CN203288083U - Laser 3D vehicle scanning device - Google Patents
Laser 3D vehicle scanning device Download PDFInfo
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- CN203288083U CN203288083U CN2013201257682U CN201320125768U CN203288083U CN 203288083 U CN203288083 U CN 203288083U CN 2013201257682 U CN2013201257682 U CN 2013201257682U CN 201320125768 U CN201320125768 U CN 201320125768U CN 203288083 U CN203288083 U CN 203288083U
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Abstract
The utility model discloses a laser 3D vehicle scanning device which comprises a laser emitting module which emits a laser beam, a vertical movement control module which controls the laser beam to swing along a vertical vehicle movement direction to generate a laser scanning surface, a parallel movement control module which controls the laser scanning surface to swing along a vehicle movement direction to generate a 3D scanning area, a laser receiving module which receives a reflected reflection light signal when a vehicle passes through the 3D scanning area, a data conversion module which converts the reflection light signal into a distance signal, a data analysis module which generates vehicle information which comprises a vehicle speed according to the distance signal, a scanning parameter control module which obtains a vehicle position according to the distance signal and adjusts the scanning range, scanning density and/or frequency of the laser scanning surface, a tracking movement control module which controls the tracking speed of the laser according to the vehicle speed. According to the laser 3D vehicle scanning device, the shape of the vehicle can be accurately determined, the quality of traffic condition survey is improved, and phenomena of missing detection and false detection are prevented.
Description
Technical field
The utility model relates to the laser application technique field, specifically a kind of laser three-dimensional scanning vehicle fitting.
Background technology
Transport investigation is the basis of traffic transport industry macro-management and decision-making, is also the powerful mean that we are familiar with the communications and transportation activity, is the important means of the reflection communications and transportation rule of development.At present, the automation collection equipment that highway in China traffic conditions observation website adopts, with regard to its technical implementation way that adopts, mainly is divided into contact and contactless two large classes.Contact mainly comprises ground induction coil detection mode, the piezoelectricity detection mode etc. of weighing; Contactless video image identification mode, the ultrasound examination mode etc. of mainly comprising.
The ground induction coil detection mode is by being laid in advance the coil under highway, vehicle by the time coil in the variation of electric current detect vehicle.This detection mode construction needs to destroy road surface, can only provide limited detection information such as vehicle count, car speed, and the coil life-span in actual use is shorter.The piezoelectricity detection mode of weighing is generally to adopt the layout type of piezoelectric film, coil, piezoelectric film, have the advantage of piezoelectric film and coil concurrently, have the advantages such as cost is low, the vehicle classification precision is high, weatherproof, and be more suitable in the situation that the higher speed of a motor vehicle is applied, shortcoming be destroy road surface and at low speed, block up and vehicle abnormality while travelling, vehicle classification and accuracy of detection reduce.
The video image identification mode extracts effective information by the analyzing and processing to image, according to information, carries out vehicle detection and vehicle identification.This technology is also very immature, affected by ambient light larger, also needs a large amount of research work.The ultrasound examination mode is applied often on highway, it need not destroy road surface, is not subjected to the impact of surface deformation yet, and long service life, removable, set up conveniently.Its weak point is that sensing range is tapered, is subjected to occlusion and pedestrian's impact, and reflected signal is unstable, and poor its precision in addition of accuracy of detection also is subject to impact, the especially impact of the natural conditions such as strong wind, heavy rain of environment, easily causes flase drop.
The utility model content
The utility model embodiment provides a kind of laser three-dimensional scanning vehicle fitting, with 3-D scanning and the car tracing of realizing the vehicle external form, the problem of the accurate statistics such as the vehicle flowrate in the transport solution condition survey, vehicle, the speed of a motor vehicle, improve accuracy rate, prevents undetected, flase drop phenomenon.This device comprises:
Laser emitting module, be used for the Emission Lasers light beam;
The vertical movement control module, swing generation laser scanning face for the laser beam of controlling described laser emitting module emission along vertical direction of vehicle movement;
The parallel motion control module, be used for controlling described laser scanning face and swing the generating three-dimensional scanning area along direction of vehicle movement;
The laser pick-off module, the reflected light signal that reflects while being used for receiving vehicle by described 3-D scanning zone;
Data conversion module, be used for described reflected light signal is converted to distance signal;
Data analysis module, be used for generating information of vehicles according to described distance signal, and described information of vehicles comprises car speed;
The sweep parameter control module, be used for obtaining vehicle location according to distance signal, adjusts sweep limit, scanning density and/or the frequency of described laser scanning face;
The tracing movement control module, be used for the tracking speed according to the described laser instrument of described car speed control.
In the utility model one embodiment, information of vehicles comprises: car speed, Vehicle length, vehicle width and height of car information.
In the utility model one embodiment, data analysis module comprises:
The distance analysis module, use iterative algorithm to calculate car speed and tracking speed generates the range sweep image;
The model analysis module, be used for that described range sweep image is carried out framing and process, and determines the three-dimensional external form of vehicle, generates Vehicle length, vehicle width and height of car information.
In the utility model one embodiment, also comprise: data processing module is used for preserving, show and exporting described information of vehicles.
In the utility model one embodiment, laser emitting module is laser instrument, the vertical vehicle heading rotation of described laser instrument is or/and the swing effective angle is 60～170 degree,, along vehicle heading rotation or/and to swing effective angle be 30～120 degree, follow the trail of rotation or/and to swing effective angle be 20～160 degree.
The beneficial effect of the disclosed device of the utility model embodiment is, adopts laser three-dimensional scanning, has noncontact, not affected by ambient light, fast response time; Can follow the trail of scanning vehicle external form, accurately obtain vehicle external form profile, obtain car speed, judgement type of vehicle etc.; Prevent undetected, flase drop, the prevention speed change good advantage such as travel, can promote the transport investigation quality.The utility model scheme can not only improve the accuracy rate of transport investigation greatly, can also prevent effectively that the phenomenon such as undetected, flase drop from occurring.
For above and other purpose of the present utility model, feature and advantage can be become apparent, preferred embodiment cited below particularly, and coordinate appended graphicly, elaborate.
Description of drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the block diagram of the disclosed laser three-dimensional scanning vehicle fitting of the utility model;
Fig. 2 is the utility model embodiment laser three-dimensional scanning vehicle external form method flow diagram;
Fig. 3 is that in the utility model embodiment one, laser three-dimensional scanning is measured light curtain schematic diagram;
Fig. 4 is schematic diagram when in the utility model embodiment one, headstock is by scanning xsect B;
Fig. 5 is that in the utility model embodiment one, headstock has rolled the 3-D scanning area schematic away from;
Fig. 6 be in the utility model embodiment one vehicle operating to laser instrument lower left schematic diagram;
Fig. 7 is the block diagram of the disclosed laser three-dimensional scanning vehicle fitting of the utility model embodiment two;
Fig. 8 is the utility model embodiment dual-laser 3-D scanning vehicle outline devices principle of work schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making under the creative work prerequisite the every other embodiment that obtains, and all belong to the scope of the utility model protection.
As shown in Figure 1, be the block diagram of the disclosed laser three-dimensional scanning vehicle fitting of the utility model, laser three-dimensional scanning vehicle fitting 10 of the present utility model comprises:
Vertical movement control module 102, the laser beam that is used for the emission of control laser emitting module swings generation laser scanning face along vertical direction of vehicle movement;
Parallel motion control module 103, be used for the laser scanning face of controlling and swing the generating three-dimensional scanning area along direction of vehicle movement;
Laser pick-off module 104, the reflected light signal that reflects while being used for receiving vehicle by the 3-D scanning zone;
Sweep parameter control module 107, be used for obtaining vehicle location according to the distance signal that generates, and adjusts sweep limit, scanning density and/or the frequency of described laser scanning face;
Tracing movement control module 108, be used for the tracking speed according to the described laser instrument of described car speed control;
Data processing module 109, be used for preserving, show and the output information of vehicles.
Data analysis module of the present utility model comprises: the distance analysis module, use iterative algorithm to calculate car speed and follow the trail of sweep velocity to generate the range sweep image; Model analysis module, the scan image that is used for adjusting the distance are carried out framing and are processed Vehicle length, vehicle width and the height of car information of generating.
Below in conjunction with specific embodiment, technical solutions of the utility model are described in further details.
Embodiment one
As shown in Figure 2, be the utility model embodiment laser three-dimensional scanning vehicle external form method, comprise:
Step S301: use motion control unit to drive a branch of at least pulse type laser and form 3 d distance measurement light curtain.
Fig. 3 is that laser three-dimensional scanning is measured light curtain schematic diagram, and motion control unit driving pulse formula laser forms 3 d distance measurement light curtain as shown in Figure 3.Carry out for convenience further describing of embodiment, define following parameter herein:
VAr: laser instrument is along the angular resolution of the scanning of vertical vehicle heading, and namely laser instrument, along point of the every VAr degree scanning of vertical vehicle heading, forms a range information;
VSa: laser instrument, along the effective angle of the scanning of vertical vehicle heading, in this effective angle, can form VSa/VAr coverage analyzing spot;
PAr: laser instrument is along the angular resolution of the scanning of parallel vehicle heading, and namely laser instrument is along scanning plane of the every PAr degree scanning of vertical vehicle heading;
PSa: laser instrument, along the effective angle of the scanning of parallel vehicle heading, in this effective angle, can form PSa/PAr effective scanning face;
Vehicle is often completed a 3D region scanning, can form the individual range points of (VSa/VAr) * (PSa/Par), it is combined to form frame data herein.
As shown in Figure 3, laser beam 301 scans along vertical vehicle heading, and every scanning light beam forms a range sweep point, and scanning resolution VAr is described vertical vehicle heading scanning angle resolution; , when laser beam has moved set angle, formed a range sweep face VSa; Motion control unit drive laser 300 scans along parallel vehicle heading, and scanning resolution Par is parallel vehicle heading scanning angle resolution,, along the every angle of moving of parallel direction of traffic, forms a range sweep face; When having moved set angle, form PSa/Par effective scanning face, be combined to form the 3-D scanning zone.
Step S302: when vehicle entered the laser scanning zone, the perception vehicle got the hang of, and the registration of vehicle feature is by the mistiming of any two scanning xsects.
Fig. 4-Fig. 6 is laser three-dimensional scanning vehicle external form method fundamental diagram, and vehicle passes through the situation of laser instrument successively as Fig. 4, Fig. 5, shown in Figure 6.
Fig. 4 is vehicle state while just having entered scanning area.When headstock passed through scanning xsect A, according to the variation of the scanning xsect A that obtains, the perception vehicle got the hang of, and recorded the time T of headstock by scanning xsect A
1
Step S303: according to described vehicle characteristics, by the mistiming of described any two scanning xsects, described any two scanning xsects, at described vehicle characteristics,, by the spacing in zone, obtain the initial instantaneous velocity of vehicle.
As shown in Figure 4, when headstock passed through scanning xsect B, according to the variation of the scanning xsect B that obtains, the perception headstock passed through this xsect, and recorded the time T of headstock by scanning xsect B
2, M is the laser instrument sense of rotation, arrow F is depicted as vehicle heading.
Angle between known described scanning xsect A, B, laser instrument, apart from the distance on ground, can draw vehicle moves by described scanning xsect A, B the time distance, delta D.The initial instantaneous velocity V of vehicle is as shown in Equation 1:
V=ΔD/(T
2-T
1) (1)
Step S304: instantaneous velocity initial according to vehicle, adjust laser instrument and follow the trail of speed, and then revise the spacing of described any two scanning xsects in described vehicle characteristics passes through zone.
At first,, according to the initial instantaneous velocity V of vehicle that obtains, adjust laser instrument and follow the trail of speed v, and follow the trail of speed v less than vehicle instantaneous velocity V;
Then, by adjusting laser instrument, follow the trail of speed v, adjust the spacing d between described scanning xsect, change the distance, delta D of vehicle by described any two scanning xsects, and then revise vehicle instantaneous velocity V.
Step S305: repeating step S301, to step S304, uses iterative algorithm to obtain car speed and tracking speed accurately, and vehicle is followed the trail of scanning, obtains the range sweep image.
As shown in Figure 5, headstock has rolled the 3-D scanning zone away from, and laser instrument is followed the trail of vehicle to position described in Fig. 6.At this moment, scan the xsect distances that in the time, described vehicle characteristics passes through according to correlated characteristic judgement vehicle in vehicle by the time, described any two of any two scanning xsects.
In Fig. 5, there is a protruding features at the vehicle middle part, when the vehicle projection is passed through scanning xsect C, D, registration of vehicle, by the time of described scanning xsect C, D, calculates described scanning xsect C, D in the time, the distance of described vehicle characteristics operation, and according to laser instrument tracking this moment speed, can draw vehicle instantaneous velocity this moment, N is the laser instrument sense of rotation, and arrow F is depicted as vehicle heading.
As shown in Figure 6, vehicle operating is to the laser instrument lower left, and laser instrument is followed the trail of vehicle to position described in figure.At this moment, laser instrument, take the tailstock as feature,, with above-mentioned Fig. 4,5, carries out the vehicle instantaneous velocity and calculates, and arrow F is depicted as vehicle heading.
According to the vehicle instantaneous velocity, adjust laser instrument and follow the trail of speed, form iterative algorithm, obtain car speed and tracking speed more accurately, vehicle is followed the trail of scanning, obtain the range sweep image, until vehicle rolls the laser scanning zone away from.
Step S306:, according to the range sweep image, rebuild the three-dimensional external form profile of vehicle, obtain the accurate external form of vehicle, the judgement type of vehicle.
When vehicle passes through scanning xsect A, produce VSa/VAr range points, be respectively d
A1, d
A2D
AVSa/VArWhen vehicle passes through scanning xsect B, produce VSa/VAr range points, be respectively d
B1, d
B2D
BVSa/VArIndividual range points; When vehicle scans xsect by N, produce VSa/VAr range points, be respectively d
n1, d
n2D
NVSa/VArIndividual range points.Vehicle is by laser instrument all scanning xsect A, B ... PSa/Par, namely laser instrument is completed single pass in described effective angle, forms frame data, and every frame data comprise the individual range sweep point of (VSa/VAr) * (PSa/PAr)., according to the frame data that obtain, form a frame scan image.
Frame scan image according to continuous tracking obtains, carry out fusion treatment to image, rebuilds the three-dimensional external form profile of vehicle, obtains the accurate external form of vehicle; External form accurate according to vehicle, obtain Vehicle length, width, height equidimension information, is input in the neural network of setting the judgement type of vehicle.The utility model can be followed the trail of scanning to vehicle, is saving resource simultaneously, extends laser instrument serviceable life, can be according to the conversion of the reflection ray that receives, determined whether that vehicle enters scanning area, when the perception vehicle did not enter scanning area, laser instrument carried out sparsely scanning; When perceiving vehicle and enter, vehicle is carried out intensive scanning, and the density of the scanning plane of adjustment laser scans vehicle and the close frequency of scanning of laser instrument, be about to laser scanning point and all scan on vehicle, the scanning of increase to the vehicle external form, thereby the work efficiency of raising laser instrument.
In specific implementation process, the desirable three layers of BP neural network of neural network, input layer is vehicle dimension information, output layer is type of vehicle.The vertical vehicle heading of laser instrument rotation in the utility model embodiment is or/and to swing effective angle be 60～170 degree,, along the vehicle heading rotation or/and to swing effective angle be 30～120 degree, follows the trail of rotation or/and to swing effective angle be 20～160 degree.
As seen from the above description, by the 3-D scanning zone that forms, vehicle is carried out 3-D scanning, can obtain vehicle instantaneous velocity information; Then, according to the vehicle instantaneous velocity, adjust laser instrument and follow the trail of speed, can revise the spacing of described any two scanning xsects in described vehicle characteristics passes through zone, obtain car speed and tracking speed accurately; Vehicle is followed the trail of scanning, accurately obtain the three-dimensional external form of vehicle, the judgement type of vehicle.Than prior art, the utility model embodiment can follow the trail of scanning to vehicle, improves the transport investigation accuracy rate, prevents that the phenomenon such as undetected, flase drop from occurring.
Embodiment two
The utility model embodiment also provides a kind of laser three-dimensional scanning vehicle outline devices, is preferably used for realizing the method in above-described embodiment one, and as shown in Figure 7, this device comprises:
Laser emission receiving element 801, be used for launching beam of laser at least, and receive the light signal that returns.Specifically comprise:
Laser emitting module: be used for launching beam of laser at least, laser is penetrated by lasing light emitter, after collimating module, directly or indirectly gets to by on the side object;
Laser pick-off module: be used for receiving the light that diffuse reflection is returned, and the light that reflects is assembled, strengthen light signal.
Motion control unit 802: be used for to control the Laser emission receiving element or/and the three-dimensional motion of laser beam, comprise vertical vehicle heading rotation or/and swing, along the vehicle heading rotation or/and swing, laser instrument follows the trail of rotation or/and swing.Specifically comprise:
Vertical movement control module: be used for control Laser emission receiving element and swing or/and a branch of at least laser beam rotates along vertical vehicle heading, the pointwise range sweep is formed at least one scanning plane;
Parallel motion control module: be used for controlling described at least one scanning plane along the vehicle heading rotation or/and swing, described at least one scanning plane is formed a 3-D scanning zone;
Tracing movement control module: be used for controlling described 3-D scanning zone and rotate or/and swing is followed the trail of vehicle according to tracking speed along vehicle heading.
Date Conversion Unit 803: be used for transmitting photo-signal, light signal is converted to distance signal, comprising:
Light-electric modular converter: the light signal after being used for assembling is converted to electric signal, and electric signal is amplified to electricity-apart from the discernible scope of modular converter;
Electricity-apart from modular converter: be used for converting electrical signals to time signal, then time signal be converted to distance signal.
Data processing unit 804:, for the treatment of the range sweep information of obtaining, preserve the information after processing, show the information such as output vehicle vehicle, speed.Specifically comprise:
Data analysis module: with the scan-data framing, image after framing is carried out three-dimensional reconstruction, obtain and obtain Vehicle length, width, height equidimension information and speed, vehicle information, analyze the automobile traffic amount that obtains, time headway, follow the statistical informations such as car number percent, space headway, time occupancy;
Data processing module: be used for preserving, show or/and the information of vehicles that output is processed.
Fig. 8 is the principle of work schematic diagram of laser three-dimensional scanning vehicle outline devices 80.As shown in Figure 8, motion control unit 802 driving laser emission receiving elements 801,, by vertical vehicle heading, the motion of parallel vehicle heading, form 3 D laser scanning zone 90; During by 3 D laser scanning zone 90, Date Conversion Unit 803 is responsible for the light signal that the laser pick-off module receives is changed when vehicle; Data processing unit 804 is responsible for the data after conversion are processed, and calculates car speed, adjusts tracking speed etc.; When vehicle travelled in scanning area, the tracing movement control module drive laser of motion control unit 802, followed the trail of the scanning vehicle; After Vehicle Driving Cycle went out the laser scanning zone, data processing unit 804 was responsible for the data of scanning are carried out the processing such as framing, modeling, computing, showed or/and the output information of vehicles.
As seen from the above description, move by the motion control unit drive laser, Date Conversion Unit, data processing unit are changed, are processed the data message that obtains, and can realize the tracking scanning to vehicle, obtain the accurate three-dimensional external form of vehicle, the judgement type of vehicle.Than prior art, the utility model embodiment can follow the trail of scanning to vehicle, improves the transport investigation accuracy rate, prevents that the phenomenon such as undetected, flase drop from occurring.
In sum, the utility model embodiment can promote the transport investigation quality, has noncontact, the life-span is long, accuracy is high, and real-time tracing scanning prevent the advantages such as undetected, flase drop, and the later maintenance amount is little.
Those skilled in the art should understand, embodiment of the present utility model can be provided as method, system or computer program.Therefore, the utility model can adopt complete hardware implementation example, implement software example or in conjunction with the form of the embodiment of software and hardware aspect fully.And the utility model can adopt the form that wherein includes the upper computer program of implementing of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code one or more.
The utility model is to describe with reference to process flow diagram and/or the block scheme of method, equipment (system) and computer program according to the utility model embodiment.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, make the instruction of carrying out by the processor of computing machine or other programmable data processing device produce to be used for the device of realizing in the function of flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, make the instruction that is stored in this computer-readable memory produce the manufacture that comprises command device, this command device is realized the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded on computing machine or other programmable data processing device, make on computing machine or other programmable devices and to carry out the sequence of operations step to produce computer implemented processing, thereby be provided for realizing the step of the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame in the instruction of carrying out on computing machine or other programmable devices.
Applied specific embodiment in the utility model principle of the present utility model and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present utility model and core concept thereof; Simultaneously,, for one of ordinary skill in the art,, according to thought of the present utility model, all will change in specific embodiments and applications, in sum, this description should not be construed as restriction of the present utility model.
Claims (4)
1. a laser three-dimensional scanning vehicle fitting, is characterized in that, described device comprises:
Laser emitting module, be used for the Emission Lasers light beam;
The vertical movement control module, swing generation laser scanning face for the laser beam of controlling described laser emitting module emission along vertical direction of vehicle movement;
The parallel motion control module, be used for controlling described laser scanning face and swing the generating three-dimensional scanning area along direction of vehicle movement;
The laser pick-off module, the reflected light signal that reflects while being used for receiving vehicle by described 3-D scanning zone;
Data conversion module, be used for described reflected light signal is converted to distance signal;
Data analysis module, be used for generating information of vehicles according to described distance signal, and described information of vehicles comprises car speed;
The sweep parameter control module, be used for obtaining vehicle location according to distance signal, adjusts sweep limit, scanning density and/or the frequency of described laser scanning face;
The tracing movement control module, be used for the tracking speed according to the described laser emitting module of described car speed control.
2. laser three-dimensional scanning vehicle fitting as claimed in claim 1, is characterized in that, described information of vehicles comprises: car speed, Vehicle length, vehicle width and height of car information.
3. laser three-dimensional scanning vehicle fitting as claimed in claim 2, is characterized in that, described device also comprises: data processing module is used for preserving, show and exporting described information of vehicles.
4. laser three-dimensional scanning vehicle fitting as claimed in claim 3, it is characterized in that, described laser emitting module is laser instrument, the vertical vehicle heading rotation of described laser instrument is or/and the swing effective angle is 60～170 degree,, along vehicle heading rotation or/and to swing effective angle be 30～120 degree, follow the trail of rotation or/and to swing effective angle be 20～160 degree.
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| CN2013201257682U CN203288083U (en) | 2013-03-19 | 2013-03-19 | Laser 3D vehicle scanning device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104091450A (en) * | 2014-05-16 | 2014-10-08 | 吴柯维 | Video tachymeter and video speed measurement method |
| CN104406529A (en) * | 2014-11-25 | 2015-03-11 | 苏州市欧博锐自动化科技有限公司 | Detection system employing laser ranging to acquire width and height of object |
| CN104567688A (en) * | 2014-11-25 | 2015-04-29 | 苏州市欧博锐自动化科技有限公司 | Method for automatically measuring width and height of object through laser |
| CN106710237A (en) * | 2017-03-31 | 2017-05-24 | 广州维脉电子科技有限公司 | Portable road-side laser traffic survey device and survey method thereof |
| WO2017092405A1 (en) * | 2015-12-04 | 2017-06-08 | 同方威视技术股份有限公司 | Moving target status monitoring method, device, and vehicle quick inspection system thereof |
| CN107978151A (en) * | 2017-11-22 | 2018-05-01 | 武汉万集信息技术有限公司 | A kind of vehicle checking method and system |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
| CN108474853A (en) * | 2016-01-20 | 2018-08-31 | 罗伯特·博世有限公司 | Big lamp module, headlight, headlight system and the operation method for big lamp module |
| CN109959939A (en) * | 2017-12-22 | 2019-07-02 | 北京万集科技股份有限公司 | Method for tracing object and device based on laser scanning |
| CN111152729A (en) * | 2019-12-27 | 2020-05-15 | 北京万集科技股份有限公司 | Emission angle adjusting method and system, storage medium and electronic device |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104091450A (en) * | 2014-05-16 | 2014-10-08 | 吴柯维 | Video tachymeter and video speed measurement method |
| CN104406529A (en) * | 2014-11-25 | 2015-03-11 | 苏州市欧博锐自动化科技有限公司 | Detection system employing laser ranging to acquire width and height of object |
| CN104567688A (en) * | 2014-11-25 | 2015-04-29 | 苏州市欧博锐自动化科技有限公司 | Method for automatically measuring width and height of object through laser |
| WO2017092405A1 (en) * | 2015-12-04 | 2017-06-08 | 同方威视技术股份有限公司 | Moving target status monitoring method, device, and vehicle quick inspection system thereof |
| EA037197B1 (en) * | 2015-12-04 | 2021-02-18 | Нюктек Компани Лимитед | Method and device for monitoring state of moving object and system for fast inspecting vehicle |
| RU2655694C2 (en) * | 2015-12-04 | 2018-05-29 | Ньюктек Компани Лимитед | Method and device for status tracking of a moving object and system of a vehicle fast inspection |
| US10495661B2 (en) | 2015-12-04 | 2019-12-03 | Nuctech Company Limited | Method and device for monitoring state of moving object and system for fast inspecting vehicle |
| CN108474853A (en) * | 2016-01-20 | 2018-08-31 | 罗伯特·博世有限公司 | Big lamp module, headlight, headlight system and the operation method for big lamp module |
| CN106710237A (en) * | 2017-03-31 | 2017-05-24 | 广州维脉电子科技有限公司 | Portable road-side laser traffic survey device and survey method thereof |
| CN107978151B (en) * | 2017-11-22 | 2019-12-10 | 武汉万集信息技术有限公司 | vehicle detection method and system |
| CN107978151A (en) * | 2017-11-22 | 2018-05-01 | 武汉万集信息技术有限公司 | A kind of vehicle checking method and system |
| CN109959939A (en) * | 2017-12-22 | 2019-07-02 | 北京万集科技股份有限公司 | Method for tracing object and device based on laser scanning |
| CN108398083A (en) * | 2018-01-29 | 2018-08-14 | 湖南三德科技股份有限公司 | A kind of compartment localization method and positioning device |
| CN111152729A (en) * | 2019-12-27 | 2020-05-15 | 北京万集科技股份有限公司 | Emission angle adjusting method and system, storage medium and electronic device |
| CN111152729B (en) * | 2019-12-27 | 2021-07-13 | 北京万集科技股份有限公司 | Emission angle adjusting method and system, storage medium and electronic device |
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