CN105783765A - Object profile judging method - Google Patents
Object profile judging method Download PDFInfo
- Publication number
- CN105783765A CN105783765A CN201410816177.9A CN201410816177A CN105783765A CN 105783765 A CN105783765 A CN 105783765A CN 201410816177 A CN201410816177 A CN 201410816177A CN 105783765 A CN105783765 A CN 105783765A
- Authority
- CN
- China
- Prior art keywords
- contour
- laser scanner
- laser
- determination methods
- laser scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an object profile judging method. The method comprises the steps of forming a laser scanning surface through emitting the laser onto an object by means of a laser scanner; receiving the reflected light of the laser when encountering the object by means of the laser scanner; parsing the reflected light by means of the laser scanner to form the reflection information, wherein the reflection information includes the distance and the angle of the object relative to the laser scanner; converting the reflection information to obtain the position coordinate information of the object; and connecting the coordinate information of multiple positions of the object together to form the outline of the object. Based on the object profile judging method, the object profile of the laser scanning surface can be quickly judged. The object profile judging method has the advantages of anti-jamming performance, high resolution, high accuracy, small error, good stability, fast speed and the like.
Description
[technical field]
The present invention relates to a kind of contour of object determination methods, especially a kind of method carrying out contour of object judgement with laser scanning methods.
[background technology]
Urbanization in China is accelerated day by day, and Urban traffic demand amount significantly improves, and the crowded situation of traffic route is increasingly severe, have impact on resident and normally travels frequently, has increased the weight of environmental pollution, limits the normal performance of city function.
Electronic fee collection on multilane free flow technology (Multi-LaneFreeFlowETC, it is called for short MLFF) can have and express problems such as solving the manpower of charge in urban transportation, crowded and pollution, so-called electronic fee collection on multilane free flow technology refers to, vehicle can not be limited by divisional when by toll zone, do not needed sensing of stopping, toll zone is freely driven through by vehicle, even at changing Lane in the scope of toll zone, all can be judged, by Fare Collection System, the vehicle passed through and automatically carry out charging.It is typically in electronic fee collection on multilane free flow technology and common are installing board units (OBU) on vehicle, install drive test unit (RSU) in toll zone simultaneously, short-wave communication tedhnology (DSRC) is utilized to carry out sensing charging, or device less radio-frequency (RFID) label onboard, install sensor label in toll zone to sense by vehicle；But there is many restrictions in such mode, for instance interference or RFID that OBU signal collision produces produce the problems such as induced failure because of other extrinsic factor, cause the failure of system charging.In addition, after having another technology to be based on vehicle ' s contour is identified, charge according to system identification car type and vehicle, but, existing outline identification mode still suffers from the error that work is certain so that still have problems to be difficult to popularize in the car type and vehicle judgement of vehicle, therefore, a kind of fast and accurate profile determination methods of necessary proposition, to solve the bottleneck of existing electronic fee collection on multilane free flow technology.
[summary of the invention]
For solving the problems referred to above, the present invention provides a kind of contour of object determination methods, including: send laser with laser scanner to object and form laser scanning face；Laser scanner receives laser scanning face and meets the reflection light that object produces；Laser scanner resolves reflection light and forms reflective information, and reflective information comprises distance and the angle of object distance laser scanning instrument；Location coordinate information according to reflective information conversion object；Multiple location coordinate informations of object are connected and forms contour of object.
Further, reflective information conversion object is relative to the method for the relative position coordinates information of laser scanner, comprise the horizontal position coordinate utilizing cosine function calculating object and laser scanner angle to draw object place, and utilize SIN function calculating object and laser scanner angle to draw the Height position co-ordinate at object place.
Further, contour of object is carried out profile noise process.
Further, aforesaid profile noise processes, comprise the location coordinate information according to multiple objects judge whether that location overlap occurs, stop, cover, shade, unsettled and interfering object adjust contour of object.
Further, laser scanning frequency is more than 50 hertz, it is preferred that be 100 hertz.
Therefore, the invention has the beneficial effects as follows quick and judgment object or vehicle accurately the information of the mode utilizing laser scanning, it is provided simultaneously with the advantages such as anti-interference, resolution is high, error is little, good stability, has contributed to being applied in electronic fee collection on multilane free flow technology.
[accompanying drawing explanation]
Fig. 1 is the judgement flow chart of steps of the present invention.
Fig. 2 is laser scanner scans object section schematic diagram.
Fig. 3 is laser scanner scans object schematic diagram.
Fig. 4 is for reducing cross section scope schematic diagram.
Fig. 5 is scanned point coordinates location mark schematic diagram.
Fig. 6 is the contour of object schematic diagram formed according to coordinate position.
[detailed description of the invention]
The present invention mainly discloses a kind of contour of object determination methods, wherein the ultimate principle of the methods such as Laser emission and reception reflected signal is known by those skilled in the technology concerned, therefore with following description, no longer Laser emission and reception reflected signal are made complete description.Meanwhile, graphic with what hereinafter compare, that main expression is relevant with feature of present invention signal, also need not completely not draw according to actual size, formerly illustrate.
Refer to Fig. 1, for a kind of contour of object determination methods provided by the invention, including: send laser with laser scanner to object and form laser scanning face；Laser scanner receives laser scanning face and meets the reflection light that object produces；Laser scanner resolves reflection light and forms reflective information, and reflective information comprises distance and the angle of object distance laser scanning instrument；Location coordinate information according to reflective information conversion object；Multiple location coordinate informations of object are connected and forms contour of object.
Aforementioned utilize reflective information conversion object relative to the method for the relative position coordinates information of laser scanner, comprise the horizontal position coordinate utilizing cosine function calculating object and laser scanner angle to draw object place, and utilize SIN function calculating object and laser scanner angle to draw the Height position co-ordinate at object place, refer to Fig. 2, for laser scanner scans object section schematic diagram, in the present embodiment:
1) whole effective cross-section width is X, is highly Y.
2) installation site of laser scanner coordinate position in cross sectional coordinate system be (x, y).
3) the scanned point of object coordinate position in cross sectional coordinate system be (m, n).
4) laser scanner is θ with the angle of trunnion axis.
By laser scanner coordinate (x, y) and angle theta conversion draw object scanned point coordinates position (m, n) method is as follows:
In cross-sectional coordinates, the X-axis coordinate of scanned point is: m=x h*cos (θ)
In cross-sectional coordinates, the Y-axis coordinate of scanned point is: n=y h*sin (θ)
According to above-mentioned conversion can draw coordinate that object is scanned a little in cross-sectional coordinates for (m, n).
Further, in the present embodiment, owing to produced laser scanning curtain wall is a plane of scanning motion, the plane of scanning motion is transverse to the direct of travel of object or vehicle, therefore there is the scanned point of multiple object on the plane of scanning motion, as shown in Figure 3 simultaneously；Again by aforesaid conversion method, the all objects being scanned in the whole plane of scanning motion can be represented in the way of coordinate points, in addition, after coordinate transformation, it is scanned a little having exceeded the cross section scope (i.e. the scope of width X and height Y) of system definition if any object, those off-limits coordinate points need to be carried out labelling, and the coordinate points exceeding cross section scope is carried out reduction cut, as shown in Figure 4.Undertaken coordinate after reduction cuts, indicating by the scanned point of each object scanned by laser scanning curtain wall, as shown in Figure 5.Now, refer to Fig. 6, all of coordinate points is connected and namely forms contour of object.
Further, in order to reduce the coordinate information confusion produced in detection process because of the shape of object to be detected, contour of object is made not easily to recognize, contour of object need to be carried out profile noise process again, profile noise processes and can judge whether occur that coordinate position is overlapping according to the location coordinate information of multiple objects, or there is object to stop, the phenomenon such as cover, possibly even occur because the shade that formed of body form and laser scanner angle and contour of object is unsettled or the problem such as chaff interference, contour of object is caused to judge abnormal, utilize vertical algorithm, merge algorithm or average algorithm eliminates the impact that those anomalous contours aforementioned cause, revise contour of object further, make judged result more accurate；Vertical algorithm is scanned coordinate position judgment object border a little through object, and the scanned point of object boundary is done vertical calculation process；Merging algorithm is all coordinate points of same object obtained for multiple different laser scanner scans merged, and produces shade, covers or the deviation of angle during to make up single laser scanner to single object scanning；Average algorithm is through diverse location laser scanner and object is scanned with judgment object length, has abnormal height or odd length for single object, removes long, too short object width or height, then carry out calculation process with meansigma methods.
In the present embodiment, it is considered to the gait of march of object or vehicle, laser scanning frequency more than 50 hertz, need to be more preferably 100 hertz, and the contour of object that more intensive rate of scanning draws can be comparatively accurate.
Therefore, the invention has the beneficial effects as follows quick and judgment object or vehicle accurately the information of the mode utilizing laser scanning, it is provided simultaneously with the advantages such as anti-interference, resolution is high, error is little, good stability, has contributed to being applied in electronic fee collection on multilane free flow technology.
The foregoing is only the present invention preferably embodiment, be not limited to the interest field of the present invention；Above description simultaneously, for correlative technology field, special personage should understand and implement, and therefore other change without departing from the equivalence completed under disclosed spirit or modify, and should be included in claim.
Claims (6)
1. a contour of object determination methods, it is characterised in that including:
Send laser with laser scanner to object and form laser scanning face；
Described laser scanner receives described laser scanning face and meets the reflection light that described object produces；
Described laser scanner resolves described reflection light and forms reflective information, and described reflective information comprises distance and the angle of laser scanning instrument described in described object distance；
Location coordinate information according to the described reflective information described object of conversion；
The multiple described location coordinate information of described object is connected and forms described contour of object.
2. contour of object determination methods according to claim 1, it is characterized in that: the described reflective information described object of conversion is relative to the method for the relative position coordinates information of described laser scanner, comprise the horizontal position coordinate utilizing the cosine function described object of calculating and described laser scanner angle to draw described object place, and utilize the SIN function described object of calculating and described laser scanner angle to draw the Height position co-ordinate at described object place.
3. contour of object determination methods according to claim 2, it is characterised in that: further described contour of object is carried out profile noise process.
4. contour of object determination methods according to claim 3, it is characterized in that: described profile noise processes, comprise the location coordinate information according to multiple described objects judge whether that location overlap occurs, stop, cover, shade, unsettled and interfering object adjust described contour of object.
5. contour of object determination methods according to claim 1, it is characterised in that: described laser scanning frequency is more than 50 hertz.
6. contour of object determination methods according to claim 5, it is characterised in that: described laser scanning frequency is 100 hertz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410816177.9A CN105783765A (en) | 2014-12-23 | 2014-12-23 | Object profile judging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410816177.9A CN105783765A (en) | 2014-12-23 | 2014-12-23 | Object profile judging method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105783765A true CN105783765A (en) | 2016-07-20 |
Family
ID=56377488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410816177.9A Pending CN105783765A (en) | 2014-12-23 | 2014-12-23 | Object profile judging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105783765A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107262933A (en) * | 2017-06-22 | 2017-10-20 | 歌尔股份有限公司 | A kind of parts machining method and system |
| CN107320017A (en) * | 2017-08-08 | 2017-11-07 | 东莞市智科智能科技有限公司 | A kind of dust catcher with laser scanning orientating function |
| CN107608358A (en) * | 2017-09-30 | 2018-01-19 | 爱啃萝卜机器人技术（深圳）有限责任公司 | High-efficiency and low-cost based on outline identification technology recharges system and method automatically |
| CN108088389A (en) * | 2018-02-01 | 2018-05-29 | 深圳大学 | A kind of rotary double excitation contour measuring method, storage device and measuring device |
| CN111766546A (en) * | 2020-05-18 | 2020-10-13 | Oppo（重庆）智能科技有限公司 | BTB buckling detection method and device, storage medium and terminal |
| CN112037408A (en) * | 2020-09-11 | 2020-12-04 | 合肥创兆电子科技有限公司 | Intelligent authentication and positioning method for examinees in examination room |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009058247A1 (en) * | 2007-10-31 | 2009-05-07 | Corning Incorporated | Laser scanning measurement systems and methods for surface shape measurement of hidden surfaces |
| CN201917321U (en) * | 2010-12-20 | 2011-08-03 | 浙江省机电设计研究院有限公司 | Device for automatically detecting length, width and height of high-speed dynamic state highway transport vehicle |
| CN102435141A (en) * | 2011-09-29 | 2012-05-02 | 凯迈（洛阳）测控有限公司 | Device and method for measuring sizes of running vehicles |
| CN102679889A (en) * | 2012-05-30 | 2012-09-19 | 北京恒华伟业科技股份有限公司 | Vehicle size measurement method and device |
| CN103854320A (en) * | 2012-12-05 | 2014-06-11 | 上海海事大学 | Automatic vehicle type identification device and method based on laser radar |
-
2014
- 2014-12-23 CN CN201410816177.9A patent/CN105783765A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009058247A1 (en) * | 2007-10-31 | 2009-05-07 | Corning Incorporated | Laser scanning measurement systems and methods for surface shape measurement of hidden surfaces |
| CN201917321U (en) * | 2010-12-20 | 2011-08-03 | 浙江省机电设计研究院有限公司 | Device for automatically detecting length, width and height of high-speed dynamic state highway transport vehicle |
| CN102435141A (en) * | 2011-09-29 | 2012-05-02 | 凯迈（洛阳）测控有限公司 | Device and method for measuring sizes of running vehicles |
| CN102679889A (en) * | 2012-05-30 | 2012-09-19 | 北京恒华伟业科技股份有限公司 | Vehicle size measurement method and device |
| CN103854320A (en) * | 2012-12-05 | 2014-06-11 | 上海海事大学 | Automatic vehicle type identification device and method based on laser radar |
Non-Patent Citations (1)
| Title |
|---|
| 李颖宏 等: "《道路交通信息检测技术及应用》", 31 January 2014, 机械工业出版社 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107262933A (en) * | 2017-06-22 | 2017-10-20 | 歌尔股份有限公司 | A kind of parts machining method and system |
| CN107262933B (en) * | 2017-06-22 | 2019-04-02 | 歌尔股份有限公司 | A kind of parts machining method and system |
| CN107320017A (en) * | 2017-08-08 | 2017-11-07 | 东莞市智科智能科技有限公司 | A kind of dust catcher with laser scanning orientating function |
| CN107608358A (en) * | 2017-09-30 | 2018-01-19 | 爱啃萝卜机器人技术（深圳）有限责任公司 | High-efficiency and low-cost based on outline identification technology recharges system and method automatically |
| CN108088389A (en) * | 2018-02-01 | 2018-05-29 | 深圳大学 | A kind of rotary double excitation contour measuring method, storage device and measuring device |
| CN111766546A (en) * | 2020-05-18 | 2020-10-13 | Oppo（重庆）智能科技有限公司 | BTB buckling detection method and device, storage medium and terminal |
| CN111766546B (en) * | 2020-05-18 | 2023-09-01 | Oppo（重庆）智能科技有限公司 | BTB buckling detection method and device, storage medium and terminal |
| CN112037408A (en) * | 2020-09-11 | 2020-12-04 | 合肥创兆电子科技有限公司 | Intelligent authentication and positioning method for examinees in examination room |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105783765A (en) | Object profile judging method | |
| KR100224143B1 (en) | Apparatus and method for detecting vehicle type | |
| CN104537889B (en) | A kind of avoiding collision under difference vehicle condition and system | |
| CN102508246B (en) | Method for detecting and tracking obstacles in front of vehicle | |
| CN104021541B (en) | Vehicle-to-vehicle distance calculation apparatus and method | |
| CN101750049B (en) | Monocular vision vehicle distance measuring method based on road and vehicle information | |
| CN106516990B (en) | Container terminal field bridge anti-collision control system and method based on object contour tracking | |
| CN105783766A (en) | Object contour detection system | |
| CN104637059A (en) | Night preceding vehicle detection method based on millimeter-wave radar and machine vision | |
| CN106205170A (en) | The accurate lugs in a kind of crossing for automatic Pilot and method | |
| CN103714603B (en) | Based on the bus passenger flow statistical system of infrared distance sensor | |
| CN105955259A (en) | Monocular vision AGV accurate positioning method and system based on multi-window real-time range finding | |
| RU2720303C1 (en) | Method, device and railway vehicle, in particular, rail vehicle, for analysis of images on basis of track in railway communication, in particular for analysis of images on basis of rail track in rail communication | |
| CN110968086B (en) | Vehicle arrival control method and system | |
| CN101833092A (en) | 360-degree dead-angle-free obstacle intelligent detection and early warning method for vehicle | |
| CN109910955B (en) | Rail transit tunnel barrier detection system and method based on transponder information transmission | |
| CN204055561U (en) | Vehicle safe driving caution system | |
| CN106114357A (en) | Device and method for preventing scratching during turning of vehicle | |
| CN110091875A (en) | Deep learning type intelligent driving context aware systems based on Internet of Things | |
| CN112014855A (en) | Vehicle outline detection method and system based on laser radar | |
| CN110660220B (en) | Urban rail train priority distribution method and system | |
| CN105810012A (en) | Method and device of vehicle collision warning based on vehicle-borne terminal | |
| CN104050806A (en) | Method for detecting traffic infractions in a traffic light zone through rear end measurement by a radar device | |
| CN102914290A (en) | Metro gauge detecting system and detecting method thereof | |
| CN101866017B (en) | Magnetic positioning method of traffic vehicle based on displacement cyclic unique code |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160720 |