A vehicle positioning and vehicle bed size measurement system and method

Abstract

The application discloses a kind of vehicle positioning and measurement system of carriage size, passageway is equipped with vehicle passing and parking in the middle of foundation platform, integral frame is fixed on the foundation platform, two tracks are equipped on the integral frame along the direction of passageway, two track are equipped with truss sliding along track, the truss is equipped with slide rail perpendicular to passageway, mounting plate is installed on the slide rail, the lower surface of the mounting plate is equipped with laser sensor for collecting vehicle information, the truss is equipped with longitudinal drive mechanism for driving truss to move along track, the mounting plate is equipped with transverse drive structure for driving mounting plate to move along slide rail.The advantages of the application are:1, the calculation amount is small, and the processing efficiency is high;2, the size of vehicle itself and the position requirement of parking are relatively low, and the vehicle does not need to be parked very straight;3, the position of vehicle and the size in carriage can be obtained;4, the calculation accuracy is high, the difference of front and back width of carriage and the difference of length direction of carriage can be obtained.

Description

Technical Field

[0001] This invention relates to the field of vehicle profile measurement technology. Background Technology

[0002] In today's rapidly developing logistics industry, loading materials onto trucks remains a time-consuming and labor-intensive process. It requires a large workforce for handling and loading, and its efficiency is relatively low. This is especially true when loading bagged cement, putty powder, and other chemical products, which can also pose safety hazards.

[0003] To improve loading efficiency and ensure accuracy, automated material loading equipment has gradually emerged. This equipment can replace manual labor in loading goods, enabling fast and accurate loading, thus increasing efficiency and reducing labor costs.

[0004] The following methods are currently available on the market:

[0005] 1. Ground marking and manual measurement methods;

[0006] A) This method is relatively simple to operate, but it requires a high level of skill from the driver;

[0007] B) Manual measurement has a relatively large error margin, making it impossible to obtain accurate data;

[0008] 2. Single-sided distance measurement method;

[0009] A) The structure is relatively simple;

[0010] B) It can only obtain simple location information and cannot obtain information about the inside of the carriage;

[0011] 3. Three-dimensional modeling method;

[0012] A) The information obtained is relatively comprehensive;

[0013] B) The computational load is large, and it is easily affected by the internal shape of the vehicle. Summary of the Invention

[0014] The technical problem to be solved by the present invention is to realize a method for confirming vehicle positioning and carriage size based on laser scanning.

[0015] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a vehicle positioning and carriage size measurement system, wherein a passage for vehicle passage and parking is provided in the middle of a foundation platform, an integral frame is fixed above the foundation platform, two tracks are provided on the integral frame along the passage direction, trusses are provided on the two tracks and slide rails perpendicular to the passage are provided on the trusses, mounting plates are installed on the slide rails, a laser sensor for collecting vehicle information is provided on the lower surface of the mounting plate, a longitudinal drive mechanism for driving the truss to move along the track is provided on the truss, and a transverse drive structure for driving the mounting plate to move along the slide rail is provided on the mounting plate.

[0016] The dust cover is connected to the cylinder rod of the moving cylinder via a connecting rod, and the opening and closing state of the dust cover is controlled by the moving cylinder; the system is equipped with a central control system, which communicates with the laser sensor, the longitudinal drive mechanism, the transverse drive mechanism, and the moving cylinder, and the laser sensor is equipped with a dust cover.

[0017] A measurement method based on the vehicle positioning and cargo compartment dimensions measurement system includes the following steps:

[0018] Step 1: Read the position of the truss obtained from the scan and the data scanned by the laser sensor;

[0019] Step 2: Process the above data;

[0020] Step 3: Processing the middle position of each frame of data;

[0021] Step 4: Process the left side position of each frame of data;

[0022] Step 5: Process the right-side position of each frame of data;

[0023] Step 6: Process multiple frames of data using a sliding window to calculate the positions of the front and rear of the vehicle;

[0024] Step 7: Data aggregation to obtain the vehicle's length and width, as well as the vehicle's position.

[0025] Step 2 includes the following steps:

[0026] 1) Convert the distance and angle values ​​in each frame of data into values ​​in the Y and Z directions;

[0027] 2) Add the truss position to each frame of data, and convert each frame of data into spatial location points XYZ;

[0028] 3) Filter each frame of data.

[0029] Step 3 includes the following steps:

[0030] 1) Calculate the mean M1 of the middle position of each frame of data;

[0031] 2) Determine whether the height of M1 meets the specified range. If it does, record N1=1; otherwise, record N1=0.

[0032] Step 4 includes the following steps:

[0033] 1) Initial assignment:

[0034] Take the ID of the middle position of each frame and denote it as k1; denote the value of the left position as k2.

[0035] 2) Loop processing:

[0036] k2 increments by 1 in a loop;

[0037] Determine if the height value of k2-k1 is greater than the set value. If it is, continue; otherwise, assign the value of k2 to k1.

[0038] Repeat the process until the data on the left is finished;

[0039] 3) Record the position on the left as M2;

[0040] 4) Determine whether the final position of k1 is within the specified range. If it is, record N2=1; otherwise, record N2=0.

[0041] Step 5 includes the following steps:

[0042] 1) Initial assignment:

[0043] Take the ID of the middle position of each frame and denote it as k3; denote the value of the right position as k4;

[0044] 2) Loop processing:

[0045] k4 increments by 1 in a loop;

[0046] Check if the height value of k4-k3 is greater than the set value (the height will increase at each point on the door panel). If it is, continue; otherwise, assign the value of k4 to k3.

[0047] Repeat the process until the data on the right ends;

[0048] 3) Record the position on the right as M3

[0049] 4) Determine whether the final position of k3 is within the specified range (the door panel position will be within a certain area on the right). If it is, record N3=1; otherwise, record N3=0.

[0050] Step 6 includes the following steps:

[0051] 1) Set up a sliding window with a length of L;

[0052] 2) The scanning direction is from beginning to end, and the processing results of the above multi-frame data with a frame number of L are extracted cyclically;

[0053] 3) Determine if the first time N1, N2, and N3 in the multi-frame data satisfy a certain number of conditions, and if the certain number is less than the number of all values ​​in the window that satisfy 1, then the starting position of the carriage is S, and the position before that is the position of the ground and the front of the carriage.

[0054] 4) After obtaining the starting position of the carriage, continue to check in a loop. If the data N1, N2, and N3 in each frame of the window do not meet the requirement of a certain number of 1s for the first time, then that position is the ending position T of the carriage.

[0055] 5) Calculate the length and width of the vehicle, as well as the vehicle's position, using the values ​​of M1, M2, and M3 at the starting position S and the values ​​of M1, M2, and M3 at the ending position T.

[0056] Step 7 includes the following steps:

[0057] 1) The M1, M2, and M3 at the starting position S are denoted as M1_s, M2_s, and M3_s, and the M1, M2, and M3 at the ending position T are denoted as M1_t, M2_t, and M3_t.

[0058] 2) The difference between M2_s and M3_s is the vehicle width, and the difference between M2_t and M3_t is also the vehicle width;

[0059] 3) The difference between M2_s and M2_t is the vehicle length, and the difference between M3_s and M3_t is also the vehicle length;

[0060] 4) M1_s and M1_t are the heights of the two ends of the carriage.

[0061] 5) The actual vehicle positioning and cabin dimensions are obtained by converting the position of the laser sensor relative to the truss.

[0062] The advantages of this invention are:

[0063] 1. It requires little computation and has high processing efficiency;

[0064] 2. The requirements for the vehicle's specifications and the parking location are relatively low; the vehicle is not required to be parked perfectly straight.

[0065] 3. It can obtain the vehicle's location and the dimensions inside the carriage;

[0066] 4. The calculation accuracy is very high, and it can obtain the difference in width between the front and rear of the carriage and the difference in length of the carriage. Attached Figure Description

[0067] The following is a brief explanation of the content and markings in each of the accompanying drawings in this specification:

[0068] Figure 1 A schematic diagram of the system for measuring vehicle positioning and cargo compartment dimensions;

[0069] Figure 2 This is a schematic diagram of a truss structure;

[0070] Figure 3 A schematic diagram of the laser sensor mounting structure;

[0071] Figure 4 Flowchart of methods for vehicle positioning and cabin dimension measurement;

[0072] Figure 5 To create a process flowchart;

[0073] The markings in the above figures are as follows: 1. Foundation platform; 2. Overall frame; 3. Truss; 4. Laser sensor; 5. Support column; 6. Crossbeam; 7. Power transmission rod; 8. Servo motor; 9. Moving crossbeam; 10. Dust cover; 11. Mounting plate; 12. Moving cylinder; 13. Mounting bracket. Detailed Implementation

[0074] The following description, with reference to the accompanying drawings, details the specific implementation of the present invention, including the shape and structure of each component, the relative positions and connections between the parts, the function and working principle of each part, the manufacturing process, and the operation and use methods, to help those skilled in the art to have a more complete, accurate, and in-depth understanding of the inventive concept and technical solution of the present invention.

[0075] Vehicle positioning and cabin dimension measurement systems, such as Figure 1 As shown, a foundation platform 1 is provided, which consists of two parallel strip-shaped concrete bases. A passageway for vehicle passage and parking is provided between the concrete bases. Supporting columns 5 are provided on the concrete bases, supporting an overall frame 2 above. A truss 3 that slides along the overall frame 2 is provided on the overall frame 2, and a laser sensor 4 that can slide along the truss 3 is provided on the truss 3. The overall process is as follows (e.g.) Figure 4 As shown, when the vehicle stops at the position of the foundation platform 1, the truss 3 will drive the laser sensor 4 to start scanning. When the truss 3 moves to a constant speed, the system begins to collect the position of the truss 3 and the data of each frame from the laser sensor 4 in real time until the truss 3 moves into place, and then calculates the position and dimensions of the vehicle.

[0076] The supporting columns 5 consist of multiple columns and are equipped with diagonal braces, supporting and positioning the entire truss 3 system. The longitudinal beams of the overall frame 2 are supported by the supporting columns 5. Two tracks are set on the longitudinal beams along the channel direction. Trusses 3 slide along the tracks. To ensure precise movement, the tracks can be rack and pinion structures. The drive wheels on the trusses 3 are gears that mesh with gears. A servo motor 8 is fixed at one end of the truss 3. The servo motor 8 drives the gears to rotate, enabling the trusses 3 to slide on the longitudinal beams, thus forming a longitudinal drive mechanism.

[0077] The truss 3 is equipped with a slide rail perpendicular to the passageway, and a mounting plate 11 is installed on the slide rail. A laser sensor 4 for collecting vehicle information is installed on the lower surface of the mounting plate 11. The truss 3 is equipped with a longitudinal drive mechanism that drives the truss 3 to move along the track. A servo motor 8 drives a power transmission rod 7 to rotate, thereby driving the overall movement of the moving crossbeam 9 on the frame, forming a transverse drive structure. The power transmission rod 7 divides the power of the servo motor 8 into two parts, which act on the rack on the overall frame 2 respectively, ensuring the synchronicity of the movement of the two ends of the crossbeam 6.

[0078] Laser sensor 4 mounting structure as follows Figure 3 As shown, the system includes a dust cover 10, a laser sensor 4, a moving cylinder 12, and a mounting bracket 13. When scanning is required, the moving cylinder 12 opens the dust cover 10, exposing the laser sensor 4. After scanning, the moving cylinder 12 closes the dust cover 10, protecting the laser sensor 4. The dust cover 10, laser sensor 4, and moving cylinder 12 are mounted on the mounting bracket 13, which is mounted on the crossbeam 6 and moves with it. The entire system is coordinated and controlled by a central control system, which communicates with the laser sensor 4, the longitudinal drive mechanism, the transverse drive mechanism, and the moving cylinder 12 to exchange data and issue control commands.

[0079] Methods for measuring vehicle positioning and cargo box dimensions, such as Figure 5 The following calculation process is shown:

[0080] Step 1: Read the position of truss 3 obtained from the scan and the data scanned by laser sensor 4;

[0081] Step 2: Process the above data;

[0082] 1) Convert the distance and angle values ​​in each frame of data into Y and Z direction values ​​(calculated using trigonometric functions);

[0083] 2) Add the position of truss 3 to each frame of data, and convert each frame of data into spatial position points XYZ;

[0084] 3) Filter each frame of data (using mean filtering and Gaussian filtering);

[0085] Step 3: Processing the middle position of each frame of data (carriage floor);

[0086] 1) Calculate the mean M1 of the middle position of each frame of data;

[0087] 2) Determine whether the height of M1 meets the specified range (the height of the carriage should be within a fixed range). If it does, record N1 = 1; otherwise, record N1 = 0.

[0088] Step 4: Process the left side position of each frame of data (left door panel);

[0089] 1) Initial assignment:

[0090] Take the ID of the middle position of each frame and denote it as k1; denote the value of the left position as k2;

[0091] 2) Loop processing:

[0092] k2 increments by 1 cyclically, i.e., k2 = k2 + 1;

[0093] Determine if the height value of k2-k1 is greater than the set value (the height will increase at each point on the door panel). If it is, continue; otherwise, assign the value of k2 to k1.

[0094] Repeat the process until the data on the left is finished;

[0095] 3) Record the position on the left as M2;

[0096] 4) Determine whether the final position of k1 is within the specified range (the door panel position will be within a certain area on the left). If it is, record N2 = 1; otherwise, record N2 = 0.

[0097] Step 5: Process the right-side position of each frame of data (right-side door panel);

[0098] 1) Initial assignment:

[0099] Take the ID of the middle position of each frame and denote it as k3; denote the value of the right position as k4;

[0100] 2) Loop processing:

[0101] k4 increments by 1 cyclically, i.e., k4 = k4 + 1;

[0102] Determine if the height value of k4-k3 is greater than the set value (the height will increase at each point on the door panel). If it is, continue; otherwise, assign the value of k4 to k3.

[0103] Repeat the process until the data on the right ends;

[0104] 3) Record the position on the right as M3;

[0105] 4) Determine whether the final position of k3 is within the specified range (the door panel position will be within a certain area on the right). If it is, record N3=1; otherwise, record N3=0.

[0106] Step 6: Process multiple frames of data using a sliding window to calculate the positions of the front and rear of the vehicle;

[0107] 1) Set a sliding window with a length of L (i.e., the number of frames scanned);

[0108] 2) The scanning direction is from beginning to end, and the processing results of the above multi-frame data with a frame number of L are extracted cyclically;

[0109] 3) Determine the position where N1, N2, and N3 in the first multi-frame data satisfy a certain number (to prevent data noise and the influence of the vehicle itself, this certain number is less than the total number of values ​​satisfying 1 within the window) of 1. This position is the starting position S of the carriage. The preceding positions are the positions of the ground and the front of the vehicle.

[0110] 4) After obtaining the starting position of the carriage, continue to check in a loop. If the data N1, N2, and N3 in each frame of the window do not meet the requirement of a certain number of 1s for the first time, then that position is the ending position T of the carriage.

[0111] 5) The length and width of the vehicle, as well as the vehicle's position, can be calculated using the values ​​of M1, M2, and M3 at the starting position S and the ending position T.

[0112] Step 6: Obtain vehicle location and cargo box dimensions;

[0113] The M1, M2, and M3 at the starting position S are denoted as M1_s, M2_s, and M3_s, and the M1, M2, and M3 at the ending position T are denoted as M1_t, M2_t, and M3_t.

[0114] The difference between M2_s and M3_s is the vehicle width, and the difference between M2_t and M3_t is also the vehicle width (the width of the carriage may be inconsistent at both ends).

[0115] The difference between M2_s and M2_t is the vehicle length, and the difference between M3_s and M3_t is also the vehicle length (the length of the carriage may be different at both ends).

[0116] M1_s and M1_t are the heights of the two ends of the carriage.

[0117] Since the position of the laser sensor 4 relative to the truss 3 is known, it can be converted into the actual vehicle positioning and carriage dimensions.

[0118] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, are all within the protection scope of the present invention.

Claims

1. A method for vehicle positioning and measurement of carriage dimensions, characterized in that, Includes the following steps: Step 1: Read the position of the truss obtained from the scan and the data scanned by the laser sensor; Step 2: Process the above data; Step 3: Processing the middle position of each frame of data; Step 4: Process the left-side position of each frame of data; Step 5: Process the right-side position of each frame of data; Step 6: Process multiple frames of data using a sliding window to calculate the positions of the front and rear of the vehicle; Step 7: Data aggregation to obtain the vehicle's length and width, as well as its position; The measurement method is based on a measurement system, which includes: The foundation platform has a passageway for vehicles to pass through and park in the middle. An integral frame is fixed above the foundation platform. The integral frame has two tracks set along the passageway. The two tracks have trusses that slide along the tracks. The trusses have slide rails perpendicular to the passageway. Mounting plates are installed on the slide rails. The lower surface of the mounting plates is equipped with laser sensors for collecting vehicle information. The trusses have a longitudinal drive mechanism to drive the trusses to move along the tracks. The mounting plates have a transverse drive structure to drive the mounting plates to move along the slide rails. Step 2 includes the following steps: 1) Convert the distance and angle values ​​in each frame of data into values ​​in the Y and Z directions; 2) Add the truss position to each frame of data, and convert each frame of data into spatial location points XYZ; 3) Filter each frame of data; Step 6 includes the following steps: 1) Set up a sliding window with a length of L; 2) The scanning direction is from beginning to end, and the processing results of the above multi-frame data with a frame number of L are extracted cyclically; 3) Determine if the first time N1, N2, and N3 in the multi-frame data satisfy a certain number of conditions, and if the certain number is less than the number of all values ​​in the window that satisfy 1, then the starting position of the carriage is S, and the position before that is the position of the ground and the front of the carriage. 4) After obtaining the starting position of the carriage, continue to check in a loop. If the data N1, N2, and N3 in each frame of the window do not meet the requirement of a certain number of 1s for the first time, then that position is the ending position T of the carriage. 5) Calculate the length and width of the vehicle, as well as the vehicle's position, using the values ​​of M1, M2, and M3 at the starting position S and the values ​​of M1, M2, and M3 at the ending position T; Step 7 includes the following steps: 1) The M1, M2, and M3 at the starting position S are denoted as M1_s, M2_s, and M3_s, and the M1, M2, and M3 at the ending position T are denoted as M1_t, M2_t, and M3_t; 2) The difference between M2_s and M3_s is the vehicle width, and the difference between M2_t and M3_t is also the vehicle width; 3) The difference between M2_s and M2_t is the vehicle length, and the difference between M3_s and M3_t is also the vehicle length; 4) M1_s and M1_t are the heights of the two ends of the carriage; 5) The actual vehicle positioning and cabin dimensions are obtained by converting the position of the laser sensor relative to the truss.

2. The method for vehicle positioning and carriage size measurement according to claim 1, characterized in that: The dust cover is connected to the cylinder rod of the moving cylinder via a connecting rod, and the opening and closing state of the dust cover is controlled by the moving cylinder; the system is equipped with a central control system, which communicates with the laser sensor, the longitudinal drive mechanism, the transverse drive mechanism, and the moving cylinder, and the laser sensor is equipped with a dust cover.

3. The method for vehicle positioning and carriage size measurement according to claim 1, characterized in that, Step 3 includes the following steps: 1) Calculate the mean M1 of the middle position of each frame of data; 2) Determine whether the height of M1 meets the specified range. If it does, record N1=1; otherwise, record N1=0.

4. The method for vehicle positioning and carriage size measurement according to claim 1, characterized in that, Step 4 includes the following steps: 1) Initial assignment: Take the ID of the middle position of each frame and denote it as k1; denote the value of the left position as k2; 2) Loop processing: k2 increments by 1 in a loop; Determine if the height value of k2-k1 is greater than the set value. If it is, continue; otherwise, assign the value of k2 to k1. Process the data on the left in a loop until the data on the left is finished. 3) Record the position on the left as M2; 4) Determine whether the final position of k1 is within the specified range. If it is, record N2=1; otherwise, record N2=0.

5. The method for vehicle positioning and carriage size measurement according to claim 1, characterized in that, Step 5 includes the following steps: 1) Initial assignment: Take the ID of the middle position of each frame and denote it as k3; denote the value of the right position as k4; 2) Loop processing: k4 increments by 1 in a loop; If the height value of k4-k3 is greater than the set value, the height of each point on the door panel will increase. If it is, continue; otherwise, assign k4 to k3. Process the data in a loop until the data on the right ends; 3) Record the position on the right as M3; 4) Determine whether the final position of k3 is within the specified range. The door panel position will be within a certain area on the right. If it is, record N3=1; otherwise, record N3=0.

Images