Vehicle inspection system and method based on laser radar for three-dimensional channel division

Abstract

The present application provides a vehicle inspection system and method for three-dimensional channel division based on laser radar, the system includes a laser radar, a temperature sensor, a heating device and a controller; the laser radar connected to the controller is installed on the arm of the inspection channel through a mounting assembly; the temperature sensor is fixedly installed on the arm and located on the side of the laser radar, and the temperature sensor is connected to the controller; the heating device is integrated in the laser radar, and the heating device is connected to the controller. The temperature sensor is used to read the ambient temperature in real time and transmit the signal to the controller, and the controller issues a corresponding action command to the heating device to ensure that the laser radar can still work stably in relatively cold weather conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle inspection, and in particular to a vehicle inspection system and method for three-dimensional channel division based on laser radar. Background Art

[0002] In the field of safety inspection, fixed or mobile vehicle safety inspection systems are increasingly used because they are quick, convenient, and thorough.

[0003] At present, traditional channel vehicle inspection systems generally use infrared sensors, light curtains, photoelectric switches, and geomagnetism to sense vehicles and determine the current position of vehicles in the inspection channel. However, infrared sensors, light curtains, and photoelectric switches are easily interfered by various external factors, such as birds, animals, rain and snow, which may cause false alarms in the system. Geomagnetic installation requires destroying the ground, which is complicated to install and requires a large workload. Once the position is determined, it is not easy to change and has poor flexibility. Summary of the invention

[0004] In view of this, the main purpose of the present invention is to solve the problem that during the vehicle inspection process, there is great external interference, resulting in poor vehicle inspection effect.

[0005] The present invention provides a vehicle inspection system for three-dimensional channel division based on laser radar, comprising a laser radar, a temperature sensor, a heating device and a controller; the laser radar connected to the controller is installed on the arm of the inspection channel through a mounting assembly; the temperature sensor is fixedly mounted on the arm and is located on the side of the laser radar, and the temperature sensor is connected to the controller; the heating device is integrated in the laser radar, and the heating device is connected to the controller; wherein the mounting assembly comprises: a fixed seat fixed on the arm; a telescopic seat connected to the fixed seat, a telescopic seat having a plurality of locating holes circumferentially arranged at one end away from the fixed seat; and a connecting seat hinged to the telescopic seat, one end of the bolt abuts against the outer wall of the telescopic seat, the other end of the bolt passes through the locating hole and extends into the connecting seat, so that the connecting seat is fixedly connected to the telescopic seat, and the laser radar is arranged on the end of the connecting seat away from the telescopic seat.

[0006] In some embodiments of the present invention, the laser radar model is LMS111-10100.

[0007] In some embodiments of the present invention, the telescopic seat is threadedly connected to the connecting seat.

[0008] The present invention also provides a vehicle inspection method based on laser radar for three-dimensional channel division, which is characterized by comprising: controlling the vehicle to travel in the scanning channel; emitting a laser beam to the scanning channel in real time with a coverage angle of 270° according to the laser radar, and setting a scanning area in the scanning channel, wherein the scanning area includes scanning area CS1, scanning area CS2, scanning area CS3, scanning area CS4, scanning area CS5, scanning area CS6, scanning area CS7 ​​and scanning area CS8; when the scanning area CS2 and the scanning area CS3 are triggered at the same time, confirming whether the target object in the inspection system channel is for a vehicle; if the target object in the system channel is a vehicle, the controller controls the laser radar to stop emitting beams; when the scanning area CS4, the scanning area CS5 and the scanning area CS6 are triggered at the same time, the controller controls the laser radar to emit beams; within a preset time, it is determined whether the scanning area CS7 ​​is triggered; if the scanning area CS7 ​​is not triggered within the preset time, the vehicle is prompted to stay near the position of the laser radar, and a stop beam instruction is issued through the controller; if the scanning area CS7 ​​is triggered within the preset time, it is determined whether the scanning area CS8 is triggered; if the scanning area CS8 is triggered, an inspection completion instruction is issued.

[0009] In some embodiments of the present invention, the scanning area CS1 is disposed at the entrance of the inspection passage, and is three-dimensionally divided and disposed 2 meters to 2.5 meters above the ground.

[0010] In some embodiments of the present invention, the scanning area CS3 is set at the left side of the laser radar in the inspection channel; the area CS2 is set at the left side of the laser radar in the inspection channel, maintaining the same height as the scanning area CS1.

[0011] In some embodiments of the present invention, the scanning area CS4 is set at the position of the laser radar in the inspection channel; the scanning area CS6 is set at the right side of the laser radar in the inspection channel; the scanning area CS5 is set at the right side of the laser radar in the inspection channel and maintains the same height as the scanning area CS1.

[0012] In some embodiments of the present invention, the scanning area CS7 ​​is arranged at the right side of the laser radar in the inspection channel; the scanning area CS8 is arranged at the exit of the inspection channel and maintains the same height as the scanning area CS1.

[0013] The present invention provides a vehicle inspection system and method for three-dimensional channel division based on laser radar, which has the following beneficial effects:

[0014] 1. Use a temperature sensor to read the ambient temperature in real time and transmit the signal to the controller. The controller issues corresponding action commands to the heating device to ensure that the lidar can still work stably in relatively cold weather conditions.

[0015] 2. Set a scanning area in the scanning channel. Scanning area CS1 is set at the entrance of the inspection channel and is three-dimensionally divided and set at a certain distance from the ground. This can eliminate factors of human error triggering and is used to confirm whether the target object of the inspection system channel is a vehicle. When scanning area CS4, scanning area CS5, and scanning area CS6 are triggered at the same time, the ray source is allowed to emit a beam, which can determine that the vehicle cab position has reached a safe area, thereby ensuring the driver's safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the assembly of a vehicle inspection system for three-dimensional channel division based on laser radar according to one embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of area setting for a vehicle inspection system that performs three-dimensional channel division based on laser radar according to an embodiment of the present invention.

[0018] The above drawings include the following reference numerals:

[0019] 10. Laser radar; 20. Installation assembly; 21. Fixed seat; 22. Telescopic seat; 2201. Positioning hole; 23. Connecting seat; 30. Temperature sensor. DETAILED DESCRIPTION

[0020] The present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It will be appreciated that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the inventions. It should also be noted that, for ease of description, only portions related to the relevant inventions are shown in the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0021] See also Figure 1, which shows a vehicle inspection system for three-dimensional channel division based on laser radar of the present application, specifically including a laser radar 10, a temperature sensor 30, a heating device 40 and a controller; the laser radar 10 connected to the controller is installed on the arm of the inspection channel through the mounting assembly 20; the temperature sensor 30 is fixedly installed on the arm and located on the side of the laser radar 10, and the temperature sensor 30 is connected to the controller; the heating device 40 is integrated in the laser radar 10, and the heating device 40 is connected to the controller; wherein The mounting assembly 20 includes: a fixed seat 21 fixed on the arm; a telescopic seat 22 connected to the fixed seat 21, and a plurality of positioning holes 2201 are circumferentially arranged at one end of the telescopic seat 22 away from the fixed seat 21; and a connecting seat 23 hinged to the telescopic seat 22, one end of the bolt abuts against the outer wall of the telescopic seat 22, and the other end of the bolt passes through the positioning hole 2201 and extends into the connecting seat 23, so that the connecting seat 23 is fixedly connected to the telescopic seat 22, and the laser radar 10 is arranged on the end of the connecting seat 23 away from the telescopic seat 22.

[0022] By applying the technical solution of this embodiment, the laser radar 10 is installed on the arm of the inspection channel through the installation component 20. The laser radar 10 emits a laser beam to the scanning channel in real time with a coverage angle of 270°, and a temperature sensor 30 is installed on the side of the laser radar 10. The temperature sensor 30 reads the ambient temperature in real time and transmits the signal to the controller. The controller issues a corresponding action command to the heating device 40 to ensure that the laser radar 10 can still work stably in relatively cold weather conditions.

[0023] Moreover, the telescopic seat 22 is hinged to the connecting seat 23, and the other end of the bolt passes through the positioning hole 2201 and extends into the connecting seat 23, so that the connecting seat 23 and the telescopic seat 22 are connected at different angles, thereby achieving the purpose of adjusting the installation angle of the laser radar 10.

[0024] Specifically, the model of the laser radar (10) is LMS111-10100.

[0025] In some optional embodiments, the telescopic seat 22 is threadedly connected to the connecting seat 23. In this way, the vertical height of the telescopic seat 22 can be adjusted, thereby achieving the purpose of synchronously adjusting the height of the laser radar 10.

[0026] The present application discloses a vehicle inspection method based on laser radar for three-dimensional channel division, specifically comprising: controlling a vehicle to travel in a scanning channel; emitting a laser beam to the scanning channel in real time with a coverage angle of 270° according to the laser radar 10, and setting a scanning area in the scanning channel, wherein the scanning area includes scanning area CS1, scanning area CS2, scanning area CS3, scanning area CS4, scanning area CS5, scanning area CS6, scanning area CS7 ​​and scanning area CS8 (such as Figure 2 as shown); when the scanning area CS2 and the scanning area CS3 are triggered at the same time, it is confirmed whether the target object of the inspection system channel is a vehicle; if the target object of the system channel is a vehicle, the controller controls the laser radar 10 to stop emitting beams; when the scanning area CS4, the scanning area CS5 and the scanning area CS6 are triggered at the same time, the controller controls the laser radar 10 to emit beams; within a preset time, it is determined whether the scanning area CS7 ​​is triggered; if the scanning area CS7 ​​is not triggered within the preset time, the vehicle is prompted to stay near the position of the laser radar 10, and a stop beam instruction is issued through the controller; if the scanning area CS7 ​​is triggered within the preset time, it is determined whether the scanning area CS8 is triggered; if the scanning area CS8 is triggered, an inspection completion instruction is issued.

[0027] In this embodiment, the signals of scanning area CS1-scanning area CS8 are transmitted to the controller (not shown in the figure), and logical judgment can be performed based on the triggering and interruption of the area to realize the position judgment and operating status (parking, reversing, reverse driving) of the vehicle in the inspection system channel.

[0028] Starting from the triggering of scanning area CS1, until the interruption of scanning area CS8 is triggered, it is connected to the controller to calculate the average speed of the vehicles in the inspection channel during the scanning process at this time.

[0029] When scanning area CS4, scanning area CS5, and scanning area CS6 are triggered at the same time, the ray source is allowed to emit beams. After the ray source emits beams normally, when scanning area CS4 is connected to the controller to trigger an interrupt, the ray source stops emitting beams; connecting these two signals to the controller can be used to calculate the cumulative beam-emitting time of the ray source, providing reference data for equipment maintenance.

[0030] In some optional embodiments, the scanning area CS1 is set at the entrance of the inspection channel, and the three-dimensional division is set 2 meters to 2.5 meters from the ground; the scanning area CS3 is set at the left side of the laser radar 10 of the inspection channel; the area CS2 is set at the left side of the laser radar 10 of the inspection channel, maintaining the same height as the scanning area CS1.

[0031] It should be noted that scanning area CS3 is set at the left side of the ray source of the inspection channel, at a certain distance from the ray source; scanning area CS2 is set at the left side of the ray source of the inspection channel, maintaining the same height as scanning area CS1, but its effective shielding range is set wider than CS1. When scanning area CS2 and scanning area CS3 are triggered at the same time, it is used to reconfirm whether the target object in the inspection system channel is a vehicle.

[0032] In some optional embodiments, the scanning area CS4 is set at the position of the laser radar 10 in the inspection channel; the scanning area CS6 is set at the right side of the laser radar 10 in the inspection channel; the scanning area CS5 is set at the right side of the laser radar 10 in the inspection channel and maintains the same height as the scanning area CS1.

[0033] Specifically, scanning area CS6 is set at the right side of the ray source of the inspection channel, at a certain setting distance from the ray source; scanning area CS5 is set at the right side of the ray source of the inspection channel, maintaining the same height as scanning area CS1; scanning area CS4 is set at the ray source position of the inspection channel, and its three-dimensional division is 2-3 meters above the ground. When scanning area CS4, scanning area CS5, and scanning area CS6 are triggered at the same time, the ray source is allowed to emit a beam to determine that the vehicle cab position has reached a safe area to ensure the driver's safety.

[0034] In some optional embodiments, the scanning area CS7 ​​is arranged at the right side of the laser radar 10 in the inspection channel; the scanning area CS8 is arranged at the exit of the inspection channel and maintains the same height as the scanning area CS1.

[0035] In this way, the scanning area CS7 ​​is set at the right side of the ray source of the inspection channel, at a certain set distance from the ray source. After the ray source emits a beam, the vehicle in the inspection system channel will trigger the CS7 area within the set time threshold to determine whether the vehicle has been moving forward. If the CS7 area is not triggered after exceeding the set time threshold, it is prompted that the vehicle stays near the ray source position, and the controller issues a command for the ray source to stop beaming.

[0036] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the creative concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A vehicle inspection system based on laser radar for three-dimensional channel division, characterized in that: The invention comprises a laser radar (10), a temperature sensor (30), a heating device (40) and a controller; the laser radar (10) connected to the controller is installed on an arm support of an inspection channel via a mounting assembly (20); the temperature sensor (30) is fixedly mounted on the arm support and is located on the side of the laser radar (10), and the temperature sensor (30) is connected to the controller; the heating device (40) is integrated in the laser radar (10), and the heating device (40) is connected to the controller; Wherein, the installation component (20) comprises: A fixing seat (21) fixed on the arm; a telescopic seat (22) connected to the fixed seat (21), wherein a plurality of positioning holes (2201) are circumferentially arranged at one end of the telescopic seat (22) away from the fixed seat (21); and A connecting seat (23) hinged to the telescopic seat (22), one end of the bolt abutting against the outer wall of the telescopic seat (22), the other end of the bolt passing through the positioning hole (2201) and extending into the connecting seat (23), so that the connecting seat (23) is fixedly connected to the telescopic seat (22), and the laser radar (10) is arranged on one end of the connecting seat (23) away from the telescopic seat (22); Vehicle inspection methods, including: Control the vehicle to travel within the scanning channel; According to the laser radar (10), a laser beam is emitted in real time to a scanning channel at a coverage angle of 270 degrees, and a scanning area is set in the scanning channel, wherein the scanning area includes a scanning area CS1, a scanning area CS2, a scanning area CS3, a scanning area CS4, a scanning area CS5, a scanning area CS6, a scanning area CS7 ​​and a scanning area CS8; When the scanning area CS2 and the scanning area CS3 are triggered at the same time, it is confirmed whether the target object of the inspection system channel is a vehicle; When the scanning area CS4, the scanning area CS5 and the scanning area CS6 are triggered at the same time, the controller controls the ray source to emit a beam; Determine whether to trigger the scanning area CS7 ​​within a preset time; If the scanning area CS7 ​​is not triggered within the preset time, the vehicle is prompted to stay near the radiation source, and a radiation source stop beam instruction is issued through the controller; If the scanning area CS7 ​​is triggered within the preset time, determining whether the scanning area CS8 is triggered; If the scanning area CS8 is triggered, an inspection completion instruction is issued; The scanning area CS1 is set at the entrance of the inspection channel, and the three-dimensional division is set 2 meters to 2.5 meters above the ground; The scanning area CS3 is arranged at the left side of the ray source of the inspection channel; The area CS2 is arranged at the left side of the radiation source of the inspection channel and maintained at the same height as the scanning area CS1; The scanning area CS4 is arranged at the position of the radiation source of the inspection channel; The scanning area CS6 is arranged at the right side of the ray source of the inspection channel; The scanning area CS5 is arranged at the right side of the radiation source of the inspection channel and is maintained at the same height as the scanning area CS1; The scanning area CS7 ​​is arranged at the right side of the ray source of the inspection channel; The scanning area CS8 is disposed at the exit of the inspection channel and maintains the same height as the scanning area CS1.

2. A vehicle inspection system for three-dimensional channel division based on laser radar according to claim 1, characterized in that: The model of the laser radar (10) is LMS111-10100.

3. The vehicle inspection system based on laser radar for three-dimensional channel division according to claim 1 is characterized in that: The telescopic seat (22) is threadedly connected to the connecting seat (23).

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