CN116263320A - Vehicle measurement method, device, system and storage medium - Google Patents
Vehicle measurement method, device, system and storage medium Download PDFInfo
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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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
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The application provides a vehicle measurement method, device, system and storage medium, which are suitable for the technical field of article shipment and are used for solving the problem of how to improve the intelligent degree of a loading system. The method comprises the following steps: acquiring three-dimensional point cloud data of a vehicle to be tested through a three-dimensional scanning cradle head; detecting all planes in the three-dimensional point cloud data; determining a bottom plate plane and a breast board plane from all planes according to the normal vector of each plane in all planes and the normal vector of a preset plane; and determining target parameters according to the bottom plate plane and the breast plate plane.
Description
Technical Field
The present disclosure relates to the field of shipment technology, and in particular, to a vehicle measurement method, device, system, and storage medium.
Background
In a conventional loading system, loading may be guided by acquiring basic information of the vehicle.
In general, conventional loading systems employ two approaches:
one is to install two scanning devices on the same side of the loader, which will follow the movement of the loader. The scanning device acquires scanning information of the cross section of the vehicle in real time in the moving process of the loader. However, this method is limited to two-dimensional scanning, and cannot measure information such as the length of the vehicle.
The other is to collect a plurality of vehicle images through a plurality of cameras, register the plurality of vehicle images to form a depth image, and extract the size information of the vehicle based on the depth image. However, due to the influence of the shooting visual angles of the cameras, each camera has a blind area, so that partial information of the vehicle is lost; the more cameras are used, the more complex the image registration is, and the imaging error is easy to cause; in addition, the camera is easily affected by illumination and dust, and the requirements are difficult to meet in an industrial environment.
Therefore, how to improve the intelligent degree of the loading system is a technical problem to be solved.
Disclosure of Invention
The application provides a vehicle measurement method, device, system and storage medium, which solve the problem of how to improve the intelligent degree of a loading system.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, a vehicle measurement method is provided. The method comprises the following steps: acquiring three-dimensional point cloud data of a vehicle to be tested through a three-dimensional scanning cradle head; detecting all planes in the three-dimensional point cloud data; determining a bottom plate plane and a breast board plane from all planes according to the normal vector of each plane in all planes and the normal vector of a preset plane; and determining target parameters according to the bottom plate plane and the breast plate plane.
As an alternative implementation of the embodiments of the present application, the target parameters include at least one of the following: the vehicle length of the vehicle to be tested, the vehicle width of the vehicle to be tested, the offset angle of the vehicle to be tested, the pitch angle of the vehicle to be tested, the size of the upright post, the size of the lacing wire and the size of the oil cylinder.
As an optional implementation manner of the embodiment of the present application, obtaining three-dimensional point cloud data of a vehicle to be tested through a three-dimensional scanning cradle head includes:
acquiring original laser data through a three-dimensional scanning cradle head; based on the installation pose of the three-dimensional scanning cradle head, a three-dimensional local coordinate system is established for the original laser data; transforming coordinates in a three-dimensional local coordinate system into coordinates in a global coordinate system; and under the global coordinate system, a detection range is framed according to a parking area of the vehicle to be detected, and three-dimensional point cloud data of the vehicle to be detected are extracted.
As an alternative implementation manner of the embodiment of the present application, the preset plane includes a first type plane, a second type plane and a third type plane that are perpendicular to each other. Determining the bottom plate plane and the breast board plane from all planes according to the normal vector of each plane in all planes and the normal vector of the preset plane, comprising:
and determining the type plane to which one plane belongs when the included angle between the normal vector of the one plane and the normal vector of the target type plane is smaller than or equal to the target threshold value for any one plane in all planes.
As an alternative implementation manner of the embodiment of the present application, determining the bottom plate plane and the breast board plane from all planes according to the normal vector of each plane in all planes and the normal vector of the preset plane, further includes:
in a first type of plane, determining a floor plane; determining a left breast board plane and a right breast board plane in the second type of plane according to the constraint relation of the left breast board, the right breast board and the bottom board; a front rail plane, a rear rail plane are determined in a third type of plane based on the constraint relationship of the front rail, the rear rail and the floor.
Determining target parameters according to the bottom plate plane and the breast board plane, including: determining four corner points of the vehicle to be tested according to the bottom plate plane, the left breast board plane, the right breast board plane, the front breast board plane and the rear breast board plane; according to four corner points of the vehicle to be tested, determining the length of the vehicle to be tested, the width of the vehicle to be tested, the offset angle of the vehicle to be tested and the pitch angle of the vehicle to be tested.
As an alternative implementation of the embodiments of the present application, the global coordinate system includes an X-axis, a Y-axis, and a Z-axis. Wherein,,
the length of the vehicle to be tested is equal to the average value of a first length and a second length, wherein the first length is the length from the front left corner point to the rear left corner point, and the second length is the length from the front right corner point to the rear right corner point; and/or the number of the groups of groups,
The vehicle width of the vehicle to be tested is equal to the average value of a third length and a fourth length, wherein the third length is the length from the left front corner point to the right front corner point, and the fourth length is the length from the left rear corner point to the right rear corner point; and/or the number of the groups of groups,
the offset angle of the vehicle to be tested is equal to the average value of a first offset angle and a second offset angle, the first offset angle is determined according to the coordinates of a left front corner point and a left rear corner point in the X-axis direction and the Y-axis direction respectively, and the second offset angle is determined according to the coordinates of a right front corner point and a right rear corner point in the X-axis direction and the Y-axis direction respectively; and/or the number of the groups of groups,
the pitch angle of the vehicle to be tested is equal to the average value of a first pitch angle and a second pitch angle, the first pitch angle is determined according to the coordinate of a left front corner point and a left rear corner point in the Z-axis direction and the length from the left front corner point to the left rear corner point, and the second pitch angle is determined according to the coordinate of a right front corner point and a right rear corner point in the Z-axis direction and the length from the right front corner point to the right rear corner point.
As an alternative implementation of the embodiments of the present application, the target parameter includes a dimension of the tie. Determining target parameters according to the bottom plate plane and the breast board plane, including:
filtering residual point clouds by using a statistical filter, wherein the residual point clouds are point clouds obtained by removing a bottom plate plane and a breast plate plane from three-dimensional point cloud data; performing point cloud segmentation on the filtered residual point cloud; projecting the segmented residual point cloud to a first type plane to obtain a two-dimensional point cloud; searching a straight line meeting the lacing wire characteristics from the two-dimensional point cloud, extracting the two-dimensional lacing wire point cloud from the straight line, and restoring the two-dimensional lacing wire point cloud into a three-dimensional lacing wire point cloud; projecting the three-dimensional lacing wire point cloud, the left breast board point cloud and the right breast board point cloud to a first type plane; and determining the width of the lacing wire and the distance from the lacing wire to the front breast board according to the length from the first intersection point to the first projection point, the length from the second intersection point to the second projection point, the height of the lacing wire and the pitch angle of the vehicle to be tested. The first intersection point is an intersection point of the lacing wire and the left breast board in the projection plane, the second intersection point is an intersection point of the lacing wire and the right breast board in the projection plane, the first projection point is an intersection point of the left breast board and the front breast board in the projection plane, and the second projection point is an intersection point of the right breast board and the front breast board in the projection plane.
As an alternative implementation of the embodiments of the present application, the target parameter includes a dimension of the upright. Determining target parameters according to the bottom plate plane and the breast board plane, including:
projecting the three-dimensional point clouds of the left breast board plane and the right breast board plane to a second type plane to obtain two-dimensional point clouds; fitting an optimal segmentation line segment in the two-dimensional point cloud; separating the breast board point cloud and the upright post point cloud through the optimal segmentation line segment; restoring the column point cloud into a three-dimensional column point cloud; and obtaining the size of the column by utilizing a minimum bounding box algorithm for the three-dimensional column point cloud.
As an alternative implementation of the embodiments of the present application, the target parameter includes a size of the cylinder. Determining target parameters according to the bottom plate plane and the breast board plane, including:
filtering residual point clouds by using a statistical filter, wherein the residual point clouds are point clouds obtained by removing a bottom plate plane and a breast plate plane from three-dimensional point cloud data; performing point cloud segmentation on the filtered residual point cloud; extracting oil cylinder point clouds according to the constraint relation between the oil cylinder and the front baffle and the characteristics of the oil cylinder; and obtaining the size of the oil cylinder by utilizing a minimum bounding box algorithm for the oil cylinder point cloud.
In a second aspect, a vehicle measurement device is provided. The device comprises:
The acquisition module is used for acquiring three-dimensional point cloud data of the vehicle to be tested through the three-dimensional scanning cradle head;
the detection module is used for detecting all planes in the three-dimensional point cloud data;
the determining module is used for determining a bottom plate plane and a breast board plane from all planes according to the normal vector of each plane in all planes and the normal vector of a preset plane; and determining the target parameters according to the bottom plate plane and the breast plate plane.
As an alternative implementation of the embodiments of the present application, the target parameters include at least one of the following: the vehicle length of the vehicle to be tested, the vehicle width of the vehicle to be tested, the offset angle of the vehicle to be tested, the pitch angle of the vehicle to be tested, the size of the upright post, the size of the lacing wire and the size of the oil cylinder.
The vehicle measurement device may correspond to performing the method described in the first aspect, and the relevant descriptions of the units in the device are referred to the description of the first aspect, which is omitted herein for brevity.
In a third aspect, the present application provides a vehicle measurement system, a processor and a memory, the processor being coupled to the memory, the processor being operable to execute a computer program or instructions stored in the memory to cause the vehicle measurement system to implement a vehicle measurement method as in any one of the first aspects.
In a fourth aspect, the present application provides a storage medium having stored thereon a computer program to be loaded by a processor for performing the vehicle measurement method according to any one of the first aspects.
According to the vehicle measurement scheme provided by the embodiment of the application, as the three-dimensional scanning cradle head has the characteristics of high measurement speed, high precision, strong anti-interference capability and the like, compared with a camera, the three-dimensional point cloud data of the vehicle to be measured, which is acquired and generated by adopting the three-dimensional scanning cradle head, has higher density and quality. By detecting all planes in the three-dimensional point cloud data, determining a bottom plate plane and a breast board plane from all planes by utilizing the normal vector of each plane in all planes and the normal vector of a preset plane (for example, determining the plane type of each plane by utilizing the normal vector of each plane in all planes and the normal vector of the preset plane, and separating the fixed bottom plate plane and the breast board plane according to the plane type of each plane), the basic size of a vehicle and the size of a special part can be effectively detected according to each separated plane, the accurate measurement of various conventional vehicles and unconventional vehicles in the loading field is realized, and reliable data support is provided for subsequent full-automatic intelligent loading.
Drawings
Fig. 1 is a schematic view of an application scenario of a three-dimensional scanning pan-tilt provided in an embodiment of the present application;
fig. 2 is a schematic flow chart of a vehicle measurement method according to an embodiment of the present application;
fig. 3 is a schematic diagram of an extracted lacing wire according to an embodiment of the present application;
fig. 4 is a schematic view of an extraction column according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of an extraction cylinder according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a vehicle measurement device according to an embodiment of the present application.
Detailed Description
The embodiment of the application provides a vehicle measurement scheme, which mainly obtains three-dimensional point cloud data of a vehicle to be measured through a three-dimensional scanning cradle head. Then, all planes in the three-dimensional point cloud data are detected, the plane type of each plane is determined, and then the plane of the fixed bottom plate and the plane of the breast board are separated from the plane type, so that the basic size of the vehicle and the size of a special part can be obtained according to the separated planes.
The technical scheme of the present application is described in detail below with specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.
Fig. 1 is a schematic diagram of an application scenario of a three-dimensional scanning pan-tilt provided in an embodiment of the present application. The three-dimensional scanning cradle head comprises a cradle head and a laser radar. The cradle head is used for driving the laser radar to rotate; the laser radar is used for rotating under the drive of the holder, transmitting and receiving laser data, and acquiring three-dimensional point cloud data according to the laser data.
Typically, the three-dimensional scanning head is disposed above a parking section of a lane, for example, the three-dimensional scanning head is spaced from the ground by 4 meters. Usually, before the three-dimensional scanning cradle head is installed, determining a parking interval of a vehicle in a lane; in the parking interval, ensuring that laser falls into a hopper at a ground projection point in the length direction of the vehicle; in the height direction of the vehicle, the object drooping at the top is ensured not to shade the laser beam, and the vehicle hopper can be completely scanned. Before a certain vehicle is parked and loaded, the vehicle is parked in a predetermined parking section along a predetermined traveling direction in a lane.
The laser radar of the three-dimensional scanning holder can be composed of a processor, a detector, a laser head, a rotary reflection structure and the like. Specifically, the working process of the laser radar is as follows: the laser head uses laser as a signal source to emit pulse laser. The rotary reflecting structure in a rotary state reflects the pulse laser. When the laser reaches the vehicle to be tested, scattering is caused, and a part of the light waves are reflected to the detector. The detector then sends the detected signal to the processor. The processor calculates according to the laser ranging principle to obtain the distance from the laser radar to the vehicle to be tested, and the pulse laser continuously scans the vehicle to be tested to obtain the data of all obstacle points on the vehicle to be tested, namely three-dimensional point cloud data. The vehicle to be tested may be a vehicle for loading articles, such as a truck, truck or trolley, etc. comprising a hopper.
It should be noted that the three-dimensional scanning tripod head may include more or less devices than those illustrated, or may combine some devices, split some devices, or perform different device arrangements, which are not limited in this embodiment.
Based on the three-dimensional scanning cradle head shown in fig. 1, the embodiment of the application provides a vehicle measurement method, and particularly shown in fig. 2. The method can be applied to the three-dimensional scanning holder shown in fig. 1 or the three-dimensional scanning holder adopting a similar or similar structure to fig. 1. The method includes S101 to S104 described below.
S101, acquiring three-dimensional point cloud data of a vehicle to be tested through a three-dimensional scanning cradle head.
Before the to-be-tested vehicle is about to be loaded, the to-be-tested vehicle can travel forwards to a designated parking area along the lane under the command of the command console and park. The laser radar is arranged above the parking area and continuously emits pulse laser. When the pulse laser strikes the body of the vehicle to be tested and surrounding obstacles, laser scattering is caused, and a part of light waves are reflected to the detector. And then the detector sends the detected laser data to the processor, so that the processor processes the laser data to obtain distance information, and further three-dimensional point cloud data is obtained according to the distance information.
After the original laser data is acquired through the three-dimensional scanning cradle head, the original laser data not only contains the three-dimensional point cloud data of the vehicle to be detected, but also contains the three-dimensional point cloud data of the environment, so that the three-dimensional point cloud data of the vehicle to be detected needs to be extracted from the original laser data.
Specifically, the method for acquiring the three-dimensional point cloud data of the vehicle to be tested through the three-dimensional scanning cradle head is as follows:
the raw laser data includes multiple sets of laser data. For each of the plurality of sets of laser data, each set of laser data is laser data corresponding to one obstacle point. A set of laser data comprising: laser spot distance value d, scan angle α, rotation angle θ. Wherein the laser spot distance value d is used to represent the distance from the laser spot to an obstacle point, the scan angle is used to represent the angle between the rotating reflective structure and the laser beam, and the rotation angle is used to represent the angle at which the rotating reflective structure rotates.
Based on the installation pose (specifically, the installation position of a laser radar) of the three-dimensional scanning cradle head, a three-dimensional local coordinate system is established for original laser data, and a conversion formula of coordinates P (x, y, z) of any point under the three-dimensional local coordinate system is as follows:
x＝d×sinα×sinθ
y＝d×cosα×sinθ
z＝d×cosθ
establishing a global coordinate system, for example, establishing a three-dimensional global coordinate system for the original laser data by taking the lane direction as an X axis, the direction perpendicular to the lane as a Y axis and the height direction of the vehicle as a Z axis; for another example, the direction perpendicular to the lane is the X-axis, the lane direction is the Y-axis, and the height direction of the vehicle is the Z-axis. Of course, other manners can be adopted to build a three-dimensional global coordinate system, and the three-dimensional global coordinate system can be determined according to actual use requirements. In order to more clearly illustrate the present application, the following embodiments will be described by taking the lane direction of the three-dimensional global coordinate system as the X-axis, the direction perpendicular to the lane as the Y-axis, and the height direction of the vehicle as the Z-axis as examples.
Typically there is a rotational-translational relationship between a three-dimensional Local Coordinate System (LCS) and a three-dimensional Global Coordinate System (GCS). Assuming that the coordinate of a certain point in a three-dimensional local coordinate system is P, the system rotation matrix is R, and the translation matrix is T, the coordinate of the point in a three-dimensional global coordinate system is P ′ The method comprises the following steps:
P ′ ＝R·P+T
thus, according to the mode, the local coordinate system determined by the initial pose of the cradle head is established, then the global coordinate system determined by the global environment is established, and all three-dimensional point cloud data under the global coordinate system are obtained.
In the cloud images corresponding to all the three-dimensional point clouds, the range of the parking area is determinable, so that the detection range can be framed according to the parking area of the vehicle to be detected under the global coordinate system, the environmental point clouds are filtered, and the vehicle point clouds are extracted. Further, since the data amount of the extracted vehicle point cloud is large, in order to reduce the processing data amount and improve the measurement speed, the vehicle point cloud can be sampled, and finally three-dimensional point cloud data of the vehicle to be measured is obtained.
S102, detecting all planes in the three-dimensional point cloud data.
For example, each plane included in the vehicle point cloud is detected using a ranac plane detection method. Of course, other methods may be used to detect the plane in the three-dimensional point cloud data, which is not limited in the embodiment of the present application.
S103, determining a bottom plate plane and a breast board plane from all planes according to the normal vector of each plane in all planes and the normal vector of a preset plane.
In particular, the floor plane and the breast board plane may be determined according to step a and step b.
And a step a of determining the plane type of each plane according to the normal vector of each plane in all planes and the normal vector of a preset plane.
In the embodiment of the present application, the planes may be classified into 4 types according to the normal line of each of the entire planes: XY plane, XZ plane, YZ plane, and other planes.
Note that the XY plane, the XZ plane, the YZ plane, and other planes refer to planes in the global coordinate system.
In the embodiment of the application, the XY plane is referred to as a first type plane, the XZ plane is referred to as a second type plane, and the YZ plane is referred to as a third type plane. Because the normals of the 3 types of planes are mutually perpendicular, namely the 3 planes are mutually perpendicular, when a certain plane to be classified is classified, normal vector included angles of the plane to be classified and the planes of the types can be calculated respectively, so that the plane type to which the plane to be classified belongs can be determined according to the normal vector included angles.
It is assumed that the first type of plane corresponds to a first threshold, the second type of plane corresponds to a second threshold, and the third type of plane corresponds to a third threshold. For any one of the entire planes, the classification method is as follows:
And comparing whether the included angle between the normal vector of one plane and the normal vector of each type of plane is smaller than or equal to a corresponding threshold value.
And determining that one plane belongs to the target type plane under the condition that the included angle between the normal vector of the one plane and the normal vector of the target type plane is smaller than or equal to the target threshold value. Wherein the object type plane is a first type plane, a second type plane, or a third type plane.
Exemplary, assume that
Normal vector for representing XY plane or XZ plane or YZ plane, < >>
The normal vector for representing the plane to be classified, thd represents the classification threshold.
As shown in the formula, the left side of the formula is used for representing the included angle between a certain preset plane and a plane to be classified, and the right side of the formula is used for representing a classification threshold. If the included angle on the left side of the formula is smaller than the classification threshold on the right side of the formula, determining that the plane to be classified belongs to the preset plane.
Illustratively, thd is less than pi/2 and greater than-pi/2.
The above formula is exemplified by the same classification threshold values of XY plane, XZ plane, YZ plane, and the like, and is not limited to the embodiment of the present application. In actual implementation, the classification threshold values of the preset planes can also be different, and can be determined according to actual use requirements.
And b, determining the plane of the bottom plate and the plane of the breast board from all planes according to the plane type of each plane.
The breast board plane comprises a left breast board plane, a right breast board plane, a front breast board plane and a rear breast board plane.
In particular, since the floor plane is the only plane satisfying the first type plane in the hopper model, the floor plane may be determined first in the first type plane. Then, the left and right breast board planes may be determined in the second type of plane based on the constraint relationship of the left and right breast boards and the bottom plate. Thereafter, a front rail plane, a rear rail plane may be determined in a third type of plane based on the constraint relationship of the front rail, the rear rail and the floor. In this way, the vehicle floor plane point cloud and the four side rail plane point clouds can be extracted in the floor plane and the rail plane.
S104, determining target parameters according to the bottom plate plane and the breast board plane.
Wherein the target parameters include at least one of: the vehicle length of the vehicle to be tested, the vehicle width of the vehicle to be tested, the offset angle of the vehicle to be tested, the pitch angle of the vehicle to be tested, the size of the upright post, the size of the lacing wire and the size of the oil cylinder.
After determining the floor plane, left rail plane, right rail plane, front rail plane, and rear rail plane, a vehicle floor plane point cloud and four side rail plane point clouds may be extracted.
Specifically, determining the target parameter from the floor plane and the breast board plane comprises the steps of:
and step 1, determining four corner points of the vehicle to be tested according to the bottom plate plane, the left breast board plane, the right breast board plane, the front breast board plane and the rear breast board plane.
The calculation of each corner point is exemplified as follows:
taking the left front corner as an example, the intersection point of the three planes can be obtained by combining the bottom plate plane equation, the front breast board plane equation and the left breast board plane equation, and the intersection point is the left front corner.
Taking the left rear corner as an example, the intersection point of the three planes can be obtained by combining the bottom plate plane equation, the rear baffle plane equation and the left baffle plane equation, and the intersection point is the left rear corner.
Taking the right front corner as an example, the intersection point of the three planes can be obtained by combining the bottom plate plane equation, the front breast board plane equation and the right breast board plane equation, and the intersection point is the right front corner.
Taking the right rear corner as an example, the intersection point of the three planes can be obtained by combining the bottom plate plane equation, the rear baffle plane equation and the right baffle plane equation, and the intersection point is the right rear corner.
And 2, determining target parameters according to four corner points of the vehicle to be tested.
1) The length of the vehicle to be measured.
The length of the vehicle to be tested is equal to the average value of the first length and the second length.
The first length is the length from the front left corner point to the rear left corner point.
The second length is the length from the front right corner point to the rear right corner point.
For example, assume that the length of a vehicle to be measured is denoted by L. In the three-dimensional global coordinate system, the front left corner point is denoted by P1, the rear left corner point is denoted by P2, the front right corner point is denoted by P3, and the rear right corner point is denoted by P4. The length from the front left corner to the rear left corner is denoted by dist (P2, P1). The length from the front right corner to the rear right corner is denoted by dist (P4, P3). Then the following relationship exists:
2) The vehicle width of the vehicle to be measured.
The vehicle width of the vehicle to be tested is equal to the average value of the third length and the fourth length.
The third length is the length from the left front corner point to the right front corner point.
The fourth length is the length from the left rear corner point to the right rear corner point.
For example, assume that the vehicle width of the vehicle to be measured is denoted by W. In the three-dimensional global coordinate system, the front left corner point is denoted by P1, the rear left corner point is denoted by P2, the front right corner point is denoted by P3, and the rear right corner point is denoted by P4. The length from the left front corner to the right front corner is denoted by dist (P3, P1). The length from the left rear corner to the right rear corner is denoted by dist (P4, P2). Then the following relationship exists:
3) Offset angle of the vehicle to be measured.
The offset angle of the vehicle to be measured is equal to the average of the first offset angle and the second offset angle.
The first offset angle is determined according to coordinates of the left front corner point and the left rear corner point in the lane direction and the direction perpendicular to the lane, respectively.
The second offset angle is determined according to coordinates of the right front corner point and the right rear corner point in the lane direction and the direction perpendicular to the lane, respectively.
Illustratively, assume that the offset angle of the vehicle under test is denoted by yaw.
The first offset angle and the second offset angle of the vehicle to be tested are respectively as follows:
wherein, p1.Y is used for representing the Y-axis coordinate of the left front corner in the three-dimensional global coordinate system, p2.Y is used for representing the Y-axis coordinate of the left rear corner in the three-dimensional global coordinate system, p2.X is used for representing the X-axis coordinate of the left rear corner in the three-dimensional global coordinate system, p1.X is used for representing the X-axis coordinate of the left front corner in the three-dimensional global coordinate system, p4.Y is used for representing the Y-axis coordinate of the right front corner in the three-dimensional global coordinate system, p3.Y is used for representing the Y-axis coordinate of the right front corner in the three-dimensional global coordinate system, p4.X is used for representing the X-axis coordinate of the right front corner in the three-dimensional global coordinate system.
Obtaining the offset angle of the vehicle to be tested according to the first offset angle and the second offset angle:
4) Pitch angle of the vehicle to be measured.
The pitch angle of the vehicle to be tested is equal to the average value of the first pitch angle and the second pitch angle.
The first pitch angle is determined according to coordinates of the front left corner point and the rear left corner point in the height direction of the vehicle and lengths from the front left corner point to the rear left corner point.
The second pitch angle is determined according to coordinates of the right front corner point and the right rear corner point in the height direction of the vehicle and lengths from the right front corner point to the right rear corner point.
For example, assume that the offset angle of the vehicle under test is denoted by pitch.
The first pitch angle and the second pitch angle of the vehicle to be tested are respectively as follows:
wherein, P2.Z is used to represent the Z-axis coordinate of the left rear corner in the three-dimensional global coordinate system, P1.Z is used to represent the Z-axis coordinate of the left front corner in the three-dimensional global coordinate system, dist (P2, P1) is used to represent the length from the left front corner to the left rear corner, P4.Z is used to represent the Z-axis coordinate of the right rear corner in the three-dimensional global coordinate system, P3.Z is used to represent the Z-axis coordinate of the right front corner in the three-dimensional global coordinate system, dist (P4, P3) is used to represent the length from the right front corner to the right rear corner.
According to the first pitch angle and the second pitch angle of the vehicle to be detected, the pitch angle of the vehicle to be detected can be obtained:
it should be noted that, for the length detection of the vehicle of the ultralong vehicle, the primary measurement and loading cannot be completed due to the overlong length of the vehicle, so that the command console can inform the loading system to guide the driver of the vehicle to move after each measurement and loading are completed, and the secondary scanning measurement is performed after the vehicle is moved.
According to the vehicle measurement method, as the three-dimensional scanning cradle head has the characteristics of high measurement speed, high precision, strong anti-interference capability and the like, compared with a camera, three-dimensional point cloud data of a vehicle to be measured, which is acquired and generated by the three-dimensional scanning cradle head, has higher density and quality. By detecting all planes in the three-dimensional point cloud data, determining the plane type to which each plane belongs, and separating the plane of the fixed bottom plate and the plane of the breast board from the detected plane, the basic size of the vehicle and the size of a special part can be effectively detected according to each separated plane, accurate measurement of various conventional vehicles and non-conventional vehicles in the loading field is realized, and reliable data support is provided for subsequent full-automatic intelligent loading.
After the bottom plate plane and each breast board plane are determined according to the method, and the vehicle bottom plate plane point cloud and the four side breast board plane point clouds are extracted from the bottom plate plane point cloud and the side breast board plane point cloud, the point clouds behind the bottom plate plane and the breast board plane can be removed from three-dimensional point cloud data of the vehicle to be detected, and the residual point clouds are obtained. In theory, the rest point cloud comprises the point cloud of special parts of the vehicle such as the upright post, the oil cylinder, the lacing wire and the like.
The point cloud extraction and measurement of the tie bars, the upright posts and the oil cylinders will be exemplarily described below.
1. Point cloud extraction and measurement of lacing wires
The lacing wire refers to an object which spans between the left breast board and the right breast board and is used for preventing the breast board from deforming.
The specific steps of tie bar extraction are as follows:
1. filtering the residual point cloud by using a statistical filter to remove outliers.
2. And performing point cloud segmentation on the filtered residual point cloud, for example, performing point cloud segmentation on the residual point cloud by using a connected region labeling method.
3. Projecting the segmented residual point cloud to a first type plane to obtain a two-dimensional point cloud.
4. Searching a straight line meeting the lacing wire characteristics from the two-dimensional point cloud, extracting the two-dimensional lacing wire point cloud from the straight line, and restoring the two-dimensional lacing wire point cloud into the three-dimensional lacing wire point cloud.
For example, the ranac straight line detection may be performed on the two-dimensional point clouds after the segmentation, and then a straight line satisfying the lacing wire feature may be searched for from the two-dimensional point clouds. As shown in fig. 3, since the tie bar direction is generally a vertical direction (i.e., vehicle width direction) as shown in the drawing, a straight line in the vertical direction among all straight lines is left, and a straight line in the horizontal direction is deleted. In addition, since the detected straight lines include not only the straight lines located in the lacing wire area but also the straight lines located in the front and rear breast board areas, it is necessary to delete the straight lines outside the bottom board area according to the detected bottom board area, and only the straight line portions within the bottom board area are reserved, so that the straight lines meeting the lacing wire characteristics are found out from the two-dimensional point cloud. And further, the two-dimensional lacing wire point cloud can be extracted from the three-dimensional lacing wire point cloud, and the two-dimensional lacing wire point cloud is restored into the three-dimensional lacing wire point cloud.
The specific steps of lacing wire measurement are as follows:
1. and projecting the three-dimensional lacing wire point cloud, the left breast board point cloud and the right breast board point cloud to a first type plane.
2. And determining the width of the lacing wire and the distance from the lacing wire to the front breast board according to the length from the first intersection point to the first projection point, the length from the second intersection point to the second projection point, the height of the lacing wire and the pitch angle of the vehicle to be tested.
The first intersection point is an intersection point of the lacing wire and the left breast board in the projection plane, the second intersection point is an intersection point of the lacing wire and the right breast board in the projection plane, the first projection point is an intersection point of the left breast board and the front breast board in the projection plane, and the second projection point is an intersection point of the right breast board and the front breast board in the projection plane.
Specifically, let θ be used to represent the pitch angle of the vehicle, h be used to represent the height of the tie bar, M1 be used to represent the first intersection point, M2 be used to represent the second intersection point, P1 be used to represent the first projection point, and P2 be used to represent the second projection point.
The distance from the tie bar to the front breast board can be obtained through the lengths of M1 to P1 and the lengths of M2 to P2, and the width of the tie bar can be obtained through the lengths between M1 and M2.
Therefore, the tie-bar to front rail distance Td is expressed as:
|θ|<90°
the width Tw of the tie is expressed as:
2. point cloud extraction and measurement of upright posts
The upright post refers to a protruding portion located on the left and right breast boards of the vehicle.
The column extraction comprises the following specific steps:
1. and projecting the three-dimensional point clouds of the left breast board plane and the right breast board plane to the second type of plane to obtain two-dimensional point clouds.
2. The best segmented line segment is fit in the two-dimensional point cloud.
3. And separating the breast board point cloud and the upright post point cloud through the optimal segmentation line segment.
Illustratively, when the three-dimensional point clouds of the left breast board plane and the right breast board plane are projected to the second type plane, an L-shaped two-dimensional point cloud image as shown in fig. 4 is obtained. The upper half part of the L shape is a column, and the lower half part of the L shape is a breast board, so that a dividing line between the upper half part and the lower half part is used as an optimal dividing line segment. The best segmentation line segment can then be utilized to separate the breast board point cloud from the post point cloud.
4. And restoring the column point cloud into a three-dimensional column point cloud.
The specific steps of the upright post measurement are as follows:
and obtaining the dimension of the column by utilizing a minimum bounding box algorithm for the three-dimensional column point cloud.
3. Point cloud extraction and measurement of oil cylinder
The oil cylinder refers to a cylindrical object closely attached to the front plate of the vehicle.
The specific steps of the oil cylinder extraction are as follows:
1. the remaining point clouds are filtered using a statistical filter.
2. And carrying out point cloud segmentation on the filtered residual point cloud.
3. And extracting the oil cylinder point cloud according to the constraint relation between the oil cylinder and the front baffle and the characteristics of the oil cylinder.
Illustratively, a two-dimensional image including a cylinder as shown in fig. 5 is first acquired. Then, because the oil cylinder is a cylindrical object closely attached to the front railing panel of the vehicle, the oil cylinder point cloud can be extracted from the oil cylinder according to the constraint relation between the oil cylinder and the front railing panel and the characteristics of the oil cylinder.
The specific steps of the oil cylinder measurement are as follows:
and obtaining the size of the oil cylinder by utilizing a minimum bounding box algorithm for the oil cylinder point cloud.
It can be appreciated that unlike conventional loading measurement methods, which can only measure conventional vehicles, embodiments of the present application can effectively measure various very long vehicles and non-conventional vehicles, such as double-deck scooters, cylinder vehicles, pillar vehicles, and lacing vehicles.
As shown in fig. 6, an embodiment of the present application provides a vehicle measurement device 60. The device comprises:
the acquiring module 61 may be configured to acquire three-dimensional point cloud data of the vehicle to be tested through the three-dimensional scanning cradle head. Because the three-dimensional point cloud data obtained by the three-dimensional scanning cradle head not only comprises the three-dimensional point cloud data of the vehicle to be detected, but also comprises the three-dimensional point cloud data of the environment, the obtaining module 61 needs to filter the vehicle to be detected and the environment point cloud after receiving the three-dimensional point cloud data sent by the three-dimensional scanning cradle head, and finally obtains the three-dimensional point cloud of the vehicle to be detected.
The detection module 62 may be configured to detect all planes in the three-dimensional point cloud data. Each plane contained in the vehicle point cloud is detected, for example, using a ranac plane detection method.
A determining module 63, configured to determine a bottom plate plane and a breast plate plane from all planes according to the normal vector of each plane in all planes and the normal vector of the preset plane; and determining the target parameters according to the bottom plate plane and the breast plate plane. Wherein the target parameters include at least one of: the vehicle length of the vehicle to be tested, the vehicle width of the vehicle to be tested, the offset angle of the vehicle to be tested, the pitch angle of the vehicle to be tested, the size of the upright post, the size of the lacing wire and the size of the oil cylinder.
The steps in the above method embodiments may be executed by the vehicle measurement device provided in the present embodiment, and the implementation principle and technical effects are similar, and are not repeated here.
The vehicle measuring device provided by the embodiment of the application is different from the traditional loading measuring method in that the conventional vehicle can be measured, and the vehicle measuring device can be used for effectively measuring various overlength vehicles and unconventional vehicles, such as double-layer scooter, oil cylinder vehicle, upright post vehicle and lacing wire vehicle.
Based on the same inventive concept, the embodiment of the application provides a vehicle measurement system, which comprises a three-dimensional scanning cradle head and a vehicle measurement device.
The three-dimensional scanning holder comprises a holder and a laser radar. The cradle head is used for driving the laser radar to rotate; the laser radar is used for rotating under the drive of the holder, transmitting and receiving laser data, and acquiring three-dimensional point cloud data according to the laser data. The description of the three-dimensional scanning cradle head may refer to the description related to fig. 1, and will not be repeated here.
The vehicle measurement device is used for executing the vehicle measurement method provided by the embodiment of the method according to the three-dimensional point cloud data. The specific working principle is as follows: detecting all planes according to the three-dimensional point cloud data; determining the plane type of each plane according to the normal vector of each plane in all planes and the normal vector of a preset plane; determining a bottom plate plane and a breast board plane from all planes according to the plane type of each plane; and determining the target parameters according to the bottom plate plane and the breast plate plane. Wherein the target parameters include at least one of: the vehicle length of the vehicle to be tested, the vehicle width of the vehicle to be tested, the offset angle of the vehicle to be tested, the pitch angle of the vehicle to be tested, the size of the upright post, the size of the lacing wire and the size of the oil cylinder.
It should be noted that, the vehicle measurement device may be an industrial personal computer, where the three-dimensional scanning cradle head and the industrial personal computer both have network transmission interfaces, and in actual use, the three-dimensional scanning cradle head transmits the collected three-dimensional point cloud data to algorithm software in the industrial personal computer through the network transmission interfaces, so that the algorithm software is utilized to implement three-dimensional data processing, and the basic size of the hopper and the size of the special component are obtained by measurement.
Based on the same inventive concept, the embodiment of the application also provides a vehicle measurement system. The vehicle measurement system provided in the present embodiment includes: a memory and a processor, the memory for storing a computer program; the processor is configured to execute the vehicle measurement method of the above-described method embodiment when the computer program is invoked.
The processor may be a central processing unit (central processing unit, CPU), which may also be other general purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate arrays (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit, such as a hard disk or memory, in some embodiments. The memory may also be an external storage device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card, etc. Further, the memory may also include both internal storage units and external storage devices. The memory is used to store an operating system, application programs, boot loader programs, data, and other programs, etc., such as program code for a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.
The information measurement system provided in this embodiment may execute the above method embodiment, and its implementation principle is similar to that of the technical effect, and will not be described herein again.
In addition, the embodiment of the application further provides a readable storage medium, and the readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the embodiment of the car hopper measuring method can be realized, and the same technical effects can be achieved, so that repetition is avoided, and no redundant description is provided herein. Among them, a computer-readable storage medium such as a read-only Memory (ROM), a random access Memory (random access Memory, RAM), a magnetic disk, an optical disk, or the like.
Those of ordinary skill in the art will appreciate that implementing all or part of the above-described method embodiments may be accomplished by a computer program to instruct related hardware, the program may be stored in a computer readable storage medium, and the program may include the above-described method embodiments when executed. And the aforementioned storage medium may include: ROM or random access memory RAM, magnetic or optical disk, etc.
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.
Claims (11)
1. A vehicle measurement method, the method comprising:
acquiring three-dimensional point cloud data of a vehicle to be tested through a three-dimensional scanning cradle head;
detecting all planes in the three-dimensional point cloud data;
determining a bottom plate plane and a breast board plane from all planes according to the normal vector of each plane in the all planes and the normal vector of a preset plane;
and determining target parameters according to the bottom plate plane and the breast board plane.
2. The method according to claim 1, wherein the obtaining three-dimensional point cloud data of the vehicle to be measured by the three-dimensional scanning cradle head comprises:
acquiring original laser data through the three-dimensional scanning cradle head;
based on the mounting pose of the three-dimensional scanning cradle head, a three-dimensional local coordinate system is established for the original laser data;
transforming the coordinates in the three-dimensional local coordinate system into coordinates in a global coordinate system;
and under the global coordinate system, a detection range is framed according to the parking area of the vehicle to be detected, and three-dimensional point cloud data of the vehicle to be detected are extracted.
3. The method of claim 1, wherein the preset plane comprises a first type plane, a second type plane, and a third type plane that are perpendicular to each other;
The determining the plane of the bottom plate and the plane of the breast board from the whole planes according to the normal vector of each plane in the whole planes and the normal vector of the preset plane comprises the following steps:
and for any one plane of the all planes, determining the type plane to which the one plane belongs under the condition that the included angle between the normal vector of the one plane and the normal vector of the target type plane is smaller than or equal to a target threshold value.
4. A method according to claim 3, wherein said determining the floor plane and the breast board plane from said total planes based on the normal vector of each of said total planes and the normal vector of the preset plane, further comprises:
in the first type of plane, determining a floor plane;
determining a left breast board plane and a right breast board plane in the second type plane according to the constraint relation of the left breast board, the right breast board and the bottom board;
determining a front rail plane, a rear rail plane in the third type of plane based on the constraint relationship of the front rail, the rear rail and the bottom plate;
the determining the target parameter according to the bottom plate plane and the breast board plane comprises the following steps:
determining four corner points of the vehicle to be tested according to the bottom plate plane, the left breast board plane, the right breast board plane, the front breast board plane and the rear breast board plane;
According to the four corner points of the vehicle to be tested, determining the length of the vehicle to be tested, the width of the vehicle to be tested, the offset angle of the vehicle to be tested and the pitch angle of the vehicle to be tested.
5. The method of claim 4, wherein the global coordinate system comprises an X-axis, a Y-axis, and a Z-axis; wherein,,
the length of the vehicle to be tested is equal to the average value of a first length and a second length, wherein the first length is the length from the front left corner point to the rear left corner point, and the second length is the length from the front right corner point to the rear right corner point; and/or the number of the groups of groups,
the vehicle width of the vehicle to be tested is equal to the average value of a third length and a fourth length, the third length is the length from the left front corner point to the right front corner point, and the fourth length is the length from the left rear corner point to the right rear corner point; and/or the number of the groups of groups,
the offset angle of the vehicle to be tested is equal to the average value of a first offset angle and a second offset angle, the first offset angle is determined according to the coordinates of a left front corner point and a left rear corner point in the X-axis direction and the Y-axis direction respectively, and the second offset angle is determined according to the coordinates of a right front corner point and a right rear corner point in the X-axis direction and the Y-axis direction respectively; and/or the number of the groups of groups,
the pitch angle of the vehicle to be tested is equal to the average value of a first pitch angle and a second pitch angle, the first pitch angle is determined according to the coordinates of a left front corner point and a left rear corner point in the Z axis direction respectively and the lengths of the left front corner point and the left rear corner point, and the second pitch angle is determined according to the coordinates of a right front corner point and a right rear corner point in the Z axis direction respectively and the lengths of the right front corner point and the right rear corner point.
6. A method according to claim 3, wherein the target parameter comprises the size of the tie; the determining the target parameter according to the bottom plate plane and the breast board plane comprises the following steps:
filtering residual point clouds by using a statistical filter, wherein the residual point clouds are point clouds after the bottom plate plane and the breast board plane are removed from the three-dimensional point cloud data;
performing point cloud segmentation on the filtered residual point cloud;
projecting the segmented residual point cloud to the first type plane to obtain a two-dimensional point cloud;
searching a straight line meeting the lacing wire characteristics in the two-dimensional point cloud, extracting the two-dimensional lacing wire point cloud from the straight line, and restoring the two-dimensional lacing wire point cloud into a three-dimensional lacing wire point cloud;
projecting the three-dimensional lacing wire point cloud, the left breast board point cloud and the right breast board point cloud to the first type plane;
determining the width of the lacing wire and the distance from the lacing wire to the front breast board according to the length from the first intersection point to the first projection point, the length from the second intersection point to the second projection point, the height of the lacing wire and the pitch angle of the vehicle to be tested;
the first intersection point is an intersection point of the lacing wire and the left breast board in a projection plane, the second intersection point is an intersection point of the lacing wire and the right breast board in the projection plane, the first projection point is an intersection point of the left breast board and the front breast board in the projection plane, and the second projection point is an intersection point of the right breast board and the front breast board in the projection plane.
7. A method according to claim 3, wherein the target parameter comprises a dimension of an upright; the determining the target parameter according to the bottom plate plane and the breast board plane comprises the following steps:
projecting the three-dimensional point clouds of the left breast board plane and the right breast board plane to the second type of plane to obtain two-dimensional point clouds;
fitting an optimal segmentation line segment in the two-dimensional point cloud;
separating a breast board point cloud and an upright column point cloud through the optimal segmentation line segment;
restoring the column point cloud into a three-dimensional column point cloud;
and acquiring the size of the column by utilizing a minimum bounding box algorithm for the three-dimensional column point cloud.
8. A method according to claim 3, wherein the target parameter comprises a size of a ram; the determining the target parameter according to the bottom plate plane and the breast board plane comprises the following steps:
filtering residual point clouds by using a statistical filter, wherein the residual point clouds are point clouds after the bottom plate plane and the breast board plane are removed from the three-dimensional point cloud data;
performing point cloud segmentation on the filtered residual point cloud;
extracting oil cylinder point clouds according to the constraint relation between the oil cylinder and the front baffle and the characteristics of the oil cylinder;
and acquiring the size of the oil cylinder by utilizing a minimum bounding box algorithm for the oil cylinder point cloud.
9. A vehicle measurement device, the device comprising:
the acquisition module is used for acquiring three-dimensional point cloud data of the vehicle to be tested through the three-dimensional scanning cradle head;
the detection module is used for detecting all planes in the three-dimensional point cloud data;
the determining module is used for determining a bottom plate plane and a breast plate plane from all planes according to the normal vector of each plane in the all planes and the normal vector of a preset plane; and determining a target parameter according to the bottom plate plane and the breast plate plane.
10. A vehicle measurement system comprising a processor and a memory, the processor being coupled to the memory, the processor being operable to execute a computer program or instructions stored in the memory to cause the vehicle measurement system to implement the vehicle measurement method of any one of claims 1 to 8.
11. A storage medium having stored thereon a computer program, the computer program being loaded by a processor to perform the vehicle measurement method of any one of claims 1 to 8.
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| CN117420562A (en) * | 2023-10-21 | 2024-01-19 | 广州市西克传感器有限公司 | Top-open carriage identification measurement system based on three-dimensional data of cradle head |
| CN117554974A (en) * | 2023-11-08 | 2024-02-13 | 北京科技大学 | Vehicle sweep corner position detection method and system based on three-dimensional laser radar |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117420562A (en) * | 2023-10-21 | 2024-01-19 | 广州市西克传感器有限公司 | Top-open carriage identification measurement system based on three-dimensional data of cradle head |
| CN117554974A (en) * | 2023-11-08 | 2024-02-13 | 北京科技大学 | Vehicle sweep corner position detection method and system based on three-dimensional laser radar |
| CN117554974B (en) * | 2023-11-08 | 2024-05-28 | 北京科技大学 | Vehicle sweep corner position detection method and system based on three-dimensional laser radar |
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