CN108761481A - A kind of extension clamp angle measuring system and measurement method, semitrailer - Google Patents
A kind of extension clamp angle measuring system and measurement method, semitrailer Download PDFInfo
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- CN108761481A CN108761481A CN201810312580.6A CN201810312580A CN108761481A CN 108761481 A CN108761481 A CN 108761481A CN 201810312580 A CN201810312580 A CN 201810312580A CN 108761481 A CN108761481 A CN 108761481A
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- laser
- clamp angle
- laser radar
- point cloud
- angle measuring
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a kind of extension clamp angle measuring system and measurement method, semitrailer, which includes laser radar, analytical equipment and the reflecting plate with reflecting surface, the reflecting surface towards laser radar wherein：Laser radar is fixed on tractor tail portion, for emitting laser, and the laser point cloud of reception baffle reflection, and the laser point cloud received is sent to analytical equipment；Reflecting plate is fixed on the front of semitrailer, is used for the laser of reflection laser radar emission；Analytical equipment is connected with laser radar signal, hangs clamp angle for being calculated according to the laser point cloud of reception, technical solution of the present invention, extension clamp angle measuring system is simple in structure, is easily installed, without changing the existing structure of semitrailer, it is easy to accomplish, and measure accurate higher.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of extension clamp angle measuring system and measurement method, half
Trailer.
Background technology
Semitrailer is a kind of transport vehicle for heavy type that tractor is connected with trailer by towing pin, compared to single
Body formula truck, semitrailer can more improve the overall economic efficiency of highway transportation, and with the development of automatic Pilot technology, hang case
Angle (it refers to the angle between tractor and trailer to hang clamp angle) becomes as automatic Pilot planning and control point basis to be ground
The emphasis studied carefully.
Currently, the measurement method for hanging clamp angle includes two ways：
Mode one, the angle detection based on angular transducer, is measured by the angular transducer near towing pin
Clamp angle is hung, although this mode can measure the angle of tractor and trailer, needs to change the structure near towing pin,
Installation is complicated and may introduce security risks；
Mode two, the angle measurement method based on magnetic field intensity are hung by detecting the magnetic field signal that reception is dealt into measure
Clamp angle, but this mode needs two magnetic field transmitters of installation to also need to receiver, complicated and magnetic field is easily disturbed,
Therefore, design it is a kind of it is simple in structure, be not required to change and bindiny mechanism and can realize the extension clamp angular measurement system quick and precisely measured
System and measurement method, semitrailer are particularly important.
Invention content
The present invention provides a kind of extension clamp angle measuring system and measurement method, semitrailer, the extension clamp angle measuring systems
It is simple in structure, it is easily installed, without changing the existing structure of semitrailer, it is easy to accomplish, and measure accurate higher.
The embodiment of the present invention, first aspect provide a kind of extension clamp angle measuring system, which includes
Laser radar, analytical equipment and the reflecting plate with reflecting surface, the reflecting surface towards the laser radar, wherein：
Laser radar is fixed on tractor tail portion, for emitting laser, and receives the laser point of the baffle reflection
Cloud, and laser point cloud is sent to analytical equipment；
Reflecting plate is fixed on the front of trailer, for emitting laser by reflective surface laser radar；
Analytical equipment is connected with the laser radar signal, for being calculated according to the laser point cloud received from laser radar
Hang clamp angle.
The embodiment of the present invention, second aspect provide a kind of extension clamp angle measuring method, and this method is applied to semitrailer, institute
It includes tractor and trailer to state semitrailer, is provided on semitrailer and hangs clamp angle measuring system, the extension clamp angle measuring system
Including laser radar, analytical equipment and with the reflecting plate of reflecting surface, the reflecting surface is towards the laser radar；Method packet
It includes：
Laser radar emits laser；
Reflecting plate emits laser by reflective surface laser radar；
Laser radar receives the laser point cloud of baffle reflection, and laser point cloud is sent to analytical equipment；
Analytical equipment calculates according to the laser point cloud received from laser radar and hangs clamp angle.
The embodiment of the present invention, the third aspect provide a kind of semitrailer, including aforementioned extension clamp angle measuring system.
In the embodiment of the present invention, it is provided in semitrailer and hangs clamp angle measuring system, the extension clamp angle measuring system packet
Laser radar, reflecting plate and analytical equipment, laser radar transmitting laser and the laser point cloud for receiving baffle reflection are included, and will be connect
The laser point cloud of receipts is sent to analytical equipment, is calculated according to the laser point cloud received by analytical equipment and hangs clamp angle.The present invention
The extension clamp angle measuring system that embodiment provides is simple in structure, is easily installed, need not change the existing structure of semitrailer, be easy to
It realizes.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of semitrailer provided in an embodiment of the present invention；
Fig. 2 is the enlarged diagram of location A in Fig. 1；
Fig. 3 be in a kind of semitrailer provided in an embodiment of the present invention trailer portion along the structural schematic diagram in the directions B；
Fig. 4 is the schematic diagram for the laser radar coordinate system established in the embodiment of the present invention；
Fig. 5 is that one of the schematic diagram for hanging clamp angle is determined in the embodiment of the present invention；
Fig. 6 is two that the schematic diagram for hanging clamp angle is determined in the embodiment of the present invention；
Fig. 7 is a kind of one of flow chart for hanging clamp angle measuring method provided in an embodiment of the present invention；
Fig. 8 is the two of a kind of flow chart for hanging clamp angle measuring method provided in an embodiment of the present invention.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Figure 1, to hang the structural schematic diagram of clamp angle measuring system 3 in the embodiment of the present invention, which surveys
Amount system 3 includes laser radar 31, analytical equipment (not shown in FIG.) and the reflecting plate 32 with reflecting surface, reflecting surface direction
Laser radar 31, wherein：
Laser radar 31 is fixed on the tail portion of tractor 1, for emitting laser, and receives what reflecting plate 32 was reflected
Laser point cloud, and the laser point cloud is sent to analytical equipment.
In the embodiment of the present invention, laser radar 31 can be single line laser radar, can also be multi-line laser radar, such as
4 lines, 8 lines, 16 lines, 32 lines, 64 line laser radars etc..
Reflecting plate 32 is fixed on the front of trailer 2, the laser for being emitted by reflective surface laser radar 31；
Analytical equipment is connected with 31 signal of laser radar, for being calculated according to the laser point cloud received from laser radar 31
Hang clamp angle.
In one example, laser radar 31 can by but be not limited only to the tail portion that following manner is fixed on tractor 1：
It is welded on the tail portion of the tractor 1；The tail portion of tractor 1 is fastened on by the first fastener, the first fastener can be spiral shell
Nail, bolt etc., the application does not make considered critical.
In one example, reflecting plate 32 can by but be not limited only to the front that following manner is fixed on trailer 2：Welding
In the front of the trailer 2；The front of trailer 2 is fastened on by the second fastener, the second fastener can be screw, bolt etc.
Deng the application does not make considered critical.
Preferably, it is the change for being further reduced to trailer existing structure, extension can be made full use of in the embodiment of the present invention
Vehicle some existing structures install laser radar 31 and reflecting plate 32 etc..For example, semi-mounted car bottom is provided with longitudinal and cross beam,
Crossbeam bottom is provided with supporting beam, and (supporting beam refers to that the crossbeam of trailer is used to support when trailer is not hung on tractor；The branch
Support beam is generally fixed on the crossbeam of semi-mounted car bottom；The both sides of supporting beam include respectively a support leg that can be stretched,
When trailer is hung over by towing pin on tractor, two support legs of the supporting beam belong to collapsed state；When trailer is not hung over
When on tractor, two support legs of the supporting beam extend and support tractor), it can be by the supporting beam by laser radar 31
It is separately fixed at 2 front of 1 tail portion of tractor and trailer with reflecting plate 32.Therefore, in one example, aforementioned first fastener is
First supporting beam 33, first supporting beam 33 are fixed on the crossbeam of 1 tail portion of the tractor, and the laser radar 31 is fixed
Deviate from the side of the tractor 1 in first supporting beam 33, and emits laser towards the reflecting plate 32.In an example
In, aforementioned second fastener is the second supporting beam 34, and second supporting beam 34 is fixed on the forward lower part of the semitrailer
Crossbeam 21, the reflecting plate 32 is fixed on second supporting beam 34 away from the crossbeam 21 and the reflecting surface is described in
Laser radar 31.In the embodiment of the present invention, the number of second supporting beam 34 is two, this two the second supporting beams 34 are from institute
Clamp the crossbeam 21 in the front and rear sides for stating crossbeam 21.As shown in Figures 2 and 3.
In above-mentioned extension clamp angle measuring system 3, first by two the second supporting beams 34 from the front and rear sides of crossbeam 21
Crossbeam 21 is clamped, 32 Fast Installation of reflecting plate is then fixed on the second supporting beam 34 away from crossbeam 21, and ensure reflecting surface
Towards laser radar 31, when laser radar 31 can emit laser to reflecting plate 32, reflecting surface is by laser reflection to laser radar
31, since above-mentioned installation process is based on existing structure on trailer 2, when installation, does not need in the structure of existing semitrailer
Do any change, can accomplish seamless installation, and it is simple in structure, easy for installation quickly, be not required to change bindiny mechanism.
Preferably due to which aluminium section bar is good with its machinable, be easy to molding and material the advantages that being easily obtained has
It is widely applied, therefore, in the embodiment of the present invention, the first supporting beam 33 and the second supporting beam 34 can be aluminium section bar, can also
The profile structure prepared for other materials.
Preferably, in one example, analytical equipment may include having equity region filter module is consistent with random sampling to calculate
Method module, wherein：
There is equity region filter module, is connected with 31 signal of laser radar, the laser for receiving the transmission of laser radar 31
Point cloud, and obtain the reflecting plate 32 from the laser point cloud received and rotated within the scope of presetting angle and make covered region
Laser point cloud, and the laser point cloud of acquisition is sent to the random sampling unification algorism module；
Random sampling unification algorism module has equity region filter module signal to be connected with described, is swashed according to what is received
Clamp angle is hung in luminous point cloud computing.
In the embodiment of the present invention, in above-mentioned extension clamp angle measuring system 3, the preset angular range can be by ability
Field technique personnel are flexibly arranged according to actual conditions, i.e., what the empirically determined laser radar 31 of those skilled in the art was fed back swashs
In luminous point cloud, the laser point cloud fallen in angular range is the laser point cloud that reflecting plate 32 reflects, such as can be by angular range
It is set as -45 °~+45 °.
On the basis of above-mentioned extension clamp angle measuring system 3, in order to further ensure measuring the obtained standard for hanging clamp angle
True property, the analytical equipment may also include Coleman filter module, Coleman filter module and random sampling unification algorism module
Signal is connected；The extension clamp angle is sent to Coleman by random sampling unification algorism module after extension clamp angle is calculated
Filter module；Coleman filter module carries out noise reduction process to the extension clamp angle received.
In above-mentioned extension clamp angle measuring system 3, due to the fabrication error of reflecting plate 32, reflecting plate 32 itself can not be protected
Card is absolutely smooth, and laser radar 31 itself also has observation error so that random sampling unification algorism module meter
The extension clamp angle of calculating is there are certain error, and the phenomenon that showing is, in stationary vehicle, angle also has positive and negative 1 °~2 °
Jump.In order to solve this problem, Coleman filter module carries out noise reduction process to the extension clamp angle received, will take out at random
The simple kinematics model fusion of the result and variable angle of the output of sample unification algorism module gets up to obtain the output of a smooth-going
As a result, can not only ensure to measure the error for hanging clamp angular measurement data under static state within positive and negative 0.5 °, but also
Can ensure when hanging clamp angle and rapidly changing measurement data can corresponding real-time change, cannot have obvious postpone.
In the embodiment of the present invention, after installing laser radar 31, laser radar coordinate system is established, laser radar is sent
The location information of laser point cloud be based in the laser radar coordinate system, can such as establish laser radar coordinate as shown in Figure 4
System.
In one example, random sampling unification algorism module is calculated according to the laser point cloud received hangs clamp angle, tool
Body may be accomplished by：According to the laser point cloud fitting a straight line equation received；The slope of the linear equation is carried out
Arctangent computation obtains hanging clamp angle, as shown in Figure 5.
In one example, random sampling unification algorism module is calculated according to the laser point cloud received hangs clamp angle, tool
Body may be accomplished by：Reflecting plate 32 is calculated in laser radar coordinate system according to the laser point cloud received
Location point p；It is that terminal determines linear equation using location point p as starting point, with the tie point o ' of tractor 1 and trailer 2, to the straight line
The slope of equation carries out arctangent computation and obtains hanging clamp angle, as shown in Figure 6.
In a kind of preferred embodiment, since the reflecting effect on the surface of steel plate is preferable, in the embodiment of the present invention
Reflecting plate 32 can be steel plate.Certainly, those skilled in the art can also choose the preferable material of other reflecting effects and formulate
Reflecting plate 32, the application does not do considered critical.
Embodiment two
Same idea based on a kind of extension clamp angle measuring system that previous embodiment one provides, the embodiment of the present invention two should
A kind of extension clamp angle measuring method is provided, this method is applied to semitrailer, which includes tractor and trailer, in semitrailer
On be provided with as shown in embodiment one extension clamp angle measuring system, which includes laser radar, analysis
Device and reflecting plate, the one relevant content of structure detailed in Example of the extension clamp angle measuring system, details are not described herein.The party
The flow chart of method includes the following steps as shown in Figure 7：
Step S101, laser radar emits laser；
Step S102, reflecting plate emits laser by reflective surface laser radar；
Step S103, laser radar receives the laser point cloud of baffle reflection, and laser point cloud is sent to analytical equipment；
Step S104, analytical equipment calculates according to the laser point cloud received from laser radar and hangs clamp angle.
In one example, analytical equipment can specifically be calculated and hang clamp angle in the following manner in step S104, should
Mode includes step A1~step A2, wherein：
Step A1, it obtains when the reflecting plate rotates within the scope of presetting angle and is covered from the laser point cloud received
To the laser point cloud in region.
Step A2, it is calculated according to the laser point cloud of acquisition and hangs clamp angle.
Preferably, to further increase the accuracy for hanging clamp angle, in the embodiment of the present invention, in flow shown in Fig. 7, also
Include the following steps 105, as shown in Figure 8：
Step 105, analytical equipment carry out noise reduction process to the extension clamp angle being calculated.
In the embodiment of the present invention, analytical equipment may include thering is equity region filter module and random sampling unification algorism mould
Block, abovementioned steps A1 is by having the execution of equity region filter module, step A2 to be executed by random sampling unification algorism module.
In the embodiment of the present invention, after installing laser radar 31, laser radar coordinate system is established, laser radar is sent
The location information of laser point cloud be based in the laser radar coordinate system, can such as establish laser radar coordinate as shown in Figure 4
System.
In one example, random sampling unification algorism module is calculated according to the laser point cloud received hangs clamp angle, tool
Body may be accomplished by：According to the laser point cloud fitting a straight line equation received；The slope of the linear equation is carried out
Arctangent computation obtains hanging clamp angle, as shown in Figure 5.
In one example, random sampling unification algorism module is calculated according to the laser point cloud received hangs clamp angle, tool
Body may be accomplished by：Reflecting plate 32 is calculated in laser radar coordinate system according to the laser point cloud received
Location point p；It is that terminal determines linear equation using location point p as starting point, with the tie point o ' of tractor 1 and trailer 2, to the straight line
The slope of equation carries out arctangent computation and obtains hanging clamp angle, as shown in Figure 6.
Embodiment three
The embodiment of the present invention three further includes a kind of semitrailer, which includes tractor and trailer, and such as embodiment
Clamp angle measuring system is hung shown in one any one embodiment.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (13)
1. a kind of extension clamp angle measuring system, which is characterized in that including laser radar, analytical equipment and with the reflection of reflecting surface
Plate, the reflecting surface towards the laser radar, wherein：
Laser radar is fixed on tractor tail portion, for emitting laser；And the laser point cloud of baffle reflection is received, and will
The laser point cloud is sent to analytical equipment；
Reflecting plate is fixed on the front of trailer, for emitting laser by reflective surface laser radar；
Analytical equipment is connected with the laser radar signal, and case is hung for being calculated according to the laser point cloud received from laser radar
Angle.
2. hanging clamp angle measuring system as described in claim 1, which is characterized in that the laser radar passes through the first fastener
It is fixed on tractor tail portion.
3. hanging clamp angle measuring system as described in claim 1, which is characterized in that first fastener is the first support
Beam, first supporting beam are fixed on the crossbeam of the tractor tail portion, and the laser radar is fixed on first supporting beam
Emit laser away from the side of the tractor and towards the reflecting plate.
4. hanging clamp angle measuring system as described in claim 1, which is characterized in that the reflecting plate is solid by the second fastener
Due to trailer front.
5. hanging clamp angle measuring system as claimed in claim 4, which is characterized in that second fastener is the second support
Beam, second supporting beam are fixed on the crossbeam of the forward lower part of the trailer, and the reflecting plate is fixed on second support
Beam is away from the crossbeam and the reflecting surface towards the laser radar.
6. hanging clamp angle measuring system as claimed in claim 5, which is characterized in that the number of second supporting beam is two
A, two the second supporting beams clamp the crossbeam from the front and rear sides of the crossbeam.
7. hanging clamp angle measuring system as described in claim 1, which is characterized in that the reflecting plate is steel plate.
8. hanging clamp angle measuring system as described in claim 1, which is characterized in that the analytical equipment includes what signal was connected
There are equity region filter module and random sampling unification algorism module, wherein：
It is described to have equity region filter module, it is connected with the laser radar signal, for receiving the laser radar transmission
Laser point cloud, and covered area when the reflecting plate rotates within the scope of presetting angle is obtained from the laser point cloud received
The laser point cloud in domain, and the laser point cloud of acquisition is sent to the random sampling unification algorism module；
The random sampling unification algorism module calculates according to the laser point cloud received and hangs clamp angle.
9. hanging clamp angle measuring system as claimed in claim 8, which is characterized in that the analytical equipment further includes Coleman filter
Wave module, the Coleman filter module are connected with the random sampling unification algorism module by signal；
Random sampling unification algorism module is further used for, and the extension clamp angle being calculated is sent to Coleman filter module；
Coleman filter module, for carrying out noise reduction process to the extension clamp angle received.
10. a kind of extension clamp angle measuring method, which is characterized in that be applied to semitrailer, the semitrailer includes tractor and extension
Vehicle, be provided on semitrailer hang clamp angle measuring system, the extension clamp angle measuring system include laser radar, analytical equipment and
Reflecting plate with reflecting surface, the reflecting surface is towards the laser radar；Method includes：
Laser radar emits laser；
Reflecting plate emits laser by reflective surface laser radar；
Laser radar receives the laser point cloud of baffle reflection, and laser point cloud is sent to analytical equipment；
Analytical equipment calculates according to the laser point cloud received from laser radar and hangs clamp angle.
11. hanging clamp angle measuring method as claimed in claim 10, which is characterized in that the analytical equipment is according to from laser thunder
Laser point cloud up to reception calculates extension clamp angle, specifically includes：
Swashing for covered region when the reflecting plate rotates within the scope of presetting angle is obtained from the laser point cloud received
Luminous point cloud；
It is calculated according to the laser point cloud of acquisition and hangs clamp angle.
12. hanging clamp angle measuring method as claimed in claim 11, which is characterized in that further include：
Analytical equipment carries out noise reduction process to the extension clamp angle being calculated.
13. a kind of semitrailer, including tractor and the trailer that is connected with the tractor, which is characterized in that further include such as right
It is required that 1~9 any one of them hangs clamp angle measuring system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810312580.6A CN108761481A (en) | 2018-04-09 | 2018-04-09 | A kind of extension clamp angle measuring system and measurement method, semitrailer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810312580.6A CN108761481A (en) | 2018-04-09 | 2018-04-09 | A kind of extension clamp angle measuring system and measurement method, semitrailer |
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