CN105890542A - Outside dimension measuring system and method of motor vehicle - Google Patents
Outside dimension measuring system and method of motor vehicle Download PDFInfo
- Publication number
- CN105890542A CN105890542A CN201610408831.1A CN201610408831A CN105890542A CN 105890542 A CN105890542 A CN 105890542A CN 201610408831 A CN201610408831 A CN 201610408831A CN 105890542 A CN105890542 A CN 105890542A
- Authority
- CN
- China
- Prior art keywords
- laser
- laser rays
- image
- measured
- vehicle
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/028—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring lateral position of a boundary of the object
Abstract
The embodiment of the invention provides an outside dimension measuring system and method of a motor vehicle, and belongs to the technical field of vehicle measurement. The system comprises a first laser imaging device, a second laser imaging device and a data processing device, wherein the first laser imaging device is arranged on one side of a detecting area; the second laser imaging device is arranged on the other side of the detecting area; the first laser imaging device and the second laser imaging device are coupled with the data processing device. Compared with an existing outside dimension measuring mode of the motor vehicle, the system and method provided by the embodiment have the advantages that the measuring efficiency can be improved, and the measuring cost can be decreased; in addition, the sampling frequency of the first laser imaging device and the second laser imaging device can be adjusted to increase the sampling data, so that the accuracy of the measuring result of the outside dimension of the motor vehicle can be effectively improved.
Description
Technical field
The present invention relates to technical field of automobile measurement, in particular to a kind of motor vehicles gabarit
Size Measuring System and method.
Background technology
Now, overload of motor-driven vehicle transfinites to have become as affects the prominent of people's security of the lives and property and asks
Topic.In order to avoid overload of motor-driven vehicle overrun condition as far as possible, the contour dimension of motor vehicles includes motor-driven
The detection of the width of car, height and length is particularly important.Current motor vehicles contour dimension is measured
Mode includes two kinds, and one is to use manual measurement mode, and one is to be sensed by laser ranging
The contour dimension data of device harvester motor-car.But, the random error of manual measurement mode is bigger
And it is dangerous to waste time and energy.Additionally, laser range sensor cost is high, fault rate is high, sampling
Point is less, is unfavorable for improving the accuracy of measurement result.
Summary of the invention
In consideration of it, it is an object of the invention to provide a kind of motor vehicles contour dimension measure system and
Method, to improve the problems referred to above.
To achieve these goals, technical scheme is as follows:
Embodiments provide a kind of motor vehicles contour dimension and measure system, including: first
Laser image forming apparatus, the second laser image forming apparatus and data processing equipment, described first laser becomes
As device is arranged on the side in detection region, described second laser image forming apparatus is arranged on described inspection
Surveying the opposite side in region, described first laser image forming apparatus and described second laser image forming apparatus are equal
Couple with described data processing equipment.Described first laser image forming apparatus is used for sending the first laser
Planar projective forms the to pre-set velocity by the surface of the vehicle to be measured in described detection region
One laser rays, it is thus achieved that the image of described first laser rays.Described second laser image forming apparatus is used for
Send the second laser plane to project the surface of described vehicle to be measured and form the second laser rays, it is thus achieved that
The image of described second laser rays.Described data processing equipment is used for processing described first laser rays
Image and described second laser rays image obtain described vehicle to be measured width and height.
The embodiment of the present invention additionally provides a kind of motor vehicles contour dimension measuring method, is applied to
State motor vehicles contour dimension and measure system.Described method includes: obtain the first laser image forming apparatus
The image of the first laser rays that the surface of vehicle to be measured sent is formed；Obtain the second laser imaging dress
Put the image of the second laser rays of the surface of vehicle described to be measured formation of transmission；Obtain described first
First laser line projection described in the image of laser rays is sat to the world at place, described detection region
Mark the second laser line projection described in the image of the coordinate under system and described second laser rays to institute
State the coordinate under world coordinate system；According to described first laser rays and described second laser rays in institute
State the coordinate under world coordinate system and obtain width and the height of described vehicle to be measured.
The embodiment of the present invention gathers what surface of vehicle to be measured was formed by the first laser image forming apparatus
The image of the first laser rays, the second laser image forming apparatus gathers second that surface of vehicle to be measured is formed
The image of laser rays, carries out process by data processing equipment to above-mentioned image and obtains vehicle to be measured
Width and height.Compared to existing motor vehicles contour dimension metering system, the present invention implements
The motor vehicles contour dimension that example provides is measured system and is not only increased the efficiency of measurement, reduces survey
Amount cost, it is also possible to by regulating adopting of the first laser image forming apparatus and the second laser image forming apparatus
Sample frequency increases sampled data, is effectively improved the essence of motor vehicles dimension measurements
Degree.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, cited below particularly relatively
Good embodiment, and coordinate appended accompanying drawing, it is described in detail below.
Accompanying drawing explanation
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below will knot
Close the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear,
Be fully described by, it is clear that described embodiment be a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not having
Make the every other embodiment obtained under creative work premise, broadly fall into present invention protection
Scope.
Fig. 1 shows that the motor vehicles contour dimension that first embodiment of the invention provides measures system
Scheme of installation；
Fig. 2 shows that a kind of motor vehicles contour dimension that first embodiment of the invention provides is measured
The structured flowchart of system；
Fig. 3 shows that the another kind of motor vehicles contour dimension that first embodiment of the invention provides is surveyed
The structured flowchart of amount system；
Fig. 4 shows that a kind of motor vehicles contour dimension that second embodiment of the invention provides is measured
The flow chart of method；
Fig. 5 shows that the another kind of motor vehicles contour dimension that second embodiment of the invention provides is surveyed
The flow chart of metering method.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only a present invention part
Embodiment rather than whole embodiments.Generally herein described in accompanying drawing and illustrate this
The assembly of bright embodiment can be arranged with various different configurations and design.Therefore, the most right
The detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the selected embodiment of the present invention.Based on the present invention
Embodiment, the institute that those skilled in the art are obtained on the premise of not making creative work
There are other embodiments, broadly fall into the scope of protection of the invention.
It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore,
The most a certain Xiang Yi accompanying drawing is defined, then need not it is carried out in accompanying drawing subsequently
Definition and explanation further.
In describing the invention, it should be noted that term " " center ", "left", "right",
The orientation of the instruction such as " vertically ", " level " or position relationship be based on orientation shown in the drawings or
Position relationship, or the orientation usually put or position relationship when this invention product uses, only
Be for the ease of describe the present invention and simplify describe rather than instruction or hint indication device or
Element must have specific orientation, with specific azimuth configuration and operation, be not understood that
For limitation of the present invention.
First embodiment
Current motor vehicles contour dimension metering system includes two kinds, and one is to use manual measurement
Mode, a kind of is the contour dimension data by laser range sensor harvester motor-car.But,
The random error of manual measurement mode is relatively big and wastes time and energy dangerous.Additionally, laser ranging passes
Sensor cost is high, and fault rate is high, and sampled point is less, is unfavorable for improving the accuracy of measurement result.
In consideration of it, embodiments provide a kind of motor vehicles contour dimension to measure system.Institute
State motor vehicles contour dimension measurement system and include the first laser image forming apparatus, the second laser imaging dress
Put and data processing equipment.Wherein, described first laser image forming apparatus is arranged on detection region
Side, described second laser image forming apparatus is arranged on the opposite side in described detection region.First swashs
Photoimaging equipment sends the first laser plane and projects with pre-set velocity by described detection region
The surface of vehicle to be measured form the first laser rays, it is thus achieved that the image of the first laser rays.Second swashs
Photoimaging equipment sends the second laser plane and projects the surface formation second of described vehicle to be measured
Laser rays, it is thus achieved that the image of described second laser rays.Data processing equipment can be computer,
It can also be a kind of IC chip with data processing function.
In the present embodiment, the first laser image forming apparatus includes the first laser projector and the first shooting
Machine, the second laser image forming apparatus includes the second laser projector and the second video camera.Need explanation
, the first laser image forming apparatus and the second laser image forming apparatus can also be to be integrated with laser to throw
Penetrate the device of module and image-forming module.
Concrete, in this motor vehicles contour dimension measurement system, the first laser image forming apparatus and the
The mounting means of dual-laser imaging device can be:
As it is shown in figure 1, the direction of traffic that the hollow arrow direction in Fig. 1 is detection region.Treat
Measuring car 200 enters detection region with pre-set velocity along direction of traffic, and wherein, pre-set velocity can
With preferably 3-5 thousand ms/h.Detection region both sides be respectively arranged with the first column 311,
Second column the 312, the 3rd column 313 and the 4th column 314.First column 311 and the 3rd
Column 313 is respectively positioned on the side in detection region, the second column 312 and the 4th equal position of column 314
Opposite side in detection region.Wherein, the first column 311 and the second column 312 are oppositely arranged,
3rd column 313 and the 4th column 314 are oppositely arranged.First laser projector 111 is arranged on
On first column 311, the second laser projector 121 is arranged on the second column 312, and first
Video camera 112 is arranged on the 3rd column 313, and the second video camera 122 is arranged on the 4th column
On 314.Preferably, first laser projector the 111, second laser projector 121, first
Video camera 112 and second video camera 122 height apart from ground are 5～6 meters.
It should be noted that above-described mounting means is only the preferably peace of the embodiment of the present invention
Dress mode, on the basis of being capable of the technical scheme of the embodiment of the present invention, the first laser is thrown
Penetrate instrument the 111, second laser projector the 121, first video camera 112 and the second video camera 122
Other mounting means can also be used.
As in figure 2 it is shown, this motor vehicles contour dimension is measured in system 100, the first laser imaging
Included by the first video camera 112 included by device 110 and the second laser image forming apparatus 120
Second video camera 122 all couples with data processing equipment 140.Wherein, the first laser projector
111 are used for sending the first laser plane projects with pre-set velocity treating by described detection region
The surface of measuring car 200 forms the first laser rays.Second laser projector 121 is used for sending
Dual-laser planar projective forms the second laser rays to the surface of described vehicle 200 to be measured.Need
Bright, the first laser plane and the second laser plane are the laser beam of a plurality of different directions
The plane of composition.In order to improve the precision of measurement result, it is preferred that the first laser rays and second
Laser rays is parallel, and the first laser rays and the second laser rays are each perpendicular to detect the length side in region
To.It should be noted that the direction of traffic that length direction is detection region in detection region.When
So, the first laser rays and the second laser rays can also be not perfectly perpendicular to detect the length side in region
To, can be slightly tilted.
The first laser rays that first video camera 112 is formed for gathering vehicle 200 surface to be measured
Image is also sent to data processing equipment 140.Second video camera 122 is used for gathering vehicle to be measured
The image of the second laser rays that 200 surfaces are formed also is sent to data processing equipment 140.Due to
Vehicle body is higher to the reflectance of laser, therefore, and the first video camera 112 and the second video camera 122
Laser rays in the image collected is the most obvious.It should be noted that the first video camera 112
The image sent with the second video camera 122 can be the first video camera 112 and the second video camera
122 photos shot with identical sample frequency, it is also possible to be video.In order to improve sampling frequency
Rate, above-mentioned image is preferably video, and the first video camera 112 and the second video camera 122 gather and regard
The frame rate of frequency is equal, and the first video camera 112 and the second video camera 122 process dress in data
Put and start simultaneously at opening and closing under the control of 140.
Concrete, data processing equipment 140 gets the first video camera 112 and the second video camera
After 122 data sent, the video shot the first video camera 112 according to default frame period enters
Row sub-frame processing obtains the first picture frame sequence, according to described default frame period to the second video camera
The video of 122 shootings carries out sub-frame processing and obtains the second picture frame sequence.Described first picture frame
Each two field picture of sequence all comprises the first laser rays, each frame of described second picture frame sequence
Image all comprises the second laser rays.
Amount of images in the amount of images of the first picture frame sequence and the second picture frame sequence by
First video camera 112 and the second video camera 122 gather frame rate and first video counts of video
Determine according to the persistent period with the second video data.Such as, the first video camera 112 and second is taken the photograph
Camera 122 gathers the frame rate of video and is 35 frames/second, and the persistent period of video is 10 seconds
Time, the quantity of the video frame images in video frame images sequence is 350.It addition, the first image
The time order and function that frame sequence occurs in the video that the first video camera 112 shoots according to image is suitable
Sequence arranges, the video image that the second picture frame sequence shoots at the second video camera 122 according to image
The time order and function order arrangement of middle appearance.
Further, to each two field picture in the first picture frame sequence and the second picture frame sequence
Process, obtain the first laser rays in each two field picture of the first picture frame sequence in detection
Coordinate under the world coordinate system at place, region, obtains each two field picture of the second picture frame sequence
In the second laser rays detection place, region world coordinate system under coordinate.Wherein, to
Each two field picture in one picture frame sequence and the second picture frame sequence carries out the concrete side processed
Formula can be: carries out each two field picture in the first picture frame sequence and the second picture frame sequence
Binary conversion treatment, extract respectively the first laser rays in image in the first picture frame sequence profile and
The profile of the second laser rays in image in second picture frame sequence.For example, it is possible to examined by edge
Method of determining and calculating extracts the first laser rays and the profile of the second laser rays.It should be noted that due to
There is certain width in one laser rays and the second laser rays, can be searched by image processing method
The centrage of the first laser rays profile and the centrage of the second laser rays profile, respectively obtain
On the centrage of one laser rays profile, each point the first coordinate and second under image coordinate system swashs
The each point the second coordinate under image coordinate system on the centrage of light line profile.
Data processing equipment 140 is previously stored with through calibrated first video camera 112
First projective transformation model and the second projective transformation model of the second video camera 122.According to first
The first obtained Coordinate Conversion is the coordinate under above-mentioned world coordinate system by projective transformation model,
It is above-mentioned world coordinate system according to the second projective transformation model by the second obtained Coordinate Conversion
Under coordinate.Wherein, the change in coordinate axis direction of world coordinate system is respectively the width side detecting region
To (X-axis), length direction (Y-axis) and short transverse (Z axis).First video camera 112
The most right with second video camera 122 laser rays in the vehicle body image that synchronization collects
Answer the contour line of 200 1 cross-sectional edge of vehicle to be measured.Therefore, according to preset rules pair
First laser rays contained by i-th two field picture of the first picture frame sequence seat under world coordinate system
The second laser rays contained by the i-th two field picture in mark and the second picture frame sequence is at world coordinate system
Under coordinate carry out processing and i.e. can obtain the contour line of 200 1 cross sections of vehicle to be measured and sit
Mark, i is positive integer.Wherein, described cross section is for being perpendicular to vehicle 200 length direction to be measured
Cross section.
It should be noted that the first laser rays and second formed due to vehicle 200 surface to be measured
Laser rays has lap at the upper surface of vehicle body.In the present embodiment, above-mentioned preset rules can
Thinking: pre-set a datum line, described datum line is the centrage in detection track, its X
Coordinate is fixed value；The i-th two field picture institute of the first picture frame sequence is chosen according to described datum line
The first laser rays contained coordinate under world coordinate system and the i-th frame in the second picture frame sequence
The coordinate under world coordinate system of the second laser rays contained by image is as vehicle 200 to be measured
The contour line coordinate of respective cross section.
Concrete, it is assumed that along the direct of travel of vehicle 200 to be measured, the first laser projector 111
And first video camera 112 be positioned at detection track datum line on the left of, the first laser projector 111
And first video camera 112 be positioned at detection track datum line on the right side of, and detection track datum line
The X-coordinate value on right side is more than the X-coordinate value of datum line, and the X-coordinate value of datum line is more than
X-coordinate value on the left of datum line.Now, for being positioned at the cross section on the left of described datum line
The coordinate of contour line, can choose the first laser rays in the image in the first picture frame sequence alive
In coordinate under boundary's coordinate system, X-coordinate value is less than the coordinate of the X-coordinate value of datum line；For
It is positioned at the coordinate of cross-sectional profiles line on the right side of described datum line, the second image frame sequence can be chosen
In image in row the second laser rays in the coordinate under world coordinate system X-coordinate value more than or
Coordinate equal to the X-coordinate value of datum line.
Therefore, according to the different frame image in the first picture frame sequence and the second picture frame sequence,
The contour line coordinate of multiple cross sections of vehicle 200 to be measured can be obtained.After motor vehicles
Visor is generally not counted in the measurement of motor vehicles contour dimension, therefore, rejects vehicle 200 to be measured
Multiple cross sections contour line coordinate in corresponding to the coordinate in rearview mirror region, i.e. can obtain
The width of vehicle 200 to be measured and height.For example, it is possible to sit according to the contour line of multiple cross sections
Mark tries to achieve Breadth Maximum and the maximum height of vehicle 200 to be measured.Can by the specific configuration of motor vehicles
Knowing, the coordinate that the Breadth Maximum of vehicle 200 to be measured is corresponding is rearview mirror position.Data
Processing means 140 can prestore the coordinate range in rearview mirror region, reject described coordinate
In the range of coordinate after, i.e. can obtain vehicle 200 to be measured according to remaining contour line coordinate
Width and height.
It should be noted that the Y-coordinate value of the contour line coordinate of the plurality of cross section is fixed
Value.Therefore, the gabarit 3-D graphic of vehicle 200 to be measured to be reduced further, need to try to achieve phase
Spacing between adjacent two cross sections, thus obtain the wheel of multiple cross sections of vehicle 200 to be measured
The profile relative position in Y-axis.
Therefore, in order to measure the length of vehicle 200 to be measured the vehicle 200 to be measured that reduces further
Gabarit 3-D graphic, as it is shown on figure 3, described motor vehicles contour dimension measure system 100
Also include that the 3rd laser image forming apparatus 130, described 3rd laser image forming apparatus 130 are arranged on institute
State the side in detection region.3rd laser image forming apparatus 130 sends the 3rd laser of horizontal direction
Planar projective is to the pre-set velocity wheel 210 of vehicle to be measured 200 side by detection region
Side forms the 3rd laser rays.And gather the 3rd laser rays that wheel 210 side is formed further
Image be sent to data processing equipment 140.Now, described data processing equipment 140 is also used
In processing the image of described 3rd laser rays to obtain the first laser image forming apparatus 110 and second
The vehicle to be measured 200 corresponding to adjacent two two field pictures that laser image forming apparatus 120 is gathered is transversal
Spacing between face.According to this spacing and the first laser image forming apparatus 110 and the second laser imaging
The quantity of the vehicle body image containing laser rays that device 120 is gathered i.e. can obtain treating measuring car
The length of 200.Further, by multiple cross sections of the above-mentioned vehicle to be measured 200 recorded
Contour line coordinate combines with the spacing of above-mentioned adjacent two cross sections, the most reducible vehicle to be measured
The gabarit 3-D graphic of 200.
Certainly, in addition to above-mentioned linear measure longimetry mode, the present embodiment can also pass through infrared light curtain
Sensor and laser positioning switch realize vehicle 200 to be measured linear measure longimetry.It should be noted that
In the case of certainty of measurement is less demanding, the 3rd laser plane can also be slightly angled relative to level
Direction, the i.e. the 3rd laser rays is not exclusively parallel to the length direction in described detection region.
In the present embodiment, the 3rd laser image forming apparatus 130 includes the 3rd laser projector 131
With the 3rd video camera 132.Certainly.3rd laser image forming apparatus 130 can also be integrated with sharp
Light projection module and the device of image-forming module.
Concrete, the mounting means of the 3rd laser image forming apparatus 130 can be: as it is shown in figure 1,
The side in detection region is provided with the 5th column 315.5th column 315 can be with the first column
311 and the 3rd column 313 homonymy, it is also possible to the second column 312 and the 4th column 314 with
Side.3rd laser projector 131 and the 3rd video camera 132 are arranged on the 5th column 315.
Preferably, the 3rd laser projector 131 height apart from ground is 10 centimetres.
As it is shown on figure 3, the 3rd video camera 132 included by the 3rd laser image forming apparatus 130
Couple with data processing equipment 140.Vehicle 200 to be measured with pre-set velocity by detection region,
3rd laser projector 131 sends the 3rd laser plane of horizontal direction and projects vehicle to be measured
Wheel 210 side of 200 sides forms the 3rd laser rays.3rd video camera 132 gathers wheel
The image of the 3rd laser rays that 210 sides are formed also is sent to data processing equipment 140.Need
Illustrate, owing to the wheel portion of wheel 210 side is higher than vehicle body pair to the reflectance of laser
The reflectance of laser, therefore, wheel 210 side in the image that the 3rd video camera 132 gathers
Wheel portion has the ash of the laser rays part in obvious laser rays, i.e. image in wheel portion
Degree has notable difference compared with other parts.
In order to the contour line coordinate of multiple cross sections of accurate acquisition vehicle to be measured 200 is at Y
Relative position on axle, the first video camera the 112, second video camera 122 and the 3rd video camera 132
Sample frequency identical.When the first video camera the 112, second video camera 122 and the 3rd video camera
When 132 images gathered are video image, first video camera the 112, second video camera 122
And the 3rd the video acquisition frame rate of video camera 132 identical.
After data processing equipment 140 gets the data that the 3rd video camera 132 sends, according to upper
State the video image that the 3rd video camera 132 shoots by default frame period and carry out sub-frame processing acquisition
3rd picture frame sequence.Each two field picture in described 3rd picture frame sequence all comprises projection to be had
The wheel 210 of the 3rd laser rays.Extract in the 3rd picture frame sequence respectively and each two field picture is thrown
Penetrate the 3rd laser rays profile in wheel 210 side.Owing to the 3rd laser rays exists certain width
Degree, can be by the position of center line of image processing method location the 3rd laser rays profile, respectively
Obtain each point the 3rd coordinate under image coordinate system on the centrage of the 3rd laser rays profile.Root
The central point on the centrage of the 3rd laser rays profile is further searched for as ginseng according to the 3rd coordinate
Examination point.According to the 3rd projective transformation model prestored in data processing equipment 140 by reference
Point Coordinate Conversion under image coordinate system is the coordinate under above-mentioned world coordinate system.To the 3rd figure
The 3rd picture frame sequence i.e. can be obtained as each two field picture in frame sequence carries out above-mentioned process
The interior reference point in each two field picture coordinate under above-mentioned world coordinate system.
Assume the i-th two field picture in the first picture frame sequence and i-th in the second picture frame sequence
First cross section of the corresponding vehicle 200 to be measured of two field picture, the i+1 in the first picture frame sequence
The second of the corresponding vehicle 200 to be measured of i+1 two field picture in two field picture and the second picture frame sequence
Cross section.Now, the Y of reference point position in adjacent two two field pictures in the 3rd picture frame sequence
The absolute value of the difference of coordinate figure is the spacing between the first cross section and the second cross section.
It should be noted that due to the usual more than one of wheel 210 of vehicle 200 side to be measured,
Therefore, the projection included in some image in the 3rd picture frame sequence has the 3rd laser rays
Wheel 210 is possible different or has multiple.When obtaining according to the present image in the 3rd picture frame sequence
When the reference point coordinate got has multiple, only choose one of them reference point coordinate, and need to protect
Demonstrate,prove the corresponding same wheel 210 of the selected reference point coordinate of each two field picture.When adjacent two frame figures
When projection included in Xiang has wheel 210 difference of the 3rd laser rays, according to a frame rearward
After the reference point coordinate that image obtains, need the Y-coordinate value of this reference point coordinate is repaiied
Just, will the Y-coordinate value of this reference point coordinate plus the wheelbase between two wheels 210.
Sit according to the Y of reference point in adjacent two two field pictures in the 3rd picture frame sequence further
Amount of images in the absolute value of the difference of scale value and the first picture frame sequence or the second picture frame
Amount of images in sequence i.e. can obtain the length of vehicle 200 to be measured.Such as, when the 3rd figure
As in adjacent two two field pictures in frame sequence, the absolute value of the difference of the Y-coordinate value of reference point is
0.04 meter, in the first picture frame sequence, the vehicle body amount of images containing the first laser rays is 500
Time, a length of 20 meters of vehicle 200 to be measured.It addition, combine the above-mentioned vehicle to be measured recorded
The contour line coordinate of multiple cross sections of 200 and adjacent two cross sections are in the Y-axis direction
Spacing i.e. can reduce the gabarit 3-D graphic of vehicle 200 to be measured.
Concrete, the motor vehicles contour dimension that the embodiment of the present invention provides measures the work of system 100
Making flow process can be:
Before vehicle 200 to be measured enters detection region, open the first laser projector 111, the
Dual-laser projectoscope 121 and the 3rd laser projector 131, the first laser projector 111 sends
The first laser plane project and on ground, form the first laser rays, the second laser projector 121
The second laser plane sent also projects and forms the second laser rays on ground.Synchronize unlatching first
Video camera the 112, second video camera 122 and the 3rd video camera 132, the first video camera 112 He
Second video camera 122 gathers the first laser rays and the image of the second laser rays respectively and is sent to
Data processing equipment 140.According to the first laser rays in above-mentioned projective transformation model also original image
Coordinate under above-mentioned world coordinate system and second laser rays seat under above-mentioned world coordinate system
Mark, now, the first laser rays and the second laser rays Z axis coordinate under world coordinate system is
The Z axis coordinate on ground.Ideally, the Z axis coordinate on ground is 0.
Vehicle 200 to be measured enters detection region, the first laser projector 111 with pre-set velocity
The first laser plane gone out projects bodywork surface and forms the first laser rays, the second laser projector
121 the second laser planes sent project bodywork surface and form the second laser rays.First shooting
Machine 112 gathers the image of the first laser rays that vehicle 200 surface to be measured is formed and is sent at data
Reason device 140, the second video camera 122 gathers the second laser that vehicle 200 surface to be measured is formed
The image of line is sent to data processing equipment 140.When wheel 210 enters the 3rd laser projector
During the zone of action of 131 the 3rd laser planes sent, the 3rd laser projector 131 sends
3rd laser plane projects wheel 210 side of vehicle 200 side to be measured, at wheel 210
Side forms the 3rd laser rays.3rd video camera 132 gathers the 3rd that wheel 210 side is formed
The image of laser rays is sent to data processing equipment 140.
Data processing equipment 140 to the image of the first laser rays that the first video camera 112 sends,
The image of the second laser rays that second video camera 122 sends, the 3rd video camera 132 send the
The image of three laser rays processes, obtain the length of vehicle 200 to be measured, width, height and
The gabarit 3-D graphic of vehicle 200 to be measured.
In sum, the embodiment of the present invention is gathered by the first laser image forming apparatus 110 and treats measuring car
The image of the first laser rays that 200 surfaces are formed, the second laser image forming apparatus 120 gathers and treats
The image of the second laser rays that measuring car 200 surface is formed, the 3rd laser image forming apparatus 130
Gather the image of the 3rd laser rays that wheel 210 side is formed, by data processing equipment 140
Above-mentioned image is processed obtain vehicle 200 to be measured width, highly, length and to be measured
The gabarit 3-D view of vehicle 200.Compared to existing motor vehicles contour dimension metering system,
The motor vehicles contour dimension that the embodiment of the present invention provides is measured system 100 and is not only increased measurement
Efficiency, reduce measurement cost, it is also possible to by regulate the first laser image forming apparatus 110,
The sample frequency of the second laser image forming apparatus 120 and the 3rd laser image forming apparatus 130 increases sampling
Data, are effectively improved the precision of motor vehicles dimension measurements.
Second embodiment
Measuring system 100 based on above-mentioned motor vehicles contour dimension, the present embodiment additionally provides one
Planting motor vehicles contour dimension measuring method, Fig. 4 shows the motor vehicles that the embodiment of the present invention provides
The flow chart of contour dimension measuring method.As shown in Figure 4, described method includes:
Step S401: obtain vehicle to be measured 200 table that the first laser image forming apparatus 110 sends
The image of the first laser rays that face is formed；
Vehicle 200 to be measured enters detection region, the first laser image forming apparatus 110 with pre-set velocity
Send the first laser plane to project and form the by vehicle to be measured 200 surface in detection region
One laser rays, and gather the image of the first laser rays that vehicle 200 surface to be measured is formed.First
The image of the first laser rays obtained is sent to data and processes dress by laser image forming apparatus 110
Put 140, after data processing equipment 140 receives the image of the first laser rays, perform step S403
With step S404, the image of the first laser rays is processed.Wherein, the first laser imaging dress
Put 110 and can include the first laser projector 111 and the first video camera 112, it is also possible to be collection
Become to have the device of laser projections module and image-forming module.
Step S402: obtain the vehicle 200 described to be measured that the second laser image forming apparatus 120 sends
The image of the second laser rays that surface is formed；
Second laser image forming apparatus 120 sends the second laser plane and projects vehicle 200 to be measured
Surface forms the second laser rays, and gathers the second laser rays that vehicle 200 surface to be measured formed
Image.The image of the second laser rays obtained is sent to number by the second laser image forming apparatus 120
According to processing means 140.After data processing equipment 140 receives the image of the second laser rays, hold
The image of the second laser rays is processed by row step S403 and step S404.Wherein,
Dual-laser imaging device 120 can include the second laser projector 121 and the second video camera
122, it is also possible to be the device being integrated with laser projections module and image-forming module.
Step S403: obtain in the image of the first laser rays the first laser line projection to detection zone
In coordinate under the world coordinate system at place, territory and the image of the second laser rays, the second laser rays is thrown
It is mapped to the coordinate under world coordinate system；
In order to improve sample frequency, the first laser rays that the first laser image forming apparatus 110 sends
The image of image and the second laser image forming apparatus 120 second laser rays is preferably video, and first
The frame rate that laser image forming apparatus 110 and the second laser image forming apparatus 120 gather video is equal.
The detailed process of step S403 is referred to above-mentioned first embodiment, and here is omitted.
Step S404: the seat under world coordinate system according to the first laser rays and the second laser rays
Mark obtains width and the height of vehicle 200 to be measured.
Synchronization, vehicle 200 table to be measured in the image that the first laser image forming apparatus 110 gathers
First laser rays in face coordinate under world coordinate system and the second laser image forming apparatus 120 are adopted
Second laser rays on vehicle 200 surface to be measured coordinate under world coordinate system in the image of collection
The contour line coordinate of the same cross section of common corresponding vehicle 200 to be measured.Therefore, according to
In each two field picture that first laser image forming apparatus 110 is collected by above-mentioned preset rules, first swashs
Each frame that light coordinate under world coordinate system and the second laser image forming apparatus 120 collect
In image, second laser rays coordinate under world coordinate system carries out process and can obtain and treat measuring car
The contour line coordinate of multiple cross sections of 200.Wherein, described preset rules specifically can be joined
According to first embodiment, here is omitted.
Owing to the rearview mirror of motor vehicles is generally not counted in the measurement of motor vehicles contour dimension, therefore
Reject the first laser rays and the second laser rays to belong in the coordinate under world coordinate system and treat measuring car
After the coordinate in 200 rearview mirror regions, i.e. can obtain the width of vehicle 200 to be measured further
And height.
Further, in order to realize treating the linear measure longimetry of measuring car 200, except above-mentioned steps
S401 is to step S404, as it is shown in figure 5, the motor vehicles gabarit chi that the embodiment of the present invention provides
Very little measuring method also includes that step S405 is to step S407.
Step S405: obtain the vehicle to be measured 200 1 that the 3rd laser image forming apparatus 130 sends
The image of the 3rd laser rays that wheel 210 side of side is formed.
3rd laser image forming apparatus 130 send the 3rd laser plane of horizontal direction project with
Pre-set velocity forms the 3rd by wheel 210 side of vehicle to be measured 200 side in detection region
Laser rays, and gather the image of the 3rd laser rays formed in wheel 210 side.3rd laser
The image collected is sent to data processing equipment 140 by imaging device 130, and data process dress
Put 140 execution following steps S406 to the figure of step S407 the 3rd laser rays to receiving
As processing.In the present embodiment, the 3rd laser image forming apparatus 130 includes the 3rd laser projections
Instrument 131 and the 3rd video camera 132.Certainly, the 3rd laser image forming apparatus 130 can also be collection
Become to have the device of laser projections module and image-forming module.
Step S406: obtain the reference point of the 3rd laser rays in the image of the 3rd laser rays alive
Coordinate under boundary's coordinate system.
In the present embodiment, the image of the 3rd laser rays is preferably video, according to default frame period pair
The image of the 3rd laser rays carries out sub-frame processing and obtains the 3rd picture frame sequence.Described 3rd image
Each two field picture in frame sequence all comprises projection the wheel 210 of the 3rd laser rays.Carry respectively
Take the 3rd laser being incident upon wheel 210 side in the 3rd picture frame sequence in each two field picture
Line profile.Owing to the 3rd laser rays exists certain width, can be legal by image processing method
The position of center line of position the 3rd laser rays profile, respectively obtains the centrage of the 3rd laser rays profile
The upper each point the 3rd coordinate under image coordinate system.Further search for the 3rd according to the 3rd coordinate to swash
Central point on the centrage of light line profile is as a reference point.According to data processing equipment 140
In the 3rd projective transformation model that prestores reference point coordinate under image coordinate system is turned
It is changed to the coordinate under above-mentioned world coordinate system.Each two field picture in 3rd picture frame sequence is entered
The above-mentioned process of row i.e. can obtain the reference point in each two field picture in the 3rd picture frame sequence
Coordinate under above-mentioned world coordinate system.
Step S407: the seat under world coordinate system according to the first laser rays and the second laser rays
The reference point of mark and the 3rd laser rays coordinate under world coordinate system obtains vehicle 200 to be measured
Length.
According to the Y-coordinate value of reference point in adjacent two two field pictures in the 3rd picture frame sequence it
Difference absolute value and the first picture frame sequence in amount of images and the second picture frame sequence in
Amount of images i.e. can obtain the length of vehicle 200 to be measured.Such as, when the 3rd image frame sequence
In adjacent two two field pictures in row, the absolute value of the difference of the Y-coordinate value of reference point is 0.04 meter,
When amount of images in first picture frame sequence is 500, a length of the 20 of vehicle 200 to be measured
Rice.
Further, based on above-mentioned steps S401 to step S406, the embodiment of the present invention provides
Motor vehicles contour dimension measuring method also includes: combine the first laser rays under world coordinate system
Coordinate, second laser rays coordinate under world coordinate system and the reference point of the 3rd laser rays
The gabarit 3-D graphic of the coordinate reduction vehicle 200 to be measured under world coordinate system.
Concrete, synchronization, the vehicle to be measured that the first laser image forming apparatus 110 collects
The image of the first laser rays that 200 surfaces are formed and the second laser image forming apparatus 120 collect
The image of the second laser rays that vehicle 200 surface to be measured is formed is jointly corresponding vehicle 200 to be measured
The edge wheel profile of same cross section.Therefore, according to preset rules, current time first is swashed
The first laser rays contained in the image that photoimaging equipment 110 collects is in world coordinate system
Coordinate and the image that collects of the second laser image forming apparatus 120 in contained the second laser rays
Coordinate in world coordinate system carries out processing the horizontal stroke that i.e. can obtain vehicle 200 to be measured
The contour line coordinate in cross section.Wherein, described cross section is the traveling being perpendicular to vehicle 200 to be measured
The cross section in direction.Described preset rules is specifically referred to first embodiment, and here is omitted.
Thus, it is possible to obtain the contour line coordinate of multiple cross sections of vehicle 200 to be measured.Need explanation
, in the contour line coordinate of obtained multiple cross sections, Y coordinate is definite value.
In adjacent two two field pictures that 3rd laser image forming apparatus 130 collects, the Y of reference point sits
The absolute value of the difference of scale value is the wheel of adjacent two cross sections of the vehicle to be measured 200 obtained
Profile spacing in the Y-axis direction.Initial time, the first laser image forming apparatus 110 gathers
The image of the first laser rays formed to vehicle 200 surface to be measured, the second laser image forming apparatus
120 images collecting the second laser rays that vehicle 200 surface to be measured is formed.By initial time
The image of the first laser rays and the image of the second laser rays common corresponding vehicle to be measured 200
The Y coordinate of the edge wheel profile of cross section replaces with the initial value pre-set.Then, root
According to the contour line spacing in the Y-axis direction of obtained adjacent two cross sections, after renewal
The Y-coordinate value of the contour line coordinate of each cross section continuous.Thus according to update after to be measured
The contour line coordinate of multiple cross sections of vehicle 200 i.e. can reduce the gabarit of vehicle 200 to be measured
3-D graphic.Wherein, described initial value can be stored in advance in data processing equipment 140,
Can also be inputted by the input/output unit that data processing equipment 140 is external.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description,
The specific works process of the method for foregoing description, is referred to the correspondence in aforementioned system embodiment
Process, does not repeats them here.
In several embodiments provided herein, it should be understood that in flow chart or block diagram
Each square frame can represent a module, program segment or a part for code, described module,
A part for program segment or code comprises one or more logic function for realizing regulation
Executable instruction.It should also be noted that some as replace implementation in, institute in square frame
The function of mark can also occur to be different from the order marked in accompanying drawing.Such as, two companies
Continuous square frame can essentially perform substantially in parallel, and they sometimes can also be in the opposite order
Performing, this is depending on involved function.It is also noted that in block diagram and/or flow chart
Each square frame and block diagram and/or flow chart in the combination of square frame, can be with performing rule
The special hardware based system of fixed function or action realizes, or can with special firmly
Part realizes with the combination of computer instruction.
It addition, each functional module in each embodiment of the present invention can integrate formation
One independent part, it is also possible to be modules individualism, it is also possible to two or two with
Upper module is integrated to form an independent part.
If described function realizes and as independent product pin using the form of software function module
When selling or use, can be stored in a computer read/write memory medium.Based on such
Understand, part that prior art is contributed by technical scheme the most in other words or
The part of this technical scheme of person can embody with the form of software product, this computer software
Product is stored in a storage medium, including some instructions with so that a computer equipment
(can be personal computer, server, or the network equipment etc.) performs the present invention, and each is real
Execute all or part of step of method described in example.And aforesaid storage medium includes: USB flash disk, shifting
Dynamic hard disk, read only memory (ROM, Read-Only Memory), random access memory
(RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.It should be noted that in this article, such as first and second or the like
Relational terms is used merely to separate an entity or operation with another entity or operating space
Come, and there is any this reality between not necessarily requiring or imply these entities or operating
Relation or order.And, term " includes ", " comprising " or its any other variant are intended to
Contain comprising of nonexcludability, so that include the process of a series of key element, method, article
Or equipment not only includes those key elements, but also includes other key elements being not expressly set out,
Or also include the key element intrinsic for this process, method, article or equipment.Do not having
In the case of having more restriction, statement " including ... " key element limited, it is not excluded that
Other identical want is there is also in including the process of described key element, method, article or equipment
Element.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention,
For a person skilled in the art, the present invention can have various modifications and variations.All at this
Within the spirit of invention and principle, any modification, equivalent substitution and improvement etc. made, all should
Within being included in protection scope of the present invention.It should also be noted that similar label and letter are below
Accompanying drawing in represent similar terms, therefore, the most a certain Xiang Yi accompanying drawing is defined, then exists
Accompanying drawing subsequently need not it is defined further and explains.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is also
Being not limited to this, any those familiar with the art is at the technology model that the invention discloses
In enclosing, change can be readily occurred in or replace, all should contain within protection scope of the present invention.
Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (10)
1. a motor vehicles contour dimension measures system, it is characterised in that including: the first laser
Imaging device, the second laser image forming apparatus and data processing equipment, described first laser imaging dress
Putting the side being arranged on detection region, described second laser image forming apparatus is arranged on described detection zone
The opposite side in territory, described first laser image forming apparatus and described second laser image forming apparatus are all and institute
State data processing equipment coupling；
Described first laser image forming apparatus is used for sending the first laser plane and projects with default speed
Degree forms the first laser rays by the surface of the vehicle to be measured in described detection region, it is thus achieved that described the
The image of one laser rays；
Described second laser image forming apparatus is used for sending the second laser plane and projects described to be measured
The surface of vehicle forms the second laser rays, it is thus achieved that the image of described second laser rays；
Described data processing equipment is for processing the image and described second of described first laser rays
The image of laser rays obtains width and the height of described vehicle to be measured.
System the most according to claim 1, it is characterised in that described first laser imaging
Device includes that the first laser projector and the first video camera, described second laser image forming apparatus include
Second laser projector and the second video camera, described first video camera and described second video camera are equal
Couple with described data processing equipment；
Described first laser projector be used for sending described first laser plane project described with
Pre-set velocity forms described first laser rays by the surface of the vehicle to be measured in described detection region；
Described second laser projector be used for sending described second laser plane project described in treat
The surface of measuring car forms described second laser rays；
Described first video camera swashs for gather the formation of described surface of vehicle to be measured described first
The image of light, is sent to described data processing equipment by the image of described first laser rays；
Described second video camera swashs for gather the formation of described surface of vehicle to be measured described second
The image of light, is sent to described data processing equipment by the image of described second laser rays.
System the most according to claim 1 and 2, it is characterised in that also include that the 3rd swashs
Photoimaging equipment, described 3rd laser image forming apparatus is arranged on the side in described detection region, institute
State the 3rd laser image forming apparatus to couple with described data processing equipment；
Described 3rd laser image forming apparatus is used for sending the 3rd laser plane and projects with described pre-
If speed forms the 3rd by the wheel face of the vehicle side described to be measured in described detection region
Laser rays, it is thus achieved that the image of described 3rd laser rays of described wheel face；
Described data processing equipment is additionally operable to process the image of described 3rd laser rays, in conjunction with described
The result of the image of the first laser rays and the image of described second laser rays obtains described
The length of vehicle to be measured the gabarit 3-D graphic of described vehicle to be measured of reducing.
System the most according to claim 3, it is characterised in that described 3rd laser imaging
Device includes the 3rd laser projector and the 3rd video camera, described 3rd video camera and described data
Processing means couples,
Described 3rd laser projector projects for the 3rd laser plane sending horizontal direction
With the described pre-set velocity wheel face by the vehicle side described to be measured in described detection region
Form the 3rd laser rays；
Described 3rd video camera is for gathering described 3rd laser rays that described wheel face is formed
Image, the image of described 3rd laser rays is sent to described data processing equipment.
System the most according to claim 1, it is characterised in that described first laser rays with
Described second laser rays is parallel.
System the most according to claim 1, it is characterised in that described first laser rays with
Described second laser rays is all vertical with the length direction in described detection region.
7. a motor vehicles contour dimension measuring method, is applied to any one of claim 1-6
Described motor vehicles contour dimension measures system, it is characterised in that described method includes:
Obtain the first laser rays of the surface of vehicle to be measured formation that the first laser image forming apparatus sends
Image；
Obtain the second of the surface of vehicle described to be measured formation that the second laser image forming apparatus sends to swash
The image of light；
Obtain the first laser line projection described in the image of described first laser rays to described detection
Described in coordinate under the world coordinate system at place, region and the image of described second laser rays
Dual-laser line projects the coordinate under described world coordinate system；
According to described first laser rays and described second laser rays under described world coordinate system
Coordinate obtains width and the height of described vehicle to be measured.
Method the most according to claim 7, it is characterised in that described method also includes:
Obtain the wheel face shape of the vehicle side described to be measured that the 3rd laser image forming apparatus sends
The image of the 3rd laser rays become；
Obtain the reference point of the 3rd laser rays described in the image of described 3rd laser rays described
Coordinate under world coordinate system；
According to described first laser rays and described second laser rays under described world coordinate system
The reference point of coordinate and described 3rd laser rays coordinate under described world coordinate system obtains institute
State the length of vehicle to be measured.
Method the most according to claim 8, it is characterised in that described method also includes:
In conjunction with described first laser rays and described second laser rays under described world coordinate system
The reference point of coordinate and described 3rd laser rays under described world coordinate system coordinate reduction institute
State the gabarit 3-D graphic of vehicle to be measured.
Method the most according to claim 7, it is characterised in that described according to described
One laser rays and described second laser rays coordinate under described world coordinate system are treated described in obtaining
The width of measuring car and the step of height, including:
Reject described first laser rays and described second laser rays under described world coordinate system
The coordinate data that the rearview mirror region of vehicle to be measured described in coordinate is corresponding；
Obtain width and the height of described vehicle to be measured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408831.1A CN105890542B (en) | 2016-06-02 | 2016-06-02 | A kind of motor vehicle contour dimension measuring system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610408831.1A CN105890542B (en) | 2016-06-02 | 2016-06-02 | A kind of motor vehicle contour dimension measuring system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105890542A true CN105890542A (en) | 2016-08-24 |
| CN105890542B CN105890542B (en) | 2019-05-10 |
Family
ID=56729337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610408831.1A Active CN105890542B (en) | 2016-06-02 | 2016-06-02 | A kind of motor vehicle contour dimension measuring system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105890542B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528458A (en) * | 2017-03-02 | 2018-09-14 | 通用汽车环球科技运作有限责任公司 | System and method for vehicle dimension prediction |
| CN109738906A (en) * | 2019-01-31 | 2019-05-10 | 浙江工业大学 | One kind being based on the matched laser radar formula vehicle width measurement method of multiframe |
| CN110470232A (en) * | 2019-09-04 | 2019-11-19 | 合肥市极点科技有限公司 | A kind of method, apparatus, measuring system and electronic equipment measuring difference in height |
| CN111033555A (en) * | 2017-08-25 | 2020-04-17 | 株式会社索思未来 | Correction device, correction program, and recording medium |
| CN111896967A (en) * | 2020-07-30 | 2020-11-06 | 合肥市极点科技有限公司 | Measuring device for measuring motor vehicle wheel base based on laser range finder |
| CN114001680A (en) * | 2021-11-01 | 2022-02-01 | 吉林大学 | Vehicle side wall unevenness measuring device and measuring method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982727A (en) * | 2010-10-26 | 2011-03-02 | 北京理工大学 | Truck volumetric measurement method based on laser triangulation |
| JP2013033027A (en) * | 2011-06-27 | 2013-02-14 | Shin Meiwa Ind Co Ltd | Motor truck dimension measuring device, and motor truck dimension measuring method |
| CN103162639A (en) * | 2011-12-12 | 2013-06-19 | 无锡物联网产业研究院 | Method, device and system for obtaining vehicle three-dimensional outline |
| CN105606023A (en) * | 2015-12-18 | 2016-05-25 | 武汉万集信息技术有限公司 | Vehicle profile dimensions measuring method and system |
-
2016
- 2016-06-02 CN CN201610408831.1A patent/CN105890542B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101982727A (en) * | 2010-10-26 | 2011-03-02 | 北京理工大学 | Truck volumetric measurement method based on laser triangulation |
| JP2013033027A (en) * | 2011-06-27 | 2013-02-14 | Shin Meiwa Ind Co Ltd | Motor truck dimension measuring device, and motor truck dimension measuring method |
| CN103162639A (en) * | 2011-12-12 | 2013-06-19 | 无锡物联网产业研究院 | Method, device and system for obtaining vehicle three-dimensional outline |
| CN105606023A (en) * | 2015-12-18 | 2016-05-25 | 武汉万集信息技术有限公司 | Vehicle profile dimensions measuring method and system |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528458A (en) * | 2017-03-02 | 2018-09-14 | 通用汽车环球科技运作有限责任公司 | System and method for vehicle dimension prediction |
| CN111033555A (en) * | 2017-08-25 | 2020-04-17 | 株式会社索思未来 | Correction device, correction program, and recording medium |
| CN111033555B (en) * | 2017-08-25 | 2024-04-26 | 株式会社索思未来 | Correction device, correction program, and recording medium |
| CN109738906A (en) * | 2019-01-31 | 2019-05-10 | 浙江工业大学 | One kind being based on the matched laser radar formula vehicle width measurement method of multiframe |
| CN110470232A (en) * | 2019-09-04 | 2019-11-19 | 合肥市极点科技有限公司 | A kind of method, apparatus, measuring system and electronic equipment measuring difference in height |
| CN111896967A (en) * | 2020-07-30 | 2020-11-06 | 合肥市极点科技有限公司 | Measuring device for measuring motor vehicle wheel base based on laser range finder |
| CN114001680A (en) * | 2021-11-01 | 2022-02-01 | 吉林大学 | Vehicle side wall unevenness measuring device and measuring method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105890542B (en) | 2019-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105890542A (en) | Outside dimension measuring system and method of motor vehicle | |
| CN110285793B (en) | Intelligent vehicle track measuring method based on binocular stereo vision system | |
| CN104005325B (en) | Based on pavement crack checkout gear and the method for the degree of depth and gray level image | |
| US20220290979A1 (en) | Vehicle localization using the ground surface with an event camera | |
| US7587081B2 (en) | Method for processing stereo vision data using image density | |
| US20190339209A1 (en) | A system for detecting crack growth of asphalt pavement based on binocular image analysis | |
| CN106056571B (en) | Road surface checking device and pavement detection system | |
| CN103900494B (en) | For the homologous points fast matching method of binocular vision 3 D measurement | |
| CN103279982B (en) | The speckle three-dimensional rebuilding method of the quick high depth resolution of robust | |
| CN103487034B (en) | Method for measuring distance and height by vehicle-mounted monocular camera based on vertical type target | |
| CN101256073A (en) | Apparatus and method for monitoring a vehicle's surroundings | |
| CN105263018B (en) | Jail-bar detection approach and device are superimposed in a kind of video image | |
| CN110297232A (en) | Monocular distance measuring method, device and electronic equipment based on computer vision | |
| CN104964708B (en) | A kind of road surface pit detection method based on vehicle-mounted binocular vision | |
| CN106128121A (en) | Vehicle queue length fast algorithm of detecting based on Local Features Analysis | |
| CN203489844U (en) | System for measuring size of outer profile of vehicle based on machine vision and laser light screen | |
| CN106197382B (en) | A kind of vehicle-mounted single camera target dynamic distance measuring method | |
| CN106327461A (en) | Image processing method and device used for monitoring | |
| CN107688174A (en) | A kind of image distance-finding method, system, storage medium and vehicle-mounted visually-perceptible equipment | |
| CN113689483A (en) | Distance measurement method based on monocular camera and laser radar | |
| CN106096207A (en) | A kind of rotor wing unmanned aerial vehicle wind resistance appraisal procedure based on multi-vision visual and system | |
| CN104501928B (en) | The pinpoint truck scale Weighing method of vehicle based on license plate and system | |
| CN106264537A (en) | The measurement system and method for human body attitude height in image | |
| CN104392522B (en) | A kind of passenger flow statistical system based on pseudo-depth information | |
| CN104091450B (en) | A kind of video frequency velometer and video frequency speed-measuring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A motor vehicle outline dimension measurement system and method Effective date of registration: 20211230 Granted publication date: 20190510 Pledgee: Anhui Science and technology Financing Guarantee Co.,Ltd. Pledgor: HEFEI JIDIAN TECHNOLOGY Co.,Ltd. Registration number: Y2021980017087 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230602 Granted publication date: 20190510 Pledgee: Anhui Science and technology Financing Guarantee Co.,Ltd. Pledgor: HEFEI JIDIAN TECHNOLOGY Co.,Ltd. Registration number: Y2021980017087 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |