Off-site enforcement method, system, and apparatus

Abstract

The application discloses a kind of non-site law enforcement method, system and device.Therein, the method includes: based on the first three-dimensional point cloud data collected by single-line laser radar, and based on the second three-dimensional point cloud data collected by multi-line laser radar, the contour information of vehicle is determined;Receive the weight information of vehicle based on the identification information collected by weighing treatment equipment, and the image information of vehicle based on the image capture device collected by capture instruction;After multi-line laser radar detects the second predetermined part of vehicle reaches second predetermined area, first three-dimensional point cloud data, second three-dimensional point cloud data, contour information, weight information and image information are sent to main control server.The application solves the technical problem that non-site law enforcement system in related art is far away from each subsystem, which leads to low data information matching rate between each subsystem, prone to error, and low efficiency of non-site law enforcement.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of non-site law enforcement, in particular, to a non-site law enforcement method, system and device. BACKGROUND

[0002] The non-site law enforcement system is installed on national and provincial roads and highways, and is used to automatically collect vehicle weight information, image evidence chain information such as front, side and rear shots of vehicles, short videos, vehicle length, width and height information, etc., as the basis for punishment of vehicle overload and overlength. The non-site law enforcement system not only requires higher precision in each link of the system, such as weight collection, length, width and height measurement, and vehicle axle number recognition, but also requires high matching rate between each index in the system, in order to be effective evidence chain information for law enforcement. However, in practice, due to the independence of each system, the complex driving conditions of free-flowing vehicles, and the relatively far distance between each subsystem, it is difficult to have high matching precision. This leads to errors in the evidence chain information and affects the subsequent law enforcement work. Moreover, the traditional non-site law enforcement system directly displays the weight information on the information board after the vehicle weight is measured. At this time, if a fast vehicle passes by the side of the vehicle, the weight information displayed on the information board will cover the information of the previous vehicle.

[0003] At present, there is no effective solution to the above problems. SUMMARY

[0004] The embodiments of the present application provide a non-site law enforcement method, system and device to at least solve the technical problem of low data information matching rate between each subsystem, easy to make errors, and low efficiency of non-site law enforcement due to the relatively far distance between each subsystem in the non-site law enforcement system in the related art.

[0005] According to an aspect of some embodiments of the present application, there is provided a method for non-site law enforcement, comprising: in a case where a single-line laser radar detects that a tail of a vehicle leaves a first predetermined area, acquiring first three-dimensional point cloud data collected based on the single-line laser radar and second three-dimensional point cloud data collected based on a multi-line laser radar; determining contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; in a case where the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, sending identification information of the vehicle to a weighing processing device and sending a snapshot instruction carrying the identification information to an image snapshot device, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number; receiving weight information of the vehicle collected by the weighing processing device based on the identification information and image information of the vehicle collected by the image snapshot device based on the snapshot instruction; and after the multi-line laser radar detects that a second predetermined part of the vehicle reaches a second predetermined area, sending the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0006] According to an aspect of some embodiments of the present application, there is provided another method for non-site law enforcement, comprising: a single-line laser radar collecting first three-dimensional point cloud data of a vehicle and sending the first three-dimensional point cloud data to a data processing device in a case where the single-line laser radar detects that a tail of the vehicle leaves a first predetermined area; a multi-line laser radar collecting second three-dimensional point cloud data of the vehicle and sending the second three-dimensional point cloud data to the data processing device in a case where the single-line laser radar detects that the tail of the vehicle leaves the first predetermined area; the data processing device determining contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; in a case where the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, the data processing device sending identification information of the vehicle to a weighing processing device and sending a snapshot instruction carrying the identification information to an image snapshot device, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number; the weighing processing device collecting weight information of the vehicle based on the identification information and sending the weight information to the data processing device; the image snapshot device collecting image information of the vehicle based on the snapshot instruction and sending the image information to the data processing device; and after the multi-line laser radar detects that a second predetermined part of the vehicle reaches a second predetermined area, the data processing device sending the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0007] According to another aspect of the embodiments of the present application, there is also provided a non-attended law enforcement system, comprising: a single-line laser radar configured to collect first three-dimensional point cloud data of a vehicle and perform first positioning detection on a tail of the vehicle; a multi-line laser radar configured to collect second three-dimensional point cloud data of the vehicle and perform second positioning detection on a predetermined part of the vehicle; a data processing device connected to the single-line laser radar and the multi-line laser radar, configured to generate contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; a weight processing device disposed in a weight detection area and connected to the data processing device, configured to collect weight information of the vehicle based on identification information from the data processing device, wherein the identification information at least includes a current location and a vehicle number corresponding to the vehicle; an image capturing device connected to the data processing device, configured to collect image information of the vehicle based on a capturing instruction from the data processing device; and the data processing device is further configured to send the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0008] According to another aspect of the embodiments of the present application, there is also provided a non-attended law enforcement device, comprising: a first obtaining module configured to, in a case where a single-line laser radar detects that a tail of a vehicle leaves a first predetermined area, obtain first three-dimensional point cloud data collected based on the single-line laser radar and second three-dimensional point cloud data collected based on a multi-line laser radar; a first determining module configured to determine contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; a first sending module configured to, in a case where the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weight area, send identification information of the vehicle to a weight processing device and send a capturing instruction carrying the identification information to an image capturing device, wherein the identification information at least includes a current location and a vehicle number corresponding to the vehicle; a first receiving module configured to receive weight information of the vehicle collected by the weight processing device based on the identification information and image information of the vehicle collected by the image capturing device based on the capturing instruction; and a second sending module configured to, after the multi-line laser radar detects that a second predetermined part of the vehicle reaches a second predetermined area, send the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0009] According to another aspect of the embodiments of the present application, there is also provided a non-volatile storage medium, which stores a plurality of instructions, and the instructions are adapted to be loaded and executed by a processor to perform any one of the non-attended law enforcement methods.

[0010] According to another aspect of the embodiments of the present application, an electronic device is provided, which includes one or more processors and a memory storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement any of the above-mentioned non-site law enforcement methods.

[0011] In the embodiments of the present application, in the case that the single-line laser radar detects that the tail of a vehicle leaves a first predetermined area, first three-dimensional point cloud data collected based on the single-line laser radar and second three-dimensional point cloud data collected based on a multi-line laser radar are acquired; the contour information of the vehicle is determined based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; in the case that the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, the identification information of the vehicle is sent to a weighing processing device, and a snapshot instruction carrying the identification information is sent to an image snapshot device, wherein the identification information at least includes the current position and the vehicle number corresponding to the vehicle; the weight information of the vehicle collected by the weighing processing device based on the identification information and the image information of the vehicle collected by the image snapshot device based on the snapshot instruction are received; after the multi-line laser radar detects that a second predetermined part of the vehicle reaches a second predetermined area, the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information are sent to a master server, so as to ensure that the data collected by each device can accurately correspond to the same vehicle by carrying the vehicle identification combined with the laser radar positioning, and the consistency of data collection is improved, thereby realizing the technical effects of improving the data matching degree between each subsystem in the non-site law enforcement system and the non-site law enforcement efficiency, and further solving the technical problems of low data information matching rate between each subsystem, easy to make errors and low non-site law enforcement efficiency due to the fact that each subsystem in the non-site law enforcement system in the related art is far away from each other. BRIEF DESCRIPTION OF DRAWINGS

[0012] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0013] Figure 1 FIG. 1 is a schematic diagram of a non-site law enforcement method according to an embodiment of the present application;

[0014] Figure 2 FIG. 2 is a schematic diagram of another non-site law enforcement method according to an embodiment of the present application;

[0015] Figure 3 FIG. 3 is a schematic diagram of a non-site law enforcement system according to an embodiment of the present application.

[0016] Figure 4 is a schematic diagram of an optional off-site law enforcement system according to an embodiment of the present invention;

[0017] Figure 5 is a schematic diagram of an off-site law enforcement device according to an embodiment of the present invention;

[0018] Figure 6 2 is a schematic diagram of another off-site law enforcement device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] According to an embodiment of the present invention, a method embodiment of non-site law enforcement is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0022] Figure 1 Flowchart of the off-site law enforcement method according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0023] In step S102, in a case where the single-line laser radar detects that the tail of the vehicle leaves the first predetermined area, first three-dimensional point cloud data collected by the single-line laser radar and second three-dimensional point cloud data collected by the multi-line laser radar are acquired.

[0024] It can be understood that the first predetermined area is a predetermined scanning area of the single-line laser radar, i.e., in a scanning section of the single-line laser radar. In the above manner, by acquiring three-dimensional point cloud information of the vehicle collected by the single-line laser radar and the multi-line laser radar, the accuracy of acquiring the contour information and the positioning information of the vehicle is improved.

[0025] In step S104, contour information of the vehicle is determined based on the first three-dimensional point cloud data and the second three-dimensional point cloud data.

[0026] Optionally, the contour information of the vehicle at least includes a length of the vehicle, a width of the vehicle, and a height of the vehicle.

[0027] In an optional embodiment, in a case where the contour information of the vehicle includes the length of the vehicle, the width of the vehicle, and the height of the vehicle, the contour information of the vehicle is determined based on the first three-dimensional point cloud data and the second three-dimensional point cloud data, including: determining the width of the vehicle, the height of the vehicle, and a first position of the tail of the vehicle based on the first three-dimensional point cloud data; determining a second position of the head of the vehicle based on the second three-dimensional point cloud data; and obtaining the length of the vehicle according to the first position and the second position.

[0028] In the above manner, the width of the vehicle and the height of the vehicle are determined based on the first three-dimensional point cloud data of the vehicle collected by the single-line laser radar, and the length of the vehicle is acquired by combining the single-line laser radar and the multi-line laser radar, thereby improving the accuracy of acquiring the contour information of the vehicle.

[0029] In step S106, in a case where the multi-line laser radar detects that the first predetermined part of the vehicle reaches a weighing area, identification information of the vehicle is sent to a weighing processing device, and a snapshot instruction carrying the identification information is sent to an image snapshot device, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number.

[0030] It is understood that the multi-line LiDAR can also track and locate the vehicle's position in real time. Specifically, when the multi-line LiDAR detects that a predetermined portion of the vehicle (such as the front of the vehicle, the first axle, etc.) has reached the weighing area, the vehicle's current position and vehicle number are transmitted to the weighing processing equipment and image capture equipment for information collection. Through the multi-line LiDAR's real-time tracking and positioning and the vehicle number, a unique vehicle is identified, ensuring that the acquired relevant information (such as vehicle weight information, image information, etc.) belongs to the same vehicle.

[0031] In an optional embodiment, when the above-mentioned first predetermined part includes the front of the above-mentioned vehicle and the first axle of the above-mentioned vehicle, when the above-mentioned multi-line laser radar detects that the first predetermined part of the above-mentioned vehicle has arrived at the weighing area, the identification information of the above-mentioned vehicle is sent to the weighing processing equipment, and the capture instruction carrying the above-mentioned identification information is sent to the image capture equipment, including: when the above-mentioned multi-line laser radar detects that the front of the above-mentioned vehicle has arrived at the weighing area, the above-mentioned identification information is sent to the above-mentioned weighing processing equipment; when the above-mentioned multi-line laser radar detects that the first axle of the above-mentioned vehicle has arrived at the above-mentioned weighing area, the above-mentioned capture instruction is sent to the above-mentioned image capture equipment.

[0032] Through the above method, based on the consideration of the multi-line laser radar and the installation position of the weighing area, when the vehicle travels to the appropriate position, the corresponding instruction information is sent to the weighing processing equipment and the image capture equipment respectively, that is, when the above-mentioned multi-line laser radar detects that the front of the above-mentioned vehicle has arrived at the weighing area, the above-mentioned identification information is sent to the above-mentioned weighing processing equipment; when the above-mentioned multi-line laser radar detects that the first axle of the above-mentioned vehicle has arrived at the above-mentioned weighing area, the above-mentioned capture instruction is sent to the above-mentioned image capture equipment to automatically trigger the weighing processing equipment to collect the vehicle weighing information, and the image capture equipment to collect the vehicle image information, so that the relevant information obtained is more accurate and reliable.

[0033] Step S108 , receiving the weight information of the vehicle collected by the weighing processing device based on the identification information, and the image information of the vehicle collected by the image capturing device based on the capturing instruction.

[0034] In an optional embodiment, when the above-mentioned image capture device includes a vehicle head image capture device, a vehicle panoramic image capture device and a vehicle rear image capture device, the above-mentioned image information includes: head image information collected based on the above-mentioned vehicle head image capture device, panoramic image information collected based on the above-mentioned vehicle panoramic image capture device, and rear image information collected based on the above-mentioned vehicle rear image capture device.

[0035] Through the above mode, the head image information, the panoramic image information and the tail image information of the vehicle are acquired through the vehicle head image capturing device, the vehicle panoramic image capturing device and the vehicle tail image capturing device respectively, multi-angle image shooting is realized, the accuracy of acquiring vehicle image information is improved, and the occurrence of information omission is avoided.

[0036] In step S110, after the multi-line laser radar detects that the second predetermined part of the vehicle reaches the second predetermined area, the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information are sent to the master server.

[0037] Optionally, the second predetermined part can be but is not limited to the head of the vehicle, the first shaft, etc., and the second predetermined area can be but is not limited to a predetermined area range from the position of the information board. The master server can be but is not limited to a data platform, which is used to determine the overload state of the vehicle based on the initial three-dimensional point cloud data, the contour information, the weight information and the image information.

[0038] Through the above mode, in the case that the multi-line laser radar detects that the second predetermined part (such as the head of the vehicle) of the vehicle enters the predetermined area range from the position of the information board, the acquired three-dimensional point cloud information (i.e. the first three-dimensional point cloud data collected by the single-line laser radar and the second three-dimensional point cloud data collected by the multi-line laser radar) of the vehicle, the contour information (length, width and height of the vehicle), the weight information and the image information (head image information, panoramic image information and tail image information) are sent to the data platform, which is used to determine the overload state of the vehicle based on the three-dimensional point cloud information, the contour information, the weight information and the image information of the vehicle.

[0039] In an optional embodiment, the method further includes: in the case that the multi-line laser radar detects that the second predetermined part of the vehicle reaches the second predetermined area, the weight information of the vehicle is sent to the information board, wherein the information board is used to display the weight information.

[0040] Through the above mode, in the case that the multi-line laser radar detects that the second predetermined part (the head of the vehicle) of the vehicle reaches the second predetermined area (such as the predetermined area range from the position of the information board), the weight information of the vehicle is sent to the information board, and the tracking technology of the multi-line laser radar is used to ensure that the vehicle weight information on the information board is not covered by other vehicles.

[0041] The data processing device is used to execute the steps S102-S110, and through the steps S102-S110, the data collected by each device can be accurately corresponding to the same vehicle by carrying the vehicle identifier and combining the laser radar positioning, the consistency of data collection is improved, the data matching degree between each subsystem in the non-official law enforcement system and the non-official law enforcement efficiency are improved, and the technical problems of low data information matching rate between each subsystem, easy to make errors and low non-official law enforcement efficiency caused by the long distance between each subsystem in the non-official law enforcement system in the related art are solved.

[0042] Figure 2 The flowchart of another non-official law enforcement method according to an embodiment of the present application is shown in FIG. 2, which comprises the following steps: Figure 2

[0043] In step S201, the single-line laser radar collects first three-dimensional point cloud data of a vehicle, and sends the first three-dimensional point cloud data to a data processing device when detecting that the tail of the vehicle leaves a first predetermined area.

[0044] In step S202, the multi-line laser radar collects second three-dimensional point cloud data of the vehicle, and sends the second three-dimensional point cloud data to the data processing device when the single-line laser radar detects that the tail of the vehicle leaves the first predetermined area.

[0045] In step S203, the data processing device determines the contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data.

[0046] In step S204, when the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, the data processing device sends the identifier information of the vehicle to a weighing processing device, and sends a snapshot instruction carrying the identifier information to an image snapshot device, wherein the identifier information at least includes the current position and the vehicle number corresponding to the vehicle.

[0047] In step S205, the weighing processing device collects the weight information of the vehicle based on the identifier information, and sends the weight information to the data processing device.

[0048] In step S206, the image snapshot device collects the image information of the vehicle based on the snapshot instruction, and sends the image information to the data processing device.

[0049] ​Step S207, after the multi-line laser radar detects that the second predetermined part of the vehicle reaches the second predetermined area, the data processing device sends the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to the master server.

[0050] The execution subject of the steps S201 to S207 includes a single-line laser radar, a multi-line laser radar, a data processing device, a weighing processing device and an image capturing device. Through the steps S201 to S207, the data collected by each device can be accurately corresponded to the same vehicle by combining the vehicle identification with the laser radar positioning, the consistency of data collection is improved, the data matching degree between each subsystem in the non-offsite law enforcement system and the non-offsite law enforcement efficiency are improved, and the technical problems of low data information matching rate between each subsystem, easy to make errors and low non-offsite law enforcement efficiency in the related art are solved.

[0051] Optionally, in the case that the first predetermined part includes the vehicle head of the vehicle and the first shaft of the vehicle, in the case that the multi-line laser radar detects that the first predetermined part of the vehicle reaches the weighing area, the data processing device sends the identification information of the vehicle to the weighing processing device, and sends the capturing instruction carrying the identification information to the image capturing device, including: in the case that the multi-line laser radar detects that the vehicle head reaches the weighing area, the data processing device sends the identification information to the weighing processing device; in the case that the multi-line laser radar detects that the first shaft of the vehicle reaches the weighing area, the data processing device sends the capturing instruction to the image capturing device.

[0052] Optionally, the method further includes: in the case that the multi-line laser radar detects that the second predetermined part of the vehicle reaches the second predetermined area, the data processing device sends the weight information of the vehicle to the information board, wherein the information board is used for displaying the weight information.

[0053] According to the embodiment of the present application, a system embodiment for implementing the above non-offsite law enforcement method is also provided, Figure 3 is a structural schematic diagram of a non-offsite law enforcement system according to the embodiment of the present application, as Figure 3 shown, the non-offsite law enforcement system includes a single-line laser radar 31, a multi-line laser radar 32, a data processing device 33, a weighing processing device 34 and an image capturing device 35, wherein:

[0054] a single-line laser radar 31, configured to collect first three-dimensional point cloud data of the vehicle and perform first positioning detection on a tail of the vehicle;

[0055] a multi-line laser radar 32, configured to collect second three-dimensional point cloud data of the vehicle and perform second positioning detection on a predetermined part of the vehicle;

[0056] a data processing device 33, connected to the single-line laser radar 31 and the multi-line laser radar 32, configured to generate contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data;

[0057] a weight processing device 34, disposed in a weight detection area and connected to the data processing device 33, configured to collect weight information of the vehicle based on identification information from the data processing device, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number;

[0058] an image capturing device 35, connected to the data processing device 33, configured to collect image information of the vehicle based on a capturing instruction from the data processing device;

[0059] The data processing device 33 is further configured to send the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0060] In the embodiment of the present application, a single-line laser radar 31 is arranged to collect first three-dimensional point cloud data of a vehicle and perform first positioning detection on the tail of the vehicle; a multi-line laser radar 32 is arranged to collect second three-dimensional point cloud data of the vehicle and perform second positioning detection on a predetermined part of the vehicle; a data processing device 33 is connected to the single-line laser radar 31 and the multi-line laser radar 32, and is configured to generate contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; a weighing processing device 34 is arranged in a weight detection area and is connected to the data processing device 33, and is configured to collect weight information of the vehicle based on identification information from the data processing device, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number; an image capturing device 35 is connected to the data processing device 33, and is configured to collect image information of the vehicle based on a capturing instruction from the data processing device; and the data processing device 33 is further configured to send the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server, so as to realize the technical effects of improving the data matching degree between subsystems in the non-site law enforcement system and the non-site law enforcement efficiency, and further solve the technical problems of low data information matching rate between subsystems, easy to make errors and low non-site law enforcement efficiency due to the long distance between subsystems in the non-site law enforcement system in the related art.

[0061] Optionally, the contour information can include, but is not limited to, the length, height and width of the vehicle.

[0062] Optionally, the data processing device 33 can further include a data processing unit configured to store the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information.

[0063] In an optional embodiment, the system further includes an information board 36 connected to the data processing device 33 and configured to display the weight information.

[0064] Optionally, in the case that the multi-line laser radar 32 detects that the second predetermined part (the head of the vehicle) of the vehicle reaches the second predetermined area (such as a predetermined area range from the position of the information board), the weight information of the vehicle is sent to the information board 36, and the weight information of the vehicle is displayed on the information board 36, so as to ensure that the vehicle weight information on the information board is not covered by other vehicles by using the tracking technology of the multi-line laser radar 32.

[0065] In an optional embodiment, the image information includes head image information, panoramic image information, and tail image information of the vehicle, and the image capturing device 35 includes a vehicle head image capturing device 351, a vehicle panoramic image capturing device 352, and a vehicle tail image capturing device 353, wherein the vehicle head image capturing device 351 is configured to capture the head image information, the vehicle panoramic image capturing device 352 is configured to capture the panoramic image information, and the vehicle tail image capturing device 353 is configured to capture the tail image information.

[0066] In this way, the head image information, the panoramic image information, and the tail image information of the vehicle are captured by the vehicle head image capturing device 351, the vehicle panoramic image capturing device 352, and the vehicle tail image capturing device 353, respectively, so that multi-angle image shooting is achieved, the accuracy of obtaining the vehicle image information is improved, and the occurrence of information omission is avoided.

[0067] In an optional embodiment, the multi-line laser radar 32, the vehicle head image capturing device 351, and the vehicle panoramic image capturing device 352 are arranged on a first support column at a first predetermined distance in front of the weight detection area.

[0068] In this way, the multi-line laser radar 32 is arranged on the first support column at the first predetermined distance in front of the weight detection area, so that the tracking positioning information and the second three-dimensional point cloud data of the vehicle obtained by the multi-line laser radar 32 are more accurate and comprehensive. The vehicle panoramic image capturing device 352 is arranged on the first support column at the first predetermined distance in front of the weight detection area, so that the panoramic image capturing device 352 has a better shooting angle, and the panoramic image information obtained is more accurate and comprehensive.

[0069] In an optional embodiment, the single-line laser radar 31 and the vehicle tail image capturing device 353 are arranged on a second support column at a second predetermined distance behind the weight detection area.

[0070] Optionally, the first three-dimensional point cloud data obtained by the single-line laser radar 31 is mainly used to obtain the width of the vehicle, the height of the vehicle, and the first position of the tail of the vehicle in the vehicle contour information, so that the first three-dimensional point cloud data obtained is more accurate by being arranged on the second support column at the second predetermined distance behind the weight detection area. The vehicle tail image capturing device 353 is configured to capture the tail image information, and is arranged on the second support column at the second predetermined distance behind the weight detection area, which helps to obtain the overall appearance of the tail of the vehicle, so that the tail image information obtained is more accurate.

[0071] In an alternative embodiment, the vehicle head image capturing device 351 comprises a first vehicle head image capturing device 3511 and a second vehicle head image capturing device 3512, and the vehicle panoramic image capturing device 352 comprises a first vehicle panoramic image capturing device 3521 and a second vehicle panoramic image capturing device 3522, wherein the first vehicle panoramic image capturing device 3521 is arranged at the left end of the first support column, the second vehicle panoramic image capturing device 3522 is arranged at the right end of the first support column, the multi-line laser radar 32 is arranged at the middle of the first support column, the first vehicle head image capturing device 3511 is arranged between the first vehicle panoramic image capturing device 3521 and the multi-line laser radar 32, and the second vehicle head image capturing device 3522 is arranged between the second vehicle panoramic image capturing device 3522 and the multi-line laser radar 32.

[0072] In this way, according to the shooting characteristics of the multi-line laser radar 32, the vehicle head image capturing device 351 and the vehicle panoramic image capturing device 352, two vehicle panoramic image capturing devices are arranged at the two ends of the first support column, the multi-line laser radar is arranged at the middle of the first support column, and the vehicle head image capturing device is arranged between the multi-line laser radar and the panoramic image capturing device. The above position distribution can ensure that the relevant information collected by the multi-line laser radar 32, the vehicle head image capturing device 351 and the vehicle panoramic image capturing device 352 is more accurate and comprehensive, which is beneficial to accurate positioning of the vehicle and accurate identification of the weight information.

[0073] In an alternative embodiment, the single-line laser radar 31 comprises a first single-line laser radar 311, a second single-line laser radar 312 and a third single-line laser radar 313, and the vehicle tail image capturing device 353 comprises a first vehicle tail image capturing device 3531 and a second vehicle tail image capturing device 3532, wherein the first single-line laser radar 311 is arranged at the left end of the second support column, the second single-line laser radar 312 is arranged at the middle of the second support column, the third single-line laser radar 313 is arranged at the right end of the second support column, the first vehicle tail image capturing device 3531 is arranged between the first single-line laser radar 311 and the second single-line laser radar 312, and the second vehicle tail image capturing device 3532 is arranged between the second single-line laser radar 312 and the third single-line laser radar 313.

[0074] It can be understood that, since the recognition range of the single-line laser radar is narrow, three single-line laser radars are arranged at the left end, the middle and the right end of the second support column respectively to ensure that the obtained first three-dimensional point cloud data is more accurate and comprehensive. In addition, due to the influence of factors such as the driving direction of the vehicle, for example, when the vehicle is driving at the left end of the road surface, only one vehicle tail image capturing device may cause the obtained tail information of the vehicle to be incomplete or biased. Therefore, two vehicle tail image capturing devices are arranged uniformly at the middle positions of the two single-line laser radars, and the tail information is captured by the two vehicle tail image capturing devices at the same time, so that the obtained tail information of the vehicle is more complete, and the acquisition deviation of the tail information is effectively reduced.

[0075] In an optional embodiment, the system further comprises the master server 37 connected with the data processing device 33, configured to determine the overload state of the vehicle based on the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information.

[0076] Optionally, in the case that the multi-line laser radar detects that the second predetermined part (such as the head of the vehicle) of the vehicle drives into the predetermined area range of the position of the distance information board, the obtained three-dimensional point cloud information (i.e. the first three-dimensional point cloud data collected by the single-line laser radar and the second three-dimensional point cloud data collected by the multi-line laser radar) of the vehicle, the contour information (the length, width and height of the vehicle), the weight information and the image information (the head image information, the panoramic image information and the tail image information) are sent to the data platform (i.e. the master server), so that the data platform determines the overload state of the vehicle based on the three-dimensional point cloud information, the contour information, the weight information and the image information of the vehicle.

[0077] Optionally, the master server is further configured to determine the standard weight data matched with the vehicle based on the initial three-dimensional point cloud data and the contour information, determine that the vehicle is in the overload state in the case that the weight information of the vehicle is greater than the standard weight information, determine the license plate number of the vehicle based on the image information, and send the overload state and the corresponding alarm information to the target account corresponding to the license plate number.

[0078] Based on the above embodiments and optional embodiments, the present application provides an optional implementation, Figure 4 is a schematic view of an optional non-site law enforcement system according to an embodiment of the present application, like Figure 4As shown, the system comprises: a single-line laser radar 31, a multi-line laser radar 32, a data processing device 33, a weighing processing device 34, and an image capturing device 35; wherein the single-line laser radar 31 comprises a first single-line laser radar 311, a second single-line laser radar 312, and a third single-line laser radar 313; the image capturing device 35 comprises a vehicle head image capturing device 351, a vehicle panoramic image capturing device 352, and a vehicle tail image capturing device 353; the vehicle head image capturing device 351 comprises a first vehicle head image capturing device 3511 and a second vehicle head image capturing device 3512, the vehicle panoramic image capturing device 352 comprises a first vehicle panoramic image capturing device 3521 and a second vehicle panoramic image capturing device 3522, and the vehicle tail image capturing device 353 comprises a first vehicle tail image capturing device 3531 and a second vehicle tail image capturing device 3532. The specific implementation method of the system comprises:

[0079] The free flow vehicle passes through the single-line laser radar 31 (the first single-line laser radar 311, the second single-line laser radar 312, and the third single-line laser radar 313) to collect first point cloud data of the vehicle, and the multi-line laser radar 32 collects second three-dimensional point cloud data of the vehicle; the single-line laser radar 31 cooperates with the multi-line laser radar 32 to transmit the obtained original three-dimensional point cloud information (i.e., the first three-dimensional point cloud data and the second three-dimensional point cloud data) to the data processing device 33, and an initial vehicle information storage unit with a unique vehicle number is established in the data processing device 33; the data processing device 33 receives and saves the three-dimensional point cloud information of the vehicle in real time; when the tail of the vehicle leaves the scanning section of the single-line laser radar 31, the data processing device 33 obtains the initial three-dimensional point cloud information of the vehicle and calculates the vehicle contour information (including the length, width, and height of the vehicle) and the weight information of the vehicle, and stores the obtained contour information and weight information of the vehicle to the vehicle information storage unit; the multi-line laser radar 32 is used to track the vehicle, when the head of the vehicle enters the weight detection area, the data processing device 33 sends the vehicle number and the current position of the corresponding vehicle to the weighing processing device 34, to inform the time and position when the vehicle enters the weighing area; when the first axis of the vehicle passes through the weight detection area, a snapshot instruction containing the vehicle number is sent to the image snapshot device 35 (i.e., the vehicle head image snapshot device 351, the vehicle panoramic image snapshot device 352, and the vehicle tail image snapshot device 353), the image snapshot device 35 obtains the image information of the vehicle and transmits the image information to the data processing device 33 after attaching the vehicle number, and stores the image information in the vehicle information storage unit; after the tail of the vehicle leaves the weight detection area, the weight information containing the vehicle number is sent to the data processing device 33 and stored in the vehicle information storage unit; the multi-line laser radar 32 is used to track the position of the vehicle, when it is detected that the vehicle is close to the information board 36, the data processing device 33 sends the weight information of the vehicle to the information board 36; the data processing device 33 packs and transmits the contour information, three-dimensional point cloud information, weight information, and image information of the vehicle to the master server 37 (i.e., a data platform) for vehicle non-offsite law enforcement.

[0080] It should be noted that the vehicle information number established in the data processing device is used to realize tracking of the vehicle in the whole non-offsite law enforcement system and binding of information, so as to ensure unique matching of data of each subsystem.

[0081] It should be noted that the non-offsite law enforcement system shown in the embodiments of the present application is only schematic, and the non-offsite law enforcement system in the present application can have more or less structures than the non-offsite law enforcement system shown in the embodiments of the present application in specific applications. Figures 3 to 4 Figures 3 to 4 It should be noted that the non-offsite law enforcement system shown in the embodiments of the present application is only schematic, and the non-offsite law enforcement system in the present application can have more or less structures than the non-offsite law enforcement system shown in the embodiments of the present application in specific applications. ​

[0082] It should be noted that any optional or preferred off-site law enforcement method in the above method embodiments can be executed or implemented in the off-site law enforcement system provided in the present embodiment.

[0083] In addition, it should be noted that the optional or preferred implementation of the present embodiment can refer to the related description in the method embodiments, which will not be repeated here.

[0084] In the present embodiment, an off-site law enforcement device is also provided, which is used to implement the above embodiments and preferred implementation, and the description of which has been made. As used below, the term "module" "device" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0085] According to the embodiment of the present application, a device embodiment for implementing the above off-site law enforcement method is also provided, Figure 5 is a structural schematic diagram of an off-site law enforcement device according to an embodiment of the present application, as Figure 5 shown, the above off-site law enforcement device comprises: a first acquisition module 500, a first determination module 502, a first sending module 504, a first receiving module 506, a second sending module 508, wherein:

[0086] The above first acquisition module 500 is configured to, in the case that a single-line laser radar detects that the tail of a vehicle leaves a first predetermined area, acquire first three-dimensional point cloud data based on the single-line laser radar and second three-dimensional point cloud data based on a multi-line laser radar;

[0087] The above first determination module 502 is connected to the above first acquisition module 500 and is configured to determine the contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data;

[0088] The above first sending module 504 is connected to the above first determination module 502 and is configured to, in the case that the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, send identification information of the vehicle to a weighing processing device and send a snapshot instruction carrying the identification information to an image snapshot device, wherein the identification information at least includes: a current position and a vehicle number corresponding to the vehicle;

[0089] The above first receiving module 506 is configured to receive weight information of the vehicle collected by the weighing processing device based on the identification information and image information of the vehicle collected by the image snapshot device based on the snapshot instruction;

[0090] The second sending module 508 is connected to the first receiving module 506, and is configured to send the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information, and the image information to the master server after the multi-line laser radar detects that the second predetermined part of the vehicle reaches the second predetermined area.

[0091] In the embodiment of the present application, the first acquisition module 500, the first determination module 502, the first sending module 504, the first receiving module 506, and the second sending module 508 are configured to ensure that the data collected by each device corresponds to the same vehicle accurately and improve the consistency of data collection by carrying the vehicle identifier and combining the laser radar positioning, thereby achieving the technical effects of improving the data matching degree between each subsystem in the non-official law enforcement system and the non-official law enforcement efficiency, and further solving the technical problems of low data information matching rate between each subsystem, easy to make errors, and low non-official law enforcement efficiency due to the long distance between each subsystem in the non-official law enforcement system in the related art.

[0092] According to the embodiment of the present application, another device embodiment for implementing the above-mentioned non-official law enforcement method is also provided, Figure 6 is a structural schematic diagram of another non-official law enforcement device according to the embodiment of the present application, as Figure 6 shown, the non-official law enforcement device comprises a first acquisition module 600, a second acquisition module 602, a second determination module 604, a third sending module 606, a third acquisition module 608, a fourth acquisition module 610, and a fourth sending module 612, wherein:

[0093] The first acquisition module 600 is configured to collect first three-dimensional point cloud data of a vehicle by a single-line laser radar, and send the first three-dimensional point cloud data to a data processing device when detecting that the tail of the vehicle leaves a first predetermined area.

[0094] The second acquisition module 602 is connected to the first acquisition module 600, and is configured to collect second three-dimensional point cloud data of the vehicle by a multi-line laser radar, and send the second three-dimensional point cloud data to the data processing device when the single-line laser radar detects that the tail of the vehicle leaves the first predetermined area.

[0095] The second determination module 604 is connected to the second acquisition module 602, and is configured to determine contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data by the data processing device.

[0096] The third sending module 606 is configured to, in a case where the multi-line laser radar detects that the first predetermined part of the vehicle reaches the weighing area, send, by the data processing device, identification information of the vehicle to a weighing processing device, and send a snapshot instruction carrying the identification information to an image snapshot device, where the identification information at least includes a current position corresponding to the vehicle and a vehicle number.

[0097] The third acquisition module 608 is connected to the third sending module 606 and is configured to acquire, by the weighing processing device based on the identification information, weight information of the vehicle, and send the weight information to the data processing device.

[0098] The fourth acquisition module 610 is connected to the third acquisition module 608 and is configured to acquire, by the image snapshot device based on the snapshot instruction, image information of the vehicle, and send the image information to the data processing device.

[0099] The fourth sending module 612 is connected to the fourth acquisition module 610 and is configured to, after the multi-line laser radar detects that the second predetermined part of the vehicle reaches the second predetermined area, send, by the data processing device, the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information, and the image information to a master server.

[0100] It should be noted that each of the above modules can be implemented by software or hardware. For example, for the latter, each of the above modules can be located in the same processor, or any combination of the above modules can be located in different processors.

[0101] It should be noted that the first acquisition module 500, the first determination module 502, the first sending module 504, the first receiving module 506, and the second sending module 508 correspond to steps S102 to S110 in the embodiments, and the above modules have the same instances and application scenarios as the corresponding steps, but are not limited to the contents disclosed in the above embodiments. It should be noted that the above modules can run in a computer terminal as part of the device.

[0102] It should be noted that the optional or preferred embodiments of the present embodiment can refer to the related descriptions in the embodiments, which will not be repeated here.

[0103] The above non-site law enforcement device can further include a processor and a memory, and the first acquisition module 500, the first determination module 502, the first sending module 504, the first receiving module 506, the second sending module 508, and the like are stored in the memory as program modules, and the processor executes the above program modules stored in the memory to realize the corresponding functions.

[0104] The processor comprises a core, and the core is used to call corresponding program modules in the memory. The core can be one or more. The memory can comprise a non-permanent memory in a computer readable medium, a random access memory (RAM) and / or a non-volatile memory such as a read-only memory (ROM) or a flash memory (flash RAM), and the memory comprises at least one memory chip.

[0105] According to the embodiment of the present application, an embodiment of a non-volatile storage medium is further provided. Optionally, in the embodiment, the non-volatile storage medium comprises a stored program, and the program is used to control a device where the non-volatile storage medium is located to perform any of the non-site law enforcement methods.

[0106] Optionally, in the embodiment, the non-volatile storage medium can be located in any of computer terminals in a computer terminal group in a computer network, or in any of mobile terminals in a mobile terminal group, and the non-volatile storage medium comprises a stored program.

[0107] Optionally, the program is used to control a device where the non-volatile storage medium is located to perform the following functions: in a case where a single-line laser radar detects that a tail of a vehicle leaves a first predetermined area, acquiring first three-dimensional point cloud data collected based on the single-line laser radar and second three-dimensional point cloud data collected based on a multi-line laser radar; determining contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; in a case where the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, sending identification information of the vehicle to a weighing processing device, and sending a snapshot instruction carrying the identification information to an image snapshot device, wherein the identification information at least comprises a current position corresponding to the vehicle and a vehicle number; receiving weight information of the vehicle collected by the weighing processing device based on the identification information, and image information of the vehicle collected by the image snapshot device based on the snapshot instruction; and after the multi-line laser radar detects that a second predetermined part of the vehicle reaches a second predetermined area, sending the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0108] According to the embodiment of the present application, an embodiment of a processor is further provided. Optionally, in the embodiment, the processor is used to run a program, and the program is used to perform any of the non-site law enforcement methods.

[0109] According to the embodiment of the present application, an embodiment of a computer program product is also provided, which is adapted to execute the steps of the above-mentioned off-site law enforcement method when executed on a data processing device.

[0110] Optionally, the above-mentioned computer program product is adapted to execute the steps of the following method when executed on a data processing device: in the case that a single-line laser radar detects that the tail of a vehicle has left a first predetermined area, obtaining first three-dimensional point cloud data collected based on the single-line laser radar and second three-dimensional point cloud data collected based on a multi-line laser radar; determining contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; in the case that the multi-line laser radar detects that a first predetermined part of the vehicle has reached a weighing area, sending identification information of the vehicle to a weighing processing device and sending a snapshot instruction carrying the identification information to an image snapshot device, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number; receiving weight information of the vehicle collected by the weighing processing device based on the identification information and image information of the vehicle collected by the image snapshot device based on the snapshot instruction; after the multi-line laser radar detects that a second predetermined part of the vehicle has reached a second predetermined area, sending the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0111] An electronic device is provided in the embodiment of the present application, which comprises a processor, a memory and a program stored on the memory and executable on the processor, and the processor implements the following steps when executing the program: in the case that a single-line laser radar detects that the tail of a vehicle has left a first predetermined area, obtaining first three-dimensional point cloud data collected based on the single-line laser radar and second three-dimensional point cloud data collected based on a multi-line laser radar; determining contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; in the case that the multi-line laser radar detects that a first predetermined part of the vehicle has reached a weighing area, sending identification information of the vehicle to a weighing processing device and sending a snapshot instruction carrying the identification information to an image snapshot device, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number; receiving weight information of the vehicle collected by the weighing processing device based on the identification information and image information of the vehicle collected by the image snapshot device based on the snapshot instruction; after the multi-line laser radar detects that a second predetermined part of the vehicle has reached a second predetermined area, sending the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

[0112] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0113] In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0114] In the several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the embodiment described above is only illustrative, and the division of the above modules can be a logical function division, and actual implementation can have another division manner, for example, a plurality of modules or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed can be through some interface, indirect coupling or communication connection between modules or modules, which can be electrical or other forms.

[0115] The modules described above as separate components can or can not be physically separate, and the components shown as modules can or can not be physical modules, that is, they can be located in one place, or they can be distributed to multiple modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0116] In addition, the functional modules in each embodiment of the present application can be integrated into a processing module, or each module can exist physically, or two or more modules can be integrated into one module. The above integrated module can be realized in the form of hardware or in the form of software functional module.

[0117] The above integrated module, if realized in the form of software functional module and sold or used as an independent product, can be stored in a computer readable nonvolatile storage medium. Based on this understanding, the technical solutions of the present application or the whole or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of software products, which are stored in a non-volatile storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the embodiments of the present application. The above-mentioned non-volatile storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, and various storage program codes.

[0118] The above merely is the preferred embodiment of the present application, it should be pointed out that, for ordinary skilled in the art, without departing from the principles of the present application, can also make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A method of non-compliance enforcement, the method comprising: The method comprises the following steps: In the case that the single-line laser radar detects the tail of the vehicle leaving the first predetermined area, first three-dimensional point cloud data collected by the single-line laser radar and second three-dimensional point cloud data collected by the multi-line laser radar are acquired; Based on the first three-dimensional point cloud data and the second three-dimensional point cloud data, the contour information of the vehicle is determined; In the case that the multi-line laser radar detects the first predetermined part of the vehicle reaching the weighing area, the identification information of the vehicle is sent to the weighing processing device, and a snapshot instruction carrying the identification information is sent to the image snapshot device, wherein the identification information at least includes the current position and the vehicle number corresponding to the vehicle; The weight information of the vehicle collected by the weighing processing device based on the identification information and the image information of the vehicle collected by the image snapshot device based on the snapshot instruction are received; After the multi-line laser radar detects the second predetermined part of the vehicle reaching the second predetermined area, the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information are sent to the master server.

2. The method of claim 1, wherein, In the case that the contour information of the vehicle includes the length of the vehicle, the width of the vehicle and the height of the vehicle, the determination of the contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data comprises: The width of the vehicle, the height of the vehicle and the first position of the tail of the vehicle are determined based on the first three-dimensional point cloud data; The second position of the head of the vehicle is determined based on the second three-dimensional point cloud data; The length of the vehicle is obtained according to the first position and the second position.

3. The method of claim 1, wherein, In the case that the first predetermined part includes the head of the vehicle and the first axis of the vehicle, the sending of the identification information of the vehicle to the weighing processing device and the sending of the snapshot instruction carrying the identification information to the image snapshot device in the case that the multi-line laser radar detects the first predetermined part of the vehicle reaching the weighing area comprises: In the case that the multi-line laser radar detects the head of the vehicle reaching the weighing area, the identification information is sent to the weighing processing device; In the case that the multi-line laser radar detects the first axis of the vehicle reaching the weighing area, the snapshot instruction is sent to the image snapshot device.

4. The method of claim 1, wherein, In the case that the image snapshot device includes a vehicle head image snapshot device, a vehicle panoramic image snapshot device and a vehicle tail image snapshot device, the image information includes head image information collected by the vehicle head image snapshot device, panoramic image information collected by the vehicle panoramic image snapshot device and tail image information collected by the vehicle tail image snapshot device.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: In the case that the multi-line laser radar detects the second predetermined part of the vehicle reaching the second predetermined area, the weight information of the vehicle is sent to an information board, wherein the information board is used for displaying the weight information.

6. A method of non-field enforcement, the method comprising: The method comprises: a single-line laser radar collects first three-dimensional point cloud data of a vehicle and sends the first three-dimensional point cloud data to a data processing device when detecting that a tail of the vehicle leaves a first predetermined area; a multi-line laser radar collects second three-dimensional point cloud data of the vehicle and sends the second three-dimensional point cloud data to the data processing device when the single-line laser radar detects that the tail of the vehicle leaves the first predetermined area; the data processing device determines contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; when the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, the data processing device sends identification information of the vehicle to a weighing processing device and sends a snapshot instruction carrying the identification information to an image snapshot device, wherein the identification information at least includes a current position and a vehicle number corresponding to the vehicle; the weighing processing device collects weight information of the vehicle based on the identification information and sends the weight information to the data processing device; the image snapshot device collects image information of the vehicle based on the snapshot instruction and sends the image information to the data processing device; after the multi-line laser radar detects that a second predetermined part of the vehicle reaches a second predetermined area, the data processing device sends the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server.

7. The method of claim 6, wherein, In a case where the first predetermined part includes a vehicle head of the vehicle and a first shaft of the vehicle, the data processing device sends the identification information of the vehicle to the weighing processing device and sends the snapshot instruction carrying the identification information to the image snapshot device when the multi-line laser radar detects that the first predetermined part of the vehicle reaches the weighing area, comprising: the data processing device sends the identification information to the weighing processing device when the multi-line laser radar detects that the vehicle head reaches the weighing area; the data processing device sends the snapshot instruction to the image snapshot device when the multi-line laser radar detects that the first shaft reaches the weighing area.

8. The method according to claim 6 or 7, characterized in that, The method further comprises: the data processing device sends the weight information of the vehicle to an information board when the multi-line laser radar detects that the second predetermined part of the vehicle reaches the second predetermined area, wherein the information board is used to display the weight information.

9. A non-field enforcement device, comprising: The method comprises: a first acquisition module is configured to acquire first three-dimensional point cloud data collected by a single-line laser radar and second three-dimensional point cloud data collected by a multi-line laser radar when the single-line laser radar detects that a tail of a vehicle leaves a first predetermined area; a first determination module is configured to determine contour information of the vehicle based on the first three-dimensional point cloud data and the second three-dimensional point cloud data; The first sending module is configured to send identification information of the vehicle to a weighing processing device and send a snapshot instruction carrying the identification information to an image snapshot device, when the multi-line laser radar detects that a first predetermined part of the vehicle reaches a weighing area, wherein the identification information at least includes a current position corresponding to the vehicle and a vehicle number; The first receiving module is configured to receive weight information of the vehicle collected by the weighing processing device based on the identification information, and image information of the vehicle collected by the image snapshot device based on the snapshot instruction; The second sending module is configured to send the first three-dimensional point cloud data, the second three-dimensional point cloud data, the contour information, the weight information and the image information to a master server, when the multi-line laser radar detects that a second predetermined part of the vehicle reaches a second predetermined area.

Images