CN112630791A - Height limit measuring method for special vehicle - Google Patents
Height limit measuring method for special vehicle Download PDFInfo
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- CN112630791A CN112630791A CN202011529969.XA CN202011529969A CN112630791A CN 112630791 A CN112630791 A CN 112630791A CN 202011529969 A CN202011529969 A CN 202011529969A CN 112630791 A CN112630791 A CN 112630791A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000007405 data analysis Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
Abstract
The invention provides a height limit measuring method for a special vehicle, which comprises the following steps: step 1, acquiring single-point laser radar measurement data arranged in front of vehicle-mounted equipment on the top of a vehicle body; step 2, analyzing and processing the acquired measurement data to determine the minimum height value of the roof of the obstacle; and 3, comparing the minimum height value of the roof of the obstacle with the height of the vehicle-mounted equipment, and judging whether the vehicle can normally pass through the obstacle. According to the height limit measuring method for the special vehicle, the height limit measurement is carried out by using the single-point ranging laser radar ranging, the maximum height limit of the running road of the vehicle is dynamically measured, and the running safety and normal running of the special vehicle are ensured.
Description
Technical Field
The invention relates to the technical field of height limit measurement, in particular to a height limit measurement method for a special vehicle.
Background
Due to the working requirement, partial equipment (a cloud platform, an antenna and the like) is usually installed on the top of a special vehicle, so that the overall height of the vehicle is ultrahigh, and when the vehicle runs through an irregular road (a bridge, a culvert and the like) with partial height limit (height limit data is not marked), the vehicle is very easy to cut and rub and collide, so that the damage of the vehicle-mounted equipment is caused, and the application of the vehicle function is further influenced.
In the existing method, a multiline laser radar is used for carrying out high-frequency scanning, measuring and imaging on the front of a vehicle, and a high-precision digital map is combined to carry out analysis and measurement on an image to obtain the height of each object in front of the scanned and shot image, so that analysis and judgment are completed.
The method for scanning and measuring the height and the width by using the laser multi-line radar has the advantages of more accurate result and good timeliness, but the laser multi-line radar has high manufacturing cost and high energy consumption, and meanwhile, the method must be matched with a high-precision digital map for use, the system is more complex, and the requirement on the data processing capacity of a background is high.
Disclosure of Invention
The invention aims to provide a height limit measuring method for a special vehicle, which is used for dynamically measuring the maximum height limit of a running road of the vehicle, so as to ensure the running safety and normal running of the special vehicle.
The invention provides a height limit measuring method for a special vehicle, which comprises the following steps:
step 1, acquiring single-point laser radar measurement data arranged in front of vehicle-mounted equipment on the top of a vehicle body;
step 2, analyzing and processing the acquired measurement data to determine a minimum height value of the roof of the obstacle, wherein a calculation formula is as follows:
H2＝L2·sinθ；
wherein H2-minimum height of the obstacle from the roof;
L2-single point lidar distance to the obstacle;
theta is an included angle between the laser measuring line and the plane of the car roof;
and 3, comparing the minimum height value of the roof of the obstacle with the height of the vehicle-mounted equipment, and judging whether the vehicle can normally pass through the obstacle.
Furthermore, the single-point laser radar is evenly distributed with n groups along the front side of the cockpit at the top of the vehicle body, each group of two transmitters has different elevation angles, wherein T1Group elevation angle is theta1，T2Group elevation angle is theta2，TnGroup elevation angle is thetanThe n groups of laser radars respectively measure in the vehicle entering process, the minimum height limit value of the obstacle is obtained after data analysis and processing, the average value of the results of the n groups of data measurement and calculation is calculated, the approximate accurate value of the height limit of the obstacle is obtained, and the calculation formula is as follows:
further, the method further comprises:
considering the problems of bumping and equipment shaking of a vehicle in the advancing process, setting the difference value between the minimum height value of the distance between a barrier and a roof and the maximum height value of the distance between the top end of the vehicle-mounted equipment and a roof plane as an adjusting range when setting a threshold value, wherein the difference expression is as follows:
wherein H2-minimum height of the obstacle from the roof;
h is the maximum height value from the top end of the vehicle-mounted equipment to the plane of the roof;
and delta H is the difference between the minimum height value of the barrier from the roof and the maximum height value of the top end of the vehicle-mounted equipment from the plane of the roof.
Compared with the prior art, the invention has the beneficial effects that:
1) the method has the advantages that the height limit measurement is carried out by using the single-point ranging laser radar, compared with the method adopting the multi-line laser radar scanning imaging (matching) measurement, the technology is simple and effective, and the technical cost is reduced (the price of the single-point ranging laser radar is far less than that of the multi-line laser radar).
2) The requirement on the data analysis processing capacity of the system is not high, the system can not depend on the support of an external system, the overall complexity of the system is low, and the reliability and the practicability are high.
3) The system is relatively simple, the expansibility is good, and the quantity and the positions of the sensors can be flexibly set by combining with the measurement precision requirement.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the working scenario of the present invention;
FIG. 3 is a schematic diagram of the working principle of the present invention;
fig. 4 is a schematic diagram of an apparatus arrangement according to an embodiment of the present invention.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
The embodiment provides a height limit measuring method for a special vehicle, which comprises the following steps:
step 1, acquiring single-point laser radar measurement data arranged in front of vehicle-mounted equipment on the top of a vehicle body;
step 2, analyzing and processing the acquired measurement data to determine the minimum height value of the roof of the obstacle;
and 3, comparing the minimum height value of the roof of the obstacle with the height of the vehicle-mounted equipment, and judging whether the vehicle can normally pass through the obstacle.
According to the height limit measuring method for the special vehicle, the height limit measurement is carried out by using the single-point ranging laser radar ranging, the maximum height limit of the running road of the vehicle is dynamically measured, and the running safety and normal running of the special vehicle are ensured.
The present invention is described in further detail below.
The system consists of a single-point laser ranging radar and a vehicle-mounted control terminal, wherein the laser radar is used for ranging, and the vehicle-mounted control terminal is used for comparing and processing data; the system working process and working scene are schematically shown in fig. 1 and 2, a driver turns on a power switch after finding an obstacle (a culvert, a bridge, etc.) in front of a road at a distance (more than or equal to 300m away from the obstacle), the system is started, the single-point ranging laser radar emits laser beams at a preset fixed angle (theta), and when the laser radar emits light reflected by the obstacle and received by the receiver, the receiver can measure the distance between two points according to the time difference between the emitted light and the reflected light (the single-point ranging radar can approximately regard the emitted light as a linear light source, and the divergence of the linear light source can be ignored);
as shown in fig. 3, when the vehicle travels to position 1, the light emitted by the laser radar irradiates on point a of the obstacle, and the reflected light can be just received by the receiver of the laser radar, so that the system starts distance measurement and performs data processing by taking the reflected light as a critical point, and the level difference between point a and the laser radar (the height of the vehicle roof) can be obtained; when the vehicle moves to the position 2, the light emitted by the laser radar irradiates the point B (the lower edge-the lowest point) of the obstacle, and the reflected light is received by the receiver of the laser radar to complete dataProcessing to obtain the horizontal height difference H between the B point and the laser radar (vehicle roof height)2(ii) a When the vehicle is far away from the obstacle, the laser radar cannot form a transmitting-receiving measuring loop and cannot measure; when the vehicle enters the action range of the laser radar (a transmitting-receiving measuring loop can be formed), the system records and stores the distance between the vehicle and the obstacle measured by the laser radar in real time. And in the process that the vehicle runs from the position 1 to the position 2, the single-point ranging laser radar carries out uninterrupted measurement, the minimum value is determined through data processing and analysis, and the elevation of the point B can be known to be the minimum value through analysis.
H2＝L2·sinθ；
Wherein H2-minimum height of the obstacle from the roof;
L2-laser rangefinder distance to obstacle;
theta is an included angle between the laser measuring line and the plane of the car roof;
in order to ensure the accuracy of measurement, n groups of single-point range radars can be arranged, each group of two transmitters has different elevation angles (the included angle between the transmitted light and the plane of the roof). The arrangement of the equipment is as shown in FIG. 4, 2n groups of n single-point laser ranging radars are uniformly arranged on the top of the vehicle body along the front side of the cockpit, wherein T1Group (T)11、T12) Elevation angle theta1，T2Group (T)21、T22) Elevation angle theta2，TnGroup (T)n1、Tn2) Elevation angle thetanN groups of laser radars are respectively measured during the vehicle entering process, the minimum height limit value of the obstacle is obtained through settlement after the rear-end data processing and analysis, the average value of the results of the n groups of data measurement and calculation is obtained, and the approximate accurate value of the height limit of the obstacle can be obtained through solution
Therefore, an approximate accurate value of the height limit of the barrier can be obtained, and the approximate accurate value is compared with the height h of the vehicle-mounted equipment, so that whether the vehicle-mounted equipment invades the limit (collides or scratches with the barrier) when the vehicle passes through can be judged; considering the problems of vehicle bumping and equipment shaking in the process of traveling, the threshold value can be set in the background program, and the proper adjustment range can be set, and the difference expression of the two is
ΔH＝H2-h＝L2sinθ-h；
Wherein H2-minimum height of the obstacle from the roof;
h is the maximum height value from the top end of the vehicle-mounted equipment to the plane of the roof;
Δ H, which is the difference between the minimum height of the barrier from the roof and the maximum height of the top of the vehicle-mounted equipment from the plane of the roof, is usually (10, 20) cm in order to ensure safe traffic; then
The measured data is analyzed and processed by the system, whether the vehicle can normally pass through the obstacle is further judged, and then the driver is reminded to continue to move forwards or stop according to the judgment result.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (3)
1. A height limit measuring method for a special vehicle is characterized by comprising the following steps:
step 1, acquiring single-point laser radar measurement data arranged in front of vehicle-mounted equipment on the top of a vehicle body;
step 2, analyzing and processing the acquired measurement data to determine a minimum height value of the roof of the obstacle, wherein a calculation formula is as follows:
H2＝L2·sinθ；
wherein H2Vehicle with obstacle distanceA top minimum height value;
L2-single point lidar distance to the obstacle;
theta is an included angle between the laser measuring line and the plane of the car roof;
and 3, comparing the minimum height value of the roof of the obstacle with the height of the vehicle-mounted equipment, and judging whether the vehicle can normally pass through the obstacle.
2. The special vehicle height limit measuring method according to claim 1, wherein the single-point lidar is evenly arranged with n groups at the top of the vehicle body along the front side of the cockpit, each group of two transmitters has different elevation angles, wherein T is1Group elevation angle is theta1，T2Group elevation angle is theta2，TnGroup elevation angle is thetanThe n groups of laser radars respectively measure in the vehicle entering process, the minimum height limit value of the obstacle is obtained after data analysis and processing, the average value of the results of the n groups of data measurement and calculation is calculated, the approximate accurate value of the height limit of the obstacle is obtained, and the calculation formula is as follows:
3. the special vehicle height limit measuring method according to claim 2, further comprising:
considering the problems of bumping and equipment shaking of a vehicle in the advancing process, setting the difference value between the minimum height value of the distance between a barrier and a roof and the maximum height value of the distance between the top end of the vehicle-mounted equipment and a roof plane as an adjusting range when setting a threshold value, wherein the difference expression is as follows:
wherein H2-minimum height of the obstacle from the roof;
h is the maximum height value from the top end of the vehicle-mounted equipment to the plane of the roof;
and delta H is the difference between the minimum height value of the barrier from the roof and the maximum height value of the top end of the vehicle-mounted equipment from the plane of the roof.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011529969.XA CN112630791A (en) | 2020-12-22 | 2020-12-22 | Height limit measuring method for special vehicle |
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| CN202011529969.XA CN112630791A (en) | 2020-12-22 | 2020-12-22 | Height limit measuring method for special vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115440081A (en) * | 2021-06-04 | 2022-12-06 | 上海擎感智能科技有限公司 | Height-limiting road anti-collision method, computer-readable storage medium and electronic equipment |
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2020
- 2020-12-22 CN CN202011529969.XA patent/CN112630791A/en active Pending
Patent Citations (7)
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| CN101996493A (en) * | 2010-11-25 | 2011-03-30 | 武汉理工大学 | Trafficability characteristic detection system of vehicle in transit |
| CN108254748A (en) * | 2018-01-15 | 2018-07-06 | 武汉理工大学 | Inland navigation craft superelevation alarm system and method based on laser ranging and radar image |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115440081A (en) * | 2021-06-04 | 2022-12-06 | 上海擎感智能科技有限公司 | Height-limiting road anti-collision method, computer-readable storage medium and electronic equipment |
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