CN207473087U - A kind of road vehicle laser scanning device - Google Patents
A kind of road vehicle laser scanning device Download PDFInfo
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- CN207473087U CN207473087U CN201721427368.1U CN201721427368U CN207473087U CN 207473087 U CN207473087 U CN 207473087U CN 201721427368 U CN201721427368 U CN 201721427368U CN 207473087 U CN207473087 U CN 207473087U
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Abstract
A kind of road vehicle laser scanning device, is communicatively coupled ground display and control terminal, which is characterized in that the road vehicle laser scanning device includes：Portal frame, across road driveway, upper beam is equipped with lateral guide rail；Vehicle frame, is movably installed on the guide rail of the portal frame and can be along guide rail transverse shifting；Stabilized platform is lifted on the downside of frame chassis, has the servo regulatory function of orientation and pitching both direction；And laser radar apparatus, it is lifted on the downside of stabilized platform, detection is scanned to road vehicle.Road vehicle laser scanning device provided by the utility model can adjust the lateral position of laser radar apparatus and scanning angle into Mobile state, realize the flexible switching of a variety of Scanning Detction operating modes.
Description
Technical field
The utility model belongs to technical field of intelligent traffic, and in particular to a kind of detection device of vehicle.
Background technology
As vehicle detection source, car speed, three-dimensional wheel are measured with this using laser radar for vehicle laser scanning device
The various types of vehicles parameter such as exterior feature.Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.
From operation principle, there is no basic difference with microwave radar：To objective emission detectable signal (laser beam), then will receive
To the reflected signal of slave target (target echo) with transmitting signal be compared, after appropriately processed, so that it may obtain mesh
Target is for information about.Due to laser radar because having very strong anti-interference, better measurement accuracy and longer use
Service life and stability, application prospect are extensive.
Laser radar mentioned in this specification represents the radar equipment in single sweep face.Meanwhile vehicle advance side
To longitudinal direction is set to, the direction being transversely to the machine direction in vehicle movement plane is known as laterally, perpendicular to the direction of plane of movement being known as
It is vertical.
Existing vehicle laser scanning device mostly uses two laser radars.Chinese patent application CN 104361752A are public
A kind of laser scanning model recognizing method of free flow charge is opened, wherein a laser radar scanning plane is parallel to track side
To progress longitudinal direction of car scanning；The plane of scanning motion of another laser radar forms an angle with track direction, and progress is in longitudinal direction
The slanting scanning of certain angle.Based on this method, two laser radars are disposed such as on every track, you can measure more smart
Really obtain longitudinal direction of car displacement information.But if number of lanes is more, the vehicle on every track is carried out more smart
True detection needs to dispose more laser radars, causes the rising of hardware cost.
At present, also there is bicycle road that the solution that a laser radar carries out vehicle scan is used only.Chinese patent application
CN1605033A disclose it is a kind of based on a laser radar, for significant lengthwise position on vehicle heading one
The position change fixed time calculates the method for the speed of vehicle.It, can be in a small amount of portion if a laser radar is disposed in every track
On the basis of affixing one's name to laser radar, the measurement to the attributes such as vehicle on every track is realized.But exist simultaneously measurement accuracy of detection
The deficiencies of not high.
In addition, the laser radar in current vehicle laser scanning device is installed using the mode that is fixedly connected and portal frame
On, lack the effective means adjusted to laser radar position and scanning direction into Mobile state.And as can realizing to laser radar
Position and scanning direction dynamic adjust, you can a variety of vehicle scan methods are flexibly deduced based on multi-section laser radar, convenient for vehicle
The flexible Application of detection field.
Utility model content
The utility model for it is existing the technical issues of make improvements, i.e., the technical problem to be solved is that carry for utility model
For a kind of road vehicle laser scanning device, the lateral position of laser radar and scanning angle can be adjusted into Mobile state.
For above-mentioned technical problem, technical solution provided by the utility model is：
A kind of road vehicle laser scanning device, is communicatively coupled ground display and control terminal, which is characterized in that the highway car
Laser scanning device includes：Portal frame, across road driveway, upper beam is equipped with lateral guide rail；Vehicle frame, activity installation
In on the guide rail of the portal frame and can be along guide rail transverse shifting；Stabilized platform is lifted on the downside of frame chassis, have orientation and
The servo regulatory function of pitching both direction；And laser radar apparatus, it is lifted on the downside of stabilized platform, road vehicle is carried out
Scanning Detction.
Further, the vehicle frame is four-wheel vehicle frame, including brake motor, retarder, wheel drive axis, the first shaft coupling
Device and second shaft coupling, frame chassis are equipped with the opening passed through for retarder, and the reducer input shaft is located on chassis
Side, the output shaft of the retarder are located at below chassis, and the brake motor is fixedly installed in chassis upside and passes through the
One shaft coupling connects the input shaft of retarder, and the output shaft of the retarder connects wheel drive axis by second shaft coupling.
Further, the vehicle frame further includes the rainproof cover plate at the top of it and connects the rainproof cover plate and vehicle frame bottom
The column of disk.
Further, the stabilized platform includes upper and lower sequentially connected horizontal movement frame and pitching movement frame, driving
Transmission mechanism, attitude transducer and Servocontrol device, the drive transmission device include the of driving horizontal movement frame
Second direct current torque motor of one direct current torque motor and driving pitching movement frame.
Further, the portal frame is 2 across 2 tracks, the vehicle frame, and every vehicle frame is equipped with a set of stabilized platform
With a set of laser radar apparatus.
Based on above-mentioned road vehicle laser scanning device, by transversely movable vehicle frame, azimuth pitch adjusting can be carried out
Biaxial stabilization platform, realize the orientation of laser radar apparatus of institute's carry and the flexible modulation of posture, have hardware simple,
The features such as easily implementing in of low cost, engineering.
Description of the drawings
Fig. 1 is the portal frame of road vehicle laser scanning device and vehicle frame schematic diagram that utility model provides.
Fig. 2 is the two-dimensional representation at vehicle frame direction along ng a path visual angle that utility model provides.
Fig. 3 is the scheme of installation of the stabilized platform that utility model provides and laser radar apparatus.
Fig. 4 is illustrated for the first operating mode of laser scanning carried out based on the utility model.
Fig. 5 is illustrated for second of the operating mode of laser scanning carried out based on the utility model.
Fig. 6 is illustrated for the third operating mode of laser scanning carried out based on the utility model.
Specific embodiment
It is described below to disclose the utility model so that those skilled in the art can realize the utility model.It retouches below
Preferred embodiment in stating is only used as illustrating, it may occur to persons skilled in the art that other obvious modifications.
As shown in Figure 1 to Figure 3, road vehicle laser scanning device provided by the utility model includes portal frame 10, installation
In vehicle frame 20 transversely movable on gantry rail, the stabilized platform 30 being installed on the downside of frame chassis and it is lifted on stabilization
The laser radar apparatus 40 of platform underside.
Portal frame 10 is about highly 6 meters, across 2 tracks.Portal frame 10 includes girder 11, a pair positioned at end of main beam
End carriage 12, the column 13 that vertical supporting is carried out to end carriage.Girder 11 supplies the guide rail of two cars frame transverse movement, two guide rails for a pair
End be fixedly connected by end carriage 12.
Vehicle frame 20 is four-wheel bassinet structure, totally two, is movably installed on a girder 11 i.e. guide rail, and can be along the direction of guide rail
Carry out lateral movement.Vehicle frame 20 further includes brake motor 23, retarder 25, wheel drive axis 27.The chassis 29 of vehicle frame 20
Upside is equipped with brake motor 23.Brake motor 23 has additional disc type DC system to be totally-enclosed from fan cold type mouse-cage type
The threephase asynchronous of dynamic device, carries electric machine controller, has quick stopping and accurate positioning function.29 longitudinal direction of frame chassis
Central part be equipped with the opening 29a passed through for retarder, the input shaft 25a of retarder 25 is located above chassis 29, retarder
Output shaft 25b be located at the lower section of chassis 29.Brake motor 23 connects the input shaft of retarder by first shaft coupling 24
25a, the output shaft 25b of retarder connect pair of wheels transmission shaft 27 respectively by a pair of of second shaft coupling 26.Every wheel passes
Axis 27 of uniting connects a wheel 28.Under working condition, electric machine controller control brake motor 23 drives retarder 25, further
The rotation of transmission shaft 27 and wheel 28 is driven, realizes that vehicle frame 20 carries out transverse shifting along the guide rail on portal frame.Above-mentioned vehicle frame 20
It drives frame for two, i.e., two wheels of laterally adjacent 25 side of retarder are driving wheel, two vehicles far from 25 side of retarder
It takes turns as driven wheel.Support column 22 on vehicle frame 20 also by vehicle periphery is equipped with rain-proof structure 21, which is umbrella
Cover board.
Every 29 downside of frame chassis is installed with a set of stabilized platform 30 by flange plate structure form.Stabilized platform
30 select the biaxial stabilization platform of existing maturation, including platform framework, drive transmission device, attitude transducer and servo control
Device processed.Platform framework includes the horizontal movement frame being vertically connected with and pitching movement frame.Horizontal movement frame may be such that it
The stability plane of lower section carries out rotary motion in the range of certain angle along azimuth axis, and pitching movement frame may be such that below
Carry rotary motion in the range of certain angle around pitch axis.In view of the laser radar apparatus weight carried of stabilized platform 30 compared with
Gently, here in a manner that direct current torque motor directly drives platform framework, the problem of avoiding retarder return difference, thus have
Higher driving degree of regulation.Attitude transducer include be fixedly connected with horizontal movement frame horizontal attitude sensor,
The pitch attitude sensor being fixedly connected with pitching frame.Attitude transducer exports attitude information to Servocontrol device.Servo
The stabilized platform attitude information that control device is transmitted according to attitude transducer calculates the drive signal of direct current torque motor, into
And direct current torque motor controls the posture of entire stabilized platform, the laser radar apparatus 40 for adjusting its underpart is directed toward set angle
Degree.
The a set of laser radar apparatus 40 of 30 times carries of every stabilized platform.Laser radar apparatus 40 is conventionally known vehicle
Laser radar detector is integrated with including the equipment such as transmitting and reception system, photo-translating system and data collecting card.Hair
It penetrates and is used for reception system to objective emission and receives laser signal, photo-translating system is used to convert the optical signal received
For electric signal, the amplification and output of signal are completed.Data collecting card realizes the acquisition of measuring signal data.In the present embodiment, surely
The orientation rotation angle of fixed platform is defined within 180 degree, and without the continuous Rotation Design of azimuth direction, avoids laser thunder
The kink of cable occurs due to orientation rotates for power supply, the communications cable up to device 40.
Under working condition, the display and control terminal (computer of vehicle laser scanning device connection highway detection scene or distal end
System).I.e. electric machine controller, Servocontrol device, data collecting card can communicate respectively connection display and control terminal, with reference to aobvious control
The computer software of terminal realizes lidar measurement, it can be achieved that intelligent control to stabilized platform 30 and vehicle frame 20
Storage, calling and the analysis of signal data, obtain the display of final measurement.
Based on above-mentioned vehicle Airborne Lidar examining system, since vehicle frame 20 is movably installed on gantry rail 11, and can
It is transversely moved along the track 11, you can realize the adjusting of 40 lateral position of stabilized platform 30 and laser radar apparatus.
By the orientation and pitch regulation of biaxial stabilization platform 30, realize that the laser radar apparatus 40 of its carry is directed toward the adjusting in orientation.
Such as fig. 4 to fig. 6, several operating modes based on road vehicle laser scanning device provided by the utility model are described below.
Operating mode one：
Every track corresponds to a vehicle frame, and the laser radar scanning plane on every vehicle frame is approximately perpendicular to ground, downwards
Scan track.Laser radar scanning plane sets certain angle α with track cross section (plane vertical with vehicle heading)
(being known as scanning shift angle), angle can freely be set.The range suggestion of scanning shift angle α is set as between 30 °~60 °, too small
Or excessive angle may result in error increase.Laser radar scanning plane is perpendicular to the ground.Based on above-mentioned tilting laser thunder
Up to the plane of scanning motion, the measurement data provided can carry out the measurement of vehicle speed measurement and vehicle dimension, while it is even to be approximately considered vehicle
Speed passes through laser radar scanning plane.Specific measuring method is the prior art, and which is not described herein again.The pattern is suitable for every
Vehicle attribute on track carries out the work requirements of bigness scale.
Operating mode two：
Two vehicle frames are deployed in same track such as fast traffic lane.One laser radar scanning plane is parallel to track direction,
Carry out longitudinal direction of car scanning；Another laser radar scanning plane forms an angle with track direction, and it is in a clamp to carry out with longitudinal direction
The slanting scanning at angle.The pattern can carry out the vehicle on the specific track measurement of more accurate property parameters, simultaneously
The vehicle for abandoning slow lane measures.
Operating mode three：
Two vehicle frames are deployed in same track.The plane of scanning motion of two laser radars is with track cross section (with vehicle row
Sail the vertical plane in direction) the same angle α of setting.Same vehicle can be measured by two laser radars, it is ensured that survey
The accuracy of result is measured, while suitable for the check of single laser radar accuracy in detection.
Certainly, based on above-mentioned road vehicle laser scanning device, more those of ordinary skill in the art's energy can be developed out
The operating mode enough expected, I will not elaborate.
The advantages of basic principle, main feature and the utility model of the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the present utility model is not limited to the above embodiments, described in above embodiments and description
Only the utility model principle, on the premise of not departing from the spirit and scope of the utility model the utility model also have respectively
Kind changes and improvements, these changes and improvements are both fallen in claimed the scope of the utility model.The guarantor of the utility model
Shield range is defined by appended claims and its equivalent.
Claims (5)
1. a kind of road vehicle laser scanning device, is communicatively coupled ground display and control terminal, which is characterized in that the road vehicle
Laser scanning device includes：
Portal frame, across road driveway, upper beam is equipped with lateral guide rail；
Vehicle frame, is movably installed on the guide rail of the portal frame and can be along guide rail transverse shifting；
Stabilized platform is lifted on the downside of frame chassis, has the servo regulatory function of orientation and pitching both direction；And
Laser radar apparatus is lifted on the downside of stabilized platform, detection is scanned to road vehicle.
2. road vehicle laser scanning device according to claim 1, which is characterized in that the vehicle frame is four-wheel vehicle frame,
It includes brake motor, retarder, wheel drive axis, first shaft coupling and second shaft coupling, and frame chassis is equipped with for subtracting
The opening that fast device passes through, the reducer input shaft are located above chassis, and the output shaft of the retarder is located under chassis
Side, the brake motor is fixedly installed on the upside of chassis and the input shaft of retarder is connected by first shaft coupling, described to subtract
The output shaft of fast device connects wheel drive axis by second shaft coupling.
3. road vehicle laser scanning device according to claim 2, which is characterized in that the vehicle frame is further included positioned at it
The rainproof cover plate at top and the column of the connection rainproof cover plate and frame chassis.
4. road vehicle laser scanning device according to any one of claim 1 to 3, which is characterized in that the stabilization
Platform include upper and lower sequentially connected horizontal movement frame and pitching movement frame, drive transmission device, attitude transducer and
Servocontrol device, the drive transmission device include the first direct current torque motor of driving horizontal movement frame and driving pitching
Second direct current torque motor of moving frame.
5. road vehicle laser scanning device according to any one of claim 1 to 3, which is characterized in that described gantry
Frame is 2 across 2 tracks, the vehicle frame, and every vehicle frame is equipped with a set of stabilized platform and a set of laser radar apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721427368.1U CN207473087U (en) | 2017-10-31 | 2017-10-31 | A kind of road vehicle laser scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721427368.1U CN207473087U (en) | 2017-10-31 | 2017-10-31 | A kind of road vehicle laser scanning device |
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| Publication Number | Publication Date |
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| CN207473087U true CN207473087U (en) | 2018-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721427368.1U Expired - Fee Related CN207473087U (en) | 2017-10-31 | 2017-10-31 | A kind of road vehicle laser scanning device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109738874A (en) * | 2019-01-14 | 2019-05-10 | 辽宁工业大学 | A vehicle-mounted radar test device and its control method |
| CN110910633A (en) * | 2018-09-14 | 2020-03-24 | 阿里巴巴集团控股有限公司 | Road condition information processing method, device and system |
-
2017
- 2017-10-31 CN CN201721427368.1U patent/CN207473087U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110910633A (en) * | 2018-09-14 | 2020-03-24 | 阿里巴巴集团控股有限公司 | Road condition information processing method, device and system |
| CN109738874A (en) * | 2019-01-14 | 2019-05-10 | 辽宁工业大学 | A vehicle-mounted radar test device and its control method |
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Granted publication date: 20180608 Termination date: 20181031 |