CN110412601A - A kind of head extension integral type semitrailer gabarit measurement method of parameters based on laser radar - Google Patents
A kind of head extension integral type semitrailer gabarit measurement method of parameters based on laser radar Download PDFInfo
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- CN110412601A CN110412601A CN201910515239.5A CN201910515239A CN110412601A CN 110412601 A CN110412601 A CN 110412601A CN 201910515239 A CN201910515239 A CN 201910515239A CN 110412601 A CN110412601 A CN 110412601A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of head extension integral type semitrailer gabarit measurement method of parameters based on laser radar, comprising the following steps: step 1: after vehicle enters detection zone, collecting the point cloud data that laser radar scanning obtains, primary filtration processing is carried out to point cloud data；Step 2: calculating vehicle axis line position and set there may be interference object area, filter out the point cloud data in this region；Step 3: the coordinate value of key point cloud data coordinates point needed for calculating measurement semitrailer vehicle commander, and calculate semi-trailer length parameter；Step 4: finding out first fit condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after all the points cloud data frame in Y axis coordinate be worth maximum coordinate points, the as value of the height h of semitrailer；Calculate first fit condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after all the points cloud data frame in every frame ximax‑ximinValue, maximum value therein is the value of semi-mounted vehicle-width w.The present invention can significantly improve the efficiency of semitrailer gabarit parameter measurement work.
Description
Technical field
The invention belongs to the automatic detection field of vehicle gabarit, specifically a kind of head based on laser radar hangs integral type semi-mounted
Vehicle gabarit measurement method of parameters.
Background technique
Mandatory national standards " automobile, trailer and the automobile column of the revision of national vapour mark committee are organized by the Ministry of Industry and Information Technology
Vehicle contour dimension, axle load and quality limit value " (GB1589-2016) on July 26th, 2016 by State Administration of Quality Supervision, Inspection and Quarantine, National Standards Commission just
Formula approval publication.The standard specifies the contour dimension of automobile, trailer and truck combination and quality limit values, are suitable on road
All vehicles used are most basic one of the technical standards of automobile industry.Compared with GB1589-2004 marks in former capital, new national standard
GB1589-2016 increases the new models such as shaft vehicle transportation trailer and train, central axle cargo trailer and train；It increases
The regulation of tractor, semitrailer matching transport relevant parameter, and specify its contour dimension measurement request.
The common vehicle overall dimension automatic measurement system based on laser radar often can only be such as measurement currently on the market
Other type vehicles are the same, are only capable of detecting the contour dimension parameter of tractor Yu semitrailer entirety；Minority can detect semi-mounted
The automatic measurement system of vehicle contour dimension parameter also can not accurately measure the outer of semitrailer in the case where head hangs one substantially
Wide dimensional parameters.
Currently be related in semitrailer gabarit measurement method of parameters, with this programme be closer to include: patent of invention (application
Number: 201510666390.0, title: the automatic testing method of semitrailer outer profile size) pass through three measurement sensors and three
A trigger completes the measurement including semitrailer vehicle commander, vehicle width, overall height；Patent of invention (application number: 201510961996.7, name
Claim: a kind of vehicle overall dimension measurement method and system) by three-dimensional laser radar scanning, according to vehicle to be measured in detection zone
Three-dimensional gabarit coordinate information, obtain the contour dimension information of vehicle to be measured in detection zone；Patent of invention (application number:
201620182576.9, a kind of title: laser scanning vehicle outer profile size measuring device) it is obtained by analyzing laser radar scanning
The coordinate information arrived obtains the contour dimension parameter of vehicle；Utility model patent (application number: 201620182579.2, title:
A kind of packaged type laser scanning vehicle outer profile size measuring device) it is sharp by designing a kind of moveable mobile bracket installation
Light scanning apparatus, to calculate vehicle overall dimension information.
In conclusion there are the following shortcomings for current method:
(1) current similar scheme needs equipment more, and installation is complicated.Segmentation scheme is to survey to semitrailer gabarit parameter
Amount needs to increase additional hardware device, and other schemes are very strict for equipment installation position, mounting means requirement,
Lack the universality that can be measured to various types semitrailer.
(2) really under inspection vehicle environment, tractor and semi-mounted workshop are connected with power supply line, brake gas pipeline and parking braking
Many equipment such as device high-pressure air pipe can be impacted and be interfered to the measurement of semitrailer gabarit parameter.It is current most of similar
Without doing certain restrictions to detection zone for this or being screened to laser radar scanning data in scheme, will certainly really examine
It is had certain problems during surveying.
Summary of the invention
For the deficiency of existing semitrailer gabarit measurement method of parameters, the invention proposes a kind of heads based on laser radar
Hanging integral type semitrailer gabarit measurement method of parameters can significantly improve without separating to tractor with semitrailer
The efficiency of semitrailer gabarit parameter measurement work.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of head extension integral type semitrailer gabarit measurement method of parameters based on laser radar, comprising the following steps:
Step 1: after vehicle enters detection zone, collecting the point cloud data that laser radar scanning obtains, and to a cloud number
According to primary filtration processing is carried out, process is as follows:
Step 1.1: obtaining point cloud data the L={ (x that left laser radar scanning of each moment obtainsi,yi) | i=0,
1 ..., k-1 } point cloud data the R={ (x that obtains with right laser radar scanningi,yi) | i=0,1 ..., k-1 } and preceding laser thunder
Point cloud data the F={ (x obtained up to scanningi,yi) | i=0,1 ..., k-1 }, k is the points in present frame point cloud data, left,
Coordinate points number is consistent in the point cloud data frame that right, preceding laser radar scanning obtains；
Step 1.2: rejecting in L, R, F and meet yi< h1&&yi> h2Coordinate points, wherein h1Indicate coordinate points Y in L, R, F
The upper threshold of axis direction coordinate value, h2Indicate the bottom threshold of coordinate points Y direction coordinate value in L, R, F；
Step 2: calculating vehicle axis line position, and there may be chaff interferent areas according to the setting of the position of vehicle central axes
Domain, and the point cloud data in this region is filtered out, process is as follows:
Step 2.1: the point cloud data coordinate unification that left and right laser radar scanning is obtained to left laser radar coordinate system
Under, the maximum point of X axis coordinate value in point cloud data is found out, X axis coordinate value is ximax；Find out X axis coordinate value in point cloud data
The smallest, X axis coordinate value is ximin, then the X axis coordinate value x of vehicle central axesimidCalculation formula are as follows:
Step 2.2: rejecting and meet in X, YCoordinate points Δ x be setting there may be
Interfere the width value of object area；
Step 3: the coordinate value of key point cloud data coordinates point needed for calculating measurement semitrailer vehicle commander, and calculate half
Trailer length parameter, process are as follows:
Step 3.1: calculating the real-time height value h of each frame vehiclei, hiCalculation formula are as follows:
hi=max (yi|(xi,yi)∈L,R) (2)
All the points cloud data frame, h are traversed in chronological orderfFor the real-time height of former frame vehicle, if first fit condition
hi-hf< Δ x1That frame starts waiting to meet condition hi-hf> Δ x2Data frame, if there is the data frame for meeting condition,
Tractor front end at this time and left and right laser radar scanning are calculated using the point cloud data frame of laser radar before synchronization
The distance l of plane1.Semi-trailer tail utilizes preceding laser this moment just off the synchronization of left and right laser radar scanning plane
The point cloud data frame of radar calculates tractor front end at this time and left and right laser radar scanning plane distance l2.Then partly
The calculation formula of the length l of trailer are as follows:
L=l2-l1 (3)
Step 3.2: rejecting and meet in X, YCoordinate points, Δ x be setting there may be
Interfere the width value of object area；
Step 4: finding out first fit condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after
Y axis coordinate is worth maximum coordinate points in all the points cloud data frame, and Y axis coordinate value is the value of the height h of semitrailer；It calculates
First fit condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after all the points cloud data frame in it is every
Frame ximax-ximinValue, maximum value therein is the value of semi-mounted vehicle-width w.
Beneficial effects of the present invention are shown: (1) without in the vehicle overall dimension automatic measurement system based on laser radar
Any other equipment is added outside the equipment for including in system；(2) with semitrailer without being split, vehicle extension integrally passes through tractor
Detection zone can measure the contour dimension parameter of semitrailer；(3) when calculating trailer contour dimension parameter, possibility is eliminated
In the presence of the point cloud data of interference object area so that semitrailer dimensional parameters are more accurate, and improve the universality of method with
Reliability.
Detailed description of the invention
Fig. 1 is laser radar apparatus schematic view of the mounting position；
Fig. 2 is tractor and semitrailer side view schematic diagram；
In figure: 1- tractor and the common air-conditioning in semitrailer junction and water tank class chaff interferent, 2- tractor and half
The cable chaff interferent of trailer junction, 3- semi-trailer length l, 4- semi-mounted height h.
Fig. 3 is tractor and semitrailer top view illustration；
In figure: there may be interference object area left margin boundary L by 5- semi-mounted vehicle-width w, 6-1, there may be chaff interferents by 7-
Region right margin boundary L2。
Fig. 4 is tractor and semitrailer junction chaff interferent three-dimensional point cloud atlas；
Fig. 5 is that there may be the tractors of chaff interferent region point cloud data and semitrailer three-dimensional point cloud atlas for filtering.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
Referring to Fig.1~Fig. 5, a kind of head extension integral type semitrailer gabarit measurement method of parameters based on laser radar, including
Following steps:
Step 1: after vehicle enters detection zone, collecting the point cloud data that laser radar scanning obtains, and to a cloud number
According to primary filtration processing is carried out, process is as follows:
Step 1.1: obtaining point cloud data the L={ (x that left laser radar scanning of each moment obtainsi,yi) | i=0,
1 ..., k-1 } point cloud data the R={ (x that obtains with right laser radar scanningi,yi) | i=0,1 ..., k-1 } and preceding laser thunder
Point cloud data the F={ (x obtained up to scanningi,yi) | i=0,1 ..., k-1 }, k is the points in present frame point cloud data, left,
Coordinate points number is consistent in the point cloud data frame that right, preceding laser radar scanning obtains；In the present embodiment, k=274；
Step 1.2: rejecting in L, R, F and meet yi< h1&&yi> h2Coordinate points, wherein h1Indicate coordinate points Y in L, R, F
The upper threshold of axis direction coordinate value, h2Indicate the bottom threshold of coordinate points Y direction coordinate value in L, R, F；In the present embodiment
In, h1=300mm, h2=4500mm；
Step 2: calculating vehicle axis line position, and there may be chaff interferent areas according to the setting of the position of vehicle central axes
Domain, and the point cloud data in this region is filtered out, process is as follows:
Step 2.1: the point cloud data coordinate unification that left and right laser radar scanning is obtained to left laser radar coordinate system
Under, the maximum point of X axis coordinate value in point cloud data is found out, X axis coordinate value is ximax；Find out X axis coordinate value in point cloud data
The smallest, X axis coordinate value is ximin, then the X axis coordinate value x of vehicle central axesimidCalculation formula are as follows:
Step 2.2: rejecting and meet in X, YCoordinate points Δ x be setting there may be
Interfere the width value of object area；In the present embodiment, Δ x=200mm；
Step 3: the coordinate value of key point cloud data coordinates point needed for calculating measurement semitrailer vehicle commander, and calculate half
Trailer length parameter, process are as follows:
Step 3.1: calculating the real-time height value h of each frame vehiclei, hiCalculation formula are as follows:
hi=max (yi|(xi,yi)∈L,R) (2)
All the points cloud data frame, h are traversed in chronological orderfFor the real-time height of former frame vehicle, if first fit condition
hi-hf< Δ x1That frame starts waiting to meet condition hi-hf> Δ x2Data frame, if there is the data frame for meeting condition,
Tractor front end at this time and left and right laser radar scanning are calculated using the point cloud data frame of laser radar before synchronization
The distance l of plane1.Semi-trailer tail utilizes preceding laser this moment just off the synchronization of left and right laser radar scanning plane
The point cloud data frame of radar calculates tractor front end at this time and left and right laser radar scanning plane distance l2.Then partly
The calculation formula of the length l of trailer are as follows:
L=l2-l1 (3)
Step 3.2: rejecting and meet in X, YCoordinate points, Δ x be setting there may be
Interfere the width value of object area；
Step 4: finding out first fit condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after
Y axis coordinate is worth maximum coordinate points in all the points cloud data frame, and Y axis coordinate value is the value of the height h of semitrailer；It calculates
First fit condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after all the points cloud data frame in it is every
Frame ximax-ximinValue, maximum value therein is the value of semi-mounted vehicle-width w；In the present embodiment, Δ x1=1000mm, Δ x2
=300mm.
Claims (1)
1. a kind of head based on laser radar hangs integral type semitrailer gabarit measurement method of parameters, which is characterized in that the method
The following steps are included:
Step 1: after vehicle enters detection zone, collect laser radar scanning obtain point cloud data, and to point cloud data into
The processing of row primary filtration, process are as follows:
Step 1.1: obtaining point cloud data the L={ (x that left laser radar scanning of each moment obtainsi,yi) | i=0,1 ..., k-
1 } point cloud data the R={ (x obtained with right laser radar scanningi,yi) | i=0,1 ..., k-1 and preceding laser radar scanning obtain
Point cloud data the F={ (x arrivedi,yi) | i=0,1 ..., k-1 }, k is the points in present frame point cloud data, left and right, preceding laser
Coordinate points number is consistent in the point cloud data frame that radar scanning obtains；
Step 1.2: rejecting in L, R, F and meet yi< h1&&yi> h2Coordinate points, wherein h1Indicate coordinate points Y-axis side in L, R, F
To the upper threshold of coordinate value, h2Indicate the bottom threshold of coordinate points Y direction coordinate value in L, R, F；
Step 2: vehicle axis line position is calculated, and there may be interference object areas according to the setting of the position of vehicle central axes, and
The point cloud data in this region is filtered out, process is as follows:
Step 2.1: under the point cloud data coordinate unification that left and right laser radar scanning is obtained to left laser radar coordinate system, looking for
X axis coordinate is worth maximum point in point cloud data out, and X axis coordinate value is ximax；It is the smallest to find out X axis coordinate value in point cloud data
Point, X axis coordinate value are ximin, then the X axis coordinate value x of vehicle central axesimidCalculation formula are as follows:
Step 2.2: rejecting and meet in X, YCoordinate points, Δ x be setting there may be interference
The width value of object area；
Step 3: the coordinate value of key point cloud data coordinates point needed for calculating measurement semitrailer vehicle commander, and calculate semitrailer
Length parameter, process are as follows:
Step 3.1: calculating the real-time height value h of each frame vehiclei, hiCalculation formula are as follows:
hi=max (yi|(xi,yi)∈L,R) (2)
All the points cloud data frame, h are traversed in chronological orderfFor the real-time height of former frame vehicle, if first fit condition hi-hf
< Δ x1That frame starts waiting to meet condition hi-hf> Δ x2Data frame utilized if there is the data frame for meeting condition
The point cloud data frame of laser radar calculates tractor front end at this time and left and right laser radar scanning plane before synchronization
Distance l1；Semi-trailer tail utilizes preceding laser radar this moment just off the synchronization of left and right laser radar scanning plane
Point cloud data frame calculate tractor front end at this time and left and right laser radar scanning plane distance l2, then semitrailer
Length l calculation formula are as follows:
L=l2-l1 (3)
Step 3.2: rejecting and meet in X, YCoordinate points, Δ x be setting there may be interference
The width value of object area；
Step 4: finding out first fit condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after it is all
Y axis coordinate is worth maximum coordinate points in point cloud data frame, and Y axis coordinate value is the value of the height h of semitrailer；It calculates for the first time
Meet condition h-hf< Δ x1First fit condition h-h afterwardsf> Δ x2Data frame after all the points cloud data frame in every frame
ximax-ximinValue, maximum value therein is the value of semi-mounted vehicle-width w.
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Cited By (7)
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|---|---|---|---|---|
| CN111284502A (en) * | 2020-03-10 | 2020-06-16 | 仓擎智能科技(上海)有限公司 | Method and system for detecting pose of tractor group |
| CN111928795A (en) * | 2020-09-04 | 2020-11-13 | 浙江省计量科学研究院 | Tractor and trailer overall dimension parameter integrated measurement method |
| CN111942918A (en) * | 2020-08-17 | 2020-11-17 | 天地科技股份有限公司 | Method for unloading automobile in full-automatic loading station |
| CN112432647A (en) * | 2020-11-09 | 2021-03-02 | 深圳市汇川技术股份有限公司 | Positioning method, device and system of carriage and computer readable storage medium |
| CN112906128A (en) * | 2021-01-18 | 2021-06-04 | 上海交通大学 | Vehicle modeling method, equipment and system based on linear guide rail and scanner |
| CN114820986A (en) * | 2022-05-13 | 2022-07-29 | 广西微车检智能科技有限公司 | Trailer outline parameter measuring method based on laser radar |
| CN117213395A (en) * | 2023-09-16 | 2023-12-12 | 广州市西克传感器有限公司 | Semi-trailer head-hanging separation outline measurement system based on measurement grating and laser radar |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111284502A (en) * | 2020-03-10 | 2020-06-16 | 仓擎智能科技(上海)有限公司 | Method and system for detecting pose of tractor group |
| CN111284502B (en) * | 2020-03-10 | 2021-06-04 | 仓擎智能科技(上海)有限公司 | Method and system for detecting pose of tractor group |
| CN111942918A (en) * | 2020-08-17 | 2020-11-17 | 天地科技股份有限公司 | Method for unloading automobile in full-automatic loading station |
| CN111928795A (en) * | 2020-09-04 | 2020-11-13 | 浙江省计量科学研究院 | Tractor and trailer overall dimension parameter integrated measurement method |
| CN111928795B (en) * | 2020-09-04 | 2021-10-01 | 浙江省计量科学研究院 | Tractor and trailer overall dimension parameter integrated measurement method |
| CN112432647A (en) * | 2020-11-09 | 2021-03-02 | 深圳市汇川技术股份有限公司 | Positioning method, device and system of carriage and computer readable storage medium |
| CN112432647B (en) * | 2020-11-09 | 2023-04-25 | 深圳市汇川技术股份有限公司 | Carriage positioning method, device and system and computer readable storage medium |
| CN112906128A (en) * | 2021-01-18 | 2021-06-04 | 上海交通大学 | Vehicle modeling method, equipment and system based on linear guide rail and scanner |
| CN114820986A (en) * | 2022-05-13 | 2022-07-29 | 广西微车检智能科技有限公司 | Trailer outline parameter measuring method based on laser radar |
| CN114820986B (en) * | 2022-05-13 | 2024-04-09 | 广西微车检智能科技有限公司 | Laser radar-based trailer outline parameter measurement method |
| CN117213395A (en) * | 2023-09-16 | 2023-12-12 | 广州市西克传感器有限公司 | Semi-trailer head-hanging separation outline measurement system based on measurement grating and laser radar |
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