CN110509272A - A kind of vehicle checking method, system and compound crusing robot - Google Patents
A kind of vehicle checking method, system and compound crusing robot Download PDFInfo
- Publication number
- CN110509272A CN110509272A CN201910722753.6A CN201910722753A CN110509272A CN 110509272 A CN110509272 A CN 110509272A CN 201910722753 A CN201910722753 A CN 201910722753A CN 110509272 A CN110509272 A CN 110509272A
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- vehicle
- examination
- tested
- compound
- crusing robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
Abstract
This application discloses a kind of vehicle checking method, system and compound crusing robots, method includes that the trigger signal of specified examination station is reached in response to tested vehicle, contour dimension information according to the tested vehicle obtained, it checks target bearing information and checks the environmental information of station, generate the motion control instruction of compound crusing robot；Motion control instruction is sent to compound crusing robot, so that the stopping at the corresponding position of anchor point each on driving to driving path of compound crusing robot, and according to vehicle examination movement locus movement, acquire the target signature of tested vehicle；The target signature for receiving the tested vehicle that compound crusing robot is sent, the train safety information stored in each target signature and vehicle safety technical data library is compared, judges whether vehicle meets corresponding security technology standard, obtains vehicle examination result.The technical solution of the embodiment of the present application improves vehicle examination working efficiency and accuracy, saves human cost.
Description
Technical field
The present invention relates to vehicle checking technology fields, and in particular to a kind of vehicle checking method, system and compound inspection
Robot.
Background technique
Automobile safety examination, that is, it is usually said validate the car, be public safety traffic management department according to law and safety
Technical standard confirm motor vehicle whether An Quan law enforcement activities.Automobile safety inspection is the important ring of motor vehicle registration work
Section plays important function to building control of traffic and road order, prevention and reduction traffic accident.Currently, many place vehicles
Safety inspection working method is more traditional, and technical equipment falls behind, and personnel operate lack of standardization, disunity, remain in soon, hand
The stage touched, and with motor vehicles ownership rapid growth, the pressure that vehicle safety examination faces is larger, the effect checked safely
Rate and accuracy are all to be improved.
Summary of the invention
The present invention provides a kind of vehicle checking method, system and compound crusing robots, using artificial intelligence and certainly
Dynamicization technology carries out vehicle safety examination, and the probability for improving examination task performance, reducing examination working strength and error mentions
Service level is risen.
According to the one aspect of the application, a kind of vehicle checking method is provided, comprising:
The trigger signal that specified examination station is reached in response to tested vehicle, the contour dimension according to the tested vehicle obtained
Information checks the environmental information of target bearing information and the examination station, generates the motion control of compound crusing robot
Instruction；Run routing information and vehicle in the motion control instruction including the compound crusing robot check movement locus
Information；
The motion control instruction is sent to the compound crusing robot, so that the compound crusing robot is expert at
Stopping when sailing to the corresponding position of each anchor point on the driving path, and according to vehicle examination movement locus movement, acquire institute
State the target signature of tested vehicle；
Receive the target signature for the tested vehicle that the compound crusing robot is sent, will each target signature and
The train safety information stored in vehicle safety technical data library is compared, and judges whether vehicle meets corresponding safe practice
Standard obtains vehicle examination result.
According to further aspect of the application, a kind of compound crusing robot is provided, is checked for vehicle, comprising: machine
Device human body, the mechanical arm being mounted on the robot body and are mounted on the mechanical arm wireless communication module
Image capture device；
The wireless communication module and vehicle examination server are wirelessly connected, and are received the vehicle examination server and sent
Motion control instruction；Driving path and vehicle examination in the motion control instruction including the compound crusing robot is dynamic
Make track, and the motion control instruction is the vehicle examination server in response to the specified examination station of tested vehicle arrival
Trigger signal and generate；
The robot body, when position corresponding according to anchor point each on the driving path to the driving path, stop
Only, the mechanical arm is controlled according to vehicle examination movement locus movement, and described image acquisition equipment is sent to the quilt
Examine the target signature that the tested vehicle is acquired at the examination target bearing of vehicle；
The wireless communication module is also used to for the target signature of the tested vehicle being wirelessly transmitted to the vehicle examination
Server, so that the vehicle is checked server and will be stored in each target signature and the vehicle safety technical data library
Train safety information is compared, and judges whether vehicle meets corresponding security technology standard, obtains vehicle examination result.
According to another aspect of the application, provide a kind of vehicle checking system, comprising: vehicle check server and
Compound crusing robot as described in applying for other side；
The vehicle checks server, for reaching the trigger signal of specified examination station, foundation in response to tested vehicle
The contour dimension information of the tested vehicle of acquisition is checked the environmental information of target bearing information and the examination station, is generated
The motion control instruction is sent to compound crusing robot by the motion control instruction of compound crusing robot；The movement
Run routing information and vehicle in control instruction including the compound crusing robot check movement locus information；
The compound crusing robot, for driving to each anchor point pair on the driving path according to the driving path
The stopping when position answered, control mechanical arm send image capture device to the quilt according to vehicle examination movement locus movement
The target signature that the tested vehicle is acquired at the examination target bearing of vehicle is examined, the target of the tested vehicle of acquisition is special
Sign is wirelessly transmitted to the vehicle examination server；
The vehicle checks server, is also used to receive the mesh for the tested vehicle that the compound crusing robot is sent
Feature is marked, and the train safety information stored in the target signature and the vehicle safety technical data library is compared,
Judge whether vehicle meets corresponding security technology standard, obtains vehicle examination result.
Using the vehicle checking method of the embodiment of the present application, system and compound crusing robot, arrived according to tested vehicle
Trigger signal up to specified examination station generates motion control instruction, and motion control instruction is sent to compound crusing robot,
So that according to the driving path in motion control instruction to drive to each anchor point on driving path corresponding for compound crusing robot
Stop when position, and according to vehicle examination movement locus motion pick tested vehicle target signature, by target signature with it is described
The train safety information stored in vehicle safety technical data library is compared, and judges whether vehicle meets corresponding safe practice
Standard obtains vehicle examination result.Mechanical arm after preset anchor point is driven to by controlling compound crusing robot as a result,
The security feature for moving simultaneously automatic collection vehicle, compares the security information in the security feature and database of acquisition to obtain vehicle
Examination reduces the probability of human error, improves vehicle examination and efficiency and look into as a result, save the cost of labor of vehicle examination
Test result accuracy.
Detailed description of the invention
Fig. 1 is the flow diagram of the vehicle checking method of the application one embodiment；
Fig. 2 is the block diagram of the compound crusing robot of the application one embodiment；
Fig. 3 is the block diagram of the vehicle checking system of the application one embodiment.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.Obviously, described embodiments are some of the embodiments of the present invention, without
It is whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, shall fall within the protection scope of the present invention.
The embodiment of the present application checks low efficiency, the higher technical problem of human error probability for vehicle in the prior art,
A kind of vehicle checking method, system and compound crusing robot are provided, the automatization level of vehicle examination is improved, reduces examination
The working strength of member and the probability for reducing error, improve the accuracy and efficiency of vehicle examination.
It should be noted that in practical applications, the vehicle examination scheme of the embodiment of the present application can export vehicle examination
As a result.According to existing laws and regulations, final result of checking still needs to qualified viewer's audit confirmation, that is to say, that the application
The vehicle of embodiment output is checked the result is that a kind of auxiliary judgement obtains vehicle target feature as a result, being used to help viewer as early as possible
And preliminary comparison result, it improves vehicle and checks efficiency, the vehicle examination result of the embodiment of the present application output cannot replace people
Work final review.
Fig. 1 is the flow diagram of the vehicle checking method of the application one embodiment, referring to Fig. 1, the vehicle of the present embodiment
Checking method includes the following steps:
Step S101 reaches the trigger signal of specified examination station in response to tested vehicle, according to the tested vehicle obtained
Contour dimension information, check target bearing information and it is described examination station environmental information, generate compound crusing robot
Motion control instruction；Run routing information and vehicle in the motion control instruction including the compound crusing robot are looked into
Test movement locus information.
The motion control instruction is sent to the compound crusing robot by step S102, so that the compound inspection
Robot stopping at the corresponding position of anchor point each on driving to the driving path, and according to vehicle examination movement locus fortune
It is dynamic, acquire the target signature of the tested vehicle.
Step S103 receives the target signature for the tested vehicle that the compound crusing robot is sent, will be each described
The train safety information stored in target signature and vehicle safety technical data library is compared, and judges whether vehicle meets accordingly
Security technology standard, obtain vehicle examination result.
As shown in Figure 1 it is found that the vehicle checking method of the present embodiment, which is applied to vehicle, checks server, when tested vehicle arrives
Up to after specified examination station, vehicle examination server determines the driving path and vehicle examination motion profile of compound crusing robot
And generate motion control instruction, motion control instruction is sent to compound crusing robot so that compound crusing robot according to
Stopping when driving path drives to each anchor point corresponding position, according to vehicle examination motion profile motion pick tested vehicle
Target signature.Then, vehicle examination server receives the target signature that compound crusing robot is sent, with vehicle safety technology number
It is compared according to the train safety information stored in library, judges whether vehicle meets corresponding security technology standard, obtain vehicle
Examination reduces human error as a result, to save the cost of labor of examination, improves vehicle examination efficiency and examination result
Accuracy.
In one embodiment of the application, according to the contour dimension information of the tested vehicle obtained, target bearing is checked
The environmental information of information and the examination station, the motion control instruction for generating compound crusing robot include:
Vehicle obtained from tested vehicle contour dimension is scanned from laser range sensor is obtained in laser range sensor
Contour dimension information, the examination target bearing of identical with tested vehicle vehicle vehicle is obtained from vehicle safety technical data library
Information, and the environmental information for checking station is obtained from laser sensor or visual sensor, wherein the examination mesh
Mark azimuth information be stored in the vehicle safety technical data library after manually demarcating to examination vehicle for the first time, or to
The identical vehicle of tested vehicle vehicle obtains after being checked and is stored in the vehicle safety technical data library；According to the quilt
The contour dimension information and the examination station environmental information for examining vehicle are modeled, and construct two-dimensional surface map, and determine
The coordinate position of starting point and each anchor point, and according to the contour dimension information of the tested vehicle, check target bearing
Information architecture tested vehicle model determines the examination target bearing of tested vehicle, the two-dimensional surface map is based on, to described
Compound crusing robot is planned from starting point by the driving path of each anchor point and return to origin；Based on described
The vehicle examination movement locus of the compound crusing robot is planned in driving path and the examination target bearing；According to
Motion control instruction is generated according to the driving path and vehicle examination movement locus.
Since the contour dimension of tested vehicle is different, corresponding examination target bearing (including directional information, location information)
It is not quite similar, therefore, first obtains current tested vehicle contour dimension information before planning compound crusing robot driving path,
Target bearing information is checked, acquisition modes here include: that the gabarit of current tested vehicle is scanned by laser range sensor
Size (including the information such as length, width) information, or utilize the contour dimension of 3 D visual modeling technique acquisition vehicle, examination
Target bearing information, or, the vehicle for the current tested vehicle being manually entered is received, vehicle safety skill is transferred by the vehicle
The contour dimension for the vehicle demarcated in advance in art database checks target bearing information, also alternatively, if the vehicle of tested vehicle
Type is tested for the first time, then receiving the contour dimension for the current tested vehicle manually demarcated, checking target bearing information and saving
Into vehicle safety technical data library.
The present embodiment checks target bearing information acquiring pattern with no restrictions to tested vehicle contour dimension.It obtains current
The contour dimension information of tested vehicle, examination target bearing information constructs tested vehicle model later, to compound crusing robot
Vehicle examination movement locus planned.
It should be noted that the sensors such as laser range sensor, laser sensor or visual sensor here can be with
It is realized using the prior art.In addition, examination station refers to that one piece on examination channel can accommodate a tested vehicle progress one
The region of a or multiple project examinations.In general, the position of examination station is fixed, so the present embodiment is looked into progress vehicle
By laser sensor or visual sensor before testing, the environmental information of specified examination station and preservation are acquired.
It is related with vehicle overall dimension to check target bearing, it is identical with the examination target bearing of money vehicle, therefore, this implementation
It is based on this information in example, the examination target bearing information of a large amount of vehicles, In are pre-saved in vehicle safety technical data library
In vehicle ping procedure, according to the vehicle of current tested vehicle, corresponding examination target bearing information is found, by what is found
Examination target bearing of the target bearing information as current tested vehicle is checked, checks target side without field calibration
Position improves vehicle examination efficiency, saves the time.
It receives tested vehicle and reaches specified examination station and (what needs to be explained here is that in order to realize automation examination, be detected
Vehicle needs to keep engine compartment cover opening state, car door opening state after reaching specified examination station) trigger signal after, vehicle
Examination server obtains the contour dimension information of current tested vehicle, checks target bearing information and specified examination station
Environmental information；It is modeled according to vehicle overall dimension and the environmental information for checking station, constructs two-dimensional surface map, and determine
The coordinate position of point and each anchor point；Based on two-dimensional surface map, to compound crusing robot from starting point by each positioning
The driving path of point and return to origin is planned；The examination target side of driving path and current tested vehicle based on planning
Position, the vehicle for generating the manipulator motion for controlling compound crusing robot check movement locus.
It should be noted that the corresponding physical location of quantity and anchor point of anchor point has with preset examination project
It closes, examination project here is the project checked according to associated automotive vehicle examination standard requirements, checks project such as: vehicle
Identification number (Vehicle Identification Number, abbreviation VIN), motor number, tire specification, safety belt, vehicle
Appearance etc..It is different that motor vehicle checks standard requirements, corresponding to check that project is also different, so in the present embodiment anchor point number
Amount, vehicle examination motion profile are also different.
For example, standard requirements are checked according to the corresponding motor vehicle of station wagon, at least needs to check three feature letters
Breath, for example, vehicle identification number, engine model and safety belt.So correspondingly, anchor point quantity can be in the present embodiment
One, two or three, when anchor point quantity is one, in the corresponding position of the anchor point, compound crusing robot control
Manipulator motion (can collect the position A of vehicle identification number, can collect engine model to each examination target bearing
Position B, and the position C of safety belt can be collected) three characteristic informations are acquired by image capture device together.When fixed
When bit number of points are two, compound crusing robot controls manipulator motion to each examination in the corresponding position of two anchor points
Target bearing acquires aforementioned three characteristic informations by image capture device.When anchor point quantity is three, compound survey monitor
Device people controls manipulator motion in three anchor points respectively and acquires aforementioned three by image capture device to each examination target bearing
Item characteristic information.
It follows that examination target bearing is the position that compound crusing robot can collect vehicle target feature.It is fixed
The quantity and examination target bearing, examination project in site are not one-to-one relationship, this is because the compound inspection of the present embodiment
Robot not only includes that castor can move on the ground, but also including the mechanical arm with six degree of freedom, by mechanical arm translation,
Rotary motion may also acquire the target signature information of at least one examination project demand in an anchor point, so, in order to mention
Height examination efficiency, under the premise of guaranteeing to check quality, setting anchor point that can be few as far as possible.
After constructing two-dimensional surface map, vehicle examination server combines the contour dimension of current tested vehicle and looks into
Station information is tested, determines the coordinate position of starting point and each anchor point, planning is from starting point after each anchor point
The driving path of return to origin simultaneously calculates vehicle examination movement locus, and vehicle checks the movement road of movement locus instruction mechanical arm
Diameter.Compound crusing robot is acquired according to the characteristic information that motion control instruction completes specified examination project, due to checking project
Relate generally to the front, rear, left and right four direction of tested vehicle, so, the driving path of robot is similar to around current tested vehicle
It takes a round, compound crusing robot drives to the corresponding position pause of anchor point on driving path, pass through control from starting point
Mechanical arm processed completes current anchor point pair according to vehicle examination movement locus movement, the image capture device acquisition of mechanical arm front end
After the target signature information answered, continue traveling until the acquisition for completing target complete characteristic information returns to starting point.
The target that the tested vehicle that the compound crusing robot is sent is received in the present embodiment, in abovementioned steps is special
Sign includes: the characteristic image for receiving the tested vehicle that the compound crusing robot is sent, and is mentioned from the characteristic image
Take the target signature of the tested vehicle；The target signature is checked standard requirements according to preset vehicle and is determined, including vehicle is known
Other code name, engine model, tire specification, vehicle appearance；It is described by each target signature and vehicle safety technical data library
In corresponding train safety information be compared, if obtaining vehicle examination result includes: that the target signature all meets accordingly
Security technology standard, then obtain vehicle examination it is qualified as a result, if there is any one target signature is not met accordingly
Security technology standard then obtains vehicle and checks underproof result.
That is, image capture device is equipped on the mechanical arm of compound crusing robot, in compound crusing robot
After driving to the corresponding position of anchor point, mechanical arm send image capture device to mesh according to vehicle examination motion profile movement
One or more features image is sent to vehicle by the characteristic image of mark examination orientation shooting tested vehicle, compound crusing robot
Server is checked, vehicle examination server handles each image, therefrom extracts target signature, goal feature is such as
It is vehicle identification number, motor number, tire specification etc..Then by target signature respectively with it is pre- in vehicle safety technical data library
The train safety information (vehicle identification number, vehicle motor model and vehicle tyre when such as vehicle release) first saved carries out
It compares, if this three group information is all consistent, all meets corresponding security technology standard, then can determine that current tested vehicle is closed
Lattice, the qualified result of output vehicle examination.
The automatization level for improving vehicle examination process as a result, saves human cost, alleviates the work of viewer
Intensity and the probability artificially to malfunction improve vehicle examination service satisfaction.
In addition, due to the light in the quality of image capture device, environment can direct shadow acquisition image quality, and this Shen
Vehicle examination please is by the way that realization is compared from extracting target from images feature with standard, so picture quality is extremely closed again
It is important.To further increase the accuracy that vehicle is checked, the described of the compound crusing robot transmission is received in the present embodiment
The characteristic image of tested vehicle includes: the fisrt feature image for receiving the compound crusing robot and sending, wherein described first
Characteristic image is that is filtered out meet the characteristic image of picture quality condition.For example, compound crusing robot can construct in advance
Ecotopia simultaneously controls image capture device shooting and is saved in compound survey monitor as template with the characteristic image of the vehicle of vehicle
It in device people, after subsequent compound crusing robot takes characteristic image, is compared with quality screening conditions, quality sieve here
Selecting condition such as is to be greater than preset threshold with the similarity of template, if current characteristic image meets quality screening conditions,
It is sent to vehicle examination server using current signature image as fisrt feature image, in this way, keeping away by screening to image
Exempt from for second-rate image to be sent to vehicle examination server, has also avoided target's feature-extraction failure problem, Jin Erti
The high accuracy of vehicle examination.
In one embodiment of the application, after obtaining vehicle examination result, this method further include: will be described tested
The target signature of vehicle, the motion control instruction and vehicle examination result are saved to vehicle safety technical data library.
It is used when conveniently being checked with the vehicle of money vehicle or same vehicle next time, also facilitates and checked.
Fig. 2 is the block diagram of the compound crusing robot of the application one embodiment, and referring to fig. 2, the compound of the present embodiment is patrolled
It examines robot 200 to check for vehicle, comprising: robot body 201, the mechanical arm being mounted on the robot body 201
202, wireless communication module 203, and the image capture device 204 being mounted on the mechanical arm 202；
The wireless communication module 203 is wirelessly connected with vehicle examination server, and receives the vehicle examination server
The motion control instruction of transmission；Driving path and vehicle in the motion control instruction including the compound crusing robot are looked into
Movement locus is tested, and the motion control instruction is the vehicle examination server in response to the specified examination work of tested vehicle arrival
Position trigger signal and generate；
The robot body 201, according to the corresponding position of anchor point each on the driving path to the driving path
When stop, controlling the mechanical arm 202 according to the vehicle examination movement locus movement, by image capture device 204 send to
The target signature of the tested vehicle is acquired at the examination target bearing of the tested vehicle；
The wireless communication module 203 is also used to the target signature of the tested vehicle being wirelessly transmitted to the vehicle and look into
Server is tested, so that vehicle examination server will store in each target signature and the vehicle safety technical data library
Train safety information be compared, judge whether vehicle meets corresponding security technology standard, obtain vehicle examination result.
In one embodiment of the application, the front end predetermined position installation described image acquisition of the mechanical arm 202
Equipment 204, described image acquires equipment 204, for moving to the examination mesh of the tested vehicle under the drive of mechanical arm 202
It marks at orientation, acquires the target signature of the tested vehicle；The examination target bearing includes that can collect vehicle identification generation
Number position, the position of engine model can be collected, the position of tire specification can be collected, can be collected outside vehicle
The position of sight.
It should be noted that the mechanical arm of the present embodiment can use mechanical arm configuration common in the art, it is mechanical
The front end predetermined position far from compound inspection machine human body of one end of arm and compound inspection machine human body, mechanical arm are pacified
Image capture device is filled, mechanical arm 6DOF in space moves, and drives image capture device movement, and then complete vehicle mesh
Mark the Image Acquisition work at position.By taking the information collection of crucial vehicle identification number as an example, mechanical arm is checked dynamic according to vehicle
Make track movement, protrude into the copilot room of tested vehicle, image capture device is sent to beating for vehicle identification number and carves position simultaneously
It takes pictures, obtains vehicle identification number characteristic information.
Fig. 3 is the block diagram of the vehicle checking system of the application one embodiment, and referring to Fig. 3, the vehicle of the present embodiment is checked
System 300 includes: that vehicle checks server 302 and the compound crusing robot 301 as described in the application previous embodiment,
The vehicle checks server 302, for reaching the trigger signal of specified examination station in response to tested vehicle, according to
According to the contour dimension information of the tested vehicle of acquisition, the environmental information of target bearing information and the examination station is checked, it is raw
At the motion control instruction of compound crusing robot, the motion control instruction is sent to compound crusing robot 301；It is described
Run routing information and vehicle in motion control instruction including the compound crusing robot 301 check movement locus information；
The compound crusing robot 301 drives to each anchor point pair on the driving path according to the driving path
The stopping when position answered, control mechanical arm send image capture device to the quilt according to vehicle examination movement locus movement
At the examination target bearing for examining vehicle, the target signature of the tested vehicle is acquired, and by the mesh of the tested vehicle of acquisition
Mark feature is wirelessly transmitted to the vehicle examination server 302；
The vehicle checks server 302, is also used to receive the tested vehicle that the compound crusing robot 301 is sent
Target signature, and the train safety information stored in the target signature and the vehicle safety technical data library is carried out
It compares, judges whether vehicle meets corresponding security technology standard, obtain vehicle examination result.
In one embodiment of the application, the vehicle checks server 302, is specifically used for from laser range sensor
The middle contour dimension information for obtaining vehicle obtained from laser range sensor scanning tested vehicle contour dimension, from vehicle safety
Technical data library obtains the examination target bearing information of identical with tested vehicle vehicle vehicle, and from laser sensor or view
Feel the environmental information that the examination station is obtained in sensor, wherein examination target bearing information is manually to looking into for the first time
The type of validating the car is stored in the vehicle safety technical data library after being demarcated, or to vehicle identical with tested vehicle vehicle
It is obtained after being checked and is stored in the vehicle safety technical data library；Contour dimension information and institute according to tested vehicle
The environmental information for stating examination station is modeled, and constructs two-dimensional surface map, and determine the coordinate of starting point and each anchor point
Position, and according to the tested vehicle contour dimension information and the examination target bearing information architecture tested vehicle mould
Type determines the examination target bearing of tested vehicle；Based on the two-dimensional surface map, to the compound crusing robot from
Point sets out to be planned by the driving path of each anchor point and return to origin；Based on the driving path and described tested
The vehicle examination movement locus of the compound crusing robot is planned in the examination target bearing of vehicle；According to the row
It sails path and vehicle examination movement locus generates motion control instruction.
In one embodiment of the application, the vehicle checks server 302, is specifically used for receiving the compound inspection
The characteristic image for the tested vehicle that robot is sent, the target that the tested vehicle is extracted from the characteristic image are special
Sign, the target signature is checked standard requirements according to preset vehicle and is determined, including Vehicle Identification Number, engine model, tire
Specification, vehicle appearance；If the target signature all meets corresponding security technology standard, the qualified knot of vehicle examination is obtained
Fruit；If there is any one target signature does not meet corresponding security technology standard, then obtains vehicle and check underproof knot
Fruit.
In one embodiment of the application, the vehicle checks server 302, is specifically used for receiving the compound inspection
Robot 301 send fisrt feature image, wherein the fisrt feature image be filter out meet picture quality condition
Characteristic image.
In one embodiment of the application, the vehicle checks server 302, specifically for obtaining vehicle examination knot
After fruit, the target signature of the tested vehicle, the motion control instruction and the vehicle examination result are saved to vehicle
Safe practice database.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Object be interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein can be with the sequence in addition to herein
Implement.
In conclusion the vehicle checking technology scheme of the embodiment of the present application, realizes vehicle safety feature automatic collection, intelligence
It can analyse and compare, determine whether vehicle safety performance reaches standard requirements, improve examination working efficiency, reduce examination employee
The probability for making intensity and error, improves service level.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into sometimes in single embodiment or figure.Just as the following claims reflect, inventive aspect is few
In all features of single embodiment disclosed above.Therefore, it then follows claims of specific embodiment are thus clearly
It is incorporated to the specific embodiment, the claims themselves are regarded as separate embodiments of the invention wherein each.
The above description is merely a specific embodiment, under above-mentioned introduction of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention are subject to the protection scope in claims.
Claims (10)
1. a kind of vehicle checking method characterized by comprising
The trigger signal that specified examination station is reached in response to tested vehicle, the contour dimension letter according to the tested vehicle obtained
Breath, checks the environmental information of target bearing information and the examination station, and the motion control for generating compound crusing robot refers to
It enables；Run routing information and vehicle examination movement locus letter in the motion control instruction including the compound crusing robot
Breath；
The motion control instruction is sent to the compound crusing robot, so that the compound crusing robot is driving to
Stop when the corresponding position of each anchor point on the driving path, and according to vehicle examination movement locus movement, acquires the quilt
Examine the target signature of vehicle；
The target signature for receiving the tested vehicle that the compound crusing robot is sent, by each target signature and vehicle
The train safety information stored in safe practice database is compared, and judges whether vehicle meets corresponding safe practice mark
Standard obtains vehicle examination result.
2. the method according to claim 1, wherein the contour dimension letter according to the tested vehicle obtained
Breath, checks the environmental information of target bearing information and the examination station, and the motion control for generating compound crusing robot refers to
Order includes:
The outer of vehicle obtained from tested vehicle contour dimension is scanned from laser range sensor is obtained in laser range sensor
Wide dimension information is believed from the examination target bearing that vehicle safety technical data library obtains vehicle identical with tested vehicle vehicle
Breath, and the environmental information for checking station is obtained from laser sensor or visual sensor, wherein the examination target
Azimuth information is to be stored in the vehicle safety technical data library after manually demarcating to examination vehicle for the first time, or to described
The identical vehicle of tested vehicle vehicle obtains after being checked and is stored in the vehicle safety technical data library；
It is modeled according to the contour dimension information of the tested vehicle and the examination station environmental information, it is flat to construct two dimension
Face map, and determine the coordinate position of starting point and each anchor point, and according to the tested vehicle contour dimension information, look into
Target bearing information architecture tested vehicle model is tested, determines the examination target bearing of tested vehicle；
Based on the two-dimensional surface map, the compound crusing robot by each anchor point and is returned from starting point
The driving path of starting point is planned；
Examination target bearing based on the driving path and the tested vehicle, looks into the vehicle of the compound crusing robot
Movement locus is tested to be planned；
Motion control instruction is generated according to the driving path and vehicle examination movement locus.
3. the method according to claim 1, wherein described receive the described of the compound crusing robot transmission
The target signature of tested vehicle includes:
The characteristic image for receiving the tested vehicle that the compound crusing robot is sent, extracts institute from the characteristic image
State the target signature of tested vehicle；The target signature is checked standard requirements according to preset vehicle and is determined, including vehicle identification generation
Number, engine model, tire specification, vehicle appearance；
It is described that the train safety information stored in each target signature and vehicle safety technical data library is compared, judgement
Whether vehicle meets corresponding security technology standard, obtains vehicle examination result and includes:
If the target signature all meets corresponding security technology standard, the qualified result of vehicle examination is obtained；
If there is any one target signature does not meet corresponding security technology standard, then obtains vehicle and check underproof knot
Fruit.
4. according to the method described in claim 3, it is characterized in that, described receive the described of the compound crusing robot transmission
The characteristic image of tested vehicle includes:
Receive the fisrt feature image that the compound crusing robot is sent, wherein the fisrt feature image filters out
Meet the characteristic image of picture quality condition.
5. method according to any of claims 1-4, which is characterized in that, should after obtaining vehicle examination result
Method further include:
The target signature of the tested vehicle, the motion control instruction and the vehicle examination result are saved to vehicle and pacified
Full technical data library.
6. a kind of compound crusing robot, which is characterized in that checked for vehicle, comprising: robot body is mounted on the machine
Mechanical arm on device human body, wireless communication module and the image capture device being mounted on the mechanical arm；
The wireless communication module and vehicle examination server are wirelessly connected, and receive the fortune that the vehicle examination server is sent
Dynamic control instruction；Driving path and vehicle examination in the motion control instruction including the compound crusing robot act rail
Mark, and the motion control instruction is the triggering that the vehicle examination server reaches specified examination station in response to tested vehicle
Signal and generate；
The robot body, when position corresponding according to anchor point each on the driving path to the driving path, stop,
The mechanical arm is controlled according to vehicle examination movement locus movement, described image acquisition equipment is sent to the tested vehicle
Examination target bearing at acquire the target signature of the tested vehicle；
The wireless communication module is also used to for the target signature of the tested vehicle being wirelessly transmitted to the vehicle examination service
Device, so that the vehicle checks the vehicle that server will store in each target signature and the vehicle safety technical data library
Security information is compared, and judges whether vehicle meets corresponding security technology standard, obtains vehicle examination result.
7. compound crusing robot according to claim 6, which is characterized in that the front end predetermined position of the mechanical arm
Described image is installed and acquires equipment,
Described image acquires equipment, for being moved under the drive of mechanical arm at the examination target bearing of the tested vehicle,
Acquire the target signature of the tested vehicle；
The examination target bearing includes the position that can collect Vehicle Identification Number, the position that can collect engine model
It sets, the position of tire specification can be collected, the position of vehicle appearance can be collected.
8. a kind of vehicle checking system characterized by comprising vehicle checks server and as claimed in claims 6 or 7
Compound crusing robot；
The vehicle checks server, and for reaching the trigger signal of specified examination station in response to tested vehicle, foundation is obtained
Tested vehicle contour dimension information, check target bearing information and it is described examination station environmental information, generate it is compound
The motion control instruction is sent to compound crusing robot by the motion control instruction of crusing robot；The motion control
Run routing information and vehicle in instruction including the compound crusing robot check movement locus information；
The compound crusing robot, it is corresponding for driving to each anchor point on the driving path according to the driving path
Stop when position, control mechanical arm send image capture device to the tested vehicle according to vehicle examination movement locus movement
Examination target bearing at, the target signature of the tested vehicle is acquired, by the target signature of the tested vehicle of acquisition
It is wirelessly transmitted to the vehicle examination server；
The vehicle checks server, and the target for being also used to receive the tested vehicle that the compound crusing robot is sent is special
Sign, and the train safety information stored in the target signature and the vehicle safety technical data library is compared, judge
Whether vehicle meets corresponding security technology standard, obtains vehicle examination result.
9. vehicle checking system as claimed in claim 8, which is characterized in that
The vehicle checks server, is specifically used for obtaining the tested vehicle of laser range sensor scanning from laser range sensor
The contour dimension information of vehicle obtained from contour dimension, obtains and tested vehicle vehicle phase from vehicle safety technical data library
The examination target bearing information of same vehicle, and the ring for checking station is obtained from laser sensor or visual sensor
Border information, wherein examination target bearing information is to be stored in the vehicle after manually demarcating examination vehicle for the first time to pacify
Full technical data library, or obtained after checking vehicle identical with tested vehicle vehicle and be stored in the vehicle safety
Technical data library；It is modeled according to the contour dimension information of tested vehicle and the environmental information of the examination station, structure
Two-dimensional surface map is built, and determines the coordinate position of starting point and each anchor point, and the gabarit according to the tested vehicle
Dimension information checks target bearing information architecture tested vehicle model, determines the examination target bearing of tested vehicle；Based on institute
Two-dimensional surface map is stated, to the compound crusing robot from starting point by the traveling of each anchor point and return to origin
It is planned in path；Examination target bearing based on the driving path and the tested vehicle, to the compound inspection machine
The vehicle examination movement locus of people is planned；Movement control is generated according to the driving path and vehicle examination movement locus
System instruction.
10. vehicle checking system as claimed in claim 8, which is characterized in that
The vehicle checks server, specifically for receiving the feature for the tested vehicle that the compound crusing robot is sent
Image, extracts the target signature of the tested vehicle from the characteristic image, and the target signature is checked according to preset vehicle
Standard requirements determine, including Vehicle Identification Number, engine model, tire specification, vehicle appearance；By each target signature with
The train safety information stored in the vehicle safety technical data library is compared, and judges whether vehicle meets corresponding safety
Technical standard obtains the qualified result of vehicle examination if the target signature all meets corresponding security technology standard；Such as
Fruit has any one target signature not meet corresponding security technology standard, then obtains vehicle and check underproof result.
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