CN108278981A - Detect the device and its detection method of unmanned trailer axle drift angle - Google Patents
Detect the device and its detection method of unmanned trailer axle drift angle Download PDFInfo
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- CN108278981A CN108278981A CN201810139047.4A CN201810139047A CN108278981A CN 108278981 A CN108278981 A CN 108278981A CN 201810139047 A CN201810139047 A CN 201810139047A CN 108278981 A CN108278981 A CN 108278981A
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- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 239000003550 marker Substances 0.000 claims abstract description 23
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000000007 visual effect Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 5
- 230000004069 differentiation Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 230000011664 signaling Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 4
- 238000000691 measurement method Methods 0.000 abstract 1
- 206010039203 Road traffic accident Diseases 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Classifications
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0025—Measuring of vehicle parts
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- General Physics & Mathematics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a kind of devices of the unmanned trailer axle drift angle of detection, including multi-line laser radar and reflective marker object and industrial personal computer, PID controller and memory module, the multi-line laser radar is mounted on the headstock the right and left for being detected trailer, and tailstock the right and left that the reflective marker object is fixed on detected trailer corresponds to the position of multi-line laser radar.The measurement method of axis drift angle, the laser point cloud data acquired by laser radar generate reflected value image corresponding with laser point cloud data, further according to above-mentioned reflected value image, it generates using laser radar as the position coordinates of origin, is calculated using coordinate, determine the axis drift angle of unmanned trailer.Advantageous effect：The present invention can be measured and be monitored in real time at any time, without parking without installing additional sensor.The present invention only needs the coordinate data of recording laser radar in measurement process, there is no the case where influence measures is blocked because of front axle, is not also limited by trailer underlying space.
Description
Technical Field
The invention belongs to the field of measurement, and particularly relates to a device and a method for detecting an axle deflection angle of an unmanned trailer.
Background
With the development and progress of science and technology, the unmanned trailer controlled by the automatic control system can bring convenience to people for transporting goods and reduce traffic accidents caused by human reasons such as driver fatigue. The automatic control system of the unmanned trailer can automatically drive the unmanned trailer according to different road conditions and expected driving paths. For the unmanned semi-trailer, the detection of the off-axis angle when the trailer runs is beneficial to monitoring the running condition of the trailer in real time and reducing the occurrence of traffic accidents. The trailer axle slip angle is the angle between the trailer load bearing axle and its position in the normal state. The normal position means that the trailer bearing shaft is perpendicular to the central line of the trailer body. The position of the bearing shaft of the trailer is changed due to the good and bad road conditions, the loading capacity of the whole trailer, the difference of maintenance and the like, and an axial deflection angle is generated. Due to the existence of the trailer shaft deflection angle, the operation stability, the straight-line driving performance and the sideslip resistance of the vehicle are reduced in the driving process of the whole vehicle, and the safe driving performance of the semi-trailer train is reduced. When the trailer axle deviation angle exceeds an allowable value, traffic accidents are easily caused, so that the range of the trailer axle deviation angle needs to be defined, and the measurement precision of the current unmanned real-time detection method based on machine vision is greatly influenced by the technical problems of light control and image processing, so that the current unmanned trailer axle deviation angle detection has the problem of low precision.
Traditional trailer off-axis angle detects mainly to lean on artifical measurement, during the measurement, because trailer below space is limited, is difficult to be close the measuring point, and it is extremely inconvenient to work, and the method is also fairly complicated, and this kind of measuring method precision is lower simultaneously, is difficult to satisfy the detection requirement, more can't use on unmanned trailer. Currently, the following two methods are mainly adopted for non-manual detection: 1) the machine vision-based trailer axle deflection angle detection system collects wheel prints and panoramic images of a trailer by applying the machine vision, calculates the central coordinates of the prints and the size of a driving direction angle of the wheels and realizes the detection of the trailer axle deflection angle. The technical problems of light control and image processing are difficult to solve, and the measurement precision and accuracy of the method cannot be guaranteed. 2) The trailer shaft deflection angle detection system based on the laser ranging technology is characterized in that a range finder is arranged on an external longitudinal guide rail and an external transverse guide rail, the device is complex and difficult to realize, the use scene is quite limited, dynamic measurement cannot be carried out when the trailer advances completely, and the trailer shaft deflection angle detection system cannot be used on an unmanned trailer.
With the development of the unmanned technology, the technical breakthrough of detecting the off-axis angle of the unmanned trailer is an urgent problem to be solved in the industry.
Disclosure of Invention
The invention aims to overcome the defects of the technology and provides a device and a method for detecting the axle deflection angle of an unmanned trailer.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a detect device of unmanned trailer off-axis angle, characterized by: the multi-line laser radar detection device comprises a multi-line laser radar, a reflective marker, an industrial personal computer, a PID (proportion integration differentiation) controller and a storage module, wherein the multi-line laser radar is arranged on the left side and the right side of the head of a trailer to be detected; the industrial personal computer calculates an axial deviation angle according to laser point cloud data acquired by the laser radar; the PID controller is used for processing the shaft deflection angle input signal and controlling the angle range of the unmanned trailer for safe driving; the storage device is used to store one or more programs.
The multi-line laser radar is arranged at the corner of the vehicle head, the left and right visual angles of the multi-line laser radar are 270 degrees, and the up and down visual angles are 30 degrees.
A method for measuring an off-axis angle of an unmanned trailer comprises the following steps of generating a reflection value image corresponding to laser point cloud data through laser point cloud data acquired by a laser radar, generating a position coordinate with the laser radar as an origin according to the reflection value image, and determining the off-axis angle of the unmanned trailer by adopting coordinate calculation, wherein the method comprises the following specific steps:
1) two 16-line laser radars are arranged on the left front side and the right front side of the trailer head, and reflective markers are attached to the two sides of the trailer head, so that the laser radars can conveniently identify and scan; the left and right visual angles of the laser radar are 270 degrees, and the up and down visual angles are 30 degrees;
2) scanning and identifying a reflective marker at the tail of the trailer by using a laser radar to obtain coordinate information of the marker relative to the laser radar;
3) and (3) taking the position of the 16-line laser radar as an original point, measuring the coordinates (x, y, z) of the marker relative to the laser radar, and solving the distance d between the head and the tail of the vehicle and the angle α:
assuming the trailer length is l, get:
wherein,and (4) off-axis angle.
Has the advantages that: compared with the prior art, the invention can measure and monitor in real time at any time without installing an additional sensor and without stopping the vehicle. Simple, convenient, fast and accurate; the invention only needs to record the coordinate data of the laser radar in the measuring process, thereby saving time and labor. The condition that the measurement is influenced by shielding of the front axle does not exist, and the space below the trailer is not limited. The method is easy to realize, high in stability, capable of improving the measuring efficiency and accuracy of the shaft deflection angle, capable of modulating the posture of the unmanned trailer by monitoring the shaft deflection angle in real time, and capable of avoiding traffic accidents to a certain extent.
Drawings
FIG. 1 is a schematic view of the installation location of a lidar and reflective markers;
FIG. 2 is a front view of a trailer with a lidar and reflective markers mounted thereon;
FIG. 3 is a functional diagram of the present invention;
FIG. 4 is a block diagram of the connection of the device for detecting the off-axis angle of the unmanned trailer;
FIG. 5 is a flow chart of the controller of the present invention;
FIG. 6 is a diagram of a model constructed in Simulink according to the transfer function of a PID controller;
in the figure: 1. multi-line laser radar, 2, reflecting marker.
Detailed Description
The following detailed description of the preferred embodiments will be made in conjunction with the accompanying drawings.
Referring to the attached drawings in detail, the embodiment provides a device for detecting the off-axis angle of an unmanned trailer, and the device comprises a multi-line laser radar 1, a reflective marker 2, an industrial personal computer, a PID (proportion integration differentiation) controller and a storage module, wherein the off-axis angle detection device of the unmanned trailer is formed; the industrial personal computer calculates an axial deviation angle according to laser point cloud data acquired by the laser radar; the PID controller is used for processing the shaft deflection angle input signal and controlling the angle range of the unmanned trailer for safe driving; the storage device is used to store one or more programs. The multi-line laser radar is arranged at the corner of the vehicle head, the left and right visual angles of the multi-line laser radar are 270 degrees, and the up and down visual angles are 30 degrees.
A method for measuring an off-axis angle of an unmanned trailer comprises the following steps of generating a reflection value image corresponding to laser point cloud data through laser point cloud data acquired by a laser radar, generating a position coordinate with the laser radar as an origin according to the reflection value image, and determining the off-axis angle of the unmanned trailer by adopting coordinate calculation, wherein the method comprises the following specific steps:
1) two 16-line laser radars are arranged on the left front side and the right front side of the trailer head, and reflective markers are attached to the two sides of the trailer head, so that the laser radars can conveniently identify and scan; the left and right visual angles of the laser radar are 270 degrees, and the up and down visual angles are 30 degrees;
2) scanning and identifying a reflective marker at the tail of the trailer by using a laser radar to obtain coordinate information of the marker relative to the laser radar;
3) and (3) taking the position of the 16-line laser radar as an original point, measuring the coordinates (x, y, z) of the marker relative to the laser radar, and solving the distance d between the head and the tail of the vehicle and the angle α:
assuming the trailer length is l, get:
wherein,and (4) off-axis angle.
Working principle and working process
According to the laser point cloud data collected by the laser radar, a reflection value image corresponding to the laser point cloud data is generated, then according to the reflection value image, a position coordinate with the laser radar as an origin is generated, and then the off-axis angle of the unmanned trailer is determined by adopting coordinate calculation. Hardware and software are combined, a set of shaft deflection angle real-time monitoring system is designed, shaft deflection angles are measured and detected in real time, and alarming and correcting are carried out when the shaft deflection angles exceed a safety angle. The method is easy to realize, high in stability, and capable of improving the measuring efficiency and accuracy of the shaft deflection angle, modulating the attitude of the unmanned trailer by monitoring the shaft deflection angle in real time, and avoiding traffic accidents to a certain extent. The laser radar obtains a gray scale image formed by reflection intensity information through scanning, and the reflectivity of the reflective marker at the tail of the vehicle is much larger than that of the ambient environment, so that the reflective marker has the maximum reflection intensity, can be quickly identified, and obtains the coordinate information of the marker relative to the laser radar. The semi-trailer axle deflection angle is monitored by two 16-line laser radars arranged on the locomotive. Two 16-line lasers are arranged on the left front side and the right front side of the trailer head, and reflective markers are attached to the two sides of the trailer head, so that laser radar identification and scanning are facilitated. The two 16 lines are hung at the corner of the vehicle, the left and right visual angles can reach 270 degrees, the up and down visual angles can reach 30 degrees, the front obstacles can be seen, the rear dragging angle can be detected by the way, and no additional sensor is needed. The relative positions of the lidar and the reflective markers are shown in figure 1. The laser radar obtains a gray scale image formed by reflection intensity information through scanning, and the reflectivity of the reflective marker at the tail of the vehicle is much larger than that of the ambient environment, so that the reflective marker has the maximum reflection intensity, can be quickly identified, and obtains the coordinate information of the marker relative to the laser radar.
Referring to FIG. 5, the off-axis angle is measured by an off-axis angle detector of the unmanned trailerAnd as an input signal of a program of the PID controller, judging the shaft deflection angle, judging whether the shaft deflection angle is within a safe angle range, if so, keeping the current driving state, if the shaft deflection angle exceeds the safe angle range, triggering an alarm switch to give an alarm, adjusting the steering wheel angle through the PID controller, and simultaneously measuring the shaft deflection angle at any time until the angle is within the safe range.
The control law of the PID controller is expressed by a transfer function as:
the input is the difference between the off-axis angle and the desired off-axis angleThe output is the adjusted angle deviation. The control link adopts a proportional link and an integral link (coefficient K of a differential link)d0): the proportional loop can reflect the deviation signal of the control system in proportion, and once the deviation is generated, the controller immediately generates a control action to reduce the deviation; the integral link is mainly used for eliminating steady-state errors and improving the control precision. The model constructed from the transfer function of the PID controller is shown in fig. 6 (the safety angle used in this example is 2 °).
The safe range of the shaft deflection angle is related to various parameters of the vehicle body, such as the wheelbase of a semitrailer, the wheelbase of a tractor and the like, the embodiment only provides a general solution, and the corresponding safe angle can be selected and set according to the vehicle type during application.
Example 1
The measured trailer l is 17.793 m.
The coordinates of the marker relative to the lidar were (17,0.2,0), and the off-axis angle was calculatedRadian, within a safe range, the vehicle temporarily does not need to be adjusted, and the current state is kept.
The coordinates of the marker relative to the lidar were (16.2,1.3,0), and the off-axis angle was calculatedAnd (4) adjusting the running state of the vehicle until the declination angle of the shaft is 0 when the radian exceeds a safety range.
The above detailed description of the apparatus for detecting an off-axis angle of an unmanned trailer and the method for detecting the same with reference to the embodiments is illustrative and not restrictive, and several embodiments may be enumerated in accordance with the limitations of the embodiments, so that changes and modifications without departing from the general concept of the present invention should fall within the protection scope of the present invention.
Claims (3)
1. The utility model provides a detect device of unmanned trailer off-axis angle, characterized by: the multi-line laser radar detection device comprises a multi-line laser radar, a reflective marker, an industrial personal computer, a PID (proportion integration differentiation) controller and a storage module, wherein the multi-line laser radar is arranged on the left side and the right side of the head of a trailer to be detected; the industrial personal computer calculates an axial deviation angle according to laser point cloud data acquired by the laser radar; the PID controller is used for processing the shaft deflection angle input signal and controlling the angle range of the unmanned trailer for safe driving; the storage device is used to store one or more programs.
2. The apparatus of claim 1, wherein the apparatus further comprises: the multi-line laser radar is arranged at the corner of the vehicle head, the left and right visual angles of the multi-line laser radar are 270 degrees, and the up and down visual angles are 30 degrees.
3. A method for measuring the off-axis angle of an unmanned trailer by using a weight 1 device comprises the following steps of generating a reflection value image corresponding to laser point cloud data through the laser point cloud data collected by a laser radar, generating a position coordinate with the laser radar as an origin according to the reflection value image, and determining the off-axis angle of the unmanned trailer by adopting coordinate calculation, wherein the method comprises the following specific steps:
1) two 16-line laser radars are arranged on the left front side and the right front side of the trailer head, and reflective markers are attached to the two sides of the trailer head, so that the laser radars can conveniently identify and scan; the left and right visual angles of the laser radar are 270 degrees, and the up and down visual angles are 30 degrees;
2) scanning and identifying a reflective marker at the tail of the trailer by using a laser radar to obtain coordinate information of the marker relative to the laser radar;
3) and (3) taking the position of the 16-line laser radar as an original point, measuring the coordinates (x, y, z) of the marker relative to the laser radar, and solving the distance d between the head and the tail of the vehicle and the angle α:
assuming the trailer length is l, get:
wherein phi isAnd (4) off-axis angle.
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| CN201810139047.4A CN108278981A (en) | 2018-02-11 | 2018-02-11 | Detect the device and its detection method of unmanned trailer axle drift angle |
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| CN201810139047.4A CN108278981A (en) | 2018-02-11 | 2018-02-11 | Detect the device and its detection method of unmanned trailer axle drift angle |
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| CN109959352A (en) * | 2019-03-01 | 2019-07-02 | 武汉光庭科技有限公司 | The method and system of angle between truck headstock and trailer are calculated using laser point cloud |
| CN110794417A (en) * | 2019-10-29 | 2020-02-14 | 北京星航机电装备有限公司 | Method for realizing automobile attitude measurement positioning based on STM32 and laser radar |
| WO2020103354A1 (en) * | 2018-11-20 | 2020-05-28 | 北京图森智途科技有限公司 | Method and device for measuring trailer included angle, and vehicle |
| WO2020118917A1 (en) * | 2018-12-10 | 2020-06-18 | 北京图森智途科技有限公司 | Trailer angle measurement method and device, and vehicle |
| CN112082484A (en) * | 2020-09-11 | 2020-12-15 | 武汉理工大学 | Device and method for detecting engineering vehicle body deviation based on single line laser radar |
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| US12044523B2 (en) | 2018-11-20 | 2024-07-23 | Beijing Tusen Zhitu Technology Co., Ltd. | Method and device for measuring trailer included angle, and vehicle |
| WO2020103354A1 (en) * | 2018-11-20 | 2020-05-28 | 北京图森智途科技有限公司 | Method and device for measuring trailer included angle, and vehicle |
| CN111366938B (en) * | 2018-12-10 | 2023-03-14 | 北京图森智途科技有限公司 | Trailer included angle measuring method and device and vehicle |
| WO2020118917A1 (en) * | 2018-12-10 | 2020-06-18 | 北京图森智途科技有限公司 | Trailer angle measurement method and device, and vehicle |
| CN111366938A (en) * | 2018-12-10 | 2020-07-03 | 北京图森智途科技有限公司 | Method, device and vehicle for measuring included angle of trailer |
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