Method, device and equipment for measuring outer contour of vehicle and storage medium

Abstract

The invention discloses a method, device and equipment for measuring the outer contour of a vehicle and a storage medium. The method for measuring the outer contour of the vehicle comprises the steps that first point cloud data associated with a target vehicle and collected by a first laser radar and a second laser radar are obtained, the first laser radar and the second laser radar are deployed at the same position, the first laser radar is parallel to the driving direction of the vehicle, and the second laser radar is parallel to the driving direction of the vehicle; the second laser radar is perpendicular to the vehicle driving direction; determining second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and a predetermined detection area range; determining at least one piece of length data, at least one piece of width data and at least one piece of height data associated with the target vehicle according to the second point cloud data; and determining the outer contour data of the target vehicle according to the at least one length data, the at least one width data and the at least one height data, thereby improving the measurement efficiency of the outer contour of the vehicle.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to a method, device, equipment and storage medium for measuring the outer contour of a vehicle. Background Art

[0002] During the transportation of rubber-tired vehicles in coal mines, for issues such as the safe transportation of underground transportation rubber-tired vehicles and avoiding congestion in transportation roadways, it is necessary to set up vehicle outer contour detection equipment at the entrance of the well to measure the outer contour of the vehicle, as well as the length, width and height of the vehicle, so as to prevent the vehicle size from exceeding the specified range.

[0003] In the prior art, usually three measurement devices are set up to scan the outer contour of the vehicle. The three measurement devices are deployed at different positions. The length, width and height of the vehicle are scanned respectively by the three measurement devices to obtain three groups of different data. The amount of data scanned is relatively large, and the calculation amount is large in the process of processing the three groups of different data, which in turn leads to the problem of low efficiency in measuring the outer contour of the vehicle. Summary of the Invention

[0004] The present invention provides a method, device, equipment and storage medium for measuring the outer contour of a vehicle, so as to achieve the effect of improving the efficiency of measuring the outer contour of the vehicle.

[0005] According to one aspect of the present invention, there is provided a method for measuring the outer contour of a vehicle, the method comprising:

[0006] Obtain first point cloud data associated with a target vehicle collected by a first lidar and a second lidar, wherein the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction;

[0007] Based on the first point cloud data and a pre-determined detection area range, determine second point cloud data for measuring the outer contour of the target vehicle;

[0008] According to the second point cloud data, determine at least one length data, at least one width data and at least one height data associated with the target vehicle;

[0009] According to at least one length data, at least one width data and at least one height data, determine the outer contour data of the target vehicle;

[0010] Wherein, the outer contour data includes the maximum width value, the maximum length value and the maximum height value of the target vehicle.

[0011] According to another aspect of the present invention, there is provided a device for measuring the outer contour of a vehicle, the device comprising:

[0012] The first point cloud data acquisition module is configured to acquire first point cloud data associated with a target vehicle collected by a first lidar and a second lidar, wherein the first lidar and the second lidar are deployed at the same location, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction;

[0013] The second point cloud data determination module is configured to determine second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and a pre-determined detection area range;

[0014] The target vehicle associated data determination module is configured to determine at least one length data, at least one width data, and at least one height data associated with the target vehicle according to the second point cloud data;

[0015] The outer contour data determination module is configured to determine the outer contour data of the target vehicle according to at least one length data, at least one width data, and at least one height data; wherein, the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle.

[0016] According to another aspect of the present invention, there is provided an electronic device, which includes:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for measuring the outer contour of a vehicle according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the method for measuring the outer contour of a vehicle according to any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention obtains the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar. Herein, the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction. By scanning the target vehicle with two lidars, the first point cloud data associated with the target vehicle is obtained, reducing the amount of the first point cloud data and providing comprehensive data support for subsequent analysis and processing; based on the first point cloud data and the pre-determined detection area range, the second point cloud data for measuring the outer contour of the target vehicle is determined, realizing the accurate determination of the second point cloud data; according to the second point cloud data, at least one length data, at least one width data, and at least one height data associated with the target vehicle are determined, reducing the calculation amount for obtaining the first length data, the first width data, and the height data by processing the second point cloud data; according to at least one length data, at least one width data, and at least one height data, the outer contour data of the target vehicle is determined, wherein the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle, reducing the calculation amount for obtaining the outer contour data and solving the problem of low measurement efficiency of the vehicle outer contour, and improving the measurement efficiency of the vehicle outer contour.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a deployment schematic diagram of a first lidar and a second lidar provided by an embodiment of the present invention;

[0025] Figure 2 is a deployment schematic diagram of a first lidar and a second lidar provided by an embodiment of the present invention;

[0026] Figure 3 is a flowchart of a method for measuring the outer contour of a vehicle provided by Embodiment 1 of the present invention;

[0027] Figure 4 is a flowchart of a method for measuring the outer contour of a vehicle provided by Embodiment 2 of the present invention;

[0028] Figure 5 is a flowchart of a vehicle outer contour measurement method provided in Embodiment 3 of the present invention;

[0029] Figure 6 is a schematic structural diagram of a device for measuring a vehicle outer contour provided in Embodiment 4 of the present invention;

[0030] Figure 7 is a schematic structural diagram of an electronic device provided in Embodiment 5 of the present invention. Detailed implementation manners

[0031] In order to enable those skilled in the art to better understand the solution 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 accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0033] During the process of vehicle transportation in a coal mine underground, due to the narrow transportation roadway in the coal mine underground, there are certain requirements for the size of the vehicle itself and the size of the vehicle transporting the loaded goods. In order to prevent the size of the passing vehicle from exceeding the preset range, thereby causing the problem of congestion in the transportation roadway, it is necessary to measure the size of the vehicle on the transportation roadway. Measuring devices can be deployed at the mine exit and the mine entrance, and measuring devices can also be deployed inside the underground operation area to ensure that the size of the vehicle is within the preset range. The deployment of the measuring device is not limited by the present invention according to requirements. Optionally, the measuring device includes two lidars. The two lidars are respectively a first lidar and a second lidar. The first lidar and the second lidar are deployed at the same position. Among them, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction. Exemplarily, see Figure 1 , Figure 1It is a deployment schematic diagram of a first lidar and a second lidar provided by an embodiment of the present invention. Among them, the sensor includes a first lidar and a second lidar. The area corresponding to the parallelogram is the detection area. The direction of the arrow indicates the vehicle driving direction. The length scanning line is the scanning direction of the first lidar, and the width and height scanning line is the scanning direction of the second lidar. The first lidar and the second lidar can be deployed at the same position, where the first lidar is parallel to the vehicle driving direction and is used to measure the length of the target vehicle, and the second lidar is perpendicular to the vehicle driving direction and is used to measure the width and height of the target vehicle. Exemplarily, refer to Figure 2 , Figure 2 It is a deployment position schematic diagram of a first lidar and a second lidar provided by an embodiment of the present invention. Among them, the No. 1 lidar is the first lidar in the present invention, and the No. 2 lidar is the second lidar in the present invention. The No. 1 lidar and the No. 2 lidar are deployed at the same position in the underground operation area.

[0034] Embodiment 1

[0035] Figure 3 It is a flowchart of a method for measuring the outer contour of a vehicle provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of ensuring that the outer contour size of the target vehicle is within a preset threshold range during underground operation. This method can be executed by a device for measuring the outer contour of the vehicle. The device for measuring the outer contour of the vehicle can be implemented in the form of hardware and / or software. The device for measuring the outer contour of the vehicle can be configured in the electronic device provided by the embodiment of the present invention. The electronic device can be a server, a computer, or a mobile terminal, etc. For example, the mobile terminal can be a mobile phone, a tablet computer, etc. As Figure 3 shown, the method includes:

[0036] S110. Obtain first point cloud data associated with the target vehicle collected by the first lidar and the second lidar. Among them, the first lidar and the second lidar are deployed at the same position. The first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction.

[0037] Among them, the first lidar is a radar device whose deployment direction is parallel to the vehicle driving direction, and the second lidar is a radar device whose deployment direction is perpendicular to the vehicle driving direction. The first lidar and the second lidar are connected through communication. For example, the first lidar and the second lidar can be connected through Ethernet. The first lidar and the second lidar can have the same frame rate or different frame rates, and the first lidar and the second lidar scan the target vehicle according to the frame rate. Taking the case where the first lidar and the second lidar have the same frame rate as an example, the frame rate of the first lidar and the second lidar can be 50 Hz, indicating that the first lidar and the second lidar scan the target vehicle at a frequency of 50 times per second. Optionally, the first lidar and the second lidar are deployed at the mine entrance or in the underground operation area, and the height value of the deployment position is greater than a preset height threshold. To ensure the complete scanning of the target vehicle by the first lidar and the second lidar, the first lidar and the second lidar can be deployed at a certain height, and the height value of the deployment position can be greater than the preset height threshold. The first lidar and the second lidar scan the target vehicle according to the frame rate to obtain the first point cloud data associated with the target vehicle. The first point cloud data is the data scanned by the measuring device, and the measuring device includes but is not limited to lidar. The first point cloud data can include the coordinate information of the target vehicle. For example, the first point cloud data can include the two-dimensional coordinate information of the target vehicle.

[0038] Specifically, the first point cloud data can be obtained by scanning the target vehicle with the first lidar and the second lidar. Exemplarily, the measuring device includes the first lidar and the second lidar. The first lidar and the second lidar are deployed at the mine entrance and at the same position. Among them, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction. The first point cloud data is obtained by scanning the target vehicle with the first lidar and the second lidar.

[0039] By obtaining the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar, and scanning the target vehicle with the two lidars to obtain the first point cloud data associated with the target vehicle, the amount of the first point cloud data is reduced, providing comprehensive data support for subsequent analysis and processing.

[0040] Optionally, before obtaining the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar, the method further includes: receiving the first point cloud data collected by the second lidar; when it is determined that the target vehicle is included within the detection area range based on the first point cloud data, sending a control signal to the first lidar so that the first lidar collects the first point cloud data based on the control signal.

[0041] Among them, the scanning ranges of the first lidar and the second lidar are large. In the first point cloud data collected by the first lidar and the second lidar, there is first point cloud data that has nothing to do with the measurement of the outer contour of the target vehicle. By setting the scanning ranges of the first lidar and the second lidar, the outer contour of the target vehicle can be determined based on the first point cloud data within a limited area. Based on experience, determine the area range for measuring the outer contour of the target vehicle, and use the area range for measuring the outer contour of the target vehicle as the detection area. Analyzing the first point cloud data within the detection area can obtain the outer contour data of the target vehicle. The detection area is the effective area for measuring the outer contour of the target vehicle and can be set according to the actual situation without limitation here. It can be determined according to the transportation roadway in the coal mine and the scanning ranges of the first lidar and the second lidar. For example, determine the range of the transportation roadway and the scanning ranges of the first lidar and the second lidar, determine the overlapping area formed by the range of the transportation roadway and the scanning ranges of the first lidar and the second lidar. Within the overlapping area, determine a rectangular area with a length of L and a width of W, and use the rectangular area with a length of L and a width of W as the detection area. The shape of the detection area includes but is not limited to a rectangle and can be set according to requirements without limitation here.

[0042] In order to reduce the quantity of the first point cloud data and improve the measurement efficiency of the outer contour of the target vehicle, the first lidar can collect the first point cloud data through a control signal, reducing the quantity of the first point cloud data collected by the first lidar. By analyzing and processing a small amount of the first point cloud data, the outer contour of the target vehicle can be obtained. The control signal is an instruction signal for controlling the first lidar to collect the first point cloud data. For example, the control signal can be a control signal for starting collection. The control signal is sent by the control center, and the control center includes but is not limited to a computer. The control center is respectively communicatively connected to the first lidar and the second lidar. The second lidar can transmit the collected first point cloud data to the control center through communication. The control center generates a control signal based on the first point cloud data and transmits the control signal to the first lidar through communication.

[0043] Specifically, a control signal can be sent according to the first point cloud data collected by the second lidar before obtaining the first point cloud data related to the target vehicle collected by the first lidar and the second lidar. The control center receives the first point cloud data collected by the second lidar, calculates the width value based on the first point cloud data, and determines whether the width value is greater than the pre-set minimum vehicle width value. When the width value is greater than the pre-set minimum vehicle width value, it indicates that the target vehicle is included within the detection area. The control center sends a control signal to the first lidar through communication, and the first lidar receives the control signal and collects the first point cloud data.

[0044] Exemplarily, during the process of the second lidar collecting the first point cloud data, there are other objects other than the target vehicle that interfere with the measurement of the outer contour of the target vehicle. In order to reduce the interference of other objects other than the target vehicle, a minimum vehicle width value can be preset, the maximum width value is calculated according to the coordinate information corresponding to the first point cloud data, and the maximum width value is compared with the preset minimum vehicle width value. When the maximum width value is greater than the preset minimum vehicle width value, it indicates that the target vehicle is included within the detection area range. The control center calculates the maximum width value between the first point cloud data based on the two-dimensional coordinate information in the first point cloud data collected by the second lidar, and compares the maximum distance Wmax between the first point cloud data with the preset minimum vehicle width value Wmin. If Wmax > Wmin, it indicates that the target vehicle is included within the detection area range. At this time, the control center generates a control signal for starting collection, and the control center sends the control signal for starting collection to the first lidar through communication. The first lidar receives the control signal for starting collection and collects the first point cloud data.

[0045] By receiving the first point cloud data collected by the second lidar, when it is determined that the target vehicle is included within the detection area range based on the first point cloud data, a control signal is sent to the first lidar, realizing the control of the first lidar, thereby ensuring that the first lidar and the second lidar scan the target vehicle simultaneously, reducing the quantity of the first point cloud data, and further facilitating the reduction of the computational amount for analyzing and processing the first point cloud data to improve the efficiency of detecting the outer contour of the target vehicle.

[0046] S120. Determine the second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and the pre-determined detection area range.

[0047] Among them, the scanning ranges of the first lidar and the second lidar are larger than the pre-determined detection area range. Based on this, the first point cloud data can be screened to determine the first point cloud data located within the pre-determined detection area range, so as to reduce the quantity of the first point cloud data. The second point cloud data is the first point cloud data within the detection area range, and the second point cloud data is used to measure the outer contour of the target vehicle.

[0048] Specifically, the first point cloud data includes coordinate information. The first point cloud data is screened according to the pre-determined detection area range, and the first point cloud data located within the pre-determined detection area range is selected, and the first point cloud data located within the pre-determined detection area range is used as the second point cloud data.

[0049] Exemplarily, the first point cloud data and the coordinate data corresponding to the detection area are input into a pre-trained point cloud data cropping model to obtain the second point cloud data for measuring the outer contour of the target vehicle. The point cloud data cropping model includes, but is not limited to, a neural network model, which can be set according to requirements and is not limited here. Exemplarily, the Point Cloud Library (PCL) is used to crop the first point cloud data according to the coordinate data corresponding to the detection area to obtain the second point cloud data for measuring the outer contour of the target vehicle.

[0050] By using the first point cloud data and the pre-determined detection area range to determine the second point cloud data for measuring the outer contour of the target vehicle, the accurate determination of the second point cloud data is achieved, the quantity of the point cloud data is reduced, which is beneficial to reducing the computational load for processing the second point cloud data, and further beneficial to improving the efficiency of measuring the outer contour of the target vehicle.

[0051] Optionally, the method further includes: determining the second point cloud data located within the detection area range according to the edge coordinate information corresponding to the detection area range and the point cloud coordinate information corresponding to the first point cloud data.

[0052] Among them, the edge coordinate information is the coordinate data used to describe the boundary of the detection area, for example, it may include the two-dimensional coordinate information of the boundary of the detection area. The point cloud coordinate information includes the two-dimensional coordinate information of the first point cloud data.

[0053] Specifically, by comparing the edge coordinate information and the point cloud coordinate information, it is determined whether the first point cloud data corresponding to the point cloud coordinate information is located within the detection area range. When the first point cloud data corresponding to the point cloud coordinate information is located within the detection area range, the first point cloud data is used as the second point cloud data.

[0054] Exemplarily, the two-dimensional coordinate information of the first point cloud data is (15, 6), (13, 7), and (12, 5) respectively, and the two-dimensional coordinate information of the boundary of the detection area is (10, 3) and (20, 7). The two-dimensional coordinate information of the first point cloud data is compared with the two-dimensional coordinate information of the boundary of the detection area. The first point cloud data corresponding to the two-dimensional coordinate information (15, 6), (13, 7), and (12, 5) are all located within the detection area range, and the first point cloud data corresponding to the two-dimensional coordinate information (15, 6), (13, 7), and (12, 5) are used as the second point cloud data.

[0055] By using the edge coordinate information corresponding to the detection area range and the point cloud coordinate information corresponding to the first point cloud data to determine the second point cloud data located within the detection area range, the accurate determination of the second point cloud data is achieved.

[0056] S130. Determine at least one length data, at least one width data, and at least one height data associated with the target vehicle based on the second point cloud data.

[0057] Among them, the length data is the distance of the target vehicle in the vehicle driving direction during the outer contour measurement; the width data is the lateral distance of the target vehicle perpendicular to the vehicle driving direction during the outer contour measurement; the height data is the vertical distance between the plane where the first lidar and the second lidar are located and the plane where the top of the target vehicle is located during the outer contour measurement.

[0058] Specifically, the specific method for determining at least one length data associated with the target vehicle may include: determining the point cloud data corresponding to the target vehicle in the second point cloud data at any scan, calculating the maximum distance of the point cloud data corresponding to the target vehicle in the second point cloud data at this scan in the vehicle driving direction, and taking the maximum distance of the point cloud data corresponding to the target vehicle in the second point cloud data at this scan in the vehicle driving direction as a length data associated with the target vehicle. By analogy, determine the point cloud data corresponding to the target vehicle in the second point cloud data at each scan, calculate the maximum distance of the point cloud data corresponding to the target vehicle in the second point cloud data at each scan in the vehicle driving direction, and take the maximum distance of the point cloud data corresponding to the target vehicle in the second point cloud data at each scan in the vehicle driving direction as a length data associated with the target vehicle, so as to obtain multiple length data associated with the target vehicle. Among them, a classification model can be used to determine the point cloud data corresponding to the target vehicle in the second point cloud data. For example, by inputting the second point cloud data into a pre-trained classification model, the point cloud data corresponding to the target vehicle in the second point cloud data can be obtained. The classification model includes but is not limited to machine learning models and neural network models. For example, the neural network model can be a convolutional neural network and a Transformer model, which can be set according to requirements and are not limited here.

[0059] Specifically, the specific method for determining at least one width data associated with the target vehicle may include: determining the point cloud data corresponding to the target vehicle in the second point cloud data during any scan, calculating the maximum lateral distance of the point cloud data corresponding to the target vehicle in the second point cloud data during this scan in the direction perpendicular to the vehicle driving direction, and taking the maximum lateral distance of the point cloud data corresponding to the target vehicle in the second point cloud data during this scan in the direction perpendicular to the vehicle driving direction as one width data associated with the target vehicle. And so on, determining the point cloud data corresponding to the target vehicle in the second point cloud data for each scan, calculating the maximum lateral distance of the point cloud data corresponding to the target vehicle in the second point cloud data for each scan in the direction perpendicular to the vehicle driving direction, and taking the maximum lateral distance of the point cloud data corresponding to the target vehicle in the second point cloud data for each scan in the direction perpendicular to the vehicle driving direction as one width data associated with the target vehicle, to obtain multiple width data associated with the target vehicle.

[0060] Specifically, the specific method for determining at least one height data associated with the target vehicle may include: determining the point cloud data corresponding to the target vehicle in the second point cloud data for each scan, calculating the maximum vertical distance from the point cloud data corresponding to the target vehicle in the second point cloud data during this scan to the plane where the second lidar is located, and taking the maximum vertical distance from the point cloud data corresponding to the target vehicle in the second point cloud data during this scan to the plane where the second lidar is located as one height data associated with the target vehicle. And so on, determining the point cloud data corresponding to the target vehicle in the second point cloud data for each scan, calculating the maximum vertical distance from the point cloud data corresponding to the target vehicle in the second point cloud data for each scan to the plane where the first lidar and the second lidar are located, and taking the maximum vertical distance from the point cloud data corresponding to the target vehicle in the second point cloud data for each scan to the plane where the second lidar is located as one height data associated with the target vehicle, to obtain multiple height data associated with the target vehicle.

[0061] Determining at least one length data, at least one width data, and at least one height data associated with the target vehicle through the second point cloud data reduces the computational amount of processing the second point cloud data to obtain the first length data, the first width data, and the height data.

[0062] S140. Determine the outer contour data of the target vehicle according to at least one length data, at least one width data, and at least one height data; wherein, the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle.

[0063] Among them, the outer contour data is information used to describe the outer shape boundary of the target vehicle, and the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle. The number of length values in at least one length data, the number of width values in at least one length data, and the number of height values in at least one length data can be the same.

[0064] Specifically, the specific method for determining the maximum length value of the target vehicle according to at least one length data includes: sorting at least one length data. For example, sorting at least one length data from smallest to largest, the sorting filter method can be used to sort at least one length data from smallest to largest, determining the maximum value in at least one length data, and taking the maximum value in at least one length data as the maximum length value of the target vehicle in the outer contour data.

[0065] Exemplarily, at least one length data includes A length values, sorting the A length values from smallest to largest, and taking the maximum value among the A length values as the maximum length value of the target vehicle in the outer contour data. For example, at least one length data includes 3 length values, and the 3 length values are 2.18, 2.36, and 2.21 respectively. Sorting the 3 length values from smallest to largest, 2.18 < 2.21 < 2.36, and taking the maximum value 2.36 as the maximum length value of the target vehicle in the outer contour data.

[0066] Specifically, the specific method for determining the maximum width value of the target vehicle according to at least one width data includes: sorting at least one width data. For example, sorting at least one width data from smallest to largest, the sorting filter method can be used to sort at least one width data from smallest to largest, determining the maximum value in at least one width data, and taking the maximum value in at least one width data as the maximum width value of the target vehicle in the outer contour data.

[0067] Exemplarily, at least one width data includes A width values, sorting the A width values from smallest to largest, and taking the maximum value among the A width values as the maximum width value of the target vehicle in the outer contour data. For example, at least one width data includes 3 width values, and the 3 width values are 1.06, 1.13, and 1.02 respectively. Sorting the 3 width values from smallest to largest, 1.02 < 1.06 < 1.13, and taking the maximum value 1.13 as the maximum width value of the target vehicle in the outer contour data.

[0068] Specifically, the specific method for determining the maximum height value of the target vehicle based on at least one height data includes: determining the height value of the target vehicle according to the plane where the bottom of the target vehicle is located and at least one height data, sorting the height values of the target vehicle. For example, the sorting filter method can be used to sort the height values of the target vehicle from smallest to largest, determining the maximum value among the height values of the target vehicle, and taking the maximum value among the height values of the target vehicle as the maximum height value of the target vehicle.

[0069] Exemplarily, at least one height data includes A height values, sorting the A height values from smallest to largest, and taking the maximum value among the A height values as the maximum height value of the target vehicle in the outer contour data. For example, at least one height data includes 3 height values, which are 1.06, 1.13, and 1.02 respectively. Sorting the 3 height values from smallest to largest, 1.02 < 1.06 < 1.13, and taking 1.13 as the maximum height value of the target vehicle in the outer contour data.

[0070] By using at least one length data, at least one width data, and at least one height data to determine the outer contour data of the target vehicle, the measurement of the outer contour of the target vehicle is realized, the calculation amount for obtaining the outer contour data is reduced, and the measurement efficiency of the vehicle outer contour is improved.

[0071] The technical solution of this embodiment obtains the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar. Among them, the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction. By collecting the first point cloud data with two lidars, the quantity of the first point cloud data is reduced; based on the first point cloud data and the pre-determined detection area range, the second point cloud data for measuring the outer contour of the target vehicle is determined, realizing the accurate determination of the second point cloud data; according to the second point cloud data, at least one length data, at least one width data, and at least one height data associated with the target vehicle are determined, reducing the calculation amount for processing the second point cloud data to obtain the first length data, the first width data, and the height data; according to at least one length data, at least one width data, and at least one height data, the outer contour data of the target vehicle is determined, where the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle, realizing the measurement of the vehicle outer contour, reducing the calculation amount for obtaining the outer contour data, solving the problem of low measurement efficiency of the vehicle outer contour, and improving the measurement efficiency of the vehicle outer contour.

[0072] Embodiment 2

[0073] Figure 4The figure is a flowchart of a method for measuring the outer contour of a vehicle provided in the second embodiment of the present invention. This embodiment is an optimization of the foregoing embodiment. On the basis of the foregoing embodiment, a detailed description is given of determining the outer contour data of the target vehicle according to at least one length data, at least one width data, and at least one height data. For the specific implementation manner, reference may be made to the technical solution of this embodiment. Among them, the same or corresponding technical terms as those in the foregoing embodiment will not be elaborated herein. As Figure 4 shown, the method includes:

[0074] S210. Obtain first point cloud data associated with a target vehicle collected by a first lidar and a second lidar, where the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction.

[0075] S220. Based on the first point cloud data and a pre-determined detection area range, determine second point cloud data for measuring the outer contour of the target vehicle.

[0076] S230. According to the second point cloud data, determine at least one length data, at least one width data, and at least one height data associated with the target vehicle.

[0077] Optionally, S230 includes: determining a first length data of the target vehicle according to the point cloud coordinate information in the second point cloud data collected by the first lidar; determining a first width data of the target vehicle and a to-be-used height data from the second lidar to the target vehicle according to the point cloud coordinate information in the second point cloud data collected by the second lidar; and determining height data associated with the target vehicle according to a preset height data and the to-be-used height data.

[0078] Among them, during the measurement of the outer contour of the target vehicle, the height data of the target vehicle cannot be directly obtained, and the distances between the first lidar and the second lidar and the top of the target vehicle can be obtained. The to-be-used height data is the vertical distance between the plane where the first lidar and the second lidar are located and the plane where the top of the target vehicle is located, and the to-be-used height data can be determined according to the point cloud coordinate information in the second point cloud data collected by the second lidar. The preset height data is the height data of the first lidar and the second lidar set in advance, and can be the distance between the plane where the first lidar and the second lidar are located and the plane where the ground is located.

[0079] Specifically, the first length data is determined according to the second point cloud data collected by the first lidar, and can be determined according to the point cloud coordinate information in the second point cloud data.

[0080] Exemplarily, determine the point cloud data corresponding to the target vehicle in the second point cloud data collected during any scan of the first lidar. The point cloud data corresponding to the target vehicle includes point cloud coordinate information. Calculate the maximum distance of the point cloud data corresponding to the target vehicle in the vehicle driving direction based on the point cloud coordinate information, and use the maximum distance as a first length data of the target vehicle. By analogy, calculate the first length data corresponding to each scan of the first lidar.

[0081] Specifically, the first width data is determined based on the second point cloud data collected by the second lidar and can be determined according to the point cloud coordinate information in the second point cloud data.

[0082] Exemplarily, determine the point cloud data corresponding to the target vehicle in the second point cloud data collected during any scan of the second lidar. Calculate the maximum lateral distance of the second point cloud data perpendicular to the vehicle driving direction based on the point cloud coordinate information, and use the maximum lateral distance as a first length and width data of the target vehicle. By analogy, calculate the first width data corresponding to each scan of the first lidar.

[0083] Specifically, the to-be-used height data is determined based on the second point cloud data collected by the second lidar and can be determined according to the point cloud coordinate information in the second point cloud data. The height data is determined based on the preset height data and the to-be-used height data and can be determined according to the difference between the preset height data and the to-be-used height data.

[0084] Exemplarily, determine the point cloud data corresponding to the target vehicle in the second point cloud data collected during any scan of the second lidar. Calculate the maximum vertical distance from the second point cloud data to the plane where the first lidar and the second lidar are located based on the point cloud coordinate information, and use the maximum vertical distance as a to-be-used height data of the target vehicle. By analogy, calculate the to-be-used height data corresponding to each scan of the first lidar. Calculate the difference between the preset height data and the to-be-used height data, and use the difference between the preset height data and the to-be-used height data as the height data.

[0085] Determine the first length data of the target vehicle through the point cloud coordinate information in the second point cloud data collected by the first lidar, determine the first width data of the target vehicle and the to-be-used height data from the second lidar to the target vehicle based on the point cloud coordinate information, and determine the height data related to the target vehicle according to the preset height data and the to-be-used height data, reducing the calculation amount of processing the second point cloud data to obtain the first length data, the first width data, and the height data, and thus facilitating the improvement of the efficiency of measuring the outer contour of the target vehicle.

[0086] S240. Use the maximum length value among at least one length data as the maximum length value in the outer contour data; use the maximum width value among at least one width data as the maximum width value in the outer contour data; use the maximum height value among at least one height data as the maximum height value in the outer contour data.

[0087] Specifically, using the maximum length value among at least one length data as the maximum length value in the outer contour data may include: performing a sorting process on at least one length data. The sorting filter method can be used to sort at least one length data from smallest to largest, determine the maximum value among at least one length data, and use the maximum length value among at least one length data as the maximum length value in the outer contour data.

[0088] Specifically, using the maximum width value among at least one width data as the maximum width value in the outer contour data may include: performing a sorting process on at least one width data. The sorting filter method can be used to sort at least one width data from smallest to largest, determine the maximum value among at least one width data, and use the maximum length value among at least one width data as the maximum width value in the outer contour data.

[0089] Specifically, using the maximum height value among at least one height data as the maximum height value in the outer contour data may include: performing a sorting process on at least one height data. The sorting filter method can be used to sort at least one height data from smallest to largest, determine the maximum value among at least one height data, and use the maximum length value among at least one height data as the maximum height value in the outer contour data.

[0090] By using the maximum length value among at least one length data as the maximum length value in the outer contour data, the maximum width value among at least one width data as the maximum width value in the outer contour data, and the maximum height value among at least one height data as the maximum height value in the outer contour data, the measurement of the outer contour of the target vehicle is achieved, reducing the computational amount of processing the second point cloud data to obtain the first length data, the first width data, and the height data, and improving the measurement efficiency of the vehicle outer contour.

[0091] Optionally, the method further includes: when the maximum width value, the maximum length value, or the maximum height value in the outer contour data is greater than the corresponding preset threshold, sending a warning signal to the deployed warning device, so that the warning device issues a warning message based on the received warning signal; wherein, the warning device is deployed at a position associated with the first lidar and the second lidar.

[0092] Among them, the warning signal is information used to describe that the maximum width value, maximum length value, or maximum height value in the outer contour data is greater than the corresponding preset threshold. When the maximum width value, maximum length value, or maximum height value in the outer contour data is greater than the corresponding preset threshold, the control center generates a warning signal and sends the warning signal to the warning device. The warning device is a device used to prompt that the maximum width value, maximum length value, or maximum height value in the outer contour data is greater than the corresponding preset threshold. The warning device is deployed at a position associated with the first lidar and the second lidar. For example, it can be deployed in the space where the first lidar and the second lidar are located. The warning device and the control center can be communicatively connected. When the warning device receives the warning signal sent by the control center through communication, the warning device can generate a warning message. The warning message is used to prompt data with a maximum width value, maximum length value, or maximum height value greater than the corresponding preset threshold. The warning message includes one or more of the outer contour greater than the corresponding preset threshold and the corresponding outer contour data. The form of the warning message includes but is not limited to audio.

[0093] Specifically, when the maximum width value in the outer contour data is greater than the corresponding preset threshold, the control center generates a maximum width value warning signal. The warning device receives the maximum width value warning signal sent by the control center through communication. The warning device generates a maximum width value warning message based on the maximum width value warning signal and displays the maximum width value warning message in the form of voice.

[0094] When the maximum width value, maximum length value, or maximum height value in the outer contour data is greater than the corresponding preset threshold, a warning signal is sent to the deployed warning device, so that the warning device issues a warning message based on the received warning signal, providing a basis for the staff to solve the congestion in the underground roadway and facilitating the improvement of the traffic efficiency of the underground roadway.

[0095] The technical solution of this embodiment obtains the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar. Herein, the first lidar and the second lidar are deployed at the same position. The first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction. By scanning the target vehicle with the two lidars, the first point cloud data associated with the target vehicle is obtained, reducing the quantity of the first point cloud data. Based on the first point cloud data and the pre-determined detection area range, the second point cloud data for measuring the outer contour of the target vehicle is determined, achieving the accurate determination of the second point cloud data. According to the second point cloud data, at least one length data, at least one width data, and at least one height data associated with the target vehicle are determined, reducing the computational amount of processing the second point cloud data to obtain the first length data, the first width data, and the height data. The maximum value among at least one length data is used as the maximum length value in the outer contour data; the maximum value among at least one width data is used as the maximum width value in the outer contour data; the maximum value among at least one height data is used as the maximum height value in the outer contour data, achieving the measurement of the outer contour of the target vehicle, reducing the computational amount of processing at least one length data, at least one width data, and at least one height data, and improving the measurement efficiency of the vehicle outer contour.

[0096] Embodiment III

[0097] Figure 5 FIG. is a flowchart of a method for measuring the outer contour of a vehicle provided in Embodiment III of the present invention. This embodiment is an optimization of the above embodiment. As Figure 5 shown, Point Cloud Data 1 is the first point cloud data associated with the target vehicle collected by the first lidar; Point Cloud Data 2 is the first point cloud data associated with the target vehicle collected by the second lidar; Vehicle Width and Height Data are at least one width data and at least one height data associated with the target vehicle; Vehicle Length Data is at least one length data associated with the target vehicle; the detection result, i.e., the status report, indicates that when the maximum width value, the maximum length value, or the maximum height value in the outer contour data is greater than the corresponding preset threshold, a warning signal is sent to the deployed warning device, and the warning device issues a warning message based on the received warning signal. In this embodiment, the measuring device includes two lidars, namely the first lidar and the second lidar. The first lidar and the second lidar are deployed at the same position. Among them, the first lidar is parallel to the vehicle driving direction and is used to measure the length of the target vehicle, and the second lidar is perpendicular to the vehicle driving direction and is used to measure the width and height of the target vehicle.

[0098] The specific implementation method of a vehicle outer contour measurement method is as follows: Obtain point cloud data 1 and point cloud data 2 collected by two lidars. According to point cloud data 2, detect in real time whether a vehicle passes by. When no vehicle passes by, perform filtering processing on the vehicle width and height data and the vehicle length data. When a vehicle passes by, clip point cloud data 1 and point cloud data 2 respectively according to the detection area to obtain point cloud data 1 and point cloud data 2 located in the detection area; Determine the vehicle length and vehicle width and height according to point cloud data 1 and point cloud data 2 located in the detection area, and detect the vehicle length and vehicle width and height. When the vehicle length or vehicle width and height exceed the corresponding preset threshold, send a warning signal to the deployed warning device. The warning device issues a warning message based on the received warning signal, and displays the outer contour greater than the corresponding preset threshold and the corresponding outer contour data through the warning message.

[0099] Specifically, the specific method for detecting in real time whether a vehicle passes by according to point cloud data 2 is as follows: Calculate the maximum width value according to the coordinate information of point cloud data 2, compare the maximum width value with the preset minimum vehicle width value, and judge whether the width value is greater than the preset minimum vehicle width value. When the width value is greater than the preset minimum vehicle width value, it indicates that a vehicle passes by.

[0100] Specifically, the specific method for clipping point cloud data 1 and point cloud data 2 respectively according to the detection area is as follows: Use the bounding box clipping method in PCL to clip point cloud data 1 and point cloud data 2 respectively according to the detection area to obtain point cloud data 1 and point cloud data 2 located in the detection area.

[0101] The technical solution of this embodiment obtains point cloud data 1 and point cloud data 2 collected by two lidars, scans the vehicle through the two lidars to obtain point cloud data, and reduces the quantity of point cloud data 1 and point cloud data 2; Detect in real time whether a vehicle passes by according to point cloud data 2. When a vehicle passes by, clip point cloud data 1 and point cloud data 2 respectively according to the detection area to obtain point cloud data 1 and point cloud data 2 located in the detection area, and reduce the quantity of point cloud data 1 and point cloud data 2; Determine the vehicle length according to point cloud data 1 located in the detection area, and determine the vehicle width and height according to point cloud data 2, reducing the calculation amount of obtaining the vehicle length and vehicle width and height by processing point cloud data 1 and point cloud data 2, realizing the measurement of the vehicle outer contour, and improving the efficiency of vehicle outer contour measurement; Detect the vehicle length and vehicle width and height. When the vehicle length or vehicle width and height exceed the corresponding preset threshold, send a warning signal to the deployed warning device. The warning device issues a warning message based on the received warning signal, and displays the outer contour greater than the corresponding preset threshold and the corresponding outer contour data through the warning message, providing a basis for the staff to solve the congestion in the underground roadway and being conducive to improving the traffic efficiency of the underground roadway.

[0102] Embodiment 4

[0103] Figure 6 is a schematic structural diagram of a device for measuring the outer contour of a vehicle provided in Embodiment 4 of the present invention. As Figure 6 shown, the device includes:

[0104] A first point cloud data acquisition module 310, configured to acquire first point cloud data associated with a target vehicle collected by a first lidar and a second lidar, wherein the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction;

[0105] A second point cloud data determination module 320, configured to determine second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and a pre-determined detection area range;

[0106] A target vehicle associated data determination module 330, configured to determine at least one length data, at least one width data, and at least one height data associated with the target vehicle according to the second point cloud data;

[0107] An outer contour data determination module 340, configured to determine the outer contour data of the target vehicle according to at least one length data, at least one width data, and at least one height data; wherein, the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle.

[0108] In the technical solution of the embodiment of the present invention, the first point cloud data acquisition module 310 acquires the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar. Among them, the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction. The target vehicle is scanned by the two lidars to obtain the first point cloud data associated with the target vehicle, reducing the quantity of the first point cloud data; the second point cloud data determination module 320 determines the second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and the pre-determined detection area range, achieving the accurate determination of the second point cloud data; the target vehicle associated data determination module 330 determines at least one length data, at least one width data, and at least one height data associated with the target vehicle according to the second point cloud data, reducing the calculation amount of obtaining the first length data, the first width data, and the height data by processing the second point cloud data; the outer contour data determination module 340 determines the outer contour data of the target vehicle according to at least one length data, at least one width data, and at least one height data; among them, the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle, reducing the calculation amount of obtaining the outer contour data, realizing the measurement of the outer contour of the target vehicle, solving the problem of low efficiency of vehicle outer contour measurement, and improving the measurement efficiency of the vehicle outer contour.

[0109] Based on the above embodiment, optionally, the device further includes a control signal sending module, configured to: before acquiring the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar, receive the first point cloud data collected by the second lidar; when it is determined that the detection area range includes the target vehicle based on the first point cloud data, send a control signal to the first lidar, so that the first lidar acquires the first point cloud data based on the control signal.

[0110] Optionally, the second point cloud data determination module 320 is further configured to: determine the second point cloud data located within the detection area range according to the edge coordinate information corresponding to the detection area range and the point cloud coordinate information corresponding to the first point cloud data.

[0111] Optionally, the target vehicle associated data determination module 330 is further configured to: determine the first length data of the target vehicle according to the point cloud coordinate information in the second point cloud data collected by the first lidar; determine the first width data of the target vehicle and the to-be-used height data from the second lidar to the target vehicle according to the point cloud coordinate information in the second point cloud data collected by the second lidar; determine the height data associated with the target vehicle according to the preset height data and the to-be-used height data.

[0112] Optionally, the outer contour data determination module 340 is further configured to: use the maximum length value among at least one length data as the maximum length value in the outer contour data; use the maximum width value among at least one width data as the maximum width value in the outer contour data; and use the maximum height value among at least one height data as the maximum height value in the outer contour data.

[0113] Optionally, the device further includes an early warning signal sending module, configured to: when the maximum width value, maximum length value, or maximum height value in the outer contour data is greater than a corresponding preset threshold, send an early warning signal to the deployed early warning device, so that the early warning device issues an early warning message based on the received early warning signal; wherein, the early warning device is deployed at a position associated with the first lidar and the second lidar.

[0114] Optionally, the first lidar and the second lidar are deployed at the mine entrance or in the underground operation area, and the height value of the deployment position is greater than a preset height threshold.

[0115] The device for measuring the outer contour of a vehicle provided by the embodiments of the present invention can execute the method for measuring the outer contour of a vehicle provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0116] Embodiment Five

[0117] Figure 7 FIG. is a schematic structural diagram of an electronic device provided by Embodiment Five of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0118] As Figure 7As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the random access memory (RAM) 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0119] Multiple components in the electronic device 10 are connected to the input / output (I / O) interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0120] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for measuring the outer contour of a vehicle.

[0121] In some embodiments, the method for measuring the outer contour of a vehicle can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the read-only memory (ROM) 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for measuring the outer contour of a vehicle described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for measuring the outer contour of a vehicle in any other appropriate way (e.g., by means of firmware).

[0122] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0123] The computer program for implementing the method for measuring the outer contour of a vehicle according to the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a dedicated computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0124] Embodiment Six

[0125] Embodiment Six of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a method for measuring the outer contour of a vehicle, the method including:

[0126] Obtaining first point cloud data associated with a target vehicle collected by a first lidar and a second lidar, wherein the first lidar and the second lidar are deployed at the same location, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction; determining second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and a pre-determined detection area range; determining at least one length data, at least one width data, and at least one height data associated with the target vehicle according to the second point cloud data; determining outer contour data of the target vehicle according to the at least one length data, the at least one width data, and the at least one height data; wherein the outer contour data includes a maximum width value, a maximum length value, and a maximum height value of the target vehicle.

[0127] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] In order to provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0129] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0130] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The client-server relationship is created by computer programs that run on respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, addressing the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0131] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0132] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for measuring the outer contour of a vehicle, characterized in that, Including: Obtain first point cloud data associated with a target vehicle collected by a first lidar and a second lidar, wherein the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction; Based on the first point cloud data and a pre-determined detection area range, determine second point cloud data for measuring the outer contour of the target vehicle; According to the second point cloud data, determine at least one length data, at least one width data, and at least one height data associated with the target vehicle; According to the at least one length data, the at least one width data, and the at least one height data, determine the outer contour data of the target vehicle; Wherein, the outer contour data includes the maximum width value, the maximum length value, and the maximum height value of the target vehicle.

2. The method according to claim 1, wherein Before obtaining the first point cloud data associated with the target vehicle collected by the first lidar and the second lidar, the method further includes: Receive the first point cloud data collected by the second lidar; When it is determined that the target vehicle is included within the detection area range based on the first point cloud data, send a control signal to the first lidar so that the first lidar collects first point cloud data based on the control signal.

3. The method according to claim 1, wherein The determining the second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and a pre-determined detection area range includes: According to the edge coordinate information corresponding to the detection area range and the point cloud coordinate information corresponding to the first point cloud data, determine the second point cloud data located within the detection area range.

4. The method according to claim 1, wherein The determining at least one length data, at least one width data, and at least one height data associated with the target vehicle according to the second point cloud data includes: According to the point cloud coordinate information in the second point cloud data collected by the first lidar, determine the first length data of the target vehicle; According to the point cloud coordinate information in the second point cloud data collected by the second lidar, determine the first width data of the target vehicle and the height data to be used from the second lidar to the target vehicle; According to the preset height data and the height data to be used, determine the height data associated with the target vehicle.

5. The method according to claim 1, wherein The determining the outer contour data of the target vehicle according to the at least one length data, the at least one width data, and the at least one height data includes: Take the maximum length value in the at least one length data as the maximum length value in the outer contour data; Take the maximum width value in the at least one width data as the maximum width value in the outer contour data; Take the maximum height value in the at least one height data as the maximum height value in the outer contour data.

6. The method according to claim 1, wherein After obtaining the outer contour data, the method further includes: When the maximum width value, maximum length value, or maximum height value in the outer contour data is greater than the corresponding preset threshold, a warning signal is sent to the deployed warning device, so that the warning device issues a warning message based on the received warning signal; Among them, the warning device is deployed at a position associated with the first lidar and the second lidar.

7. The method according to claim 1, characterized in that, The first lidar and the second lidar are deployed at the mine entrance or in the underground operation area, and the height value of the deployment position is greater than the preset height threshold.

8. A device for measuring the outer contour of a vehicle, characterized in that, It includes: A first point cloud data acquisition module, configured to acquire first point cloud data related to a target vehicle collected by a first lidar and a second lidar, wherein the first lidar and the second lidar are deployed at the same position, the first lidar is parallel to the vehicle driving direction, and the second lidar is perpendicular to the vehicle driving direction; A second point cloud data determination module, configured to determine second point cloud data for measuring the outer contour of the target vehicle based on the first point cloud data and a pre-determined detection area range; A target vehicle related data determination module, configured to determine at least one length data, at least one width data, and at least one height data related to the target vehicle according to the second point cloud data; An outer contour data determination module, configured to determine the outer contour data of the target vehicle according to the at least one length data, the at least one width data, and the at least one height data; wherein, the outer contour data includes the maximum width value, maximum length value, and maximum height value of the target vehicle.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method for measuring the outer contour of a vehicle according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the processor to implement the method for measuring the outer contour of a vehicle according to any one of claims 1-7 when executed.

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