Non-contact vehicle chassis height overrun detection method, device, equipment and medium

Abstract

The present application relates to the technical field of data processing, and provides a non-contact vehicle chassis height overrun detection method, device, equipment and medium, which can generate a detection area according to a false detection height and a scanning surface, and avoid false triggering caused by objects in irrelevant areas by explicitly defining the detection range; when a target RGV is detected to start operation, a laser radar deployed based on a clearance height requirement is started to synchronously and real-timely monitor whether a vehicle enters the detection area, synchronous real-time monitoring can ensure quick response to object entry events, and there is no blind area coverage, and the laser radar deployed based on the clearance height requirement can also avoid affecting the channel clearance height; when a target vehicle is detected to enter the detection area, whether the chassis height of the target vehicle is overrun is detected according to the chassis height, the false detection height and a safety height threshold, so that non-contact detection is performed to quickly complete the overrun detection of the vehicle chassis height without causing damage to the vehicle or the RGV.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a non-contact method, apparatus, equipment, and medium for detecting excessive vehicle chassis height. Background Technology

[0002] In logistics, transportation, and industrial production, RGVs (Rail Guided Vehicles) are widely used for material handling. Their operating aisles often contain other smaller vehicles (such as trolleys and auxiliary transport vehicles). Therefore, to prevent collisions between the transporter and the vehicle in front, the chassis height of the vehicle in front must be checked. If the vehicle chassis height is too low, it may interfere with the transporter's raised structures or moving parts, potentially causing a safety accident.

[0003] In existing technologies, vehicle chassis height detection mainly falls into two categories: one is to install airbags on the surface of the transporter, using the contact between the airbags and the vehicle chassis to detect the height; the other is to use direct laser beam detection. However, both of these technologies have significant drawbacks: after the airbags are installed, they occupy the vertical space on the surface of the transporter, reducing the clearance height of the passage and restricting the passage of some tall vehicles or materials; during direct laser beam detection, blind spots are easily formed due to the laser emission angle and obstruction from the vehicle chassis structure, making it impossible to achieve full-range coverage detection and posing safety hazards.

[0004] Therefore, there is an urgent need for a non-contact vehicle chassis height over-limit detection technology that does not affect the clearance height of the passage and has no blind spots in detection, in order to overcome the shortcomings of existing technologies and ensure the safety and traffic flexibility of the handling equipment. Summary of the Invention

[0005] In view of the above, it is necessary to provide a non-contact method, device, equipment and medium for detecting vehicle chassis height exceeding limits, in order to solve the problems that existing vehicle chassis height exceeding limits detection methods affect the clearance height of the passage and have blind spots.

[0006] A non-contact method for detecting excessive vehicle chassis height, the method comprising:

[0007] In response to a vehicle chassis height over-limit detection command based on a target RGV, configure the false detection height and safe height threshold of the target RGV;

[0008] Obtain the scanning surface of the lidar deployed on the target RGV based on the clearance height requirements;

[0009] A detection area is generated based on the false detection height and the scanning surface;

[0010] When the target RGV starts operation, the lidar is simultaneously activated to monitor in real time whether any vehicle enters the detection area;

[0011] When a target vehicle is detected entering the detection area, the chassis height of the target vehicle is calculated based on the lidar.

[0012] The system detects whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold.

[0013] A non-contact vehicle chassis height over-limit detection device, the non-contact vehicle chassis height over-limit detection device comprising:

[0014] A configuration unit is configured to configure the false detection height and safe height threshold of the target RGV in response to a vehicle chassis height over-limit detection command based on the target RGV.

[0015] The acquisition unit is used to acquire the scanning surface of the lidar deployed on the target RGV based on the clearance height requirements;

[0016] The generation unit is used to generate a detection area based on the false detection height and the scanning surface;

[0017] The monitoring unit is used to simultaneously activate the lidar to monitor in real time whether a vehicle has entered the detection area when the target RGV is detected to be starting operation.

[0018] A calculation unit is used to calculate the chassis height of a target vehicle based on the lidar when a target vehicle is detected entering the detection area.

[0019] The detection unit is used to detect whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold.

[0020] A computer device, the computer device comprising:

[0021] A memory that stores at least one instruction; and a processor that executes the instructions stored in the memory to implement the non-contact vehicle chassis height over-limit detection method.

[0022] A computer-readable storage medium storing at least one instruction, which is executed by a processor in a computer device to implement the non-contact vehicle chassis height over-limit detection method.

[0023] As can be seen from the above technical solutions, the present invention can generate a detection area based on the false detection height and scanning surface, and avoid false triggering caused by objects in irrelevant areas by clearly defining the detection range. When the target RGV is detected to start operation, a lidar deployed based on the clearance height requirement is simultaneously activated to monitor whether a vehicle has entered the detection area in real time. Synchronous real-time monitoring can ensure a rapid response to object entry events and has no blind spot coverage. The lidar deployed based on the clearance height requirement can also avoid affecting the clearance height of the passage. When a target vehicle is detected to have entered the detection area, the chassis height of the target vehicle is calculated based on the lidar, and the chassis height, false detection height and safety height threshold are used to detect whether the chassis height of the target vehicle exceeds the limit. Non-contact detection avoids physical contact with the vehicle and can quickly complete the detection of the vehicle chassis height exceeding the limit without causing damage to the vehicle or RGV. Attached Figure Description

[0024] Figure 1 This is a flowchart of a preferred embodiment of the non-contact vehicle chassis height over-limit detection method of the present invention;

[0025] Figure 2 This is a schematic diagram illustrating the correlation values ​​between the lidar of this invention and the target RGV;

[0026] Figure 3 This is a schematic diagram of the reference line and the intersection point of the present invention;

[0027] Figure 4 This is a schematic diagram of the detection area of ​​the present invention;

[0028] Figure 5 This is a functional block diagram of a preferred embodiment of the non-contact vehicle chassis height over-limit detection device of the present invention;

[0029] Figure 6 This is a schematic diagram of the computer device used in a preferred embodiment of the non-contact vehicle chassis height over-limit detection method of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1 The diagram shown is a flowchart of a preferred embodiment of the non-contact vehicle chassis height over-limit detection method of the present invention. The order of the steps in this flowchart can be changed, and some steps can be omitted, depending on different requirements.

[0032] The non-contact vehicle chassis height over-limit detection method is applied to one or more computer devices. The computer device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0033] The computer device can be any electronic product that can interact with the user, such as a personal computer, tablet computer, smartphone, personal digital assistant (PDA), game console, interactive network television (IPTV), smart wearable device, etc.

[0034] The computer equipment may also include network equipment and / or user equipment. The network equipment includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of hosts or network servers.

[0035] The server can be a standalone server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms.

[0036] Artificial intelligence (AI) is the theory, method, technology and application system that uses digital computers or machines controlled by digital computers to simulate, extend and expand human intelligence, perceive the environment, acquire knowledge and use knowledge to obtain the best results.

[0037] Foundational technologies for artificial intelligence generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies mainly encompass computer vision, robotics, biometrics, speech processing, natural language processing, and machine learning / deep learning.

[0038] The network in which the computer device is located includes, but is not limited to, the Internet, wide area network, metropolitan area network, local area network, and virtual private network (VPN).

[0039] S10, in response to a vehicle chassis height exceeding limit detection command based on a target RGV (Rail Guided Vehicle), configure the false detection height and safe height threshold of the target RGV.

[0040] In this embodiment, the vehicle chassis height over-limit detection command can be triggered synchronously when the target RGV is put into use to ensure the operational safety of the target RGV.

[0041] In this embodiment, configuring the false detection height and safe height threshold of the target RGV includes:

[0042] Obtain the maximum protrusion height and safety margin of the operating components of the target RGV;

[0043] The false detection height is obtained by summing the maximum protrusion height and the safety margin.

[0044] The distance between the top surface of the target RGV and the ground is obtained as the top surface height;

[0045] The safe height threshold is obtained by calculating the sum of the top surface height and the false detection height.

[0046] For example, when the maximum protrusion height is 0.5m and the safety margin is 0.1m, the false detection height is 0.5m + 0.1m = 0.6m. When the distance between the top surface of the target RGV and the ground is 1m, the safety height threshold is 1m + 0.6m = 1.6m.

[0047] The false detection height can be considered as the desired detection clearance height.

[0048] S11, Obtain the scanning surface of the lidar deployed on the target RGV based on the clearance height requirements.

[0049] In this embodiment, before obtaining the scanning parameters of the lidar deployed on the target RGV based on the clearance height requirement, the method further includes:

[0050] Obtain the target RGV's operating channel width, clearance height requirements, lidar detection area size, and detection distance requirements;

[0051] The tilt installation angle is determined based on the width of the work channel, the required clearance height, the size of the lidar detection area, and the required detection distance.

[0052] Acquire the lidar with stable scanning capability;

[0053] The lidar is fixedly installed to the front end of the target RGV according to the tilted installation angle;

[0054] Wherein, at the tilted installation angle, the scanning lines of the lidar do not conflict with the structure of the target RGV itself;

[0055] At the installation height of the lidar, the overall installation structure of the lidar does not intrude into the clearance reserved area of ​​the work channel, and does not affect the normal passage of other vehicles except the target RGV (i.e., corresponding to the width of the work channel).

[0056] The width of the work passage is the lateral width of the physical passage (i.e., the horizontal distance between the two sides of the passage) for the target RGV and other vehicles to pass through the work area, and is an inherent spatial parameter of the passage.

[0057] The clearance height requirement is the lower limit of the vertical distance from the ground to the overhead obstacle (such as the ceiling or pipe) in the passage, which is the minimum allowable vertical space height in the passage.

[0058] The detection distance requirement refers to the maximum distance at which the lidar needs to detect vehicles ahead (i.e., the distance range in front of the target RGV that requires warning), which is a key parameter to ensure the braking safety of the target RGV. The detection distance requirement is a theoretically calculated value based on the scene safety logic (e.g., calculating a detection range of at least 4m based on the target RGV's speed and braking distance).

[0059] The size of the lidar detection area may include the distance from the vertical projection of the laser emission point onto the mounting bracket to the connection point between the bracket and the RGV vehicle body, the distance between the laser emission point and the connection point between the mounting bracket and the RGV vehicle body, the distance between the laser emission point and the intersection of the laser beam's backward extension line to the RGV vehicle body, the distance between the connection point between the bracket and the RGV vehicle body and the top of the clearance height, the distance between the intersection of the laser beam's backward extension line to the RGV vehicle body and the connection point between the bracket and the RGV vehicle body, the distance between the connection point between the bracket and the RGV vehicle body and the ground, and the vertical distance from the laser emission point to the mounting bracket.

[0060] For example: Please see Figure 2This diagram illustrates the correlation values ​​between the lidar and the target RGV of this invention. Wherein, L1 represents the distance to be detected in advance in the desired direction of travel, i.e., the actual landing value corresponding to the required detection distance; L2 represents the distance from the vertical projection of the laser emission point onto the mounting bracket to the connection point between the bracket and the RGV body; L3 represents the distance between the laser emission point and the connection point between the mounting bracket and the RGV body; L4 represents the length direction value of the lidar's detection area to be calculated subsequently; L5 represents the distance between the laser emission point and the intersection of the laser beam's backward extension line to the RGV body; H1 represents the false detection height, i.e., the desired detection clearance. H2 represents the height of the top of the RGV vehicle body from the ground; H3 represents the distance between the connection point of the bracket to the RGV vehicle body and the top of the clearance height; H4 represents the distance between the intersection of the reverse extension line of the lidar beam to the RGV vehicle body and the connection point of the bracket to the RGV vehicle body; H5 represents the distance between the connection point of the bracket to the RGV vehicle body and the ground; H6 represents the vertical distance from the laser emission point to the mounting bracket; α1 represents the tilt angle of the lidar installation to be calculated, i.e., the tilt installation angle; α2 represents the angle between line segments L3 and L2; α3 represents the angle between line segment L3 and the vertical direction.

[0061] Depend on Figure 2 The following constraints can be obtained:

[0062] ;

[0063] ;

[0064] ;

[0065] ;

[0066] ;

[0067] ;

[0068] .

[0069] From the above constraints, we can see that:

[0070] .

[0071] Therefore, the tilt angle of the lidar can be calculated.

[0072] The above embodiments can avoid the installation structure occupying the clearance height and ensure the flexibility of passage; the inclined installation angle provides a basis for the subsequent delineation of the detection area and can ensure that the scanning range covers the chassis area of ​​the vehicle to be detected in front.

[0073] S12, generate a detection area based on the false detection height and the scanning surface.

[0074] In this embodiment, generating the detection area based on the false detection height and the scanning surface includes:

[0075] Using the top surface of the target RGV as the reference plane, a horizontal reference line is drawn at a vertical distance from the reference plane, which is the false detection height.

[0076] Obtain the intersection point of the reference line and the scanning surface;

[0077] Obtain the distance detected in advance for the desired travel direction, and the maximum passage width of vehicles in the working channel of the target RGV;

[0078] The length of the detection area is calculated based on the distance detected in advance according to the desired direction of travel and the tilted installation angle.

[0079] Using the intersection point as the midpoint of the width direction, extend symmetrically to the left and right sides according to the maximum vehicle passage width to obtain the two endpoints of the width direction;

[0080] A closed rectangular region is generated based on the length value of the detection region and the two endpoints of the width direction, and this region serves as the detection region.

[0081] The distance to be detected in advance for the desired direction of travel is the actual value of the required detection distance. Based on the required detection distance, redundancy is added by considering the performance limit of the LiDAR and the complexity of the scene (such as channel turns and obstructions), and the final value is usually greater than the required detection distance.

[0082] For example: Please refer to Figures 3-4 , Figure 3 This is a schematic diagram of the reference line and the intersection point of the present invention. Figure 4 This is a schematic diagram of the detection area of ​​the present invention. (Combined with...) Figure 2 From the numerical relationships in the text, we can see that:

[0083] ;

[0084] but: .

[0085] Therefore, the length of the detection area can be calculated based on the distance detected in advance according to the desired direction of travel and the tilted installation angle.

[0086] The above embodiments clearly define the detection range and prevent false triggering caused by objects in irrelevant areas (such as debris on the ground or protrusions at the edges of passageways); the setting of the reference line provides a benchmark for height judgment, further ensuring the accuracy of detection.

[0087] S13, when the target RGV starts operation, the lidar is simultaneously activated to monitor in real time whether a vehicle enters the detection area.

[0088] Specifically, after the target RGV starts operation, the lidar is activated simultaneously. The lidar continuously scans the rectangular detection area at a set tilt angle, and the scanning frequency is adjusted according to the target RGV's operating speed (e.g., the faster the target RGV moves, the higher the scanning frequency, thus ensuring real-time detection). The lidar has a built-in signal monitoring module that monitors in real time whether any object enters the detection area. When an object enters the detection area, the lidar's scanning light is blocked, thus confirming that a vehicle has entered the detection area.

[0089] For example, if the target RGV operates at a speed of 1.5 m / s, and the LiDAR scanning frequency is set to 10 Hz (i.e., scanning once every 0.1 seconds), it ensures that the detection area within an 8-meter radius can be covered in real time during the target RGV's movement. When a low-chassis logistics vehicle enters the rectangular detection area 3 meters ahead, its chassis blocks the LiDAR's scanning light, and the LiDAR immediately triggers a signal output.

[0090] The above embodiments enable continuous scanning of the entire detection area without blind spots; real-time signal monitoring ensures rapid response to vehicle entry events and provides timely data support for subsequent early warnings.

[0091] S14, when a target vehicle is detected entering the detection area, the chassis height of the target vehicle is calculated based on the lidar.

[0092] In this embodiment, when a target vehicle is detected to be driving into the detection area, or when a target RGV is detected to be moving towards the target vehicle, causing the target vehicle to enter the detection area, it is determined that a target vehicle has entered the detection area.

[0093] In this embodiment, calculating the chassis height of the target vehicle based on the lidar includes:

[0094] The lidar emits laser pulses into the detection area and receives reflected pulses.

[0095] Calculate the time difference between the emitted laser pulse and the reflected pulse;

[0096] The straight-line distance from the laser radar to the chassis of the target vehicle is calculated based on the time difference and the speed of light.

[0097] The product of the straight-line distance and the cosine of the inclined installation angle is calculated to obtain the vertical distance of the laser radar to the chassis of the target vehicle.

[0098] The chassis height of the target vehicle is obtained by calculating the sum of the installation height and the vertical distance.

[0099] For example: If the installation height of the lidar is 40mm, the straight-line distance from the lidar to the chassis of the vehicle is L=2000mm, and the tilted installation angle is X=80°, then the vertical distance = 2000×cos(80°)≈347.3mm. The chassis height of the vehicle = 40 + 2000×cos(80°) = 387.3mm.

[0100] S15, detect whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold.

[0101] In this embodiment, detecting whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold includes:

[0102] When the chassis height is greater than the safe height threshold, it is determined that the chassis height of the target vehicle is not exceeded; or

[0103] When the chassis height is less than or equal to the safe height threshold, the chassis height of the target vehicle is determined to be excessive.

[0104] For example, if the top surface height is 100mm and the false detection height is 50mm, then the safe height threshold is the sum of the chassis height and the false detection height, which is 100 + 50 = 150mm. If the vehicle chassis height is 120mm, 120mm < 150mm, it means the vehicle chassis is below the target RGV's safety boundary, i.e., the vehicle chassis has encroached on the area below the target RGV's safe operating space, thus determining that the target vehicle's chassis height exceeds the limit. Conversely, if the vehicle chassis height is 200mm, 200mm > 150mm, then the vehicle chassis is above the target RGV's safety boundary, and a collision will not occur, thus determining that the target vehicle's chassis height does not exceed the limit.

[0105] Through the above embodiments, it is possible to achieve non-contact detection of whether the chassis height of the target vehicle in front exceeds the limit, and quickly complete the determination of exceeding the limit.

[0106] In this embodiment, after determining that the chassis height of the target vehicle exceeds the limit, the method further includes:

[0107] Issue an audible and visual warning signal and control the target RGV to slow down or stop operating.

[0108] Through the above embodiments, early warning and risk avoidance operations can be initiated in a timely manner to ensure the safety of the target RGV operation. The non-contact judgment also avoids physical contact with the vehicle and will not cause damage to the vehicle or the target RGV.

[0109] As can be seen from the above technical solutions, the present invention can generate a detection area based on the false detection height and scanning surface, and avoid false triggering caused by objects in irrelevant areas by clearly defining the detection range. When the target RGV is detected to start operation, a lidar deployed based on the clearance height requirement is simultaneously activated to monitor whether a vehicle has entered the detection area in real time. Synchronous real-time monitoring can ensure a rapid response to object entry events and has no blind spot coverage. The lidar deployed based on the clearance height requirement can also avoid affecting the clearance height of the passage. When a target vehicle is detected to have entered the detection area, the chassis height of the target vehicle is calculated based on the lidar, and the chassis height, false detection height and safety height threshold are used to detect whether the chassis height of the target vehicle exceeds the limit. Non-contact detection avoids physical contact with the vehicle and can quickly complete the detection of the vehicle chassis height exceeding the limit without causing damage to the vehicle or RGV.

[0110] like Figure 5 The diagram shown is a functional block diagram of a preferred embodiment of the non-contact vehicle chassis height over-limit detection device of the present invention. The non-contact vehicle chassis height over-limit detection device 11 includes a configuration unit 110, an acquisition unit 111, a generation unit 112, a monitoring unit 113, a calculation unit 114, and a detection unit 115. The module / unit referred to in this invention refers to a series of computer program segments that can be executed by a processor and perform a fixed function, and are stored in memory. In this embodiment, the functions of each module / unit will be described in detail in subsequent embodiments.

[0111] The configuration unit 110 is configured to configure the false detection height and safe height threshold of the target RGV in response to a vehicle chassis height over-limit detection command based on the target RGV.

[0112] The acquisition unit 111 is used to acquire the scanning surface of the lidar deployed on the target RGV based on the clearance height requirements;

[0113] The generation unit 112 is used to generate a detection area based on the false detection height and the scanning surface;

[0114] The monitoring unit 113 is used to simultaneously activate the lidar to monitor in real time whether a vehicle enters the detection area when the target RGV is detected to be starting operation.

[0115] The calculation unit 114 is used to calculate the chassis height of the target vehicle based on the lidar when a target vehicle is detected entering the detection area.

[0116] The detection unit 115 is used to detect whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold.

[0117] As can be seen from the above technical solutions, the present invention can generate a detection area based on the false detection height and scanning surface, and avoid false triggering caused by objects in irrelevant areas by clearly defining the detection range. When the target RGV is detected to start operation, a lidar deployed based on the clearance height requirement is simultaneously activated to monitor whether a vehicle has entered the detection area in real time. Synchronous real-time monitoring can ensure a rapid response to object entry events and has no blind spot coverage. The lidar deployed based on the clearance height requirement can also avoid affecting the clearance height of the passage. When a target vehicle is detected to have entered the detection area, the chassis height of the target vehicle is calculated based on the lidar, and the chassis height, false detection height and safety height threshold are used to detect whether the chassis height of the target vehicle exceeds the limit. Non-contact detection avoids physical contact with the vehicle and can quickly complete the detection of the vehicle chassis height exceeding the limit without causing damage to the vehicle or RGV.

[0118] like Figure 6 The diagram shown is a schematic representation of the computer device used in a preferred embodiment of the non-contact vehicle chassis height over-limit detection method of the present invention.

[0119] The computer device 1 may include a memory 12, a processor 13, and a bus (the arrow in the figure represents the bus), and may also include a computer program stored in the memory 12 and executable on the processor 13, such as a non-contact vehicle chassis height over-limit detection program.

[0120] Those skilled in the art will understand that the schematic diagram is merely an example of computer device 1 and does not constitute a limitation on computer device 1. Computer device 1 can be either a bus topology or a star topology. Computer device 1 may also include more or fewer other hardware or software than shown in the diagram, or different component arrangements. For example, computer device 1 may also include input / output devices, network access devices, etc.

[0121] It should be noted that the computer device 1 described is merely an example. Other existing or future electronic products that are adaptable to this invention should also be included within the scope of protection of this invention and are incorporated herein by reference.

[0122] The memory 12 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 12 can be an internal storage unit of the computer device 1, such as a portable hard drive of the computer device 1. In other embodiments, the memory 12 can be an external storage device of the computer device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the computer device 1. Furthermore, the memory 12 can include both internal storage units and external storage devices of the computer device 1. The memory 12 can be used not only to store application software and various types of data installed on the computer device 1, such as the code of a non-contact vehicle chassis height over-limit detection program, but also to temporarily store data that has been output or will be output.

[0123] In some embodiments, the processor 13 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits packaged with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 13 is the control unit of the computer device 1, connecting various components of the computer device 1 via various interfaces and lines. It executes programs or modules stored in the memory 12 (e.g., executing a non-contact vehicle chassis height over-limit detection program) and calls data stored in the memory 12 to perform various functions of the computer device 1 and process data.

[0124] The processor 13 executes the operating system of the computer device 1 and various installed application programs. The processor 13 executes these application programs to implement the steps in the various embodiments of the non-contact vehicle chassis height over-limit detection method described above, for example... Figure 1 The steps are shown.

[0125] For example, the computer program may be divided into one or more modules / units, which are stored in the memory 12 and executed by the processor 13 to complete the present invention. The one or more modules / units may be a series of computer-readable instruction segments capable of performing specific functions, which describe the execution process of the computer program in the computer device 1. For example, the computer program may be divided into a configuration unit 110, an acquisition unit 111, a generation unit 112, a monitoring unit 113, a calculation unit 114, and a detection unit 115.

[0126] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause a computer device (which may be a personal computer, computer equipment, or network device, etc.) or processor to execute portions of the non-contact vehicle chassis height over-limit detection method described in the various embodiments of the present invention.

[0127] If the modules / units integrated in the computer device 1 are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware devices. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above.

[0128] The computer program includes computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory, etc.

[0129] Furthermore, the computer-readable storage medium may primarily include a stored program area and a stored data area, wherein the stored program area may store the operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of blockchain nodes, etc.

[0130] The blockchain referred to in this invention is a novel application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms. Essentially, a blockchain is a decentralized database, a chain of data blocks linked together using cryptographic methods. Each data block contains information about a batch of network transactions, used to verify the validity of the information (anti-counterfeiting) and generate the next block. A blockchain can include an underlying blockchain platform, a platform product service layer, and an application service layer.

[0131] The bus can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, in... Figure 6 The bus is represented by only one straight line, but this does not mean that there is only one bus or one type of bus. The bus is configured to enable communication between the memory 12 and at least one processor 13, etc.

[0132] Although not shown, the computer device 1 may also include a power supply (such as a battery) to power various components. Preferably, the power supply can be logically connected to the at least one processor 13 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The computer device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0133] Furthermore, the computer device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a Wi-Fi interface, a Bluetooth interface, etc.), which is typically used to establish communication connections between the computer device 1 and other computer devices.

[0134] Optionally, the computer device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the computer device 1 and to display a visual user interface.

[0135] It should be understood that the embodiments described are for illustrative purposes only and are not limited to this structure in the scope of the patent application.

[0136] It will be understood by those skilled in the art that Figure 6 The structure shown does not constitute a limitation on the computer device 1, and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0137] Combination Figure 1 The memory 12 in the computer device 1 stores multiple instructions to implement a non-contact vehicle chassis height over-limit detection method, and the processor 13 can execute the multiple instructions to achieve the following:

[0138] In response to a vehicle chassis height over-limit detection command based on a target RGV, configure the false detection height and safe height threshold of the target RGV;

[0139] Obtain the scanning surface of the lidar deployed on the target RGV based on the clearance height requirements;

[0140] A detection area is generated based on the false detection height and the scanning surface;

[0141] When the target RGV starts operation, the lidar is simultaneously activated to monitor in real time whether any vehicle enters the detection area;

[0142] When a target vehicle is detected entering the detection area, the chassis height of the target vehicle is calculated based on the lidar.

[0143] The system detects whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold.

[0144] Specifically, the processor 13's implementation method for the above instructions can be found in [reference needed]. Figure 1 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0145] It should be noted that all the data involved in this case was legally obtained.

[0146] If any AI models, software tools, or components not belonging to this company appear in the embodiments of this invention, they are merely illustrative examples and do not represent actual use. All user personal information involved in the embodiments of this invention has been obtained by an entity authorized (with the knowledge and consent) or fully authorized by all parties through various legal and compliant means. The collection, storage, use, processing, transmission, provision, and disclosure of the information, data, and signals involved all comply with relevant laws and regulations and do not violate public order and good morals.

[0147] In the several embodiments provided by this invention, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0148] This invention can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This invention can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0149] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0150] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0151] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0152] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the invention. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0153] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices described in this invention can also be implemented by a single unit or device through software or hardware. Terms such as "first," "second," etc., are used to indicate names and do not indicate any specific order.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A non-contact method for detecting excessive vehicle chassis height, characterized in that, The non-contact vehicle chassis height over-limit detection method includes: In response to a vehicle chassis height over-limit detection command based on a target RGV, configure the false detection height and safe height threshold of the target RGV; Obtain the scanning surface of the lidar deployed on the target RGV based on the clearance height requirements; A detection area is generated based on the false detection height and the scanning surface; When the target RGV starts operation, the lidar is simultaneously activated to monitor in real time whether any vehicle enters the detection area; When a target vehicle is detected entering the detection area, the chassis height of the target vehicle is calculated based on the lidar. The chassis height of the target vehicle is determined based on the chassis height, the false detection height, and the safe height threshold to determine whether the chassis height exceeds the limit. The method further includes, before acquiring the scan data of the lidar deployed on the target RGV based on the clearance height requirement: Obtain the target RGV's operating channel width, clearance height requirements, lidar detection area size, and detection distance requirements; The tilt installation angle is determined based on the width of the work channel, the required clearance height, the size of the lidar detection area, and the required detection distance. Acquire the lidar with stable scanning capability; The lidar is fixedly installed to the front end of the target RGV according to the tilted installation angle; Wherein, at the tilted installation angle, the scanning lines of the lidar do not conflict with the structure of the target RGV itself; At the installation height of the lidar, the overall installation structure of the lidar does not intrude into the clearance reserved area of ​​the work passage, and does not affect the normal passage of other vehicles except the target RGV; The dimensions of the lidar detection area include the distance from the vertical projection of the laser emission point onto the mounting bracket to the connection point between the bracket and the RGV vehicle body, the distance between the laser emission point and the connection point between the mounting bracket and the RGV vehicle body, the distance between the laser emission point and the intersection of the laser beam's backward extension line to the RGV vehicle body, the distance between the connection point between the bracket and the RGV vehicle body and the top of the clearance height, the distance between the intersection of the laser beam's backward extension line to the RGV vehicle body and the connection point between the bracket and the RGV vehicle body, the distance between the connection point between the bracket and the RGV vehicle body and the ground, and the vertical distance from the laser emission point to the mounting bracket.

2. The non-contact vehicle chassis height over-limit detection method as described in claim 1, characterized in that, The configuration of the false detection height and safe height thresholds for the target RGV includes: Obtain the maximum protrusion height and safety margin of the operating components of the target RGV; The false detection height is obtained by summing the maximum protrusion height and the safety margin. The distance between the top surface of the target RGV and the ground is obtained as the top surface height; The safe height threshold is obtained by calculating the sum of the top surface height and the false detection height.

3. The non-contact vehicle chassis height over-limit detection method as described in claim 1, characterized in that, The step of generating the detection area based on the false detection height and the scanning surface includes: Using the top surface of the target RGV as the reference plane, a horizontal reference line is drawn at a vertical distance from the reference plane, which is the false detection height. Obtain the intersection point of the reference line and the scanning surface; Obtain the distance detected in advance for the desired travel direction, and the maximum passage width of vehicles in the working channel of the target RGV; The length of the detection area is calculated based on the distance detected in advance according to the desired direction of travel and the tilted installation angle. Using the intersection point as the midpoint of the width direction, extend symmetrically to the left and right sides according to the maximum vehicle passage width to obtain the two endpoints of the width direction; A closed rectangular region is generated based on the length value of the detection region and the two endpoints of the width direction, and this region serves as the detection region.

4. The non-contact vehicle chassis height over-limit detection method as described in claim 1, characterized in that, The calculation of the chassis height of the target vehicle based on the lidar includes: The lidar emits laser pulses into the detection area and receives reflected pulses. Calculate the time difference between the emitted laser pulse and the reflected pulse; The straight-line distance from the laser radar to the chassis of the target vehicle is calculated based on the time difference and the speed of light. The product of the straight-line distance and the cosine of the inclined installation angle is calculated to obtain the vertical distance of the laser radar to the chassis of the target vehicle. The chassis height of the target vehicle is obtained by calculating the sum of the installation height and the vertical distance.

5. The non-contact vehicle chassis height over-limit detection method as described in claim 1, characterized in that, The step of detecting whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold includes: When the chassis height is greater than the safe height threshold, it is determined that the chassis height of the target vehicle is not exceeded; or When the chassis height is less than or equal to the safe height threshold, the chassis height of the target vehicle is determined to be excessive.

6. The non-contact vehicle chassis height over-limit detection method as described in claim 5, characterized in that, After determining that the chassis height of the target vehicle exceeds the limit, the method further includes: Issue an audible and visual warning signal and control the target RGV to slow down or stop operating.

7. A non-contact vehicle chassis height over-limit detection device, characterized in that, The non-contact vehicle chassis height over-limit detection device includes: A configuration unit is configured to configure the false detection height and safe height threshold of the target RGV in response to a vehicle chassis height over-limit detection command based on the target RGV. The acquisition unit is used to acquire the scanning surface of the lidar deployed on the target RGV based on the clearance height requirements; The generation unit is used to generate a detection area based on the false detection height and the scanning surface; The monitoring unit is used to simultaneously activate the lidar to monitor in real time whether a vehicle has entered the detection area when the target RGV is detected to be starting operation. A calculation unit is used to calculate the chassis height of a target vehicle based on the lidar when a target vehicle is detected entering the detection area. The detection unit is used to detect whether the chassis height of the target vehicle exceeds the limit based on the chassis height, the false detection height, and the safe height threshold. Before acquiring the scan data from the lidar deployed on the target RGV based on the clearance height requirement, the device further includes: Obtain the target RGV's operating channel width, clearance height requirements, lidar detection area size, and detection distance requirements; The tilt installation angle is determined based on the width of the work channel, the required clearance height, the size of the lidar detection area, and the required detection distance. Acquire the lidar with stable scanning capability; The lidar is fixedly installed to the front end of the target RGV according to the tilted installation angle; Wherein, at the tilted installation angle, the scanning lines of the lidar do not conflict with the structure of the target RGV itself; At the installation height of the lidar, the overall installation structure of the lidar does not intrude into the clearance reserved area of ​​the work passage, and does not affect the normal passage of other vehicles except the target RGV; The dimensions of the lidar detection area include the distance from the vertical projection of the laser emission point onto the mounting bracket to the connection point between the bracket and the RGV vehicle body, the distance between the laser emission point and the connection point between the mounting bracket and the RGV vehicle body, the distance between the laser emission point and the intersection of the laser beam's backward extension line to the RGV vehicle body, the distance between the connection point between the bracket and the RGV vehicle body and the top of the clearance height, the distance between the intersection of the laser beam's backward extension line to the RGV vehicle body and the connection point between the bracket and the RGV vehicle body, the distance between the connection point between the bracket and the RGV vehicle body and the ground, and the vertical distance from the laser emission point to the mounting bracket.

8. A computer device, characterized in that, The computer device includes: A memory that stores at least one instruction; and a processor that executes the instructions stored in the memory to implement the non-contact vehicle chassis height over-limit detection method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction, which is executed by a processor in a computer device to implement the non-contact vehicle chassis height over-limit detection method as described in any one of claims 1 to 6.

Images