CN108592797B - Dynamic measurement method and system for vehicle overall dimension and wheel base - Google Patents
Dynamic measurement method and system for vehicle overall dimension and wheel base Download PDFInfo
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- CN108592797B CN108592797B CN201810264388.4A CN201810264388A CN108592797B CN 108592797 B CN108592797 B CN 108592797B CN 201810264388 A CN201810264388 A CN 201810264388A CN 108592797 B CN108592797 B CN 108592797B
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- 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
- G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
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- 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
- G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
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- 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
- G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B11/046—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring width
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- 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
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- 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
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0691—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material of objects while moving
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- 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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0025—Measuring of vehicle parts
Abstract
The invention provides a dynamic measurement method for the overall dimension and the wheel base of a vehicle, which comprises the following steps: acquiring vehicle body contour data on different scanning surfaces through a plurality of two-dimensional laser scanners; establishing a space rectangular coordinate system, processing two-dimensional scanning data obtained by scanning to obtain three-dimensional outline coordinate data of the detected vehicle; and processing the three-dimensional outline coordinate data to obtain length, width and height information of the outline dimension of the detected vehicle and wheelbase parameters. The invention also provides a system for measuring the overall dimension and the wheelbase of the moving vehicle, which comprises a first scanning unit, a second scanning unit, a data processing system and a control module. The invention has the advantages of high detection precision, high response speed, low system cost, convenient equipment maintenance and the like.
Description
Technical Field
The invention relates to the field of traffic measurement, in particular to a method and a system for measuring the external dimension of a vehicle used by departments such as a public security vehicle administration department, a vehicle inspection station and the like.
Background
At present, in order to improve the transportation loading capacity, part of passenger-cargo transport vehicles reinforce and refit vehicles without authorization, which seriously violates the use safety standard of the vehicles, and simultaneously, the service life of roads and bridges can be shortened, thus threatening drivers and passengers. The public security vehicle administration and the motor vehicle monitoring station must strictly detect the external dimensions of the newly registered vehicle and the vehicle in use.
Common methods in detecting vehicle overrun are an infrared digital light curtain method, a three-dimensional laser ranging sensor method, a vision-based measurement method, and a two-dimensional laser scanning sensor method. The infrared digital light curtain method has simple measurement principle and low cost, but the test system has a complex structure and a large number of devices, and is difficult to maintain when a fault occurs; the three-dimensional laser ranging sensor method has high equipment cost, and the vehicle can obtain data with smaller error by passing at low speed, so the measurement time is long and the method is difficult to adapt to the detection beat of fast pace; the measurement method based on machine vision is easily affected by image distortion, and measurement errors are easily generated. The traditional two-dimensional laser scanning sensor method mainly adopts two-dimensional laser scanners which are arranged at two sides of a detection lane to acquire the width and height section information of a vehicle, and then a two-dimensional laser scanner which scans along the driving direction of the vehicle is arranged above the lane to acquire the traveling information and the length of the vehicle; however, the method has higher requirements on the installation position of each scanner, the scanners are all installed at high positions, the installation and debugging are difficult, the scanners are generally installed on a portal frame, and the adaptability to the field is not strong; if a small included angle exists between the automobile advancing direction and the road direction, certain errors can occur in the length and width data measured by the method.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle outline dimension measuring method and a vehicle outline dimension measuring system, which are used for rapidly and dynamically measuring the outline dimension of a vehicle.
In a first aspect, a method for measuring vehicle dimensions and wheelbase includes the steps of:
acquiring two-dimensional scanning data of a detection area through a two-dimensional laser scanning sensor, wherein the two-dimensional scanning data comprises scanning data of a plurality of scanning units; wherein a moving test vehicle is passing through the test area and the scan data of the plurality of scanning units is derived from two scan sections in the test area;
each scanning unit respectively establishes a two-dimensional rectangular coordinate system, processes two-dimensional scanning data of each scanning section, and acquires motion track information and cross section information of a detected vehicle in the detection area;
establishing a space rectangular coordinate system, processing the two-dimensional scanning data of the detection area, and acquiring three-dimensional outline coordinate information of the detected vehicle in the detection area;
and acquiring the overall dimension information and the wheel base information of the detected vehicle in the detection area according to the three-dimensional overall coordinate information of the detected vehicle in the detection area.
Further, at the beginning of the two-dimensional scanning data acquisition of the detection area by the two-dimensional laser scanning sensor, the method further comprises:
the two-dimensional laser scanner acquires two-dimensional scanning data of a first scanning section parallel to the ground, performs coordinate transformation on the scanning data, acquires position information of a detected vehicle, calculates the distance between the detected vehicle and a second scanning section, and activates a two-dimensional laser scanning sensor of the second scanning section to work when the distance is smaller than a certain value; the scanning section II is a vertical surface which is perpendicular to the advancing direction of the detected road and the ground, the position information is section outline information which is obtained by a scanner and is parallel to the horizontal plane of the detected vehicle, and the height of the section I is a height area from the front overhang of the detected vehicle to the position below a windshield.
Further, the step of establishing a rectangular spatial coordinate system, processing the two-dimensional scanning data of the detection area, and acquiring the three-dimensional contour coordinate information of the detected vehicle in the detection area specifically includes:
establishing a space rectangular coordinate system, wherein the space rectangular coordinate system takes a projection point of a laser emission point of a scanner for obtaining a first scanning section on a detection road plane as a coordinate origin, takes the advancing direction of a detection road as an X-axis forward direction, takes the advancing direction vertical to the road as a Y direction, takes the left of the advancing direction of the road as a Y-axis forward direction, takes the direction vertical to the detection road plane as a Z axis, and takes the upward direction (sky) as a Z-axis forward direction;
in the rectangular spatial coordinate system, the two-dimensional scanning data is subjected to coordinate transformation and fusion, specifically: carrying out coordinate transformation and information fusion on two-dimensional scanning data of a plurality of scanning points of the scanning section II at the same moment to obtain the two-dimensional scanning data of the detection vehicle on the scanning section II at the same moment; fusing the scanning data of the scanning section I with the two-dimensional scanning data of the vehicle corresponding to each moment to obtain the two-dimensional scanning data of all cross sections of the detected vehicle; and converting the two-dimensional scanning data of all the cross sections of the detected vehicle into three-dimensional outline coordinate information of the vehicle.
Further, the step of acquiring the overall dimension information and the wheel base information of the detected vehicle in the detection area according to the three-dimensional overall coordinate information of the detected vehicle in the detection area specifically includes:
analyzing the three-dimensional outline coordinate information of the detected vehicles in the detection area to obtain projection information of the detected vehicles in the detection area to three coordinate planes of a rectangular space coordinate system, and screening according to the projection information and a certain rule to obtain outline size information of the detected vehicles in the detection area, wherein the outline size information comprises vehicle height information, vehicle length information and vehicle width information;
and analyzing the three-dimensional outline coordinate information of the detected vehicle in the detection area to obtain the running passing state information of the wheel at the special position, and obtaining the wheel base information of the detected vehicle according to the running passing state information of the wheel.
Further, the step of obtaining the overall dimension information and the wheel base information of the detected vehicle in the detection area according to the three-dimensional overall coordinate information of the detected vehicle in the detection area further includes:
and acquiring the motion track information of the detected vehicle in the detection area according to the scanning data of the two-dimensional laser scanner, processing the motion track information, and finishing the correction of the overall dimension information and the wheel base information.
Further, the step of processing the motion trajectory information to complete the correction of the overall dimension information and the wheel base information specifically includes:
acquiring a contour fitting curve segment at each moment according to the scanning data of the scanning section I;
according to the contour fitting curve segment, acquiring motion trail information of the detected vehicle in the area to be detected;
according to the motion trail information, acquiring an included angle between the advancing direction of the detected vehicle and the X axis of the space rectangular coordinate system
(offset angle);
according to the angle
And acquiring the corrected two-dimensional scanning data of the detected vehicle.
In a second aspect, a system for measuring vehicle dimensions and wheelbase comprises:
the device comprises a first scanning unit, a second scanning unit and a control unit, wherein the first scanning unit is used for acquiring two-dimensional scanning data of a scanning section through a two-dimensional laser scanner and acquiring motion track information of a detected vehicle, and the scanning section is parallel to a horizontal plane;
the second scanning unit is used for acquiring two-dimensional scanning data of a scanning section through the two-dimensional laser scanner and acquiring cross section information of a detected vehicle, wherein the two-dimensional scanning data comprises two-dimensional scanning data of a plurality of distance measuring points; the scanning section is perpendicular to the advancing direction and the horizontal plane of the detected vehicle at the same time, and the detected vehicle passes through the scanning section;
the data processing system is used for establishing a space rectangular coordinate system, processing the two-dimensional scanning data acquired by the first scanning unit and the second scanning unit and acquiring the overall dimension information and the wheelbase information of the detected vehicle in the detection area;
and the control module is used for controlling the system operation, the data transmission and the operation and closing states of the first scanning unit and the second scanning unit.
Further, the second scanning unit comprises two-dimensional laser scanners with different heights, scanning planes of the two-dimensional laser scanners with different heights are the same plane in the space and are perpendicular to a horizontal plane where the road surface is located and the forward direction of the detected vehicle, and the two-dimensional laser scanners with different heights are oppositely arranged on two sides of the detected road according to a certain distance.
Further, the data processing system specifically includes:
the two-dimensional scanning data processing module is used for acquiring the position information of the detected vehicle according to the two-dimensional scanning data of the two-dimensional laser scanner of the first scanning unit; acquiring the motion trail of the detected vehicle according to the position information; acquiring the working condition of the two-dimensional laser scanning sensor of the second activated scanning section according to the motion track; the scanning section II is a vertical plane which is perpendicular to the advancing direction of the detected vehicle and the horizontal plane where the road surface is located, and the position information is section outline information which is acquired by a scanner and is parallel to the horizontal plane and is of the detected vehicle;
the coordinate system establishing module is used for establishing a space rectangular coordinate system, the original point of the space rectangular coordinate system is a projection point of a laser emission point of a scanner of the first scanning unit on the plane where the detection road is located, the advancing direction of the detection road is taken as an X-axis forward direction, the advancing direction perpendicular to the detection road is taken as a Y-axis direction, the left direction of the advancing direction of the detection road is taken as a Y-axis forward direction, the Z axis is a vertical line direction perpendicular to an XOY plane, and the upward direction is a Z-axis forward direction;
the two-dimensional scanning data information fusion module is used for carrying out information fusion on the two-dimensional scanning data of a plurality of scanning points of the second scanning unit and obtaining the two-dimensional scanning data of the detected vehicle at the same moment; fusing the scanning data of the first scanning unit with the two-dimensional scanning data corresponding to each moment to obtain the two-dimensional scanning data of all cross sections of the detected vehicle; converting the two-dimensional scanning data of all the cross sections of the detected vehicle into vehicle three-dimensional outline coordinate information;
the three-dimensional outline coordinate information analysis module is used for analyzing the three-dimensional outline coordinate information of the detected vehicle in the detection area to obtain the outline dimension information of the detected vehicle in the detection area and the running passing state information of the wheels at the special positions, wherein the outline dimension information comprises vehicle height information, vehicle length information and vehicle width information, and the running passing state information comprises the wheel base information of the detected vehicle.
Further, the data processing system also comprises twoA dimensional scan data correction module to: acquiring motion trail information of a detected vehicle in a region to be detected according to the position information; according to the motion trail information, acquiring an included angle between the advancing direction of the detected vehicle and the X axis of the space rectangular coordinate system
(offset angle); and acquiring the corrected two-dimensional scanning data of the detected vehicle according to the included angle.
Compared with the prior art, the invention has the advantages of high detection precision, high response speed, low system cost, more convenient equipment maintenance and the like, and is very favorable for the installation and implementation of the public security and traffic automobile detection station.
Drawings
Fig. 1 is a schematic structural diagram of a system for measuring the overall dimension and wheelbase of a vehicle in motion.
Fig. 2 is a schematic view of the installation size of a second scanning unit according to an embodiment of the present invention.
FIG. 3 is a schematic top view of a measurement system according to an embodiment of the invention.
Part name number in the figure:
1-high laser scanner; 2-low laser scanner; 3-a laser scanner of a first scanning unit; 4-detecting the vehicle; 5-detecting a road; 6-support of high scanner; 7-support of low scanner; 8-a support of the first scanning unit scanner; 9-scanning surface of high scanner; 10-scanning surface of low scanner; 11-scanning surface of the first scanning unit scanner.
Detailed description of the preferred embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the system for measuring the overall dimension and wheelbase of a moving vehicle according to the present invention comprises a first scanning unit, a second scanning unit, a bracket 8 of a scanner of the first scanning unit, a bracket for mounting the second scanning unitA high scanner stand 6 and a low scanner stand 7, a data processing system (not shown) and a control module (not shown). The first scanning unit consists of a laser scanner 3 of the first scanning unit, the scanning frequency is 50Hz, the scanning angular resolution is 0.5 degrees, the scanning angle is 90 degrees, the road retreating direction is 0 degree angular line direction, and the road plane vertical to the road advancing direction is 90 degrees angular line direction; it is installed beside the road in the area to be measured, supported and fixed by the bracket 8 of the scanner of the first scanning unit, and has a certain height d from the ground1(this height is greater than the maximum ground clearance of the front overhang of the test vehicle and less than the lowest point height of the windshield11.2 m); the second scanning unit comprises a high-position laser scanner 1 and a low-position laser scanner 2 which are respectively positioned at two sides of a detection road 5 of an area to be detected, wherein the high-position laser scanner 1 has a higher height d from the ground21The height is greater than the detected vehicle height, example d214.5m, the lower laser scanner 2 is relatively installed at the other side of the road surface to be measured, and has a smaller height d from the ground22The height is less than the minimum ground clearance of the test vehicle, in this case d22The projection line of the line connecting the laser emission center points of the lower laser scanner 2 and the laser scanner 3 of the first scanning unit on the horizontal plane should be parallel to the detection road advancing direction, and the length l should be 0.2m1Should be a certain value, which is greater than the total length of the test vehicle, example i120 m; as shown in FIG. 2, the scanning surface 9 of the high scanner of the high laser scanner 1 and the scanning surface 10 of the low scanner of the low laser scanner 2 should be the same plane in space, which is perpendicular to both the forward direction of the detected vehicle and the horizontal plane, the projection line of the connection line of the laser emission points of the two scanners on the horizontal plane should be perpendicular to the forward direction of the road, and the length d3Example d depending on the road width of the test area34.2 m. The scanning angles of the two scanners are both 90 degrees, and the scanning ranges and specific installation parameters of the two scanners are shown in figure 2.
During the actual detection process, when the detected vehicle 4 enters the detection area roadAnd when the plane does not enter the scanning plane, the first scanning unit collects data in real time and transmits the data into the data processing system. The data processing system establishes a rectangular coordinate system on the scanning surface 11 of the scanner of the first scanning unit, with the laser emitting point of the laser scanner 3 of the first scanning unit as the origin of coordinates, with the advancing direction of the detected road as the X-axis forward direction, with the direction perpendicular to the advancing direction of the road as the Y-axis forward direction, and with the left of the advancing direction of the road as the Y-axis forward direction. The laser scanner 3 of the first scanning unit scans once (the frequency of the scanner used in this example is 50Hz), and obtains the polar coordinates (the angle value theta) of the profile cross section of the detected vehicle in the scanning plane at a certain moment1And a distance value r1) Polar coordinate data of (2). A data processing system according to:
x1＝-r1·cosθ1
y1＝r1·sinθ1
and converting the polar coordinate data into rectangular coordinate data under the rectangular coordinate system, and returning an X coordinate value of a closest point (the absolute value of X is minimum) to the first scanning unit as the foremost position information of the automobile. Calculating the coordinate distance X between the coordinate information X and the scanning plane coordinate of the second scanning unit0(depending on the mounting positions of the first scanning unit and the second scanning unit, | X0|＝|l1This example X0-20m) of the difference d', d ═ X0-X. And when the difference d' is less than or equal to 0.5m, the data processing system returns a signal for activating the second scanning unit, the signal is transmitted to the control module, and the second scanning unit is activated to start collecting the cross section information of the detected vehicle.
And when the vehicle is detected to run through the scanning plane of the second scanning unit, the second scanning unit continuously acquires information. The data processing system establishes a rectangular coordinate system on the scanning surface of the second scanning unit, the laser emission point of the scanner (namely, the lower laser scanner 2) with a lower height in the second scanning unit is taken as the origin of coordinates, the direction of the intersection line of the scanning surface and the horizontal plane is taken as the Y direction, the right direction of the road advancing direction is the Y-axis forward direction, and the direction vertical to the horizontal plane is taken as the Z-axis forward direction. Scanner once (scanner used in this example)The frequency is 50Hz), and the detected vehicle profile section in the scanning plane at a certain moment is obtained under the polar coordinate (the angle value theta)21、θ22And a distance value r21、r22) Polar coordinate data of (2). According to the mounting dimension information of the example shown in FIG. 2, the data processing system is based on
y2＝d3-r21sinθ21
z2＝d21-d22-r21cosθ21
y2＝r22cosθ22
z2＝r22sinθ22
And converting the polar coordinate data into rectangular coordinate data under the rectangular coordinate system, and fusing scanning information acquired by two scanners in the second scanning unit to acquire cross section outline information of the detected vehicle at a certain moment. When the vehicle is detected to move away from the scanning plane of the second scanning unit, that is, the second scanning unit is in a certain area of the scanning plane (determined according to the installation position of each scanner of the second scanning unit, which is the intersection of the scanning areas of the two scanners, in this example, on the rectangular coordinate system of the second scanning unit, y2∈[-4200,0]，z2∈[0,4500]Range in mm), and when no detected vehicle contour point is found in the area for more than 1 second, the second scanning unit stops scanning, and the vehicle data information acquisition is completed.
The data processing system establishes a spatial rectangular coordinate system, which is established on the basis of the rectangular coordinate system of the first scanning unit and the rectangular coordinate system of the second scanning unit for the convenience of data processing. The original point of the rectangular coordinate system of the space is the projection point of the original point of the rectangular coordinate system of the first scanning unit on the detection road plane, the X axis and the Y axis are respectively parallel to the X axis and the Y axis of the rectangular coordinate system of the first scanning unit, the forward directions are the same, the Z axis is the vertical line direction perpendicular to the XOY plane, and the Z axis is the positive direction of the Z axis upwards. According to the installation relative position of each scanner between the first scanning unit and the second scanning unit, the data processing system processes the motion track data and the cross section outline information of the detected vehicle, which are acquired by the first scanning unit and the second scanning unit at each moment in the scanning process, so as to acquire the three-dimensional outline coordinate information of the detected vehicle, and the specific mode is as follows:
at t1At the time, the data processing system takes the X coordinate of the foremost position information acquired by the first scanning unit at the time as the X coordinate of the cross-sectional profile information of the detected vehicle at the timet1(ii) a And carrying out coordinate transformation on the cross section outline information at the moment according to the following modes:
x3＝xt1
y3＝y2
z3＝z2+d22
can be obtained at t1Detecting that the vehicle is scanning the three-dimensional outline coordinate information of the cross section through the second scanning unit at the moment; and processing the data at all moments in the period from the start of scanning to the end of scanning by the second scanning unit, and converting the data into a space rectangular coordinate system to obtain the three-dimensional outline coordinate information of the detected vehicle.
And (3) according to the obtained three-dimensional outline coordinate information of the detected vehicle, after interference is filtered, respectively projecting on three coordinate planes of the space rectangular coordinate system. Acquiring the z of the highest point in the projection information of the YOZ plane3Coordinate information, namely absolute coordinate information of the height of the detected vehicle in the physical space, and height information H of the detected vehicle is obtained; in projection information of the same plane, the maximum distance difference value W of all points in the plane in the Y direction is taken as max { | Y31-y32Obtaining width information W of the detected vehicle; in the projection information of XOY plane, to avoid the disturbance of the deviation, the two points y with the maximum distance difference are first selected31、y32The following operations are carried out:
yL1＝min{y31,y32}+0.2·|y31-y32|
yL2＝max{y31,y32}-0.2·|y31-y32|
selection of y3∈[yL1,yL2]The middle area (the center area is 60% of the detected vehicle width, and the value can be changed according to specific situations); then, the maximum distance difference L in the X direction of all points in the plane in the central area is taken as max { | X31-x32And | acquiring width information L of the detected vehicle, thereby acquiring outline information of the detected vehicle in three aspects of length, width and height.
For obtaining the wheel base information of the detected vehicle, the number of axles of the vehicle should be inputted in advance depending on the number of axles of the detected vehicle 4, but the measurement principles are similar, and for the sake of convenience, the measurement of the two-axle vehicle is taken as an example below. For a double-shaft automobile, according to x, the three-dimensional outline coordinate information of the detected automobile is obtained3The order of coordinates from small to large (absolute value from large to small, i.e., from the front to the rear of the vehicle being detected) is determined: the measuring distance r of the scanning line of 0 degree is theta of the scanner with lower height of the second scanning unit22Whether or not it is less than a certain value (i.e. z in spatial coordinates)3＝d22Point of (a) which corresponds to y3Whether or not the distance d between the upper laser scanner 1 and the lower laser scanner 2 of the second scanning unit is less than a predetermined value3In this example, the certain value is 2m), if so, the vehicle is judged to be "wheel passing", otherwise, the vehicle is judged to be "no wheel passing". According to x3Traversing the coordinates from small to large in sequence until the coordinates reach xn-1For "wheel failed", xnFor "wheel pass", the position coordinate x at the moment of the first wheel start of the pass is recordedb1＝xnAnd continuing to traverse, recording the time from the first wheel passing to the wheel failing, and taking the position coordinate x as the time of the first wheel finishing passinge1(ii) a Similarly, the coordinate x of the second wheel passing starting time is obtainedb2Coordinate x of the end of the passage timee2. In order to avoid the interference of the chassis protrusions, the coordinates x of a plurality of groups of the starting passing time and the ending passing time are continuously acquired as abovebn、xenUp to x3And finally, the coordinates correspondingly reach the automobile, and traversing is finished. To eliminate interference, the above-mentioned groups xbn、xenSubtracting to obtain a single-shaft tire treadOver length ltnError calculation is carried out on every two passing lengths of each group, and two groups with the error less than 5% are determined as the real tire passing time xbi、xeiAnd xbj、xejThe wheelbase L ═ x of the double-axle automobile can be obtainedbi-xbj|。
Because of the limitation of the size of the detection field and the subjectivity of the test driver, the detection vehicle is difficult to ensure to run straight in the direction parallel to the advancing direction of the road in the whole process from the driving-in detection area to the driving-out, the detection vehicle can only run straight as far as possible under most conditions, the operation of direction correction can also exist before entering the detection area, and the correction effect is difficult to feed back in time because the vehicle speed is lower. If the detected vehicle forms a certain yaw angle with the road advancing direction
Through the scanning plane of the second scanning unit, errors are generated in the test result, the length direction value is reduced, and the vehicle length and the wheel base are smaller than the actual value; the width direction value becomes larger, namely the vehicle width is larger than the actual value; the height direction value is unchanged. The method for measuring the vehicle outline dimension and the wheel base can solve the problems, and the method can reasonably correct the detection result according to the record of the first scanning unit on the motion track of the detected vehicle to obtain a more accurate measurement value.
When correcting the size parameters, firstly processing the scanning data acquired by the first scanning unit, performing parameter contour curve fitting (discrete point continuity) on the scanning data at each moment, then performing two-dimensional contour curve matching on the fitting curves at all moments and the fitting curve at the last moment, and acquiring a contour fitting curve segment at each moment by taking a contour intersection; and then, selecting a plurality of sampling points (discretization) according to a certain coordinate interval for the contour fitting curve segment, calculating an XY coordinate average value (contour centroid) of the sampling points as automobile position points at the moment, drawing the automobile position points at all the moments in a newly established rectangular coordinate system, and obtaining an automobile approximate track straight line in a straight line regression mode. Calculating the included angle between the straight line of the automobile track and the X coordinate axisThe yaw angle can be obtained
And finishing the correction of the length, the width and the wheelbase of the overall dimension of the automobile.
Compared with the prior art, the method has the advantages of high detection precision, high response speed, low system cost, more convenient equipment maintenance and the like, and is very favorable for installation and implementation of a public security and traffic automobile detection station.
Those of ordinary skill in the art will understand that: the above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions and scope of the present invention as defined in the appended claims.
Claims (7)
1. A method for measuring the overall dimension and the wheel base of a vehicle is characterized by comprising the following steps:
acquiring two-dimensional scanning data of a detection area through a two-dimensional laser scanning sensor, wherein the two-dimensional scanning data comprises scanning data of a plurality of scanning units; wherein a moving test vehicle is passing through the test area and the scan data of the plurality of scanning units is derived from two scan sections in the test area;
each scanning unit respectively establishes a two-dimensional rectangular coordinate system, processes two-dimensional scanning data of each scanning section, and acquires motion track information and cross section information of a detected vehicle in the detection area;
establishing a space rectangular coordinate system, processing the two-dimensional scanning data of the detection area, and acquiring three-dimensional outline coordinate information of the detected vehicle in the detection area;
acquiring the detected vehicles in the detection area according to the three-dimensional outline coordinate information of the detected vehicles in the detection area
The overall dimension information and the wheel base information;
the method further comprises the following steps of obtaining the overall dimension information and the wheel base information of the detected vehicle in the detection area according to the three-dimensional overall coordinate information of the detected vehicle in the detection area:
acquiring motion trail information of a detected vehicle in a detection area according to scanning data of a two-dimensional laser scanner, processing the motion trail information, and finishing correction of the overall dimension information and the wheel base information;
the step of processing the motion trajectory information to complete the correction of the overall dimension information and the wheel base information specifically includes:
acquiring a contour fitting curve segment at each moment according to the scanning data of the scanning section I; the first scanning section is parallel to the horizontal plane, and the second scanning section is a vertical plane which is vertical to the advancing direction of the detection road and the ground;
according to the contour fitting curve segment, acquiring motion trail information of the detected vehicle in the area to be detected;
according to the motion trail information, acquiring an included angle between the advancing direction of the detected vehicle and the X axis of the space rectangular coordinate system
And acquiring corrected two-dimensional scanning data of the detected vehicle according to the included angle.
2. The measurement method according to claim 1, wherein at the start of the acquisition of two-dimensional scan data of the detection area by the two-dimensional laser scanning sensor, the method further comprises:
the two-dimensional laser scanner acquires two-dimensional scanning data of a first scanning section parallel to the ground, performs coordinate transformation on the scanning data, acquires position information of a detected vehicle, calculates the distance between the detected vehicle and a second scanning section, and activates a two-dimensional laser scanning sensor of the second scanning section to work when the distance is smaller than a certain value; the position information is section outline information which is obtained by a scanner and is parallel to the horizontal plane of the detected vehicle, and the height of the first section is a height area from the front overhang of the detected vehicle to the position below a windshield.
3. The measurement method according to claim 1, wherein the step of establishing a rectangular spatial coordinate system, processing the two-dimensional scanning data of the detection area, and acquiring the three-dimensional contour coordinate information of the detected vehicle in the detection area specifically comprises:
establishing a space rectangular coordinate system, wherein the space rectangular coordinate system takes a projection point of a laser emission point of a scanner for obtaining a first scanning section on a detection road plane as a coordinate origin, takes the advancing direction of a detection road as an X-axis forward direction, takes the advancing direction vertical to the road as a Y direction, takes the left direction of the road advancing direction as a Y-axis forward direction, takes the direction vertical to the detection road plane as a Z axis, and takes the upward direction as a Z-axis forward direction;
in the rectangular spatial coordinate system, the two-dimensional scanning data is subjected to coordinate transformation and fusion, specifically: carrying out coordinate transformation and information fusion on two-dimensional scanning data of a plurality of scanning points of the scanning section II at the same moment to obtain the two-dimensional scanning data of the detection vehicle on the scanning section II at the same moment; fusing the scanning data of the scanning section I with the two-dimensional scanning data of the vehicle corresponding to each moment to obtain the two-dimensional scanning data of all cross sections of the detected vehicle; and converting the two-dimensional scanning data of all the cross sections of the detected vehicle into three-dimensional outline coordinate information of the vehicle.
4. The measurement method according to claim 1, wherein the step of obtaining the overall dimension information and the wheel base information of the detected vehicle in the detection area according to the three-dimensional overall coordinate information of the detected vehicle in the detection area specifically comprises:
analyzing the three-dimensional outline coordinate information of the detected vehicles in the detection area to obtain projection information of the detected vehicles in the detection area to three coordinate planes of a rectangular space coordinate system, and screening according to the projection information and a certain rule to obtain outline size information of the detected vehicles in the detection area, wherein the outline size information comprises vehicle height information, vehicle length information and vehicle width information;
and analyzing the three-dimensional outline coordinate information of the detected vehicle in the detection area to obtain the running passing state information of the wheel at the special position, and obtaining the wheel base information of the detected vehicle according to the running passing state information of the wheel.
5. A vehicle dimension to wheelbase measurement system, comprising:
the device comprises a first scanning unit, a second scanning unit and a control unit, wherein the first scanning unit is used for acquiring two-dimensional scanning data of a scanning section through a two-dimensional laser scanner and acquiring motion track information of a detected vehicle, and the scanning section is parallel to a horizontal plane;
the second scanning unit is used for acquiring two-dimensional scanning data of a scanning section through the two-dimensional laser scanner and acquiring cross section information of a detected vehicle, wherein the two-dimensional scanning data comprises two-dimensional scanning data of a plurality of distance measuring points; the scanning section is perpendicular to the advancing direction and the horizontal plane of the detected vehicle at the same time, and the detected vehicle passes through the scanning section;
the data processing system is used for establishing a space rectangular coordinate system, processing the two-dimensional scanning data acquired by the first scanning unit and the second scanning unit and acquiring the overall dimension information and the wheelbase information of the detected vehicle in the detection area;
the control module is used for controlling the operation of the system, the data transmission and the operation and closing states of the first scanning unit and the second scanning unit; the second scanning unit comprises two-dimensional laser scanners with different heights, scanning planes of the two-dimensional laser scanners with different heights are the same plane in the space, the same plane is perpendicular to a horizontal plane where a road surface is located and the advancing direction of a detection vehicle, and the two-dimensional laser scanners with different heights are oppositely arranged on two sides of the detection road according to a certain distance.
6. The measurement system according to claim 5, wherein the data processing system comprises in particular:
the two-dimensional scanning data processing module is used for acquiring the position information of the detected vehicle according to the two-dimensional scanning data of the two-dimensional laser scanner of the first scanning unit; acquiring the motion trail of the detected vehicle according to the position information; acquiring the working condition of the two-dimensional laser scanning sensor of the second activated scanning section according to the motion track; the scanning section II is a vertical plane which is perpendicular to the advancing direction of the detected vehicle and the horizontal plane where the road surface is located, and the position information is section outline information which is acquired by a scanner and is parallel to the horizontal plane and is of the detected vehicle;
the coordinate system establishing module is used for establishing a space rectangular coordinate system, the original point of the space rectangular coordinate system is a projection point of a laser emission point of a scanner of the first scanning unit on the plane where the detection road is located, the advancing direction of the detection road is taken as an X-axis forward direction, the advancing direction perpendicular to the detection road is taken as a Y-axis direction, the left direction of the advancing direction of the detection road is taken as a Y-axis forward direction, the Z axis is a vertical line direction perpendicular to an XOY plane, and the upward direction is a Z-axis forward direction;
the two-dimensional scanning data information fusion module is used for carrying out information fusion on the two-dimensional scanning data of a plurality of scanning points of the second scanning unit and obtaining the two-dimensional scanning data of the detected vehicle at the same moment; fusing the scanning data of the first scanning unit with the two-dimensional scanning data corresponding to each moment to obtain the two-dimensional scanning data of all cross sections of the detected vehicle; converting the two-dimensional scanning data of all the cross sections of the detected vehicle into vehicle three-dimensional outline coordinate information;
the three-dimensional outline coordinate information analysis module is used for analyzing the three-dimensional outline coordinate information of the detected vehicle in the detection area to obtain the outline dimension information of the detected vehicle in the detection area and the running passing state information of the wheels at the special positions, wherein the outline dimension information comprises vehicle height information, vehicle length information and vehicle width information, and the running passing state information comprises the wheel base information of the detected vehicle.
7. The measurement system of claim 6, wherein the data processing system further comprises a two-dimensional scan data correction module to: acquiring motion trail information of a detected vehicle in a region to be detected according to the position information; and acquiring an included angle between the advancing direction of the detection vehicle and the X axis of the space rectangular coordinate system according to the motion trail information, and acquiring corrected two-dimensional scanning data of the detection vehicle according to the included angle.
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