle weight；
The measuring method of the Vehicle length is as follows：
The laser radar installed on back gantry 8 is used for the length of measuring vehicle, when vehicle just rolls front portal frame 7 away from
When, the laser radar on back gantry 8 measures a distance value Lx, i.e. the now distance of vehicle distances back gantry, due to front
The distance between portal frame 7 and back gantry 8 are known, i.e., just secure when mounted, be L0, by formula
L=L0-LX
Obtain length L of vehicle；
The measuring method of the vehicle weight is as follows：
Shaft type weighing scale 6 on certain track sails signal Q into according to vehicleinJudge whether there is vehicle on the track
Sail into, weight calculation of starting working when judging to have vehicle to sail into rolls signal Q away from when receivingoutAfterwards, weight calculation terminates, and cumulative summation is obtained
The overall weight of vehicle, starts the weight calculation of next car when being received again by sailing into signal.
Before measuring to vehicular traffic, first measuring system is configured and is demarcated, required for different track speeds
And certainty of measurement is required, the laser radar before adjustment on portal frame 7 and back gantry 8 selects suitable rate of scanning, to not having
Road surface when vehicle passes through is scanned, and its state is set to original state, and calibration result is stored in server 9, countershaft
Formula is weighed, and 6 rows carry out demarcation of weighing, it is ensured that the accuracy of output result.
The following is for being expanded on further that the above-mentioned technical proposal and design principle of the present invention are made：
Dimensional measurement part of the Part I for the system, including portal frame, two-dimensional laser radar and some are supporting
Fixing device；
Weight measurement part of the Part II for the system, including shaft type weighing scale and fixing device；
Survey Software and communications portion of the Part III for the system, including for reading and process two-dimensional laser radar number
The communication protocol communicated according to the software with shaft type weighing scale data and with master server.
Length, width and height of the Part I of the present invention using the vehicle on the single track of three two-dimensional laser radar surveyings
Information, often increasing a track needs to increase by two two-dimensional laser radars.And the card provided using the software described in Part III
Thalmann filter etc. is filtered to primary data, and then the contour line of vehicle is obtained by the way of fitting a straight line, so as to
To the dimension information of vehicle, and dimension information is delivered to into server by the communication protocol described in Part III, for inspection of transfiniting
The high-rise resolution of survey.Two-dimensional laser radar provides Vehicles separation information for the check weighing of Part II simultaneously.
Weight of the Part II of the present invention by shaft type weighing scale measuring vehicle single shaft, when vehicle is all by shaft type
Carry out the cumulative weight for obtaining full car after measurement weighing apparatus again to the weight of each axle.And by weight information by described in Part III
Communication protocol is delivered to server, for the high level resolution of overrun testing.Simultaneously by the two-dimensional laser radar described in Part I
Judge sailing into and rolling away from for vehicle.
Therefore the system uses high rate of scanning, high accuracy, high-resolution two-dimensional laser thunder to cause need not be by inspection vehicle
And slow-down is even stopped and receives detection, the purpose of real time high-speed measurement has been reached.Shaft type weighing scale adopts restraint of liberty degree
Design so that shaft type weighing scale weight-bearing surface is only perpendicular to the motion of vehicle heading, it is to avoid vehicle heading point
Power, is to measure more accurate.Vehicle is separated using two-dimensional laser radar simultaneously enables shaft type weighing scale accurately to obtain single vehicle
Weight.Three parts recited above combine and complete the overrun testing of vehicle, indispensable.
Description of the drawings
Fig. 1 is the overall structure diagram of the system.
Fig. 2 is the high dimensional measurement schematic diagram of vehicle width of the system.
Fig. 3 is the Vehicle length instrumentation plan of the system.
Fig. 4 is the vehicle weight instrumentation plan of the system.
Fig. 5 is the set coordinate system in the vehicle width high measurement of the system.
In figure, each modular construction be two-dimensional laser radar 1,2,3,4,5, shaft type weighing scale 6, front portal frame 7, back gantry
8th, server 9, load cell 10, bearing column 11, gag lever post 12.
Specific embodiment
It is only used for explaining below in conjunction with the present invention will be further described the explanation of accompanying drawing and implementation process, but the description
The present invention, and be not considered as limiting the invention.
First, install：
Due to overrun vehicle, some situation vehicles have deformed, or the loading of goods has caused the profile of vehicle not advise
Then, extreme difficulties are brought to dimensional measurement, for the difficult problem for overcoming this case to cause, it is necessary to the profile to compartment side
Measure, in the case of car looks are irregular, it is desirable to can be good at scanning the profile information of vehicle, it is to avoid because of vehicle
The measuring error that the incorrect loading of deformation and goods brings.Laser radar should be arranged on the both sides of road, using double excitation
The height and the width of radar complex measuring vehicle, as shown in Figures 1 and 2, install the plane of scanning motion perpendicular to road on front portal frame 7
The laser radar in face, bicycle road need two laser radars, two-way traffic to need in the middle of adjacent lane plus install a public laser
The laser radar of radar, i.e., three, often increases a track by that analogy and is increased by an instrumentation radar.Pacify on back gantry 8
The dress plane of scanning motion is parallel to vehicle heading, perpendicular to the laser radar on road surface, centre of the installation site in every track.Afterwards
The distance of the lidar measurement vehicle distances back gantry 8 on portal frame 8.Near the position of front portal frame 7 on every track
Put installation shaft type weighing scale 6, so that front axle has just been reached shaft type measurement weighing apparatus 6 after sailing front portal frame 7 into and claimed by vehicle
Remeasurement, after vehicle rolls front portal frame 7 away from, last group of axletree reaches shaft type weighing scale 6 and carries out weighing measurement, and vehicle sails out of axle
Measurement result each time is added up after formula weighing scale 6 and obtain the overall weight of vehicle.Load cell 10 in shaft type weighing scale 6
For being the signal of telecommunication by pressure conversion, bearing column 11 is used for support shaft type weighing scale 6, and gag lever post 12 ensure that shaft type weighing scale
6 only one of which degree of freedom, that is, only exist the motion perpendicular to road surface.
Second, demarcate：
Before measuring to vehicular traffic, first measuring system is configured and is demarcated, required for different track speeds
And certainty of measurement is required, the laser radar before adjustment on portal frame 7 and back gantry 8 selects suitable rate of scanning, to not having
Road surface when vehicle passes through is scanned, and its state is set to original state, and calibration result is stored in server 9.It is countershaft
Formula weighing scale row carries out demarcation of weighing, it is ensured that the accuracy of output result.
Section three, measurement：
Measurement is divided into the high measurement of vehicle width, the measurement of Vehicle length and the measurement of vehicle weight.
The high measurement of vehicle width：
On front portal frame 7, Laser Radar Scanning plane is perpendicular to vehicle heading, when vehicle passes through this plane of scanning motion
When, due to the continual quick scanning of laser radar, a series of vehicle's contour information is obtained, by coordinate transform by vehicle
Profile information is transformed into the coordinate points in set coordinate system, such as Fig. 5, in set coordinate system carries out Kalman's filter to vehicle's contour
Ripple obtains the smooth linear of vehicle's contour with fitting a straight line.By the maxima and minima of the transverse and longitudinal coordinate in this group of group information
Find out, i.e. Xmax, Xmin, Ymax, Ymin.By formula
H=H0-Ymin
W=Xmax-Xmin
Wherein, H0It is the height of the laser radar demarcated in second section calibration phase apart from road surface, H is height of car, and W is
Vehicle width.
Each profile obtains a Width x Height value, through processing, weeds out some significantly non-wide high data,
This series of data is taken into average, as the wide high information of the vehicle for finally measuring.
Simultaneously when there is vehicle to enter the surface sweeping plane of the laser radar in certain track on front portal frame 7, on the track
Laser radar echo signal will occur significantly change, while producing vehicle sails signal Q intoin, when vehicle rolls front portal frame 7 away from
Afterwards, the echo-signal of laser radar can produce mutation again, produced with this and roll signal Q away fromout。
The measurement of Vehicle length：
The laser radar installed on back gantry 8 is used for the length of measuring vehicle, as shown in figure 3, when vehicle is just sailed
When going out front portal frame 7, the laser radar on back gantry 8 measures a distance value Lx, i.e. now vehicle distances back gantry
Distance.As the distance between front portal frame 7 and back gantry 8 are known, i.e., just secure when mounted, be L0, by public affairs
Formula
L=L0-LX
Obtain length L of vehicle.
The measurement of vehicle weight：
Shaft type weighing scale 6 on certain track sails signal Q into according to vehicleinJudge whether there is vehicle on the track
Sail into, weight calculation of starting working when judging to have vehicle to sail into rolls signal Q away from when receivingoutAfterwards, weight calculation terminates, and cumulative summation is obtained
The overall weight of vehicle.Start the weight calculation of next car when being received again by sailing into signal.
Although more having used laser radar 1,2,3,4,5, shaft type weighing scale 6, front portal frame 7, back gantry herein
8th, server 9, load cell 10, bearing column 11,12 grade term of gag lever post, but it is not precluded from the possibility using other terms
Property.It is used for the purpose of more easily describing and explaining the essence of the present invention using these terms；It is construed as any one
Additional restriction is all contrary with spirit of the invention.
Claims (2)
1. a kind of road vehicle dimension and weight method for automatic measurement, it is characterised in that：Using road vehicle dimension and weight certainly
Dynamic measuring system realizes that the system includes front portal frame (7), back gantry (8), laser radar, shaft type weighing scale (6), clothes
Business device (9), load cell (10), bearing column (11), gag lever post (12)；Shaft type weighing scale (6) is placed on front portal frame (7)
And back gantry (8) between, load cell (10) is individually positioned in below shaft type weighing scale (6) four with bearing column (11)
At angle, the gag lever post (12) that can only be moved up and down is placed in the groove under shaft type weighing scale (6)；Server (9) and front dragon
Laser radar on door frame (7) and back gantry (8) is connected by netting twine；Server (9) is passed through with shaft type weighing scale (6)
RS232 Serial Port Lines connect；Front portal frame (7) and back gantry (8) are placed in parallel；The plane of scanning motion is installed on front portal frame (7)
Perpendicular to the laser radar on road surface, the both sides in each track arrange two laser radars, and a survey is increased by per many tracks
Amount radar；The plane of scanning motion is installed parallel to vehicle heading, perpendicular to the laser radar on road surface, peace on back gantry (8)
Centre of the holding position in every track；The distance of 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) on every track, vehicle is sailed into after front portal frame (7) just
Front axle has been reached shaft type weighing scale (6) carries out weighing measurement, and vehicle rolls front portal frame (7) away from, and last group of axletree reaches axle afterwards
Formula weighing scale (6) carries out weighing measurement, and vehicle is cumulative to measurement result each time after sailing out of shaft type weighing scale (6) to obtain vehicle
Overall weight；In shaft type weighing scale (6) load cell (10) for by pressure conversion be the signal of telecommunication, bearing column (11) use
In support shaft type weighing scale (6), gag lever post (12) ensure that shaft type weighing scale (6) only one of which degree of freedom, that is, only exist vertical
In the motion on road surface；Including 5 laser radars；3 are fixed on front portal frame (7), and 2 are fixed on back gantry (8), right
Vehicle in two tracks is measured；
Using the wide high information of double laser radar measurement in a closed series vehicle, the method for separating different vehicles using laser radar；Adopt
With the length information of the mode measuring vehicle of indirect measurement；
Including the high measurement of vehicle width, the measurement of Vehicle length and the measurement of vehicle weight；
The high measuring method of the vehicle width is as follows：
On front portal frame (7), Laser Radar Scanning plane is perpendicular to vehicle heading, when vehicle passes through this plane of scanning motion,
Due to the continual quick scanning of laser radar, a series of vehicle's contour information is obtained, by coordinate transform by the wheel of vehicle
Wide information is transformed into the coordinate points in set coordinate system, in set coordinate system carries out Kalman filtering and straight line to vehicle's contour
Fitting obtains the smooth linear of vehicle's contour, the maxima and minima of the transverse and longitudinal coordinate in this group information is found out, i.e.,
Xmax, Xmin, Ymax, Ymin, by formula
H=H0-Ymin
W=Xmax-Xmin
Wherein, H0For laser radar apart from road surface height, H is height of car, and W is vehicle width, XmaxFor the maximum of abscissa
Value, XminFor the minima of abscissa, YmaxFor the maximum of vertical coordinate, YminFor the minima of vertical coordinate；
Each profile obtains a Width x Height value, through processing, weeds out some significantly non-wide high data, then by this
A series of data take average, used as the wide high information of the vehicle for finally measuring；
When there is vehicle to enter the plane of scanning motion of the laser radar in certain track on front portal frame (7), the laser thunder on the track
Significantly change will occur up to echo-signal, the data Jing netting twine of laser radar reaches server (9), Jing servers (9) solution
Vehicle is produced after calculation and sails signal Q intoin, then weighed through RS232 Serial Port Lines notify shaft type weighing scale (6) by server (9)
Work；In the same manner, after vehicle rolls front portal frame (7) away from, the echo-signal of laser radar can produce mutation, Jing servers (9) again
Produce after resolving and roll signal Q away fromout, while notifying that shaft type weighing scale (6) stop claim through RS232 Serial Port Lines by server (9) again
Heavy industry is made；Server (9) is according to Qin、QoutAs the separation signal of vehicle, by the shaft type weighing scale between the two signals
(6) weighing data carries out adding up and obtains complete vehicle weight；
The measuring method of the Vehicle length is as follows：
The laser radar installed on back gantry (8) is used for the length of measuring vehicle, when vehicle just rolls front portal frame (7) away from
When, the laser radar on back gantry (8) measures a distance value Lx, i.e. the now distance of vehicle distances back gantry, due to
The distance between front portal frame (7) and back gantry (8) are known, i.e., just secure when mounted, be L0, by formula
L=L0-Lx
Obtain length L of vehicle；
The measuring method of the 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 to sailing into enters
Row is weighed, and each weighing results is sent to server (9), is added up by server (9)；When shaft type weighing scale (6) connects
When receiving the stopping weighing-up wave of server (9), stopping is weighed to vehicle, and weight calculation terminates；Cumulative summation obtains the whole of vehicle
Body weight, starts the weight calculation of next car when being received again by sailing into signal.
2. a kind of road vehicle dimension and weight method for automatic measurement according to claim 1, it is characterised in that：To mistake
Toward before vehicle measurement, first measuring system is configured and is demarcated, required for different track speeds and certainty of measurement is required,
Laser radar before adjustment on portal frame (7) and back gantry (8), selects suitable rate of scanning, when passing through to no vehicle
Road surface be scanned, its state is set to into original state, calibration result is stored in server (9), to shaft type weighing scale
(6) carry out demarcation of weighing, it is ensured that the accuracy of output result.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510113795.1A CN104655249B (en) | 2015-03-16 | 2015-03-16 | System and method for automatically measuring dimension and weight of road vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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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| CN104655249A CN104655249A (en) | 2015-05-27 |
| CN104655249B true CN104655249B (en) | 2017-04-12 |
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| CN201510113795.1A Expired - Fee Related CN104655249B (en) | 2015-03-16 | 2015-03-16 | System and method for automatically measuring dimension and weight of road vehicle |
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| CN114495512B (en) * | 2021-12-24 | 2023-11-14 | 武汉万集光电技术有限公司 | Vehicle information detection method, system, electronic equipment and readable storage medium |
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| CN104655249A (en) | 2015-05-27 |
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