CN208282792U - Detect the device of unmanned trailer axle drift angle - Google Patents
Detect the device of unmanned trailer axle drift angle Download PDFInfo
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- CN208282792U CN208282792U CN201820240548.7U CN201820240548U CN208282792U CN 208282792 U CN208282792 U CN 208282792U CN 201820240548 U CN201820240548 U CN 201820240548U CN 208282792 U CN208282792 U CN 208282792U
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Abstract
The utility model relates to a kind of devices for detecting unmanned trailer axle drift angle, including multi-line laser radar and reflective marker object and industrial personal computer, PID controller and memory module, the multi-line laser radar is mounted on headstock the right and left of detected trailer, and tailstock the right and left that the reflective marker object is fixed on detected trailer corresponds to the position of multi-line laser radar.The utility model has the advantages that the utility model is without installing additional sensor, at any time can real-time measurement and monitoring, without parking.The utility model only needs the coordinate data of recording laser radar in measurement process, there is no influence measurement is blocked because of front axle, is not also limited by trailer lower space.
Description
Technical field
The utility model belongs to fields of measurement more particularly to a kind of device for detecting unmanned trailer axle drift angle.
Background technique
It is with the development of science and technology and progressive, it can be transported to people by the unmanned trailer that automatic control system controls
Traffic accident caused by cargo offers convenience and reduces because of artificial origins such as driver fatigues.The automatic control of unmanned trailer
System can be according to different road conditions it is anticipated that the unmanned trailer of driving path automatic Pilot.For unmanned semi-dragging truck
For, the axis drift angle of detection trailer when driving is conducive to monitor trailer driving condition in real time, reduces traffic accident.Trailer
Axis drift angle refers to the angle between trailer carrying axle and its position in normal condition.Normal position refers to trailer carrying axle and hangs
Vehicle car body center line is mutually perpendicular to.It can all cause to hang due to quality, vehicle useful load, the difference of maintenance of road conditions etc.
The position of vehicle carrying axle changes, and generates axis drift angle.The presence of trailer axle drift angle makes vehicle reduce vehicle in the process of moving
Control stability, the ability of roadholding and automobile anti-side sliding, reduce semi-trailer train drive safely performance.Work as extension
When setback is more than permissible value, it is easy to cause traffic accident, it is therefore desirable to the range of trailer axle drift angle is bound, and mesh
Signal light control and image processing techniques problem in the preceding unmanned real-time detection method based on machine vision measure essence to it
Degree is affected, thus the problem that the detection of unmanned trailer axle drift angle of today has precision low.
Traditional trailer axle drift angle detection mainly manually measures, and when measurement, since trailer lower space is limited, is difficult
It close to measurement point, works extremely inconvenient, method is also considerably complicated, while this measurement method precision is lower, it is difficult to meet detection
It is required that it is even more impossible to use on unmanned trailer.At present using unartificial detection there are mainly two types of mode: 1) being based on machine
The trailer axle drift angle detection system of device vision is acquired using imprinting wheel and panoramic picture of the machine vision to trailer, asks
The size at the trace centre coordinate of wheel and driving direction angle out realizes the detection of trailer axle drift angle.The method signal light control and
Image processing techniques problem is difficult to solve, and not can guarantee its measurement accuracy and accuracy.2) based on the trailer of laser ranging technique
Axis drift angle detection system is by rangefinder on external longitudinal direction and cross slide way, and device is complicated and is difficult to realize, usage scenario
It is fairly limited, dynamic measurement can not be carried out when trailer is advanced completely, it is even more impossible to use on unmanned trailer.
With the development of unmanned technology, the technological break-through for detecting unmanned trailer axle drift angle is urgently solved in industry
Certainly the problem of.
Utility model content
Purpose of the utility model is to overcome the shortcomings of the above technology, and to provide a kind of unmanned trailer axle of detection is inclined
The device at angle can accurately be detected the axis drift angle of trailer when driving, be had using the cloud data of multi-line laser radar acquisition laser point
Conducive to real time monitoring trailer driving condition, traffic accident is reduced.
In order to achieve the above object, the utility model adopts the following technical solutions: a kind of unmanned trailer axle drift angle of detection
Device, it is characterized in that: including multi-line laser radar and reflective marker object and industrial personal computer, PID controller and memory module structure
At the axis deviation angle detection device of unmanned trailer, the multi-line laser radar is mounted on headstock of detected trailer or so two
Side, tailstock the right and left that the reflective marker object is fixed on detected trailer correspond to the position of multi-line laser radar, reflecting sign
Remember that object is identified and scanned convenient for laser radar；It is inclined that according to the laser point cloud data that laser radar acquires axis is calculated in industrial personal computer
Angle；PID controller controls the angular range of unmanned trailer safety traffic for handling axis drift angle input signal；Storage dress
It sets for storing one or more programs.
The multi-line laser radar is placed at the vehicle angle of headstock, and the left and right visual angle of multi-line laser radar is 270 °, is regarded up and down
Angle is 30 °.
The utility model has the advantages that compared with prior art, the utility model can be surveyed in real time at any time without installing additional sensor
Amount and monitoring, without parking.Simply, convenient, fast, accurate；The utility model only needs recording laser radar in measurement process
Coordinate data, it is time saving, laborsaving.There is no influence measurement is blocked because of front axle, also do not limited by trailer lower space.Easily
In realization, stability is high, improves the measurement efficiency and accuracy of axis drift angle, by monitoring axis drift angle in real time, to unmanned
Trailer posture is modulated, and avoids traffic accident to a certain extent.
Detailed description of the invention
Fig. 1 is the schematic view of the mounting position of laser radar Yu reflective marker object；
Fig. 2 is the main view that laser radar and reflective marker object are installed on trailer；
Fig. 3 is the working principle diagram of the utility model；
Fig. 4 is the connection block diagram for detecting the device of unmanned trailer axle drift angle；
Fig. 5 is the flow chart of the utility model controller；
Fig. 6 is the illustraton of model constructed in Simulink according to the transmission function of PID controller；
In figure: 1, multi-line laser radar, 2, reflective marker object.
Specific embodiment
Specific embodiment of the present utility model is described in detail below with reference to preferred embodiment.
It is detailed in attached drawing, present embodiments provides a kind of device for detecting unmanned trailer axle drift angle, including multi-thread laser
Radar 1 and reflective marker object 2 and industrial personal computer, PID controller and memory module constitute the axis drift angle detection of unmanned trailer
Device, the multi-line laser radar are mounted on headstock the right and left of detected trailer, and the reflective marker object is fixed on tested
The tailstock the right and left for surveying trailer corresponds to the position of multi-line laser radar, and reflective marker object is identified and scanned convenient for laser radar；
Axis drift angle is calculated according to the laser point cloud data that laser radar acquires in industrial personal computer；PID controller is for handling axis drift angle
Input signal controls the angular range of unmanned trailer safety traffic；Storage device is for storing one or more programs.Institute
It states multi-line laser radar to be placed at the vehicle angle of headstock, the left and right visual angle of multi-line laser radar is 270 °, and upper downwards angle of visibility is 30 °.
Using the measurement method of unmanned trailer axle drift angle, the laser point cloud data acquired by laser radar is generated
Reflected value image corresponding with laser point cloud data is generated further according to above-mentioned reflected value image using laser radar as the position of origin
Coordinate is set, is calculated using coordinate, determines the axis drift angle of unmanned trailer, the specific steps are as follows:
1) by two 16 line laser radars, it is placed in the left and right front of trailer headstock, sticks reflective marker on tailstock both sides
Object is identified and is scanned convenient for laser radar；The left and right visual angle of laser radar is 270 °, and upper downwards angle of visibility is 30 °；
2) it uses laser radar to implement scanning and identification to the reflective marker object of the trailer tailstock, obtains marker relative to sharp
The coordinate information of optical radar；
3) using 16 line laser radar sites as origin, the coordinate for measuring marker relative laser radar is (x, y, z), is resolved
Headstock and tailstock distance d and angle α out:
Assuming that a length of l of trailer, obtains:
Wherein,Axis drift angle.
Working principle and the course of work
By the laser point cloud data acquired according to laser radar, reflected value figure corresponding with laser point cloud data is generated
Picture, further according to above-mentioned reflected value image, generation is then calculated using coordinate using laser radar as the position coordinates of origin, is determined
The axis drift angle of above-mentioned unmanned trailer.Hardware is combined with software, designs a set of axis drift angle real-time monitoring system, it is inclined to axis
Angle carries out real-time measurement detection, is alarmed and is corrected to the case where exceeding security standpoint.The above method is easily achieved, stability
Height improves the measurement efficiency and accuracy of axis drift angle, by monitoring axis drift angle in real time, adjusts to unmanned trailer posture
System, avoids traffic accident to a certain extent.Laser radar obtains the ash of Reflection intensity information formation by scanning
Degree figure, since the reflectivity of reflective marker object at the tailstock is much larger compared with ambient enviroment, reflected intensity is maximum, can quickly be known
Not, coordinate information of the marker relative to laser radar is obtained.The 16 line laser radars realization pair of headstock is placed in by two
The monitoring of semi-mounted setback.By two 16 line lasers, it is placed in the left and right front of trailer headstock, is sticked on tailstock both sides reflective
Marker is identified and is scanned convenient for laser radar.Two 16 lines hang over vehicle angle, and left and right visual angle can reach 270 °, upper downwards angle of visibility energy
Reach 30 °, can both see the barrier of front, the angle pulled below can also be detected in passing, without additional sensor.Swash
The relative position of optical radar and reflective marker object is as shown in Figure 1.Laser radar obtains Reflection intensity information by scanning and is formed
Grayscale image, since the reflectivity of reflective marker object at the tailstock is much larger compared with ambient enviroment, reflected intensity is maximum, can be quick
Identification, obtains coordinate information of the marker relative to laser radar.
It is detailed in attached drawing 5, axis drift angle is measured by the axis deviation angle detection device of unmanned trailerAs PID controller journey
The input signal of sequence judges axis drift angle angle, if within the scope of security standpoint, if so, keeping current driving
State triggers alarm switch alarm, and adjust steering wheel angle by PID controller, simultaneously if exceeding security standpoint range
Axis drift angle is measured at any time, until angle is within safe range.
The control law of PID controller is expressed with transmission function are as follows:
Its difference inputted as axis drift angle and desired axis drift angleOutput is angular deviation adjusted.Control ring
Section is using proportional component and the integral element (COEFFICIENT K of differentiation elementd=0): the reflection control system that proportional component can be proportional
Deviation signal, deviation once generate, controller generates control action immediately, to reduce deviation；Integral element is mainly used for disappearing
Except steady-state error, high control precision is mentioned.See that (this example uses attached drawing 6 according to the model that the transmission function of PID controller constructs
Security standpoint is 2 °).
Axis drift angle safe range and vehicle body parameters such as semitrailer wheel space, tractor wheelbase etc. are related, and the present embodiment is only
Provide general solution, corresponding security standpoint can be arranged according to Truck type choice in when application.
Embodiment 1
Survey trailer l=17.793m.
The coordinate of marker relative laser radar is (17,0.2,0), and axis drift angle is calculatedRadian is being pacified
In gamut, vehicle is temporarily not necessarily to adjust, and keeps current state.
The coordinate of marker relative laser radar is (16.2,1.3,0), and axis drift angle is calculatedRadian exceeds
Safe range needs to adjust the driving status of vehicle, until axis drift angle is 0.
It is above-mentioned referring to embodiment to this it is a kind of detect unmanned trailer axle drift angle device carry out detailed description, be to say
Bright property without being restrictive, several embodiments can be enumerated according to limited range, therefore practical new not departing from this
Change and modification under type general plotting should belong within the protection scope of the utility model.
Claims (2)
1. a kind of device for detecting unmanned trailer axle drift angle, it is characterized in that: including multi-line laser radar and reflective marker object
And industrial personal computer, PID controller and memory module constitute the axis deviation angle detection device of unmanned trailer, the multi-thread laser thunder
Up to the headstock the right and left for being mounted on detected trailer, the reflective marker object is fixed on tailstock the right and left of detected trailer
The position of corresponding multi-line laser radar, reflective marker object are identified and are scanned convenient for laser radar；Industrial personal computer is adopted according to laser radar
The laser point cloud data of collection and axis drift angle is calculated；PID controller controls unmanned for handling axis drift angle input signal
The angular range of trailer safety traffic；Storage device is for storing one or more programs.
2. the device of the unmanned trailer axle drift angle of detection according to claim 1, it is characterized in that: the multi-thread laser thunder
Up to being placed at the vehicle angle of headstock, the left and right visual angle of multi-line laser radar is 270 °, and upper downwards angle of visibility is 30 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820240548.7U CN208282792U (en) | 2018-02-11 | 2018-02-11 | Detect the device of unmanned trailer axle drift angle |
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| CN201820240548.7U CN208282792U (en) | 2018-02-11 | 2018-02-11 | Detect the device of unmanned trailer axle drift angle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278981A (en) * | 2018-02-11 | 2018-07-13 | 北京主线科技有限公司 | Detect the device and its detection method of unmanned trailer axle drift angle |
| CN111580066A (en) * | 2019-02-18 | 2020-08-25 | 上海汽车集团股份有限公司 | Steering angle detection method, device and system |
| CN112082484A (en) * | 2020-09-11 | 2020-12-15 | 武汉理工大学 | Device and method for detecting engineering vehicle body deviation based on single line laser radar |
| EP3889904A1 (en) * | 2020-03-31 | 2021-10-06 | Continental Automotive GmbH | Method and system for calculating vehicle trailer angle |
-
2018
- 2018-02-11 CN CN201820240548.7U patent/CN208282792U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278981A (en) * | 2018-02-11 | 2018-07-13 | 北京主线科技有限公司 | Detect the device and its detection method of unmanned trailer axle drift angle |
| CN111580066A (en) * | 2019-02-18 | 2020-08-25 | 上海汽车集团股份有限公司 | Steering angle detection method, device and system |
| EP3889904A1 (en) * | 2020-03-31 | 2021-10-06 | Continental Automotive GmbH | Method and system for calculating vehicle trailer angle |
| WO2021197649A1 (en) * | 2020-03-31 | 2021-10-07 | Continental Automotive Gmbh | Method and system for calculating vehicle trailer angle |
| CN112082484A (en) * | 2020-09-11 | 2020-12-15 | 武汉理工大学 | Device and method for detecting engineering vehicle body deviation based on single line laser radar |
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Effective date of registration: 20210514 Address after: Room 1201, 12th floor, building 7, artificial intelligence building, 17 Yesheng Road, economic and Technological Development Zone, Xiqing District, Tianjin Patentee after: Tianjin mainline Technology Co.,Ltd. Address before: 100084 B1002, Xueyan building, Shuangqing Road, Haidian District, Beijing Patentee before: BEIJING ZHUXIAN TECHNOLOGY Co.,Ltd. |