CN109900220B - Method, device and system for measuring overall dimension of vehicle to be measured - Google Patents
Method, device and system for measuring overall dimension of vehicle to be measured Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device and a system for measuring the external dimension of a vehicle to be measured, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device; acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested. The problem of among the prior art when motor vehicle overall dimension measures with high costs, construction cycle length and measuring error is great is solved.
Description
Technical Field
The invention relates to the technical field of motor vehicle overall dimension detection, in particular to a method, a device and a system for measuring the overall dimension of a vehicle to be measured, a storage medium and an electronic device.
Background
At present, vehicles are modified, the modified vehicles are easy to cause traffic accidents, the property safety of people is endangered, and in order to avoid the phenomenon of vehicle modification from the source, the national standards GB 1589 + 2016 (dimensions, axle loads and quality limits) of automobiles, trailers and automobile trains, GB21861-2014 (motor vehicle safety technology inspection items and methods) and GB7258-2017 (technical conditions for motor vehicle operation safety) require that a motor vehicle inspection station must detect the dimensions of the motor vehicles.
The existing automatic measuring method for the overall dimension of the motor vehicle mainly comprises the following two methods:
(1) the method for measuring the overall dimension of the motor vehicle is greatly influenced by the running state of the vehicle, and the measurement errors can be increased when the vehicle runs at an excessively high speed and diagonally.
(2) The measuring method of the outline dimension of the motor vehicle needs to lay the guide rail, the vehicle stops in the guide rail, the outline instrument is installed on the guide rail to move and measure the outline dimension of the motor vehicle, and the measuring method of the outline dimension of the motor vehicle needs to lay the guide rail, so the construction period is long, and the measuring method is not portable.
Aiming at the problems of high cost, long construction period and large measurement error in the measurement of the overall dimension of the motor vehicle in the prior art, no reasonable solution is provided.
Disclosure of Invention
The embodiment of the invention provides a method, a device and a system for measuring the overall dimension of a vehicle to be measured, a storage medium and an electronic device, which are used for at least solving the problems of high cost, long construction period and large measurement error in the measurement of the overall dimension of the motor vehicle in the related technology.
According to one embodiment of the invention, a method for measuring the external dimension of a vehicle to be measured is provided, which comprises the following steps: acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device; acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
Preferably, the acquiring of the position information of the vehicle to be detected relative to the detecting device includes: acquiring first ranging information between a center point of the detection device and a measuring point on the outer surface of the vehicle to be measured; and acquiring second angle information of a connecting line between the central point of the detection device and the outer surface measuring point of the vehicle to be detected and the direction vertical to the ground.
Preferably, the acquiring of the position information of the vehicle to be detected relative to the detecting device includes: controlling the detection device to move around the vehicle to be detected; and scanning the outer surface of the vehicle to be detected by using the detection device, and acquiring the first distance measurement information and the second angle information in real time.
Preferably, the acquiring of the first angle information between the scanning surface of the detection device and the length direction of the vehicle to be detected includes: and controlling the detection device to rotate while surrounding the vehicle to be detected to move, and measuring the angle between the scanning surface of the detection device and the length direction of the vehicle to be detected in real time.
Preferably, the acquiring the three-dimensional coordinate information of the vehicle to be measured includes: and acquiring three-dimensional coordinate information of a plurality of measuring points on each surface of the right side surface, the front side surface, the left side surface, the rear side surface and the top of the vehicle to be measured.
According to another embodiment of the present invention, there is also provided a device for measuring the dimensions of a vehicle to be measured, including: the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device; the second acquisition module is used for acquiring the three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, the first angle information of the scanning surface of the detection device and the length direction of the vehicle to be detected and the position information of the vehicle to be detected relative to the detection device; the calculation module is used for calculating the overall dimension information of the vehicle to be detected according to the three-dimensional coordinate information of the vehicle to be detected, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
According to another embodiment of the present invention, there is also provided a system for measuring the dimensions of a vehicle under test, including a detection device, a positioning module, and a processor, wherein the processor is configured to execute the following procedures: acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device; acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
Preferably, the detection device is configured to collect position information of the vehicle to be detected relative to the detection device, wherein the detection device includes: the device comprises a first detection unit, a first power module, a first angle measurement module, a first support module, a second power module and a second support module, wherein the first detection unit is used for measuring the position information of the vehicle to be detected; the positioning module is configured to obtain three-dimensional coordinate information of the detection device, and includes: and measuring distance information between the projection of the first detection unit on the ground plane and the origin of coordinates, and measuring included angle information between a connecting line between the projection of the first detection unit on the ground plane and the origin of coordinates and the lane direction of the detection area.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium, characterized in that the storage medium stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.
According to another embodiment of the present invention, there is also provided an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps of any of the above method embodiments.
According to the embodiment of the invention, three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device are obtained; acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, the width and the height of the vehicle to be measured solve the problems of high cost, long construction period and large measurement error in the measurement of the overall dimension of the motor vehicle in the prior art, and provide the method and the system for measuring the overall dimension of the motor vehicle, which have the advantages of static vehicle, no need of laying a guide rail, high measurement precision and portability.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a mobile terminal of a method for measuring an overall dimension of a vehicle to be measured according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for measuring dimensions of a vehicle under test according to an embodiment of the present invention;
FIG. 3 is a flow chart of steps of a method for measuring dimensions of a motor vehicle in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle dimension detection scenario according to an embodiment of the present invention;
FIG. 5 is a schematic view of a coordinate system scenario for vehicle dimension detection according to an embodiment of the present invention;
FIG. 6 is a schematic view of a further coordinate system scenario for vehicle dimension detection according to an embodiment of the present invention;
FIG. 7 is a schematic view of a further coordinate system scenario for vehicle dimension detection according to an embodiment of the present invention;
FIG. 8 is a schematic view of a further coordinate system scenario for vehicle dimension detection according to an embodiment of the present invention;
FIG. 9 is a schematic view of a further coordinate system scenario for vehicle dimension detection according to an embodiment of the present invention;
fig. 10 is a block diagram showing the structure of a measuring apparatus for measuring the dimensions of a vehicle to be measured according to an embodiment of the present invention;
fig. 11 is a block diagram of a system for measuring the dimensions of a vehicle under test according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The method provided by the first embodiment of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking an example of the method running on a mobile terminal, fig. 1 is a hardware structure block diagram of the mobile terminal of the method for measuring the external dimensions of the vehicle to be measured according to the embodiment of the present invention. As shown in fig. 1, the mobile terminal 10 may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the data information obtaining method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer programs stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
The embodiment of the invention provides a method for measuring the overall dimension of a vehicle to be measured. Fig. 2 is a flowchart of a method for measuring dimensions of a vehicle to be measured according to an embodiment of the present invention, as shown in fig. 2, the method includes:
step S201, acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device;
step S203, acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of the scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device;
step S205, calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
By the method, three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device are obtained; acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, the width and the height of the vehicle to be measured solve the problems of high cost, long construction period and large measurement error in the measurement of the overall dimension of the motor vehicle in the prior art, and provide the method and the system for measuring the overall dimension of the motor vehicle, which have the advantages of static vehicle, no need of laying a guide rail, high measurement precision and portability.
Preferably, the acquiring of the position information of the vehicle under test with respect to the detecting device includes: acquiring first ranging information between a center point of a detection device and a measuring point of the outer surface of a vehicle to be detected; and acquiring second angle information of a connecting line between the center point of the detection device and the outer surface measuring point of the vehicle to be detected and the direction vertical to the ground.
Preferably, the obtaining of the position information of the vehicle to be detected relative to the detecting device can be realized by the following steps: controlling the detection device to move around the vehicle to be detected; and scanning the outer surface of the vehicle to be detected by using a detection device, and acquiring first ranging information and second angle information in real time.
Preferably, the obtaining of the first angle information between the scanning surface of the detection device and the length direction of the vehicle to be detected may be implemented by: and controlling the detection device to move around the vehicle to be detected, and rotating the detection device to measure the angle between the scanning surface of the detection device and the length direction of the vehicle to be detected in real time.
Preferably, the obtaining of the three-dimensional coordinate information of the vehicle to be measured can be realized by the following steps: and acquiring three-dimensional coordinate information of a plurality of measuring points on each surface of the right side surface, the front side surface, the left side surface, the rear side surface and the top of the vehicle to be measured.
There is also provided, in accordance with an embodiment of the present invention, an embodiment of a method for measuring dimensions of a motor vehicle, including the steps illustrated in the flowchart of the figure as being executable by a computer system, such as a set of computer executable instructions, and although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be executed out of order from that shown.
Fig. 3 is a flowchart of steps of a method for measuring dimensions of a motor vehicle according to an embodiment of the present invention, as shown in fig. 3, the method including the steps of:
step S302, acquiring three-dimensional coordinate information of the detection device by using the positioning module. In the step S302, the detecting device includes: the first detection unit is used for measuring the position information of the vehicle to be detected relative to the detection device, and the position information of the vehicle to be detected relative to the detection device comprises: the device comprises a first detection unit, a first angle measurement module and a first support module, wherein the first detection unit is used for detecting the distance between the center point of the first detection unit and the outer surface measurement point of a vehicle to be detected, the first angle measurement module is used for driving the first detection unit to rotate, the first support module is used for mounting the first power module; and the second power module is used for driving the first support module to move.
As an alternative embodiment, the first detection unit may be, but is not limited to, a scanning lidar; the first power module and the second power module can be, but are not limited to, stepping motors; the first angle measuring module can be but is not limited to a code disc; the first supporting module may be, but is not limited to, a telescopic vertical rod, and the installation height of the first detecting unit may be adjusted.
In the step S302, the positioning module is configured to measure distance information between a projection of the measurement origin of the first detection unit on the ground plane and the coordinate origin, and measure an included angle information between a connection line between the projection of the measurement origin of the first detection unit on the ground plane and the coordinate origin and the lane direction of the detection area. As an alternative embodiment, the positioning module may be, but is not limited to, an angular displacement sensor.
Fig. 4 is a schematic view of a vehicle overall dimension detection scenario according to an embodiment of the invention. In the embodiment of the present application, the detection area may be a scene schematic diagram as shown in fig. 4, and the embodiment of the present application may achieve a technical effect of accurately acquiring three-dimensional data information of the detected vehicle in the detection area by using the detection device.
In the alternative scenario diagram shown in fig. 4, but not limited to, it may include: the device comprises a detection device 1, a positioning module 2 and a vehicle to be detected 3. The detection device 1 is composed of a first detection unit 11, a first power module 12, a first angle measurement module 13, a first support module 14 and a second power module 15. Optionally, the first power module 12 is connected to the first detecting unit 11 to drive the first detecting unit 11 to rotate, a rotation axis is perpendicular to a ground plane, and a scanning plane of the first detecting unit 11 is perpendicular to the ground plane; the first angle measuring module 13 is connected to the first power module 12, and is configured to measure a rotation angle of the first power module 12; the first power module 12 and the second power module 15 are mounted on the first support module 14; the positioning module 2 is mounted on the first support module 14; the direction of the detection area lane is as shown in fig. 4, and the vehicle 3 to be measured stops in the detection area along the direction of the detection area lane.
Fig. 5 is a schematic view of a coordinate system scene of vehicle outline dimension detection according to an embodiment of the invention. When the measurement is started, the measurement origin of the first detecting unit is projected on the ground plane as the coordinate origin O, which may be, but is not limited to, point a in fig. 2, the direction perpendicular to the lane of the detection area is the X axis, and the direction parallel to the lane of the detection area is the Y axis, as shown in fig. 5, at a certain time t1The detection device moves to a point E in a detection area, and the positioning module measures the distance between the projection of the first detection unit on the ground plane and the origin of coordinates as S, namely the length of 0E; the positioning module measures an included angle theta between a connecting line between the projection of the first detection unit on the ground plane and the origin of coordinates and the lane direction of the detection area, namely an included angle between OE and a Y axis; and if the height of the first detection unit from the ground plane is H, the three-dimensional coordinate of the first detection unit is (S × sin θ, S × cos θ, H).
Step S304, controlling the detection device to move around the vehicle to be detected by utilizing the position information of the vehicle to be detected, which is acquired by the detection device, so as to acquire the three-dimensional coordinate information of the vehicle to be detected.
In an embodiment of the present application, controlling, by a processor coupled to the detecting device, the detecting device to move around the vehicle to be detected includes: controlling the motion of the first power module to realize real-time adjustment of the angle between the scanning surface of the first detection unit and the driving direction of the lane in the detection area; and controlling the motion of the second power module, and bringing the second power module to the first support module to surround the vehicle to be detected to move so as to realize real-time adjustment of the motion track of the detection device.
In this application embodiment, through the treater with above-mentioned detection device coupling, establish three-dimensional rectangular coordinate system, the positional information who awaits measuring the vehicle that gathers detection device converts three-dimensional rectangular coordinate information into, judge whether detection device scan await measuring the vehicle and with the positional information of the vehicle that awaits measuring according to above-mentioned rectangular coordinate information, thereby control the motion of first power module and second power module, first power module is used for driving first detection unit and rotates, thereby realize adjusting the angle of the scanning face and the detection area lane traffic direction of first detection unit in real time, second power module is used for driving first bracing piece and encircles above-mentioned vehicle motion that awaits measuring, thereby realize adjusting detection device's movement track in real time. The processor coupled with the detection device controls the movement of the first power module and the second power module to realize the whole scanning of the vehicle to be detected, thereby realizing the acquisition of the position information of the vehicle to be detected.
And acquiring three-dimensional coordinate information of the vehicle to be detected, wherein the three-dimensional coordinate information comprises the three-dimensional coordinate information of the right side surface, the front side surface, the left side surface, the rear side surface and the top of the vehicle to be detected.
In the embodiment of the present application, when starting measurement, the vehicle to be measured stops in the detection area along the lane direction of the detection area, and the detecting device is placed in the blank area of the detection area, which may be but is not limited to point a in fig. 4, where the projection of the measurement origin of the first detecting unit on the ground plane at the time of starting measurement is taken as the coordinate origin O, the direction perpendicular to the lane direction of the detection area is taken as the X axis, and the direction parallel to the lane direction of the detection area is taken as the Y axis, as shown in fig. 6, at a certain time t2The detecting device moves to a point F in a detection area, and the positioning module measures the distance between the projection of the first detecting unit on the ground plane and the origin of coordinates as S1The length OF, the positioning module measures the angle theta between the connection line between the projection OF the first detection unit on the ground plane and the origin OF coordinates and the lane direction OF the detection area1The included angle between OF and the Y axis, K is the central point OF the first detecting unit, G is any point on the vehicle, the height OF the first detecting unit from the ground level is H, namely the length OF KF, and the distance OF the first detecting unit for measuring G is r1I.e. the length of KG, the plane formed by points K, F and G being O1，O1A scanning plane representing the first detecting unit, KM is a light ray emitted from a central point of the first detecting unit, and an included angle between KG and KM is β1，β1Representing the angle of deviation of the ray KG from the central ray KM, plane O1At an angle of | α with respect to the plane XOZ1|，α1Representing a vectorKM and OX, and alpha when the light direction of the first detecting unit is far away from the XOZ plane1> 0, alpha when the light direction of the first detection unit is close to the plane XOZ1< 0, in FIG. 6, the light direction of the first detecting unit is far from the plane XOZ, and the included angle between the vector KM and the vector OX is acute angle or right angle, then
The coordinates of the G point are:
at a certain time t3As shown in fig. 7, the light direction of the first detecting unit is close to the plane XOZ, and the included angle between the vector KM and the vector OX is an acute angle or a right angle, then
The coordinates of the G point are:
at a certain time t4As shown in fig. 8, the light direction of the first detecting unit is close to the plane XOZ, and the included angle between the vector KM and the vector OX is an obtuse angle or a right angle, then
The coordinates of the G point are:
at a certain time t5As shown in fig. 9, the light direction of the first detecting unit is close to the plane XOZ, and the included angle between the vector KM and the vector OX is an obtuse angle or a right angle, then
The coordinates of the G point are:
when the detection device moves around the vehicle to be detected in the detection area, the detection device can experience four states as shown in fig. 6, fig. 7, fig. 8 and fig. 9, and the coordinates of the point G are as follows:
when the detection device moves around a vehicle to be detected in a detection area, the three-dimensional coordinate information of the right side face, the front side face, the left side face, the rear side face and the top of the vehicle to be detected can be acquired, N points are scanned to 5 side faces of the vehicle to be detected in total, and the coordinates of the obtained N points are as follows:
(x1,y1,z1),(x2,y2,z2)…(xN,yN,zN)。
preferably, in the embodiment of the present application, a moving method for acquiring position information of a vehicle to be detected by a detecting device is provided, the vehicle to be detected stops in a detection area along a lane direction of the detection area, the detecting device is placed at a point a as shown in fig. 4 in order to acquire the position information of the vehicle to be detected relative to the detecting device, and a processor coupled to the detecting device controls a first power module to make a scanning surface of the first detecting unit perpendicular to the lane direction of the detection area, that is, α1And (0) controlling the second power module to move the detection device along the direction parallel to the lane direction of the detection area, namely to the point B in the figure 4, and at t6At the moment, the detection device scans the vehicle to be detected for the first time, at t7At the moment, the detecting device does not scan the vehicle for the first time, at t6～t7The first detection unit obtains the position information of the right side and the top of the vehicle to be detected at t7At any moment, the first power module is controlled to enable the scanning surface of the first detection unit to be parallel to the lane direction of the detection area, namely
Controlling the second power module to move the detecting device along the direction perpendicular to the lane of the detection area, namely to the point C as shown in figure 4, and at t8At the moment, the detection device scans the vehicle to be detected for the first time, at t9At the moment, the detecting device does not scan the vehicle for the first time, at t8～t9The first detection unit obtains the position information of the front side and the top of the vehicle to be detected at t9At the moment, the first power module is controlled to enable the scanning surface of the first detection unit to be perpendicular to the lane direction of the detection area, namely alpha1And controlling the second power module to move the detection device along the direction parallel to the lane direction of the detection area, namely to a point D as shown in figure 4, and at t10At the moment, the detection device scans the vehicle to be detected for the first time, at t11At the moment, the detecting device does not scan the vehicle for the first time, at t10～t11The first detection unit obtains the position information of the left side and the top of the vehicle to be detected at t11At any moment, the first power module is controlled to enable the scanning surface of the first detection unit to be parallel to the lane direction of the detection area, namely
Controlling the second power module to move the detecting device along the direction perpendicular to the lane of the detection area, namely to the D point in figure 4, and at t12At the moment, the detection device scans the vehicle to be detected for the first time, at t13At the moment, the detecting device does not scan the vehicle for the first time, at t12～t13And finally, the detection device returns to the position near the starting point A, so that the position information of the vehicle to be detected relative to the detection device is obtained, and coordinate conversion is carried out according to the formula (5), so that the three-dimensional coordinate information of the vehicle to be detected is obtained.
Step S306, obtaining the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information includes: the length, width and height of the vehicle to be tested.
Scanning N points on the vehicle body of the vehicle to be detected totally, and obtaining the coordinates of the N points as follows:
(x1,y1,z1),(x2,y2,z2)…(xN,yN,zN)。
y1,y2…yNthe median maximum value is denoted as ymaxMinimum value is denoted as yminThe length L of the vehicle to be measured is equal to ymax-ymin；x1,x2…xNThe median maximum is denoted xmaxMinimum value is denoted xminThe width W of the vehicle to be measured is xmax-xmin；z1,z2…zNThe median maximum is denoted zmaxThe height H ═ z of the vehicle to be measuredmax。
Example 2
In this embodiment, a device for measuring the overall dimension of the vehicle to be measured is further provided, which is used to perform the steps in any of the above method embodiments, and the content that has been described is not repeated here. Fig. 10 is a block diagram of a measurement apparatus for measuring the dimensions of a vehicle to be measured according to an embodiment of the present invention, and as shown in fig. 10, the apparatus includes: the first obtaining module 1002 is configured to obtain three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and a length direction of the vehicle to be detected, and position information of the vehicle to be detected relative to the detection device; the second obtaining module 1004 is configured to obtain three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detecting device, first angle information of a scanning surface of the detecting device and a length direction of the vehicle to be detected, and position information of the vehicle to be detected relative to the detecting device; the calculating module 1006 is configured to calculate, according to the three-dimensional coordinate information of the vehicle to be measured, the overall dimension information of the vehicle to be measured, where the overall dimension information includes: the length, width and height of the vehicle to be tested.
According to another embodiment of the present invention, there is also provided a system for measuring the external dimensions of a vehicle to be measured, fig. 11 is a block diagram of the system for measuring the external dimensions of a vehicle to be measured according to the embodiment of the present invention, as shown in fig. 11, the system includes a detecting device 1, a positioning module 2 and a processor 4, and the processor 4 is configured to execute the following procedures: acquiring three-dimensional coordinate information of the detection device 1, first angle information of a scanning surface of the detection device 1 and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device 1; acquiring three-dimensional coordinate information of a vehicle to be detected according to the three-dimensional coordinate information of the detection device 1, first angle information of a scanning surface of the detection device 1 and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device 1; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
Preferably, the detection device 1 is configured to collect position information of a vehicle to be detected relative to the detection device, wherein the detection device includes: the first detection unit is used for measuring the position information of the vehicle to be detected, and the position information of the vehicle to be detected comprises: the device comprises a first detection unit, a first power module, a first angle measurement module, a first support module, a second power module and a second support module, wherein the first detection unit is used for detecting first distance measurement information between a center point of the first detection unit and a measurement point on the outer surface of a vehicle to be detected, the second detection unit is used for detecting a connecting line between the center point of the first detection unit and the measurement point on the outer surface of the vehicle to be detected and second angle information vertical to the ground; the positioning module 2 is configured to obtain three-dimensional coordinate information of the detection device, and includes: and measuring distance information between the projection of the first detection unit on the ground plane and the origin of coordinates, and measuring included angle information between a connecting line between the projection of the first detection unit on the ground plane and the origin of coordinates and the lane direction of the detection area.
Referring to fig. 4 and 11, a detecting device 1 is configured to collect information of a distance between two positions of a vehicle to be detected, where the detecting device includes: a first detecting unit 11, configured to measure position information of the vehicle to be tested, where the position information of the vehicle to be tested includes: the device comprises a first detection unit 11, a first power module 12, a first angle measurement module 13, a first support module 14, a second power module 15, a second distance measurement module and a second angle measurement module, wherein the first distance measurement information is between the center point of the first detection unit 11 and the outer surface measurement point of a vehicle to be measured, the second angle measurement module is between the connecting line between the center point of the first detection unit 11 and the outer surface measurement point of the vehicle to be measured and the direction vertical to the ground, the first detection unit 11 is driven to rotate, the first angle measurement module 13 is used for measuring the first included angle information between the scanning surface of the first detection unit 11 and the length direction of the vehicle to be measured, and the first support module 14 is used for installing the first power module 12 and the second power module 15 is used for driving the first support module 14 to move; the positioning module 2 is configured to obtain three-dimensional coordinate information of the detection device 1, and includes information for measuring a distance between a projection of the measurement origin of the first detection unit 11 on the ground plane and the coordinate origin, and for measuring an included angle between a connection line between the projection of the measurement origin of the first detection unit 11 on the ground plane and the coordinate origin and a lane direction of the detection area; a processor 4, coupled to the positioning module 2, configured to obtain three-dimensional coordinate information of the detection device 1, coupled to the detection device 1, and configured to obtain first angle information of a scanning plane of the detection device 1 and a length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device 1, obtain three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device 1, the first angle information of the scanning plane of the detection device 1 and the length direction of the vehicle to be detected, and the position information of the vehicle to be detected relative to the detection device 1, and obtain overall dimension information of the vehicle to be detected according to the three-dimensional coordinate information of the vehicle to be detected, where the overall dimension information includes: the length, width and height of the vehicle to be tested.
As an alternative embodiment, the first detection unit may be, but is not limited to, a scanning lidar; the first power module and the second power module can be, but are not limited to, stepping motors; the first angle measuring module can be but is not limited to a code disc; the first supporting module may be, but is not limited to, a telescopic vertical rod, and the installation height of the first detecting unit may be adjusted.
As an alternative embodiment, the positioning module may be, but is not limited to, an angular displacement sensor.
In the embodiment of the present application, the detection area may be a scene schematic diagram as shown in fig. 4, and the technical effect of accurately acquiring three-dimensional data information of the detected vehicle in the detection area through the detection device may be achieved in the embodiment of the present application.
In the alternative scenario diagram shown in fig. 4, but not limited to, it may include: the device comprises a detection device 1, a positioning module 2 and a vehicle to be detected 3. The detection device 1 is composed of a first detection unit 11, a first power module 12, a first angle measurement module 13, a first support module 14 and a second power module 15. Optionally, the first power module 12 is connected to the first detecting unit 11 to drive the first detecting unit 11 to rotate; the first angle measuring module 13 is connected to the first power module 12, and is configured to measure a rotation angle of the first power module 12; the first power module 12 and the second power module 15 are mounted on the first support module 14; the positioning module 2 is mounted on the first support module 14; the direction of the detection area lane is as shown in fig. 4, and the vehicle 3 to be measured stops in the detection area along the direction of the detection area lane.
In an alternative embodiment, the scanning plane of the first detecting unit 11 is perpendicular to the ground plane, and the scanning plane of the first detecting unit 11 rotates around a rotation axis perpendicular to the ground plane.
In an alternative embodiment, the maximum height of the center point of the first detecting unit 11 from the ground is greater than 4500mm, and the height of the first supporting module 14 can be adjusted, and the maximum height is greater than 4500 mm.
As an alternative embodiment, the processor 4 may further control the detecting device to move around the vehicle to be detected, including: controlling the motion of the first power module to realize real-time adjustment of the angle between the scanning surface of the first detection unit and the driving direction of the lane in the detection area; and controlling the motion of the second power module, and bringing the second power module to the first support module to surround the vehicle to be detected to move so as to realize real-time adjustment of the motion track of the detection device.
The processor 4 may further establish a three-dimensional rectangular coordinate system, convert the position information of the vehicle to be detected collected by the detection device into three-dimensional coordinate information, and determine whether the vehicle to be detected and the position information of the vehicle to be detected are scanned according to the three-dimensional coordinate information, so as to control the movement of the first power module and the second power module, the first power module is used for bringing the first detection unit to rotate, thereby realizing real-time adjustment of the angle between the scanning surface of the first detection unit and the driving direction of the lane in the detection area, and the second power module is used for bringing the first support rod to move around the vehicle to be detected, thereby realizing real-time adjustment of the movement track of the detection device. The processor coupled with the detection device controls the movement of the first power module and the second power module to realize the whole scanning of the vehicle to be detected, thereby realizing the acquisition of the position information of the vehicle to be detected.
Example 3
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
acquiring three-dimensional coordinate information of the detection device 1, first angle information of a scanning surface of the detection device 1 and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device 1; acquiring three-dimensional coordinate information of a vehicle to be detected according to the three-dimensional coordinate information of the detection device 1, first angle information of a scanning surface of the detection device 1 and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device 1; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
S1, acquiring three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device;
s2, acquiring the three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, the first angle information of the scanning surface of the detection device and the length direction of the vehicle to be detected and the position information of the vehicle to be detected relative to the detection device;
s3, calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s11, acquiring three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device;
s12, acquiring the three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, the first angle information of the scanning surface of the detection device and the length direction of the vehicle to be detected and the position information of the vehicle to be detected relative to the detection device;
s13, calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested.
For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation manners, and details of this embodiment are not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the invention described above can be implemented by a general-purpose measuring apparatus, they can be centralized on a single measuring apparatus or distributed on a network of a plurality of measuring apparatuses, alternatively, they can be implemented by program code executable by a measuring apparatus, so that they can be stored in a storage device and executed by a measuring apparatus, and in some cases, the steps shown or described can be executed in a different order than here, or they can be separately fabricated into individual integrated circuit modules, or multiple ones of them can be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for measuring the overall dimension of a vehicle to be measured is characterized by comprising the following steps:
acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device;
acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device;
calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested;
wherein, the acquiring the position information of the vehicle to be detected relative to the detecting device comprises: controlling, by a processor coupled to the detection device, movement of a first power module and a second power module in the detection device to control the detection device to move around the vehicle to be detected; acquiring the position information of the vehicle to be detected relative to the detection device in the process that the detection device moves around the vehicle to be detected;
the controlling, by a processor coupled with the detection device, the movement of a first power module and a second power module in the detection device to control the detection device to move around the vehicle to be detected includes: judging whether the vehicle to be detected and the position information of the vehicle to be detected are scanned or not according to the three-dimensional coordinate information of the vehicle to be detected; controlling the motion of a first power module and a second power module in the detection device to adjust the first angle information and the motion track of the detection device in real time;
the three-dimensional coordinate information of the detection device is acquired through the positioning module and is relative to a preset coordinate origin, and the preset coordinate origin is the projection of the measurement origin of the detection device in the measurement state on the ground plane.
2. The method of claim 1, wherein obtaining position information of the vehicle under test relative to the probe device further comprises:
acquiring first ranging information between a center point of the detection device and a measuring point on the outer surface of the vehicle to be measured;
and acquiring second angle information of a connecting line between the central point of the detection device and the outer surface measuring point of the vehicle to be detected and the direction vertical to the ground.
3. The method of claim 2, wherein obtaining position information of the vehicle under test relative to the probe device further comprises:
and controlling the detection device to move around the vehicle to be detected, and scanning the outer surface of the vehicle to be detected by using the detection device to acquire the first ranging information and the second angle information in real time.
4. The method of claim 1, wherein obtaining first angle information of a scanning surface of the probe device and a length direction of the vehicle under test comprises:
and controlling the detection device to rotate while surrounding the vehicle to be detected to move, and measuring the angle between the scanning surface of the detection device and the length direction of the vehicle to be detected in real time.
5. The method according to any one of claims 1 to 4, wherein acquiring three-dimensional coordinate information of the vehicle under test comprises: and acquiring three-dimensional coordinate information of a plurality of measuring points on each surface of the right side surface, the front side surface, the left side surface, the rear side surface and the top of the vehicle to be measured.
6. A measuring device for the overall dimension of a vehicle to be measured is characterized by comprising:
the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device;
the second acquisition module is used for acquiring the three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, the first angle information of the scanning surface of the detection device and the length direction of the vehicle to be detected and the position information of the vehicle to be detected relative to the detection device;
the calculation module is used for calculating the overall dimension information of the vehicle to be detected according to the three-dimensional coordinate information of the vehicle to be detected, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested;
wherein the first obtaining module is further configured to: under the condition that a processor coupled with the detection device controls the movement of a first power module and a second power module in the detection device to control the detection device to move around the vehicle to be detected, in the process that the detection device moves around the vehicle to be detected, the position information of the vehicle to be detected relative to the detection device is obtained, and whether the vehicle to be detected and the position information of the vehicle to be detected are scanned or not is judged according to the three-dimensional coordinate information of the vehicle to be detected; controlling the motion of a first power module and a second power module in the detection device to adjust the first angle information and the motion track of the detection device in real time;
the first acquisition module is further used for acquiring information of the detection device relative to a preset coordinate origin through the positioning module, wherein the preset coordinate origin is a projection of the measurement origin of the detection device on the ground plane when the detection device enters a measurement state.
7. The system for measuring the overall dimension of the vehicle to be measured is characterized by comprising a detection device, a positioning module and a processor, wherein the processor is used for executing the following programs:
acquiring three-dimensional coordinate information of a detection device, first angle information of a scanning surface of the detection device and the length direction of a vehicle to be detected and position information of the vehicle to be detected relative to the detection device; acquiring three-dimensional coordinate information of the vehicle to be detected according to the three-dimensional coordinate information of the detection device, first angle information of a scanning surface of the detection device and the length direction of the vehicle to be detected and position information of the vehicle to be detected relative to the detection device; calculating the overall dimension information of the vehicle to be measured according to the three-dimensional coordinate information of the vehicle to be measured, wherein the overall dimension information comprises: the length, width and height of the vehicle to be tested;
wherein the processor is further configured to: controlling the movement of a first power module and a second power module in the detection device to control the detection device to move around the vehicle to be detected; the device is used for acquiring the position information of the vehicle to be detected relative to the detection device in the process that the detection device moves around the vehicle to be detected, and judging whether the vehicle to be detected and the position information of the vehicle to be detected are scanned or not according to the three-dimensional coordinate information of the vehicle to be detected; controlling the motion of a first power module and a second power module in the detection device to adjust the first angle information and the motion track of the detection device in real time;
the positioning module is further configured to obtain information of the detection device relative to a preset origin of coordinates, where the preset origin of coordinates is a projection of the measurement origin of the detection device on the ground plane when the detection device enters a measurement state.
8. The system of claim 7,
the detecting device is used for collecting the position information of the vehicle to be detected relative to the detecting device, wherein the detecting device comprises: the device comprises a first detection unit, a first power module, a first angle measurement module, a first support module and a second power module, wherein the first detection unit is used for measuring the position information of the vehicle to be detected;
the positioning module is configured to obtain three-dimensional coordinate information of the detection device, and includes: and measuring distance information between the projection of the first detection unit on the ground plane and the origin of coordinates, and measuring included angle information between a connecting line between the projection of the first detection unit on the ground plane and the origin of coordinates and the lane direction of the detection area.
9. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 5 when executed.
10. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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| CN112325794B (en) * | 2020-10-12 | 2022-07-12 | 武汉万集信息技术有限公司 | Method, device and system for determining overall dimension of vehicle |
| CN114166132A (en) * | 2021-11-11 | 2022-03-11 | 中铁大桥科学研究院有限公司 | Vehicle height snapshot measuring method and device |
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