Large transport vehicle detection system based on multi-line radar and detection control method thereof
By using a multi-line lidar system combined with various sensors, the problem of low accuracy in vehicle detection by single-line lidar has been solved, enabling precise positioning and comprehensive detection of heavy-duty transport vehicles, thus improving detection efficiency and road safety.
Patent Information
- Application Number
- CN202511728264.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-24
- Publication Date
- 2026-02-27
AI Technical Summary
In existing technologies, single-line lidar suffers from sparse point cloud data and missing vehicle information in vehicle detection, especially when detecting heavy transport vehicles, resulting in low detection accuracy. Furthermore, multi-line lidar is sparse in the vertical direction, making it difficult to achieve accurate positioning in three-dimensional space.
A multi-line lidar system, including a 128-line lidar, is installed vertically in an off-plane configuration. Combined with a panoramic capture camera, a digital narrow strip sensor, a license plate capture camera, a rear capture camera, and a vehicle type recognition integrated machine, it enables comprehensive detection of oversized transport vehicles, compensating for the sparseness problem in the vertical direction and improving detection accuracy and efficiency.
It enables accurate inspection of oversized transport vehicles, improves inspection precision and efficiency, and enhances road safety management.
Smart Images
Figure CN121583121A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The large transport vehicle detection system based on multi-line radar and the detection control method thereof belong to the technical field of vehicle detection of traffic roads. BACKGROUND
[0002] At present, in practical applications, the combination of video and millimeter wave radar is often used for vehicle information perception, but millimeter wave radar has defects such as sparse point cloud and incomplete three-dimensional shape information when perceiving in three dimensions. In view of these problems, more advanced perception technology is needed to improve the accuracy and stability of vehicle contour detection.
[0003] In the field of highway non-site law enforcement, holographic perception equipment based on laser radar has gradually become a core technical means for vehicle outer contour detection. With the continuous progress and popularization of laser radar technology, it replaces millimeter wave radar and combines with video cameras to realize real-time presentation of all information of vehicles at intersections through video and laser point cloud fusion, and is not affected by environmental light, and can work day and night.
[0004] However, at present, single-line laser radar is often used to obtain vehicle side contour data through horizontal scanning, which is easy to scan the ground and other obstacle targets, causing omission of vehicle information in point cloud data, and the accuracy of identifying vehicle contour from single-line laser radar point cloud is low due to single dimension. And for large transport vehicles, since the target volume is large and the scanning range is large, it is more suitable to use multi-line laser radar in the detection system. SUMMARY
[0005] In order to solve one of the above technical defects, the application provides a large transport vehicle identification device based on multi-line radar, which uses multi-line radar to realize identification and detection of large transport vehicles, improves detection efficiency and accuracy, makes vehicle detection and monitoring more comprehensive, and further improves road safety.
[0006] In order to solve the above technical problems, the technical scheme adopted by the application is: a large transport vehicle detection system based on multi-line radar, comprising a toll station, safety islands and a detection unit, a plurality of safety islands are arranged in parallel under the toll station to form a plurality of vehicle channels below, a detection area is arranged at the entrance side of each vehicle channel, and a detection unit is arranged in the detection area, and the end close to the toll station is the front end of the detection area, the detection unit comprises: a portal support, which is transversely arranged on the vehicle channel at the front end of the detection area; a first multi-line laser radar, which is installed in the middle of the portal support beam and is used for vehicle outer contour detection and identification, the vehicle outer contour includes length, width and height information of the detected vehicle; a panoramic snapshot camera, which is installed on the portal support beam and is used for snapshotting vehicle images; A digital narrow strip sensor is buried in the middle of the ground in the detection area, which is used for weighing the detection vehicle; An over-limit display screen is arranged on the safety island on one side between the detection area and the toll station, which is used for displaying the detection result; A license plate snapshot camera is arranged on the safety island on one side at the front end of the detection area, which is used for snapping the license plate number of the detection vehicle; A tail snapshot camera is arranged on the safety island on one side at the rear end of the detection area, which is used for snapping the tail picture of the detection vehicle; A vehicle type identification all-in-one machine is arranged on the safety island on one side at the rear of the detection area, which is used for identifying the vehicle type; A control system is connected with the multi-line laser radar, the panoramic snapshot camera, the digital narrow strip sensor, the license plate snapshot camera, the tail snapshot camera, the vehicle type identification all-in-one machine, receives the collection information of the detection vehicle, and is connected with the over-limit display screen and displays the analysis result on the over-limit display screen.
[0007] A second multi-line laser radar is also installed on the safety island on one side of the detection area, and the second multi-line laser radar and the first multi-line laser radar are installed vertically.
[0008] The first multi-line laser radar and the second multi-line laser radar are both 128-line laser radars.
[0009] An ETC is installed on the portal support.
[0010] A manual toll window is arranged on the safety island below the toll station.
[0011] An extension lane is arranged at the exit of the vehicle passage, an exit barrier is arranged at the exit section of the vehicle passage, a stop barrier is arranged on the extension lane, and a driving exit is arranged on the right side of the driving lane of the exit barrier and the stop barrier.
[0012] The two bases of the portal support are fixed on the safety islands on both sides of the vehicle passage.
[0013] The detection control method of the large transport vehicle detection system based on the multi-line radar comprises the following steps: S1, when the detection vehicle enters the detection area, the vehicle type identification all-in-one machine is triggered to start, and sends the vehicle information to the control system for archiving, and at the same time, the vehicle type identification all-in-one machine collects and identifies the vehicle type information when the detection vehicle passes through the detection area, and sends it to the control system for recording; S2, after the control system archives, the first multi-line laser radar, the panoramic snapshot camera, the digital narrow strip sensor, the license plate snapshot camera, the tail snapshot camera, and the second multi-line laser radar are commanded to start information collection for the detection vehicle and feed back the collected information to the control system; S3, the control system analyzes the detected vehicle information, determines the result as meeting the standard or exceeding the limit, and sends the detected vehicle information and the result to the over-limit display screen for display; S4, the detected vehicle drives out of the detection area and enters the toll station for card opening or settlement; S5, after the card opening or settlement is completed, the exit barrier is opened to allow the detected vehicle to drive out of the toll station; S6, after the card opening or settlement is completed, and the detected result meets the standard, the stop barrier opening command is triggered to allow the detected vehicle to pass through and drive into the next section, and if it does not meet the standard, the stop barrier is not opened.
[0014] The elements of the step S3, in which the control system analyzes the detected vehicle information and determines the result as meeting the standard or exceeding the limit, include the length, width, height and weight set for the detected vehicle model.
[0015] The large transport vehicle detection system and detection control method based on multi-line radar provided by the application use multi-line laser radar to accurately detect the profile information of the detected vehicle, cooperate with digital narrow strip sensors to realize accurate detection and information feedback of large transport vehicles, improve detection efficiency and detection accuracy, make vehicle detection and monitoring more comprehensive, and further improve road safety; two multi-line laser radars are installed vertically on different planes to compensate for the sparseness of multi-line laser radars in the vertical direction, and realize accurate positioning of the coordinates of the target in three-dimensional space. BRIEF DESCRIPTION OF DRAWINGS
[0016] The application will be further described in detail below with reference to the accompanying drawings; Figure 1 Fig. 1 is a structural schematic diagram of the large transport vehicle detection system based on multi-line radar of the application; Figure 2 Fig. 2 is a structural schematic diagram of the detection unit in the large transport vehicle detection system based on multi-line radar of the application; Figure 3 Fig. 3 is a structural schematic diagram of the detection control method of the large transport vehicle detection system based on multi-line radar of the application. DETAILED DESCRIPTION
[0017] To make the purpose, technical scheme and advantages of the embodiments of the application clearer, the technical scheme of the application will be described clearly and completely below with reference to the embodiments in the application. Obviously, the described embodiments are part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.
[0018] As Figure 1As shown, the present application is based on a large transport vehicle detection system of multi-line radar, which comprises a toll station 1, a safety island 2 and a detection unit 3. A plurality of safety islands 2 are arranged in parallel under the toll station 1 to form a plurality of vehicle channels below. The entrance side of each vehicle channel is provided with a detection area, and the detection unit 3 is arranged in the detection area. Figure 2 As shown, the end close to the toll station 1 is the front end of the detection area. The detection unit 3 comprises: A door type support 31 is arranged across the vehicle channel at the front end of the detection area. A first multi-line laser radar 32 is installed in the middle of the beam of the door type support 31, which is used for vehicle contour detection and identification. The vehicle contour includes the length, width and height information of the detected vehicle. The multi-line laser radar emits laser beams through a plurality of lasers at the same time, and the laser beams scan different directions one by one to form a series of point cloud data. These data can reflect the three-dimensional structure and distance information of the surrounding environment, and can also perceive multiple targets at the same time, which is suitable for complex multi-source environment. Therefore, in the case of heavy traffic, the use of multi-line laser radar to obtain the information of multiple vehicles can effectively improve the efficiency of high-speed overload control and improve the management of vehicle passage; A panoramic snapshot camera 33 is installed on the beam of the door type support 31, which is used for snapshot of vehicle image. A digital narrow strip sensor 34 is buried in the middle of the ground in the detection area, which is used for weighing the detected vehicle. An over-limit display screen 35 is arranged on one side of the safety island between the detection area and the toll station 1, which is used to display the detection results. A license plate snapshot camera 36 is arranged on one side of the safety island at the front end of the detection area, which is used to snap the license plate number of the detected vehicle. A tail snapshot camera 37 is arranged on one side of the safety island at the rear end of the detection area, which is used to snap the tail picture of the detected vehicle. A vehicle type identification all-in-one machine 38 is arranged on one side of the safety island at the rear of the detection area, which is used to identify the type of vehicle. A control system is connected with the multi-line laser radar 32, the panoramic snapshot camera 33, the digital narrow strip sensor 34, the license plate snapshot camera 36, the tail snapshot camera 37, the vehicle type identification all-in-one machine 38 and receives the collection information of the detected vehicle. It is connected with the over-limit display screen 35 and displays the analysis results on the over-limit display screen 35.
[0019] A second multi-line laser radar 39 is also installed on one side of the safety island of the detection area. The second multi-line laser radar 39 and the first multi-line laser radar 32 are installed in different planes and are perpendicular to each other, which makes up for the sparseness of the multi-line laser radar in the vertical direction and realizes the accurate positioning of the coordinates of the target in the three-dimensional space.
[0020] The first multi-line laser radar 32 and the second multi-line laser radar 39 are both 128-line laser radars, the laser radar installation height is greater than or equal to 6 m, and the angle is inclined downward by about 20-30 degrees. The gate support 31 is provided with an ETC.
[0021] The safety island 2 below the toll station 1 is provided with a manual toll window.
[0022] The vehicle can directly trigger ETC settlement according to the actual situation, or choose to settle at the manual toll window.
[0023] The exit of the vehicle channel is provided with an extension lane 4, the exit section of the vehicle channel is provided with an exit barrier 5, the extension lane is provided with a stop barrier 6, and the driving exit is provided on the right side of the driving exit of the exit barrier 5 and the stop barrier 6.
[0024] The two bases of the gate support 31 are fixed on the safety islands 2 on both sides of the vehicle channel.
[0025] As shown in Figure 3 The detection control method of the large-size transport vehicle detection system based on a multi-line radar includes the following steps: S1, detecting a vehicle entering a detection area, a vehicle type recognition integrated machine 38 triggers starting, and sends to a control system for vehicle information filing, while the vehicle type recognition integrated machine collects and recognizes vehicle type information when the vehicle passes through the detection area, and sends to the control system for recording; S2, after the control system files, the first multi-line laser radar 32, the panoramic snapshot camera 33, the digital narrow strip sensor 34, the license plate snapshot camera 36, the tail snapshot camera 37, and the second multi-line laser radar 39 are commanded to start information collection for the detection vehicle and feed back the collected information to the control system; S3, the control system analyzes the detection vehicle information, and the judgment result is up to standard or over limit, the elements including: the length, width, height (provided by the multi-line laser radar feedback information analysis) and weight (provided by the digital narrow strip sensor feedback information analysis) set for the detection vehicle type, and the detection vehicle information and the result are sent to the over-limit display screen 35 for display; S4, the detection vehicle drives out of the detection area and enters the toll station for card opening or settlement; S5, after the card opening or settlement is completed, the exit barrier 5 is opened to allow the detection vehicle to drive out of the toll station 1; S6, after the card opening or settlement is completed, and the detection result is up to standard, the stop barrier opening command is triggered to allow the detection vehicle to pass through and drive into the next section, and if it is not up to standard, the stop barrier is not opened.
[0026] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.
Claims
1. A large transport vehicle detection system based on multi-line radar, comprising a toll station (1), safety islands (2) and a detection unit (3), a plurality of safety islands (2) are arranged in parallel under the toll station (1) to form a plurality of vehicle channels below, a detection area is arranged at the entrance side of each vehicle channel, and a detection unit (3) is arranged in the detection area, characterized in that, The detection unit (3) comprises: A gate support (31) is arranged across the vehicle passage at the front end of the detection area; A first multi-line laser radar (32) is installed in the middle of the beam of the gate support (31) and used for detecting and identifying the vehicle contour, wherein the vehicle contour comprises the length, width and height information of the detected vehicle; A panoramic snapshot camera (33) is installed on the beam of the gate support (31) and used for snapshotting the vehicle image; A digital narrow strip sensor (34) is embedded in the ground in the middle of the detection area and used for weighing the detected vehicle; An over-limit display screen (35) is arranged on one side of the safety island between the detection area and the toll station (1) and used for displaying the detection result; A license plate snapshot camera (36) is arranged on one side of the safety island at the front end of the detection area and used for snapshotting the license plate number of the detected vehicle; A tail snapshot camera (37) is arranged on one side of the safety island at the rear end of the detection area and used for snapshotting the tail picture of the detected vehicle; A vehicle type identification all-in-one machine (38) is arranged on one side of the safety island at the rear of the detection area and used for identifying the vehicle type; A control system is connected with the multi-line laser radar (32), the panoramic snapshot camera (33), the digital narrow strip sensor (34), the license plate snapshot camera (36), the tail snapshot camera (37) and the vehicle type identification all-in-one machine (38) and receives the collected information of the detected vehicle, and is connected with the over-limit display screen (35) and displays the analysis result on the over-limit display screen (35).
2. The multi-line radar-based over-dimensional load vehicle detection system of claim 1, wherein: A second multi-line laser radar (39) is further installed on the safety island at one side of the detection area, and the second multi-line laser radar (39) and the first multi-line laser radar (32) are installed in different planes and vertically.
3. The multi-line radar-based over-dimensional load vehicle detection system of claim 2, wherein: The first multi-line laser radar (32) and the second multi-line laser radar (39) are both 128-line laser radars.
4. The multi-line radar-based over-dimensional load vehicle detection system of claim 1, wherein: An ETC is installed on the gate support (31).
5. The multi-line radar-based over-dimensional load vehicle detection system of claim 1, wherein: An artificial toll window is arranged on the safety island (2) below the toll station (1).
6. The multi-line radar-based over-dimensional load vehicle detection system of claim 1, wherein: An extension lane (4) is arranged at the exit of the vehicle passage, an exit barrier (5) is arranged at the exit section of the vehicle passage, a stop barrier (6) is arranged on the extension lane, and a driving exit is arranged at the right side of the driving lane of the exit barrier (5) and the stop barrier (6).
7. The multi-line radar-based over-dimensional load vehicle detection system of claim 1, wherein: The two bases of the gate support (31) are respectively fixed on the safety islands (2) at the two sides of the vehicle passage.
8. The detection control method of the multi-line radar-based large-sized transport vehicle detection system according to any one of claims 1 to 6, characterized by The method comprises the following steps: S1, when a vehicle enters the detection area, the vehicle type identification all-in-one machine (38) is triggered and starts, and the vehicle information is recorded in the control system, and the vehicle type identification all-in-one machine collects and identifies the vehicle type information when the vehicle passes through the detection area and sends the information to the control system for recording; S2, after the control system records the information, the first multi-line laser radar (32), the panoramic snapshot camera (33), the digital narrow strip sensor (34), the license plate snapshot camera (36), the tail snapshot camera (37) and the second multi-line laser radar (39) are started to collect the information of the detected vehicle and feed back the collected information to the control system; S3, the control system analyzes the detected vehicle information, determines the result as meeting the standard or exceeding the limit, and sends the detected vehicle information and the result to the over-limit display screen (35) for display; S4, the detected vehicle drives out of the detection area and enters the toll station for card opening or settlement; S5, after the card opening or settlement is completed, the exit barrier (5) is opened to allow the detected vehicle to drive out of the toll station (1); S6, after the card opening or settlement is completed and the detection result meets the standard, a stop barrier opening command is triggered to allow the detected vehicle to pass through and drive into the next section; otherwise, the stop barrier is not opened.
9. The detection control method of the multi-line radar-based large transport vehicle detection system according to claim 8, characterized by, In step S3, the control system analyzes the detected vehicle information, and the elements of the determination result include the length, width, height, and weight set for the detected vehicle model.