WO2018072410A1 - 一种半挂车牵引销的测量装置及采用其测量牵引销的方法 - Google Patents

一种半挂车牵引销的测量装置及采用其测量牵引销的方法 Download PDF

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Publication number
WO2018072410A1
WO2018072410A1 PCT/CN2017/080800 CN2017080800W WO2018072410A1 WO 2018072410 A1 WO2018072410 A1 WO 2018072410A1 CN 2017080800 W CN2017080800 W CN 2017080800W WO 2018072410 A1 WO2018072410 A1 WO 2018072410A1
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WO
WIPO (PCT)
Prior art keywords
trailer
semi
laser scanner
traction pin
horizontal distance
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PCT/CN2017/080800
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English (en)
French (fr)
Inventor
杨景云
方人宇
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成都佳诚弘毅科技股份有限公司
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Priority to US16/322,565 priority Critical patent/US10539409B2/en
Publication of WO2018072410A1 publication Critical patent/WO2018072410A1/zh

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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
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
    • 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
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • 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
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures

Definitions

  • the invention relates to the technical field of vehicle detection, in particular to a measuring device for a semi-trailer traction pin and a method for measuring the same.
  • the technical problem mainly solved by the present invention is to provide a measuring device for a semi-trailer traction pin and a method for measuring the same, which can solve the problem that the traction pin is difficult to measure.
  • the measuring device of the trailer traction pin comprises a first laser scanner, a second laser scanner and a measuring module, wherein the first laser scanner is installed in front of the traveling direction of the semi-trailer, and the scanning surface of the first laser scanner is The traveling direction of the semi-trailer is parallel, the second laser scanner is installed on the side of the traveling direction of the semi-trailer, the scanning surface of the second laser scanner is perpendicular to the traveling direction of the semi-trailer, and the first laser scanner is away from the ground.
  • the first predetermined height being greater than a maximum allowable height of the semi-trailer to be tested
  • the second laser scanner being at a second predetermined height from the ground, the second predetermined height being less than the maximum allowable height, such that The second laser scanner is capable of detecting a traction pin of the semi-trailer, and the measurement module is electrically connected to the first laser scanner and the second laser scanner.
  • the measuring device further comprises a photoelectric sensor mounted on a side of the traveling direction of the semi-trailer, and the photoelectric sensor is located between the first laser scanner and the second laser scanner, wherein the photoelectric sensor The beam direction is perpendicular to the traveling direction of the semi-trailer, the photoelectric sensor is a third predetermined height from the ground, the third predetermined height is smaller than the height of the tire of the semi-trailer to be tested, and the measuring module is also electrically connected to the photoelectric sensor.
  • the first predetermined height is 4m-5m
  • the second predetermined height is 0.8m-1.8m.
  • the third predetermined height is less than or equal to 30 cm.
  • the horizontal distance between the first laser scanner and the second laser scanner is 15m-22m, and the horizontal distance between the second laser scanner and the photoelectric sensor is less than or equal to 3m.
  • the measuring device of the semi-trailer traction pin further comprises a bracket and a column
  • the bracket comprises a vertical beam and a beam
  • the vertical beam is fixed on a side of a traveling direction of the semi-trailer
  • the beam is horizontally arranged and fixed on the vertical beam
  • the first laser scanner is mounted on a beam
  • the column is fixed to the side of the traveling direction of the semi-trailer
  • the second laser scanner is mounted on the column.
  • another technical solution adopted by the present invention is to provide a method for measuring a traction pin by using a measuring device for a semi-trailer traction pin of any of the above, the method comprising: when driving according to the semi-trailer After the semi-trailer driving in the direction enters the measurement range, the measurement module obtains the horizontal distance between the first laser scanner and the semi-trailer in real time; when the second laser scanner detects the traction pin of the semi-trailer, the calculation module records a first horizontal distance between the first laser scanner and the semi-trailer; when the second laser scanner detects that the tractor pin of the semi-trailer passes, the calculation module records the second level between the first laser scanner and the semi-trailer The measuring module calculates the horizontal distance of the traction pin of the semi-trailer to the first laser scanner according to the first horizontal spacing and the second horizontal spacing.
  • the method further comprises: after the traction pin of the semi-trailer passes, the measuring module records a third horizontal distance between the first laser scanner and the semi-trailer when the photoelectric sensor stops receiving the light beam; When the photoelectric sensor receives the light beam again, the measuring module records a fourth horizontal distance between the first laser scanner and the semi-trailer; the measuring module is based on the horizontal distance and the third level of the traction pin of the semi-trailer to the first laser scanner. The pin and the fourth horizontal distance are measured to obtain the pin wheel distance of the semi-trailer.
  • the method further includes: when the second laser scanner detects the front end of the semi-trailer, the calculating module records an initial horizontal spacing of the first laser scanner and the semi-trailer; the calculating module is based on an initial horizontal spacing The horizontal distance between the traction pin of the semi-trailer and the first laser scanner is measured to obtain the front slewing radius of the semi-trailer.
  • the method further includes: when the second laser scanner detects the tail of the semi-trailer, the calculating module records a fifth horizontal distance between the first laser scanner and the semi-trailer; The horizontal distance between the five horizontal spacing and the traction pin of the semi-trailer to the first laser scanner is determined by the horizontal distance from the central axis of the traction pin of the semi-trailer to the rear of the vehicle.
  • the structure is simple, easy to install, will not be affected by the weather, the area of the water and other environmental disturbances.
  • FIG. 1 is a schematic structural view of a measuring device for a semi-trailer traction pin according to an embodiment of the present invention.
  • FIG. 2 is a view showing a semi-trailer detecting device for a semi-trailer traction pin according to an embodiment of the present invention
  • FIG 3 is a schematic view showing the measurement principle of the traction pin measured by the measuring device of the semi-trailer traction pin according to the embodiment of the present invention.
  • the vehicles involved in the detection of the pin wheelbase are collectively referred to herein as semi-trailers.
  • the measuring device for the semi-trailer traction pin of the embodiment of the present invention includes a first laser scanner 1, a second laser scanner 2, and a measurement module (not shown).
  • the first laser scanner 1 is installed in front of the traveling direction of the semi-trailer, the scanning surface of the first laser scanner 1 is parallel to the traveling direction of the semi-trailer, and the first laser scanner 1 is at a first predetermined height from the ground, and the first predetermined height is greater than The maximum allowable height of the semi-trailer is measured so that the semi-trailer can smoothly pass under the first laser scanner 1.
  • the first laser scanner 1 is located directly in front of the traveling direction of the semi-trailer.
  • the direction of the semi-trailer is the pre-planned direction. When testing the semi-trailer, the semi-trailer must travel in the direction of the semi-trailer.
  • the second laser scanner 2 is installed on the side of the traveling direction of the semi-trailer, the scanning surface of the second laser scanner 2 is perpendicular to the traveling direction of the semi-trailer, the second laser scanner 2 is at a second predetermined height from the ground, and the second predetermined height is smaller than Maximum allowable height so that the second laser scanner 2 can detect the tractor pin of the semi-trailer
  • the measurement module is electrically connected to the first laser scanner 1 and the second laser scanner 2 .
  • the position of the traction pin of the semi-trailer relative to the first laser scanner 1 can be measured, that is, the horizontal distance of the traction pin of the semi-trailer to the first laser scanner .
  • the pin wheel distance of the semi-trailer, the front slewing radius and the horizontal axis of the semi-trailer traction pin to the rear of the vehicle can be further measured. distance.
  • the measuring device further comprises a photoelectric sensor 3, and the measuring module is also electrically connected to the photoelectric sensor 4.
  • the photoelectric sensor 3 is mounted on the side of the traveling direction of the semi-trailer, and the photoelectric sensor 3 is located between the first laser scanner 1 and the second laser scanner 2, and the beam direction of the photoelectric sensor 3 is perpendicular to the traveling direction of the semi-trailer, and the photoelectric sensor 3 A third predetermined height from the ground, the third predetermined height being less than the height of the tire of the semi-trailer to be tested.
  • the direction of illumination of the photosensor 3 perpendicular to the direction of travel of the semi-trailer means that the transmitting end and the receiving end of the photosensor 3 are arranged to be perpendicular to the traveling direction of the semi-trailer.
  • the first predetermined height is preferably 4 m - 5 m
  • the second predetermined height is preferably 0.8 m - 1.8 m
  • the third predetermined height is preferably 30 cm or less.
  • the scanning surface of the second laser scanner 2 is set to be perpendicular to the traveling direction of the semi-trailer, which can further improve the scanning effect and reduce the vehicle parts.
  • the light curtain sensor can also detect the traction pin of the semi-trailer, the detection height is relatively fixed, the detection range is small, and the interference is very easy to occur, which seriously affects the detection result, and the laser scanner is used to detect the traction pin, compared with the light.
  • the curtain sensor detects the traction pin and has the advantages of large acquisition range, no detection blind zone, strong environmental adaptability and strong anti-interference.
  • the front slewing radius of the semi-trailer the distance from the axis of the semi-trailer to the farthest point of the semi-trailer from the axis of the traction pin is the horizontal surface, that is, the radius of gyration of the semi-trailer
  • the front slewing radius of the semi-trailer should not exceed 2040mm
  • the horizontal distance from the central axis of the semi-trailer traction pin to the last end of the semi-trailer vehicle length should not exceed 12000mm (transporting 45ft container)
  • the overall length of the combination of the qualified tractor and the semi-trailer does not exceed 15 m.
  • the horizontal distance between the first laser scanner 1 and the second laser scanner 2 is 15 m-22 m
  • the horizontal distance between the two laser scanners 2 and the photosensors 3 is less than or equal to 3 m, which ensures sufficient measurement space for the above two data measurements.
  • the semi-trailer pin wheel distance measuring device of the invention has low requirements for installation and use environment and can be conveniently installed.
  • the first laser scanner 1 can be directly fixed to the building indoor room.
  • the second laser scanner 2 can be directly fixed on the side wall of the building relative to the first laser scanner 1, of course, the first laser scanner 1 and the second laser scanner 2 can also be installed in a special mechanism.
  • the semi-trailer pin wheel distance measuring device further comprises a bracket 4 and a column 5, the bracket 4 includes a vertical beam 41 and a beam 42 fixed on the semi-trailer The side of the direction, the beam 42 is horizontally disposed and fixed to the top of the vertical beam 41, the first laser scanner 1 is mounted on the beam 42, the column 5 is fixed to the side of the traveling direction of the semi-trailer, and the second laser scanner 2 is mounted on the column 5 on.
  • the bracket 4 can be a gantry or an inverted "L" frame to facilitate the passage of the semi-trailer.
  • the present invention also provides a method for measuring a traction pin by using the above-mentioned semi-trailer traction pin measuring device, the method comprising:
  • the measurement range may be the scanning range of the second laser scanner 2. If the semi-trailer does not enter the measurement range, the first laser scanner 1 and the photosensor 3 can stand by to reduce power consumption.
  • the measuring module determines, by the second laser scanner 2, that the front end of the traction pin of the semi-trailer enters the scanning surface of the second laser scanner 2, the first laser scanner 1 measures the first part of the semi-trailer head at this time.
  • a horizontal spacing S 1 A horizontal spacing S 1 .
  • the first laser scanner 1 measures the front of the semi-trailer.
  • the second horizontal interval S 2 .
  • the calculation module calculates the horizontal distance of the traction pin of the semi-trailer to the first laser scanner 1 according to the first horizontal interval S 1 and the second horizontal interval S 2 .
  • (S 1 + S 2 )/2 is the horizontal distance between the central axis of the semi-trailer traction pin and the first laser scanner 1 , that is, the horizontal distance of the traction pin of the semi-trailer to the first laser scanner 1 The horizontal distance determines the position of the semi-trailer traction pin.
  • the method further includes:
  • the measuring module judges through the photoelectric sensor 3 that the front end of the non-steering axle tire of the semi-trailer is located at the position of the photoelectric sensor 3, and the first laser scanner 1 measures the head of the semi-trailer at this time.
  • the third horizontal interval S 3 .
  • the first laser scanner 1 measures its fourth horizontal distance S 4 from the head of the semi-trailer at this time.
  • the horizontal distance of the traction pin of the semi-trailer to the first laser scanner 1 is (S 1 + S 2 )/2, and (S 3 + S 4 )/2 is the central axis of the semi-trailer non-steering axis and the first laser
  • the horizontal spacing of the scanner 1 (S 1 + S 2 )/2-(S 3 + S 4 )/2 is the pin wheel distance of the semi-trailer. It should be noted that since the non-steering axle wheels of the semi-trailer usually have multiple sets, S 3 and S 4 have multiple values (a set of values for a set of tires), wherein the two values of the photosensor 3 before and after the beam is blocked are A group.
  • the method further includes:
  • the head of the semi-trailer first enters the scanning surface of the second laser scanner 2, and the measuring module determines through the second laser scanner 2 that the head of the semi-trailer enters the scanning surface of the second laser scanner 2, the first laser scanning
  • the meter 1 will now measure its initial horizontal spacing S 0 from the head of the semi-trailer.
  • the calculation module calculates the front slewing radius of the semi-trailer according to the initial horizontal spacing S 0 and the horizontal distance of the traction pin of the semi-trailer to the first laser scanner 1 .
  • the front slewing radius of the semi-trailer is S 0 -(S 1 +S 2 )/2.
  • the method further includes:
  • the first laser scanner 1 measures the fifth level of the front end of the semi-trailer. Spacing S 5 .
  • S110 Calculation module and spacing S 5 of the semitrailer coupling pin according to a fifth level to the first level of the laser scanner to obtain a semi-trailer towing pin center axis to the rear of the horizontal distance measure.
  • the horizontal distance from the center axis of the traction pin of the semi-trailer to the rear of the vehicle is (S 1 + S 2 )/2-S 5 .
  • the method of the present invention does not limit the driving direction of the semi-trailer, and the semi-trailer can drive in the forward direction (ie, the head is facing the first laser scanner 1), or can reverse the reverse driving (ie, the tail is facing the first
  • the laser scanner 1) if the tail of the semi-trailer is driven into the semi-trailer wheelbase measuring device toward the first laser scanner 1, the first laser scanner 1 records the horizontal distance between the tail and the first laser scanner 1 in real time.
  • the second laser scanner 2 detects the traction pin, and the photoelectric sensor 3 detects the rear wheel.
  • the pin wheel distance, the front slewing radius of the semi-trailer and the traction of the semi-trailer can be measured by using a length calculation method similar to the first entry of the vehicle head into the device.
  • the horizontal distance from the center of the pin to the rear of the car is not described here.
  • the present invention can measure the horizontal distance of the traction pin, the pin wheel distance, the front slewing radius of the semi-trailer and the central axis of the traction pin of the semi-trailer to the rear of the vehicle during the running of the semi-trailer, and does not require parking detection, and can be effective.
  • the measurement efficiency is improved, and the measurement precision of the invention is high, the irregular operation caused by human detection is avoided, the structure is simple, the failure rate is low, the weather resistance is strong, and the environment adaptability is strong.

Abstract

一种半挂车牵引销的测量装置及采用其测量牵引销的方法，测量装置包括第一激光扫描仪（1）、第二激光扫描仪（2）和测算模块，第一激光扫描仪（1）安装于半挂车行驶方向的前方，第一激光扫描仪（1）的扫描面与半挂车行驶方向平行，第二激光扫描仪（2）安装于半挂车行驶方向的侧方，第二激光扫描仪（2）的扫描面与半挂车行驶方向垂直，第一激光扫描仪（1）距离地面第一预定高度，第一预定高度大于待测半挂车的最大允许高度，第二激光扫描仪（2）距离地面第二预定高度，第二预定高度小于最大允许高度，以使得第二激光扫描仪（2）能够检测半挂车的牵引销，测算模块与第一激光扫描仪（1）、第二激光扫描仪（2）电性连接。上述装置和方法可以实现在车辆行驶过程中测量其牵引销，不需要停车检测的技术效果。

Description

一种半挂车牵引销的测量装置及采用其测量牵引销的方法 技术领域
本发明涉及车辆检测技术领域，特别是涉及一种半挂车牵引销的测量装置及采用其测量牵引销的方法。
背景技术
随着社会经济迅速发展，带动汽车工业的迅猛增长，如汽车等机动车辆成为目前社会必不可少的交通工具之一。然而部分半挂车使用者为了获取更大的经济利益，通过改装车辆尺寸以增加车辆容积，达到增加车辆一次性运输量的目的，降低运输成本，然而这一举措严重违反了车辆使用的安全标准。每年因车辆超载发生的交通事故数不胜数，其中半挂车出现车祸的经济损失最为严重。故而为了保障车辆的安全性，车辆每年都必须进行年检，根据2016年7月27日发布的国标《GB1589-2016》中销轴距概念“半挂车牵引销中心轴线与非转向轴组水平几何中心线的水平距离”，并提出了与销轴距尺寸相关的查验、检验工作要求，而检测销轴距首先需要测定牵引销的位置，但是目前检测半挂车的牵引销时往往是以人工测量方式进行的，这种测量方式效率极低，人员成本高，对大型半挂车进行车检时因受测量工具的制约，测量准确度及违规操作难以控制。
由于牵引销的测量比车辆的长、宽、高测量更加困难，因此根据国家对车检的新要求，开发用于测量半挂车牵引销的装置势在必行。
发明内容
本发明主要解决的技术问题是提供一种半挂车牵引销的测量装置及采用其测量牵引销的方法，能够解决牵引销测量难的问题。
为解决上述技术问题，本发明采用的一个技术方案是：提供一种半 挂车牵引销的测量装置，包括第一激光扫描仪、第二激光扫描仪和测算模块，所述第一激光扫描仪安装于半挂车行驶方向的前方，所述第一激光扫描仪的扫描面与半挂车行驶方向平行，所述第二激光扫描仪安装于半挂车行驶方向的侧方，所述第二激光扫描仪的扫描面与半挂车行驶方向垂直，所述第一激光扫描仪距离地面第一预定高度，所述第一预定高度大于待测半挂车的最大允许高度，所述第二激光扫描仪距离地面第二预定高度，所述第二预定高度小于所述最大允许高度，以使得所述第二激光扫描仪能够检测半挂车的牵引销，所述测算模块与所述第一激光扫描仪、第二激光扫描仪电性连接。
其中，所述测量装置还包括光电传感器，所述光电传感器安装于半挂车行驶方向的侧方，且所述光电传感器位于第一激光扫描仪和第二激光扫描仪之间，所述光电传感器的光束方向与半挂车行驶方向垂直，所述光电传感器距离地面第三预定高度，所述第三预定高度小于待测半挂车的轮胎高度，所述测算模块还与光电传感器电性连接。
其中，所述第一预定高度为4m-5m，所述第二预定高度为0.8m-1.8m。
其中，所述第三预定高度小于等于30cm。
其中，所述第一激光扫描仪与第二激光扫描仪的水平间距为15m-22m，所述第二激光扫描仪与光电传感器的水平间距小于等于3m。
其中，所述半挂车牵引销的测量装置还包括支架和立柱，所述支架包括竖梁和横梁，所述竖梁固定在半挂车行驶方向的侧方，所述横梁水平设置并固定在竖梁顶端，所述第一激光扫描仪安装于横梁上，所述立柱固定在半挂车行驶方向的侧方，所述第二激光扫描仪安装于立柱上。
为解决上述技术问题，本发明采用的另一个技术方案是：提供一种采用上述任一种的半挂车牵引销的测量装置测量牵引销的方法，所述方法包括：当按照所述半挂车行驶方向行驶的半挂车进入测量范围后，所述测算模块实时获取第一激光扫描仪与半挂车的水平间距；当所述第二激光扫描仪检测到半挂车的牵引销时，所述测算模块记录第一激光扫描仪与半挂车的第一水平间距；当所述第二激光扫描仪检测到半挂车的牵引销通过时，所述测算模块记录第一激光扫描仪与半挂车的第二水平间 距；所述测算模块根据第一水平间距和第二水平间距测算得到半挂车的牵引销到第一激光扫描仪的水平距离。
其中，所述方法还包括：在半挂车的牵引销通过后，当所述光电传感器停止收到光束时，所述测算模块记录第一激光扫描仪与半挂车的第三水平间距；当所述光电传感器再次收到光束时，所述测算模块记录第一激光扫描仪与半挂车的第四水平间距；所述测算模块根据半挂车的牵引销到第一激光扫描仪的水平距离、第三水平间隔和第四水平间距测算得到半挂车的销轴距。
其中，所述方法还包括：当所述第二激光扫描仪检测到半挂车的车头时，所述测算模块记录第一激光扫描仪与半挂车的初始水平间距；所述测算模块根据初始水平间距和半挂车的牵引销到第一激光扫描仪的水平距离测算得到半挂车的前回转半径。
其中，所述方法还包括：当所述第二激光扫描仪检测到半挂车的车尾时，所述测算模块记录第一激光扫描仪与半挂车的第五水平间距；所述测算模块根据第五水平间距和半挂车的牵引销到第一激光扫描仪的水平距离测算得到半挂车的牵引销中心轴线到车尾的水平距离。
本发明的有益效果是：
1、可以在车辆行驶过程中测量其牵引销，不需要停车检测，有效提高牵引销测量工作的效率，且测量精度较高，避免了人为检测产生的违规操作。
2、结构简单、安装方便，不会受天气、地面积水等环境干扰。
3、在检测牵引销的同时还能检测半挂车的销轴距、前回转半径和半挂车牵引销中心轴线到车尾的水平距离，符合2016年7月27日发布的国标《GB1589-2016》所提出的一系列对半挂车的检测要求，有效提高车辆的检测效率。
附图说明
图1是本发明实施例的半挂车牵引销的测量装置的结构示意图。
图2是本发明实施例的半挂车牵引销的测量装置对半挂车进行检测 的示意图。
图3是采用本发明实施例的半挂车牵引销的测量装置测量牵引销的测量原理示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行详细、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本文中将所涉及到需要检测销轴距的车辆均统称为半挂车。
参阅图1和图2，本发明实施例的半挂车牵引销的测量装置包括第一激光扫描仪1、第二激光扫描仪2和测算模块(图中未标示)。
第一激光扫描仪1安装于半挂车行驶方向的前方，第一激光扫描仪1的扫描面与半挂车行驶方向平行，第一激光扫描仪1距离地面第一预定高度，第一预定高度大于待测半挂车的最大允许高度，以使得半挂车能够顺利从第一激光扫描仪1下方通过。为了使检测效果更好，减小测量误差，第一激光扫描仪1位于半挂车行驶方向的正前上方。半挂车行驶方向为预先规划好的方向，对半挂车进行检测时，半挂车必须沿半挂车行驶方向行驶。
第二激光扫描仪2安装于半挂车行驶方向的侧方，第二激光扫描仪2的扫描面与半挂车行驶方向垂直，第二激光扫描仪2距离地面第二预定高度，第二预定高度小于最大允许高度，以使得第二激光扫描仪2能够检测半挂车的牵引销
测算模块与第一激光扫描仪1、第二激光扫描仪2电性连接。
通过第一激光扫描仪1和第二激光扫描仪2相配合，可以测出半挂车的牵引销相对第一激光扫描仪1的位置，即半挂车的牵引销到第一激光扫描仪的水平距离。该水平距离测出后，在此基础上，还可进一步测出半挂车的销轴距、前回转半径和半挂车牵引销中心轴线到车尾的水平 距离。
为了测量半挂车的销轴距，在本实施例中，测量装置还包括光电传感器3，测算模块还与光电传感器4电性连接。光电传感器3安装于半挂车行驶方向的侧方，且光电传感器3位于第一激光扫描仪1和第二激光扫描仪2之间，光电传感器3的光束方向与半挂车行驶方向垂直，光电传感器3距离地面第三预定高度，第三预定高度小于待测半挂车的轮胎高度。光电传感器3的光照方向与半挂车行驶方向垂直是指光电传感器3的发射端和接收端设置为与半挂车行驶方向垂直。
在本实施例中，第一预定高度优选为4m-5m，第二预定高度优选为0.8m-1.8m，第三预定高度优选为小于等于30cm。这样，可以使半挂车牵引销的测量装置适用于目前常见的半挂车。
由于部分半挂车的牵引销高度低、中间还会有高低不平的零部件，因而将第二激光扫描仪2的扫描面设置为与半挂车行驶方向垂直，可以进一步提高扫描效果，减小车辆零件对扫描效果的影响。虽然采用光幕传感器也能够检测到半挂车的牵引销，但是其检测的高度相对固定，检测范围小，极易出现干扰，严重影响检测结果，而采用激光扫描仪检测牵引销，相比采用光幕传感器检测牵引销而言具有采集范围大、无检测盲区、环境适应性强以及抗干扰强等优势。
由于国标《GB1589-2016》中还对半挂车前回转半径有如下定义：半挂车牵引销轴线至半挂车前端距牵引销轴线最远点在水平面上的距离，也就是说半挂车前回转半径即为牵引销轴线到半挂车前端的距离，且该国标中规定半挂车前回转半径不应大于2040mm，半挂车牵引销中心轴线到半挂车车辆长度最后端的水平距离不应大于12000mm(运送45ft集装箱的半挂车除外)，故合格牵引车与半挂车组合的整体长度不超过15m，因此，在本实施例中，第一激光扫描仪1与第二激光扫描仪2的水平间距为15m-22m，第二激光扫描仪2与光电传感器3的水平间距小于等于3m，这样可以保证对上述两个数据测量时有足够的测量空间。
本发明的半挂车销轴距测量装置对于安装使用环境的要求较低，可以很方便的安装，例如第一激光扫描仪1可以直接固定于建筑物室内屋 顶上，第二激光扫描仪2可以直接固定在相对于第一激光扫描仪1的建筑物侧面墙壁上，当然，第一激光扫描仪1和第二激光扫描仪2还可以安装于专门的机构上，以适用于室外测量条件，例如，在本实施例中，半挂车销轴距测量装置还包括支架4和立柱5，支架4包括竖梁41和横梁42，竖梁41固定在半挂车行驶方向的侧方，横梁42水平设置并固定在竖梁41顶端，第一激光扫描仪1安装于横梁42上，立柱5固定在半挂车行驶方向的侧方，第二激光扫描仪2安装于立柱5上。其中，支架4可以为龙门架或倒置的“L”形架，以方便半挂车通过。
请结合参阅图1至图3，本发明还提供一种采用上述半挂车牵引销的测量装置测量牵引销的方法，该方法包括：
S101：当按照半挂车行驶方向行驶的半挂车进入测量范围后，测算模块实时获取第一激光扫描仪1与半挂车的水平间距。
其中，测量范围可以是第二激光扫描仪2的扫描范围。如果半挂车没有进入测量范围，第一激光扫描仪1以及光电传感器3可以待机，以降低功耗。
S102：当第二激光扫描仪2检测到半挂车的牵引销时，测算模块记录第一激光扫描仪1与半挂车的第一水平间距S1。
其中，测算模块通过第二激光扫描仪2判断到半挂车的牵引销的前端进入第二激光扫描仪2的扫描面时，第一激光扫描仪1此时会测量到其与半挂车车头的第一水平间距S1。
S103：当第二激光扫描仪2检测到半挂车的牵引销通过时，测算模块记录第一激光扫描仪1与半挂车的第二水平间距S2。
其中，测算模块通过第二激光扫描仪2判断到半挂车的牵引销的后端离开第二激光扫描仪2的扫描面时，第一激光扫描仪1此时会测量到其与半挂车车头的第二水平间距S2。
S104：测算模块根据第一水平间距S1和第二水平间距S2测算得到半挂车的牵引销到第一激光扫描仪1的水平距离。
其中，(S1+S2)/2为半挂车牵引销的中心轴线与第一激光扫描仪1的水平间距，也就是半挂车的牵引销到第一激光扫描仪1的水平距离， 通过该水平距离可以确定半挂车牵引销的位置。
为了进一步测量半挂车的销轴距，在本实施例中，该方法还包括：
S105：在半挂车的牵引销通过后，当光电传感器3停止收到光束时，测算模块记录第一激光扫描仪1与半挂车的第三水平间距S3。
其中，半挂车的牵引销通过第二激光扫描仪2的扫描面后，位于牵引销后方的半挂车非转向轴轮胎会经过光电传感器3，从而遮挡光电传感器3的光束，因而光电传感器3会检测到停止收到光束，此时测算模块通过光电传感器3判断到半挂车的非转向轴轮胎的前端正好位于光电传感器3的位置，第一激光扫描仪1此时会测量到其与半挂车车头的第三水平间距S3。
S106：当光电传感器3再次收到光束时，测算模块记录第一激光扫描仪1与半挂车的第四水平间距S4。
其中，半挂车非转向轴轮胎离开光电传感器3时，光电传感器3的光束不再受到遮挡，从而光电传感器3再次接收到光束，测算模块通过光电传感器3判断到半挂车的非转向轴轮胎的后端离开光电传感器3时，第一激光扫描仪1此时会测量到其与半挂车车头的第四水平间距S4。
S107：测算模块根据半挂车的牵引销到第一激光扫描仪1的水平距离、第三水平间隔S3和第四水平间距S4测算得到半挂车的销轴距.
其中，半挂车的牵引销到第一激光扫描仪1的水平距离为(S1+S2)/2，(S3+S4)/2为半挂车非转向轴的中心轴线与第一激光扫描仪1的水平间距，(S1+S2)/2-(S3+S4)/2则为半挂车的销轴距。应当注意，由于半挂车的非转向轴车轮通常有多组，故S3和S4会有多个值(一组轮胎一组值)，其中光电传感器3的光束被阻挡前后的两个值为一组。
为了在检测销轴距的同时还能检测半挂车前回转半径，在本实施例中，该方法还包括：
S108：当第二激光扫描仪2检测到半挂车的车头时，测算模块记录第一激光扫描仪1与半挂车的初始水平间距S0。
其中，半挂车的车头会首先进入第二激光扫描仪2的扫描面，测算模块通过第二激光扫描仪2判断到半挂车的车头进入第二激光扫描仪2 的扫描面时，第一激光扫描仪1此时会测量到其与半挂车车头的初始水平间距S0。
S108：测算模块根据初始水平间距S0和半挂车的牵引销到第一激光扫描仪1的水平距离测算得到半挂车的前回转半径。
其中，半挂车前回转半径为S0-(S1+S2)/2。
为了进一步检测半挂车牵引销中心轴线到车尾的水平距离，在本实施例中，该方法还包括：
S109：当第二激光扫描仪2检测到半挂车的车尾时，测算模块记录第一激光扫描仪1与半挂车的第五水平间距S5。
其中，测算模块通过第二激光扫描仪2判断到半挂车的车尾离开第二激光扫描仪2的扫描面时，第一激光扫描仪1此时会测量到其与半挂车车头的第五水平间距S5。
S110：测算模块根据第五水平间距S5和半挂车的牵引销到第一激光扫描仪1的水平距离测算得到半挂车的牵引销中心轴线到车尾的水平距离。
其中，半挂车的牵引销中心轴线到车尾的水平距离为(S1+S2)/2-S5。
需要强调的是，本发明的方法不对半挂车的驶入方向作限制，半挂车可以正向行驶(即车头朝向第一激光扫描仪1)，也可以反向倒车行驶(即车尾朝向第一激光扫描仪1)，若半挂车的车尾朝向第一激光扫描仪1驶入半挂车销轴距测量装置，则第一激光扫描仪1实时记录车尾与第一激光扫描仪1的水平间距，第二激光扫描仪2检测牵引销，光电传感器3检测后轮，只需使用类似于车头先进入本装置的长度计算方法便可测得销轴距、半挂车前回转半径以及半挂车的牵引销中心轴线到车尾的水平距离，此处便不再赘述。
综上所述，本发明可以在半挂车行驶过程中测量其牵引销、销轴距、半挂车前回转半径和半挂车的牵引销中心轴线到车尾的水平距离，不需要停车检测，可以有效提高测量效率，且本发明的测量精度高，避免了人为检测产生的违规操作，结构简单故障率低，抗天气干扰，环境适应性强。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (10)

  1. 一种半挂车牵引销的测量装置，其特征在于，包括第一激光扫描仪、第二激光扫描仪和测算模块，所述第一激光扫描仪安装于半挂车行驶方向的前方，所述第一激光扫描仪的扫描面与半挂车行驶方向平行，所述第二激光扫描仪安装于半挂车行驶方向的侧方，所述第二激光扫描仪的扫描面与半挂车行驶方向垂直，所述第一激光扫描仪距离地面第一预定高度，所述第一预定高度大于待测半挂车的最大允许高度，所述第二激光扫描仪距离地面第二预定高度，所述第二预定高度小于所述最大允许高度，以使得所述第二激光扫描仪能够检测半挂车的牵引销，所述测算模块与所述第一激光扫描仪、第二激光扫描仪电性连接。
  2. 根据权利要求1所述的半挂车牵引销的测量装置，其特征在于，所述测量装置还包括光电传感器，所述光电传感器安装于半挂车行驶方向的侧方，且所述光电传感器位于第一激光扫描仪和第二激光扫描仪之间，所述光电传感器的光束方向与半挂车行驶方向垂直，所述光电传感器距离地面第三预定高度，所述第三预定高度小于待测半挂车的轮胎高度，所述测算模块还与光电传感器电性连接。
  3. 根据权利要求1所述的半挂车牵引销的测量装置，其特征在于，所述第一预定高度为4m-5m，所述第二预定高度为0.8m-1.8m。
  4. 根据权利要求2或3所述的半挂车牵引销的测量装置，其特征在于，所述第三预定高度小于等于30cm。
  5. 根据权利要求2所述的半挂车牵引销的测量装置，其特征在于，所述第一激光扫描仪与第二激光扫描仪的水平间距为15m-22m，所述第二激光扫描仪与光电传感器的水平间距小于等于3m。
  6. 根据权利要求1所述的半挂车牵引销的测量装置，其特征在于，所述半挂车牵引销的测量装置还包括支架和立柱，所述支架包括竖梁和横梁，所述竖梁固定在半挂车行驶方向的侧方，所述横梁水平设置并固定在竖梁顶端，所述第一激光扫描仪安装于横梁上，所述立柱固定在半挂车行驶方向的侧方，所述第二激光扫描仪安装于立柱上。
  7. 一种采用权利要求1至6任一项所述的半挂车牵引销的测量装置测量牵引销的方法，其特征在于，所述方法包括：
    当按照所述半挂车行驶方向行驶的半挂车进入测量范围后，所述测算模块实时获取第一激光扫描仪与半挂车的水平间距；
    当所述第二激光扫描仪检测到半挂车的牵引销时，所述测算模块记录第一激光扫描仪与半挂车的第一水平间距；
    当所述第二激光扫描仪检测到半挂车的牵引销通过时，所述测算模块记录第一激光扫描仪与半挂车的第二水平间距；
    所述测算模块根据第一水平间距和第二水平间距测算得到半挂车的牵引销到第一激光扫描仪的水平距离。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    在半挂车的牵引销通过后，当所述光电传感器停止收到光束时，所述测算模块记录第一激光扫描仪与半挂车的第三水平间距；
    当所述光电传感器再次收到光束时，所述测算模块记录第一激光扫描仪与半挂车的第四水平间距；
    所述测算模块根据半挂车的牵引销到第一激光扫描仪的水平距离、第三水平间隔和第四水平间距测算得到半挂车的销轴距。
  9. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    当所述第二激光扫描仪检测到半挂车的车头时，所述测算模块记录第一激光扫描仪与半挂车的初始水平间距；
    所述测算模块根据初始水平间距和半挂车的牵引销到第一激光扫描仪的水平距离测算得到半挂车的前回转半径。
  10. 根据权利要求8所述的方法，其特征在于，所述方法还包括：
    当所述第二激光扫描仪检测到半挂车的车尾时，所述测算模块记录第一激光扫描仪与半挂车的第五水平间距；
    所述测算模块根据第五水平间距和半挂车的牵引销到第一激光扫描仪的水平距离测算得到半挂车的牵引销中心轴线到车尾的水平距离。
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