A method and system for automatically measuring the external dimensions of a motor vehicle

Abstract

The present invention discloses an automatic measurement method and system for the outer dimensions of a motor vehicle, belonging to the technical field of intelligent measurement of the outer dimensions of a vehicle, comprising: by scanning the side profile and the front profile of the target vehicle, and according to the scanning range of the side profile of the vehicle, by controlling the scanning direction of the light beam outside the scanning range, the horizontal position of the target vehicle is detected; after synchronizing the data frame time of the point cloud data of the side profile and the front profile of the vehicle by a linear fitting algorithm, the outer dimensions of the target vehicle are generated according to the synchronized point cloud data, and the wheelbase of the target vehicle is obtained according to the detection result of the horizontal position, and then the outer dimensions detection report of the target vehicle is generated. The present invention reuses the vertical beam of the laser beam used to obtain the outer dimensions of the automobile, and combines the horizontal direction data of the point cloud data, so as to accurately locate the tire of the vehicle, thereby achieving the purpose of measuring the wheelbase of the vehicle at a low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent measurement of vehicle external dimensions, and in particular to an automatic measurement method and system for the external dimensions of a motor vehicle. Background Art

[0002] The vehicle's outer dimensions are used to describe the dimensions of the vehicle's exterior, including the length, width and height of the vehicle. These dimensions are important parameters in vehicle design and manufacturing, and are directly related to the vehicle's size specifications and spatial layout. The specific values ​​of the outer dimensions of vehicles of different types and uses are also different. For example, the maximum length limits of the two-axle outer dimensions of shed-type, flatbed, dump trucks and semi-trailers increase in sequence, while the width and height are uniformly specified. There are also clear regulations on the length, width and height of three-wheeled vehicles, low-speed trucks, trucks and semi-trailer tractors, passenger cars and two-axle buses. These regulations are intended to ensure the safe operation and convenience of vehicles on the road. In practical applications, there is a certain correlation between the vehicle's curb weight, engine type and outer dimensions. For example, when the curb weight is 8,800 kg, there are multiple options for the corresponding outer dimensions, including different combinations of length, width and height. These data are of great guiding significance for the design, manufacture, and subsequent use and maintenance of the vehicle. To sum up, the vehicle's overall dimensions are important parameters that describe the vehicle's external contour, including the vehicle's length, width, and height. These dimensions are not only related to the vehicle's size specifications, but also directly affect the vehicle's performance and usage scenarios.

[0003] With the rapid development of the automobile industry, more and more vehicles are modified without permission and put on the road. In recent years, accidents caused by unauthorized vehicle modifications have occurred frequently, causing serious impact on road safety. Summary of the invention

[0004] In order to solve the above problems, the purpose of the present invention is to provide an automatic measurement technology for the external dimensions of a motor vehicle, which can detect the wheelbase of the vehicle while detecting the length, width and height of the vehicle, thereby preventing unauthorized modification of the vehicle.

[0005] In order to achieve the above technical objectives, the present application provides an automatic measurement method for the external dimensions of a motor vehicle, comprising the following steps:

[0006] In response to detecting the target vehicle, scanning the side profile of the vehicle to obtain first point cloud data and a first data frame time, and scanning the front profile of the vehicle to obtain second point cloud data and a second data frame time;

[0007] In response to scanning of the side profile of the vehicle, based on the scanning range of the first point cloud data, the horizontal position of the target vehicle is detected by controlling the scanning direction of the light beam outside the scanning range to obtain third point cloud data and a third data frame time;

[0008] In response to the completion of the target vehicle detection, based on the first point cloud data and the second point cloud data, according to the first data frame time and the second data frame time, the outer dimensions of the target vehicle are obtained; and based on the outer dimensions, according to the third point cloud data, according to the first data frame time and the third data frame time, the wheelbase of the target vehicle is obtained, and based on the outer dimensions and the wheelbase, an outer dimensions detection report of the target vehicle is generated.

[0009] Preferably, during the detection of the target vehicle, the factory identity information or historical detection information of the target vehicle is obtained, and the scanning ranges of the first point cloud data, the second point cloud data and the third point cloud data are adjusted.

[0010] Preferably, in the process of acquiring the outer dimension, after synchronizing the first data frame time and the second data frame time through a linear fitting algorithm, the outer dimension is acquired according to the first point cloud data and the second point cloud data.

[0011] Preferably, in the process of data frame time synchronization, the linear fitting algorithm is expressed as:

[0012] T=k×(fc)+b

[0013]

[0014] In the formula, t i Indicates the time when the data frame participating in linear fitting is received; f i represents the data frame number involved in linear fitting; n represents the number of data frames involved in linear fitting; k, b and c are the fitting equation coefficients respectively; f is the data frame number for which the time needs to be determined; T is the time of the data frame after fitting.

[0015] Preferably, in the process of obtaining the wheelbase of the target vehicle, based on the fitted data frame time, by obtaining the relationship between the third data frame time and the first data frame time, the third point cloud data is matched with the outer contour of the target vehicle, the tire position of the target vehicle is obtained, and then the wheelbase of the target vehicle is calculated.

[0016] Preferably, in the process of obtaining the tire position of the target vehicle, based on the relationship between the third data frame time and the first data frame time, and according to the linear fitting relationship between the first data frame time and the second data frame time, the third point cloud data is matched with the second point cloud data to obtain the tire position of the target vehicle.

[0017] The present invention discloses an automatic measuring system for the outer dimensions of a motor vehicle, comprising:

[0018] A target detection module, used to obtain a target vehicle to be detected;

[0019] The outer contour detection module is used to scan the side contour of the target vehicle to obtain first point cloud data and a first data frame time, and to scan the front contour of the target vehicle to obtain second point cloud data and a second data frame time;

[0020] A horizontal detection module is used to detect the horizontal position of the target vehicle based on the scanning range of the first point cloud data by controlling the scanning direction of the light beam outside the scanning range, and obtain the third point cloud data and the third data frame time;

[0021] The report generation module is used to obtain the outer dimensions of the target vehicle based on the first point cloud data and the second point cloud data, according to the first data frame time and the second data frame time after the target vehicle is detected; and based on the outer dimensions, according to the third point cloud data, according to the first data frame time and the third data frame time, obtain the wheelbase of the target vehicle, and generate an outer dimensions detection report of the target vehicle based on the outer dimensions and the wheelbase.

[0022] Preferably, the target detection module is also used to obtain the factory identity information or historical detection information of the target vehicle, and adjust the scanning range of the first point cloud data, the second point cloud data and the third point cloud data.

[0023] Preferably, the report generation module is further used to synchronize the first data frame time with the second data frame time through a linear fitting algorithm, and then obtain the outer dimensions according to the first point cloud data and the second point cloud data, wherein the linear fitting algorithm is expressed as:

[0024] T=k×(fc)+b

[0025]

[0026]

[0027] Where, t i Indicates the time when the data frame participating in linear fitting is received; f i represents the data frame number involved in linear fitting; n represents the number of data frames involved in linear fitting; k, b and c are the fitting equation coefficients respectively; f is the data frame number for which the time needs to be determined; T is the time of the data frame after fitting.

[0028] Preferably, the report generation module is also used to match the third point cloud data with the outer contour of the target vehicle based on the fitted data frame moment by obtaining the relationship between the third data frame time and the first data frame time, thereby obtaining the tire position of the target vehicle and further calculating the wheelbase of the target vehicle; wherein, in the process of obtaining the tire position of the target vehicle, based on the relationship between the third data frame time and the first data frame time, the third point cloud data is matched with the second point cloud data according to the linear fitting relationship between the first data frame time and the second data frame time to obtain the tire position of the target vehicle.

[0029] The present invention discloses the following technical effects:

[0030] The present invention reuses the vertical beam of the laser beam used to obtain the outer contour size of the automobile and combines the horizontal direction data of the point cloud data to accurately locate the vehicle tires, thereby achieving the purpose of measuring the vehicle wheelbase at low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure of the device system described in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0035] like Figure 1-2 As shown, the present invention provides an automatic measurement method for the external dimensions of a motor vehicle, comprising the following steps:

[0036] In response to detecting the target vehicle, scanning the side profile of the vehicle to obtain first point cloud data and a first data frame time, and scanning the front profile of the vehicle to obtain second point cloud data and a second data frame time;

[0037] In response to scanning of the side profile of the vehicle, based on the scanning range of the first point cloud data, the horizontal position of the target vehicle is detected by controlling the scanning direction of the light beam outside the scanning range to obtain third point cloud data and a third data frame time;

[0038] In response to the completion of the target vehicle detection, based on the first point cloud data and the second point cloud data, according to the first data frame time and the second data frame time, the outer dimensions of the target vehicle are obtained; and based on the outer dimensions, according to the third point cloud data, according to the first data frame time and the third data frame time, the wheelbase of the target vehicle is obtained, and based on the outer dimensions and the wheelbase, an outer dimensions detection report of the target vehicle is generated.

[0039] Further preferably, the automatic measurement method provided by the present invention obtains the factory identity information or historical detection information of the target vehicle during the detection of the target vehicle, and adjusts the scanning range of the first point cloud data, the second point cloud data and the third point cloud data.

[0040] Further preferably, in the automatic measurement method provided by the present invention, in the process of obtaining the outer dimension, after synchronizing the first data frame time and the second data frame time through a linear fitting algorithm, the outer dimension is obtained according to the first point cloud data and the second point cloud data.

[0041] Further preferably, in the automatic measurement method provided by the present invention, during the data frame time synchronization, the linear fitting algorithm is expressed as:

[0042] T=k×(fc)+b

[0043]

[0044] Where, t i Indicates the time when the data frame participating in linear fitting is received; f i represents the data frame number involved in linear fitting; n represents the number of data frames involved in linear fitting; k, b and c are the fitting equation coefficients respectively; f is the data frame number for which the time needs to be determined; T is the time of the data frame after fitting.

[0045] Further preferably, in the automatic measurement method provided by the present invention, in the process of obtaining the wheelbase of the target vehicle, based on the fitted data frame time, by obtaining the relationship between the third data frame time and the first data frame time, the third point cloud data is matched with the outer contour of the target vehicle, the tire position of the target vehicle is obtained, and the wheelbase of the target vehicle is calculated.

[0046] Further preferably, in the automatic measurement method provided by the present invention, in the process of obtaining the tire position of the target vehicle, based on the relationship between the third data frame time and the first data frame time, and according to the linear fitting relationship between the first data frame time and the second data frame time, the third point cloud data is matched with the second point cloud data to obtain the tire position of the target vehicle.

[0047] The present invention discloses an automatic measurement system for the external dimensions of a motor vehicle, which is used to implement the automatic measurement method provided by the present invention mentioned above, comprising:

[0048] A target detection module, used to obtain a target vehicle to be detected;

[0049] The outer contour detection module is used to scan the side contour of the target vehicle to obtain first point cloud data and a first data frame time, and to scan the front contour of the target vehicle to obtain second point cloud data and a second data frame time;

[0050] A horizontal detection module is used to detect the horizontal position of the target vehicle based on the scanning range of the first point cloud data by controlling the scanning direction of the light beam outside the scanning range, and obtain the third point cloud data and the third data frame time;

[0051] The report generation module is used to obtain the outer dimensions of the target vehicle based on the first point cloud data and the second point cloud data, according to the first data frame time and the second data frame time after the target vehicle is detected; and based on the outer dimensions, according to the third point cloud data, according to the first data frame time and the third data frame time, obtain the wheelbase of the target vehicle, and generate an outer dimensions detection report of the target vehicle based on the outer dimensions and the wheelbase.

[0052] Further preferably, the target detection module of the automatic measurement system disclosed in the present invention is also used to obtain the factory identity information or historical detection information of the target vehicle, and adjust the scanning range of the first point cloud data, the second point cloud data and the third point cloud data.

[0053] Further preferably, the report generation module of the automatic measurement system disclosed in the present invention is further used to synchronize the first data frame time with the second data frame time through a linear fitting algorithm, and then obtain the outer dimension according to the first point cloud data and the second point cloud data, wherein the linear fitting algorithm is expressed as:

[0054] T=k×(fc)+b

[0055]

[0056] Where, t i Indicates the time when the data frame participating in linear fitting is received; fi represents the data frame number involved in linear fitting; n represents the number of data frames involved in linear fitting; k, b and c are the fitting equation coefficients respectively; f is the data frame number for which the time needs to be determined; T is the time of the data frame after fitting.

[0057] Further preferably, the report generation module of the automatic measurement system disclosed in the present invention is also used to match the third point cloud data with the outer contour of the target vehicle based on the fitted data frame time by acquiring the relationship between the third data frame time and the first data frame time, so as to obtain the tire position of the target vehicle and further calculate the wheelbase of the target vehicle; wherein, in the process of obtaining the tire position of the target vehicle, based on the relationship between the third data frame time and the first data frame time, according to the linear fitting relationship between the first data frame time and the second data frame time, the third point cloud data is matched with the second point cloud data to obtain the tire position of the target vehicle.

[0058] Embodiment: The present invention is based on the actual application of the automatic measurement method of the motor vehicle outer dimensions, and the measurement of the motor vehicle outer dimensions is achieved by setting a gantry, which specifically includes the following designs:

[0059] The gantry spans across both sides of the lane, with a laser rangefinder on the upper left and right, respectively, hereinafter referred to as the "left rangefinder" and "right rangefinder", and two laser reflection devices at the bottom, which scan the side profile of the vehicle and save the point cloud data and data frame time; there is a laser rangefinder directly above the front of the lane, hereinafter referred to as the "front rangefinder", which scans the profile of the front of the vehicle and saves the point cloud data and data frame time.

[0060] The three rangefinders receive several data frames and synchronize the data frame times of the three rangefinders through a linear fitting algorithm:

[0061]

[0062]

[0063] T=k×(fc)+b

[0064] Where: t i Indicates the time when the data frame participating in linear fitting is received; f i represents the data frame number involved in linear fitting; n represents the number of data frames involved in linear fitting; k, b and c are the fitting equation coefficients respectively; f is the data frame number for which the time needs to be determined; T is the time of the data frame after fitting.

[0065] The vehicle enters the gantry frame based on the profile scanned by the left or right rangefinder, and the time T is recorded. 0 ; The left and right directions of the point cloud data scanned by the left and right rangefinders are recorded as x i, the vertical direction is denoted as y i , according to the data frame time T i The horizontal position of the point cloud data scanned by the front rangefinder is recorded as z i ; Until the left and right rangefinders determine that the vehicle leaves the gantry, data recording ends.

[0066] By recording x i ,y i 、z i Construct a three-dimensional point cloud to obtain the vehicle's length L, width W, height H and other data.

[0067] L = z n -z 0

[0068] W = x n -x 0

[0069] H=y n -y 0

[0070] The laser beams directed downward by the left and right rangefinders will be reflected by the laser reflector and then directed toward the vehicle parallel to the ground. The horizontal distance x of the data passing through this part of the laser beam point is i , and through the data time T i The horizontal position of the point cloud data scanned by the front rangefinder is recorded as z i , the position of the vehicle tires can be determined, and then the vehicle wheelbase can be calculated. The wheelbase between the two wheels is: zj = z i+1 -z i .

[0071] The present invention uses the laser beams directed directly downward by the left and right rangefinders to be reflected by the laser reflecting device and then reused, and combines the point cloud data of the front rangefinder with the horizontal direction data, so as to accurately locate the vehicle tires and achieve the purpose of measuring the vehicle wheelbase at a low cost.

[0072] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0074] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for automatically measuring the external dimensions of a motor vehicle, characterized in that: The following steps are involved: In response to detecting the target vehicle, scanning the side profile of the vehicle to obtain first point cloud data and a first data frame time, and scanning the front profile of the vehicle to obtain second point cloud data and a second data frame time; In response to scanning of the side profile of the vehicle, based on the scanning range of the first point cloud data, the horizontal position of the target vehicle is detected by controlling the scanning direction of the light beam outside the scanning range to obtain third point cloud data and a third data frame time; In response to the target vehicle being detected, obtaining the outer dimensions of the target vehicle based on the first point cloud data and the second point cloud data, according to the first data frame time and the second data frame time; Based on the outer dimensions, according to the third point cloud data, according to the first data frame time and the third data frame time, the wheelbase of the target vehicle is acquired, and based on the outer dimensions and the wheelbase, an outer dimensions detection report of the target vehicle is generated; In the process of acquiring the outer dimension, after synchronizing the first data frame time and the second data frame time through a linear fitting algorithm, the outer dimension is acquired according to the first point cloud data and the second point cloud data.

2. The automatic measurement method for the external dimensions of a motor vehicle according to claim 1, characterized in that: During the detection of the target vehicle, the factory identity information or historical detection information of the target vehicle is obtained, and the scanning ranges of the first point cloud data, the second point cloud data, and the third point cloud data are adjusted.

3. The automatic measurement method for the external dimensions of a motor vehicle according to claim 1, characterized in that: In the process of data frame time synchronization, the linear fitting algorithm is expressed as: T=k×(fc)+b Where, t i Indicates the time when the data frame participating in linear fitting is received; f i represents the data frame number involved in linear fitting; n represents the number of data frames involved in linear fitting; k, b and c are the fitting equation coefficients respectively; f is the data frame number for which the time needs to be determined; T is the time of the data frame after fitting.

4. The automatic measurement method for the external dimensions of a motor vehicle according to claim 3, characterized in that: In the process of obtaining the wheelbase of the target vehicle, based on the fitted data frame time, by obtaining the relationship between the third data frame time and the first data frame time, the third point cloud data is matched with the outer contour of the target vehicle, the tire position of the target vehicle is obtained, and then the wheelbase of the target vehicle is calculated.

5. The automatic measurement method for the external dimensions of a motor vehicle according to claim 4, characterized in that: In the process of obtaining the tire position of the target vehicle, based on the relationship between the third data frame time and the first data frame time, and according to the linear fitting relationship between the first data frame time and the second data frame time, the third point cloud data is matched with the second point cloud data to obtain the tire position of the target vehicle.

6. An automatic measuring system for the external dimensions of a motor vehicle, characterized in that: include: A target detection module, used to obtain a target vehicle to be detected; An outer contour detection module is used to scan the side contour of the target vehicle to obtain first point cloud data and a first data frame time, and to scan the front contour of the target vehicle to obtain second point cloud data and a second data frame time; a horizontal detection module, configured to detect the horizontal position of the target vehicle based on the scanning range of the first point cloud data by controlling the scanning direction of the light beam outside the scanning range, and obtain third point cloud data and a third data frame time; A report generating module, configured to obtain the outer dimensions of the target vehicle based on the first point cloud data and the second point cloud data, according to the first data frame time and the second data frame time after the target vehicle is detected; Based on the outer dimensions, according to the third point cloud data, according to the first data frame time and the third data frame time, the wheelbase of the target vehicle is acquired, and based on the outer dimensions and the wheelbase, an outer dimensions detection report of the target vehicle is generated; The report generation module is further used to synchronize the first data frame time with the second data frame time through a linear fitting algorithm, and then obtain the outer contour size according to the first point cloud data and the second point cloud data.

7. The automatic measurement system for the external dimensions of a motor vehicle according to claim 6, characterized in that: The target detection module is further used to obtain the factory identity information or historical detection information of the target vehicle, and adjust the scanning range of the first point cloud data, the second point cloud data and the third point cloud data.

8. The automatic measuring system for the external dimensions of a motor vehicle according to claim 7, characterized in that: The linear fitting algorithm is expressed as: T=k×(fc)+b Where, t i Indicates the time when the data frame participating in linear fitting is received; f i represents the data frame number involved in linear fitting; n represents the number of data frames involved in linear fitting; k, b and c are the fitting equation coefficients respectively; f is the data frame number for which the time needs to be determined; T is the time of the data frame after fitting.

9. The automatic measurement system for the external dimensions of a motor vehicle according to claim 8, characterized in that: The report generation module is also used to match the third point cloud data with the outer contour of the target vehicle based on the fitted data frame time by acquiring the relationship between the third data frame time and the first data frame time, so as to acquire the tire position of the target vehicle and further calculate the wheelbase of the target vehicle; wherein, in the process of acquiring the tire position of the target vehicle, based on the relationship between the third data frame time and the first data frame time, according to the linear fitting relationship between the first data frame time and the second data frame time, the third point cloud data is matched with the second point cloud data to acquire the tire position of the target vehicle.

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