CN205427190U - Moving target status monitoring device and vehicle quick check system thereof - Google Patents
Moving target status monitoring device and vehicle quick check system thereof Download PDFInfo
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- CN205427190U CN205427190U CN201521000354.2U CN201521000354U CN205427190U CN 205427190 U CN205427190 U CN 205427190U CN 201521000354 U CN201521000354 U CN 201521000354U CN 205427190 U CN205427190 U CN 205427190U
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Abstract
The utility model provides a moving target status monitoring device and vehicle quick check system thereof. This moving target status monitoring device is through using laser scanner to fix a position, test the speed the moving target, and the device includes: laser scanner for at least one moving target to getting into a monitoring area is monitored, with one predetermine scanning frequency to the laser beam of many different angles of at least one moving target transmission, and processing module, be used for to every the moving target is confirmed and exports this moving target to be in different distances constantly laser scanner's relative position. Compare in tacho sensor such as speed measuring radar, can show the measurement accuracy who improves the low -speed moving target, and easily installation and with low costs of laser scanner.
Description
Technical field
This utility model relates to mobile dbjective state monitoring technology, particularly relates to a kind of mobile dbjective state monitoring device based on laser scanner and the vehicle that comprises it quickly checks system.
Background technology
At present to when carrying out status monitoring (such as testing the speed) such as mobile targets such as vehicles, the tachogenerators such as such as velocity radar are generally used to carry out.But velocity radar is when measuring the mobile target of low speed (e.g., less than 5 kilometers per hour), it is impossible to ensures certainty of measurement, there is limitation in application.Additionally, velocity radar equipment manufacturing cost is high, the expense of installation and debugging and demarcation is the highest, do not possess economy and maintainability.
Additionally, quickly check field at vehicle based on radiation scanning, when the state of tested vehicle is monitored, many group photoswitches is generally installed in sense channel or light curtain and ground induction coil etc. detect the travel condition of tested vehicle.But use photoswitch or light curtain etc. when judging, it is impossible to accurately to measure the position of tested vehicle, speed etc., thus carry out radiation ray go out Shu Shiji judge time, often there is situation about judging by accident, cause great hidden danger to the safety of driver.
Utility model content
In view of this, this utility model provides a kind of mobile dbjective state monitoring device based on laser scanner and the vehicle that comprises it quickly checks system.
Additional aspect of the present utility model and advantage will be set forth in part in the description, and partly will be apparent from from describe, or can the acquistion by practice of the present utility model.
On the one hand this utility model provides a kind of mobile dbjective state monitoring device, including: laser scanner, be monitored at least one entering a monitored area is moved target, with one preset rate of scanning to described at least one move the laser beam of a plurality of different angles of objective emission；And processing module, for for each described mobile target: determine that this moves at least one fixing point in target；Receive described laser scanner and move at least one fixing point described in target and the launch between position first distance of described multi-stripe laser bundle and the transmitting angle of corresponding laser beam at this detected the most in the same time；And according to described first distance and the transmitting angle of corresponding laser beam, determine and export this and move target described the most in the same time apart from the relative position of described laser scanner.
In an embodiment, wherein said processing module is additionally operable to for each described mobile target, the relative position of laser scanner described in target range is moved according to this determined, move the displacement interval that target is different at various time intervals or with this, export this and move the relative position that laser scanner described in target range is current.
In another embodiment, wherein move towards described laser scanner when this moves target, and when it is the nearest apart from the relative position of described laser scanner, described time interval or described displacement interval are the least.
In another embodiment, wherein said processing module is additionally operable to, for each described mobile target, according to described first distance and the transmitting angle of corresponding laser beam, determine and export this translational speed moving target.
In another embodiment, at least one fixing point wherein said includes multiple, according to described first distance and the transmitting angle of corresponding laser beam, determine that this translational speed moving target includes: move the plurality of fixing point of target at synchronization apart from the first different distance sent between position of described multi-stripe laser bundle according to this, it is thus achieved that this moves the target second distance in this moment；Move target at described described second distance the most in the same time according to this, determine that this moves the translational speed of target.
In another embodiment, wherein said processing module is by being averaged to described the first different distance, to obtain described second distance.
In another embodiment, wherein said processing module is additionally operable to, for each described mobile target, determine that this moves the moving direction of target current time.
In another embodiment, wherein said processing module according to this move target current time and before the moment determine that this moves the moving direction of target current time apart from the different of described laser scanner relative to position.
Another aspect of the present invention provides a kind of vehicle and quickly checks system, including: radiation imaging apparatus, including: radiographic source, for launching the radiation ray bundle detecting tested vehicle；, through the radiation ray of described tested vehicle and/or there is the radiation ray scattered for detection in detector；And image processing apparatus, carry out imaging for the radiation ray signal detected according to described detector；Any of the above-described kind of mobile object monitoring device；And control device, for the output according to described mobile object monitoring device, control described radiation imaging apparatus to radiation ray bundle described in described tested vehicle emissions.
Mobile target is positioned, tests the speed by using laser scanner by the mobile dbjective state monitoring device that this utility model provides, compared to tachogenerators such as velocity radars, it is remarkably improved low speed and moves the certainty of measurement of target, and laser scanner is easily installed and low cost.Additionally, be can also readily be the abnormality (as moveed backward in sense channel, parking etc.) finding mobile target by laser scanner, thus quickly it is processed.Additionally, vehicle of the present utility model quickly checks that system, by using this to move object monitoring device, can improve going out the degree of accuracy that Shu Shiji judges, thus effectively prevent because of the erroneous judgement to tested vehicle headstock part is the potential safety hazard brought of driver.
Accompanying drawing explanation
Describing its example embodiment in detail by referring to accompanying drawing, above and other feature of the present utility model and advantage will be apparent from.
Fig. 1 is the structural representation according to based on laser scanner the mobile object monitoring device shown in an example embodiment.
Fig. 2 is the schematic diagram of the monitored area according to the laser scanner shown in an example.
Fig. 3 is according to the laser beam schematic diagram shown in an example.
Fig. 4 is the schematic diagram according to the Moving objects location method shown in an example.
Fig. 5 is the flow chart according to based on laser scanner the mobile dbjective state monitoring method shown in an example embodiment.
The flow chart of based on laser scanner the mobile dbjective state monitoring method shown in another example embodiment according to Fig. 6.
Fig. 7 is the structural representation quickly checking system according to the vehicle shown in an example embodiment.
Detailed description of the invention
It is described more fully with example embodiment referring now to accompanying drawing.But, example embodiment can be implemented in a variety of forms, and is not understood as limited to embodiment set forth herein；On the contrary, it is provided that these embodiments make this utility model will fully and completely, and the design of example embodiment is conveyed to those skilled in the art all sidedly.The most identical reference represents same or similar structure, thus will omit repetition thereof.
Described feature, structure or characteristic can be combined in one or more embodiment in any suitable manner.In the following description, it is provided that many details thus be given and embodiment of the present utility model fully understood.But, one of ordinary skill in the art would recognize that, do not have in described specific detail is one or more, or uses other method, constituent element, material etc., it is also possible to put into practice the technical solution of the utility model.In other cases, known features, material or operation are not shown in detail or describe to avoid fuzzy this utility model.
Fig. 1 is the structural representation according to based on laser scanner the mobile object monitoring device shown in an example embodiment.As it is shown in figure 1, mobile object monitoring device 10 includes: laser scanner 110 and processing module 120.
Wherein laser scanner 110 is monitored at least one entering a monitored area is moved target, presets rate of scanning with one and moves the laser beam of a plurality of different angles of objective emission at least one.
Fig. 2 is the schematic diagram of the monitored area according to the laser scanner shown in an example.As in figure 2 it is shown, laser scanner 110 has two kinds of mounting means: the first such as can be arranged at the top of sense channel as shown in laser scanner 111, and its scanning cross-section is vertical with the ground of sense channel；The second way such as shown in laser scanner 111 ', such as, can be arranged at above the side of sense channel, and the angle between its scanning cross-section and ground of sense channel is an acute angle or obtuse angle.Laser scanner 111 or 111 ' with a rate of scanning preset, such as 100Hz (scanning the most per second 100 times), at least one is moved target be monitored, it once can launch the laser beam of a plurality of different angles simultaneously, and starting point A of the scanning cross-section institute coverage that multi-stripe laser bundle is constituted is laser scanner 111 or 111 ' monitored area.The monitoring range of laser scanner is very big, generally can be continuously monitored 80 meters of scopes the most longer before and after it.
In certain embodiments; when using laser scanner 110 that mobile target is monitored; because its monitoring range is the biggest; for avoiding unnecessary Monitoring Data to store; therefore would generally work as mobile target not by before laser scanner and reach a predeterminated position (relative to the position of laser scanner) and just start its Monitoring Data is processed, namely think and initially enter its monitored area from this predeterminated position.In practice, such as this predeterminated position can be arranged at 25 meters before laser scanner installation site, but this utility model is not limited.Introduce under above two mounting means separately below, the minimal distance requirement between adjacent two mobile targets.
For the first mounting means, assume initially that the setting height(from bottom) for example, 5.2 meters of laser scanner 111；Multiple mobile targets highly consistent, the most for example, 4.8 meters.When there being new mobile target range laser scanner 25 meters, i.e. initially entering monitoring section, in order to enable to be monitored the multiple mobile target in monitored area simultaneously, in can extrapolating monitored area, the minimum range between adjacent mobile target is 2 meters.
For the second mounting means, it is also assumed that the setting height(from bottom) of laser scanner 111 ' for example, 5.2 meters；Multiple mobile targets highly consistent, the most for example, 4.8 meters；Assume further that the installation site 3 meters (this parameter is for embodying the laser scanning cross section different angles from ground) that the centrage in laser scanning cross section is away from laser scanner 111 '.When there being new mobile target range laser scanner 25 meters, i.e. initially entering monitoring section, in order to enable to be monitored the multiple mobile target in monitored area simultaneously, in can extrapolating monitored area, the minimum range between adjacent mobile target is 2.5 meters.
Laser scanner is used to be easily installed and low cost as mobile dbjective state (as positioned, testing the speed) monitoring device, in actual applications without emphasizing the strict angle of inclination of sensor in erection code, different mounting inclination angle degree does not produce any impact to required precision and algorithm.Additionally, can accurately measure the movement velocity of the mobile target of low speed (such as 5 kilometers per hour) when using laser scanner to test the speed.
Processing module 120 is for for each mobile target in monitored area, determine that this moves at least one fixing point in target, receive laser scanner 110 and move distance and the transmitting angle of corresponding laser beam thereof of at least one fixing point of target and the transmitting position (i.e. the installation site of laser scanner 110) of multi-stripe laser bundle at this detected the most in the same time.
First, when choosing above-mentioned fixing point, can choose laser scanner 110 return data variation a bit, such as the point etc. in the obvious catastrophe point (such as moving the certain point near edge of the objective or afterbody etc.) of mobile target or mobile target sustained height, this utility model is not limited.
Generally, when using laser scanner 110 to be scanned mobile target, laser scanner 110 sends the multi-stripe laser bundle of different angles at synchronization.When certain laser beam runs into object reflection, return the distance between this pip and radiating laser beams position, and the angle of this laser beam.Fig. 3 is according to the laser beam schematic diagram shown in an example.As it is shown on figure 3, laser scanner 110 can detect and return each multi-angle laser bundle in real time launches position to distance d between laser beam reflection position (the A point as on headstock forward position in Fig. 3) and the transmitting angle, θ of correspondence thereof.
For above-mentioned mobile target, processing module 120 be additionally operable to detect according to the laser scanner 110 that receives this move at least one fixing point transmitting angle with the distance of radiating laser beams position and corresponding laser beam thereof of target, determine and export this and move target the most in the same time apart from the relative position of laser scanner.
Fig. 4 is the schematic diagram according to the Moving objects location method shown in an example.Without loss of generality, explanation as a example by returning, as laser scanner 110, the point that data change using a certain fixing point A on mobile target 100 forward position of selection in Fig. 4.As shown in Figure 4, when the scope of measurement is empty, does not i.e. have target to enter monitored area, search and preserve the corresponding angle γ of distance laser scanner 110 closest approach (such as B point in Fig. 4).When mobile target 100 is positioned at No. 1 position, distance S1 between a bit (i.e. fixing point A in Fig. 4) current distance radiating laser beams position that the return data detected according to laser scanner 110 change and the angle [alpha] of this laser beam, determine that the relative position L1 of No. 1 positional distance laser scanner 110 is:
L1=S1*cos α (1)
Or, L1=S1*sin (γ-α) (2)
When mobile target 100 moves to No. 2 positions along the moving direction shown in arrow, distance S2 between a bit (i.e. fixing point A in Fig. 4) current distance radiating laser beams position that the return data again detected according to laser scanner 110 change and the angle beta of this laser beam, determine that the relative position L2 of No. 2 positional distance laser scanners 110 is:
L2=S2*cos β (3)
Or, it is also possible to calculate the relative position L2 between No. 2 positions and laser scanner 110 by calculating mobile target displacement S3 between No. 1 position and No. 2 positions.
It is possible, firstly, to angle [alpha] and β according to two laser beams calculate angle, θ between S1 and S2, calculating S3 further according to the cosine law is:
Afterwards, the L1 tried to achieve further according to formula (1) calculates L2: L2=L1-S3.
Further, in certain embodiments, in order to reduce the data volume of processing module 110 process and improve its treatment effeciency, important monitoring range is carried out emphasis monitoring simultaneously, to provide certainty of measurement, monitoring range can also be carried out region division, thus for different regions, use different displacement interval or time interval measurement the positional information of output mobile target.Namely processing module 110 first judges which region that mobile target is positioned in subregion relative to the position of laser scanner, so that it is determined that determine with corresponding displacement interval or time interval and the positional information of output mobile target.Wherein move towards laser scanner when mobile target, and when it is the nearest apart from the relative position of laser scanner, above-mentioned time interval or displacement interval are the least.Such as, can be as shown in Figure 2, monitored area is divided into 4 regions, in these 4 regions, when mobile target moves to apart from No. 3 regions that laser scanner is nearest, corresponding determination the position of output mobile target fastest, namely mobile target often moves a least displacement or at interval of a minimum time, it is determined that and export the position once moving target.Concrete region divides and the setting of output frequency can determine according to reality application, and this utility model is not limited.
In addition, processing module 120 is additionally operable to for above-mentioned mobile target, this detected according to the laser scanner 110 received moves at least one fixing point transmitting angle with the distance of radiating laser beams position and corresponding laser beam thereof of target, determines and export this translational speed moving target.
Such as, with continued reference to Fig. 4, as above-mentioned, after determining No. 1 of mobile target 100 and No. 2 relative distances L1 between position and laser scanner and L2 or the displacement S3 determining between it, the speed v of mobile target 100 can be calculated according to following formula:
Wherein T1 and T2 is respectively mobile target 100 and moves to No. 1 position and the time of No. 2 positions.This time such as can be obtained by the Time Calculation formula of processing module 120 self, and such as make marks T1 when receiving first distance S1, and make marks T2 when receiving second distance S2；Or the time that can also pass through to carry in the packet that laser scanner 110 returns obtains.
In certain embodiments, multiple fixing point can also be chosen, the most multiple return data variation points (as moved the point of the differing heights in target or moving the multiple obvious catastrophe points etc. in target), after calculating above-mentioned displacement respectively based on each fixing point, multiple shift values are fitted, such as be averaged calculating, calculates the speed of mobile target according to the average displacement finally given.Test the speed according to multiple fixing points, its accuracy value can be improved further.
Additionally, determining and during the speed of output mobile target, it is also possible to combine and above-mentioned i.e. move the way of output of target position relative with laser scanner 110 based on zones of different, determine the speed of also output mobile target with different displacement interval or time interval.
Processing module 120 can be additionally used in and detects the moving direction that each mobile target is current.Such as processing module 120 can according to mobile target current time and on a moment distance laser scanner 110 different determine relative to position and to move the moving direction of target current time.First, according to the angle information that laser scanner 110 returns in data, processing module 120 such as can know that mobile target is currently directed towards laser scanner 110 and moves, be also remote from laser scanner 110 and move.When mobile target moves towards laser scanner 110, if current time moves the distance of target range laser scanner 110 and moved the distance of target range laser scanner 110 less than a upper moment, then it is assumed that mobile target is for advancing；If being more than, then it is assumed that mobile target is for retreating；And if being equal to, then it is assumed that mobile target stops mobile.And when mobile target moves away from laser scanner 110, if current time moves the distance of target range laser scanner 110 and moved the distance of target range laser scanner 110 more than a upper moment, then it is assumed that mobile target is for advancing；If being less than, then it is assumed that mobile target is for retreating.
Additionally, processing module 120 directly can also judge its direct of travel according to the change of mobile twice return laser light beam angle degree of target.Such as when moving towards laser scanner 110, the laser beam angular of return should be more and more less；And when moving away from laser scanner 110, then the laser beam angular returned then should be increasing.
According to the judgement to mobile target translational speed, whether state is for abnormal to can be easy to find tested mobile target, as moveed backward in sense channel, stopping etc., thus disposes the most accordingly.
Mobile target is positioned, tests the speed by using laser scanner by the mobile dbjective state monitoring device that this utility model provides, compared to tachogenerators such as velocity radars, it is remarkably improved low speed and moves the certainty of measurement of target, and laser scanner is easily installed and low cost.Additionally, be can also readily be the abnormality (as moveed backward in sense channel, parking etc.) finding mobile target by laser scanner, thus quickly it is processed.
Fig. 5 is the flow chart according to based on laser scanner the mobile dbjective state monitoring method shown in an example embodiment.As it is shown in figure 5, the method 20 includes:
Step S210, moves target at least one entering a monitored area and is monitored, and makes laser scanner preset rate of scanning with one and moves the laser beam of a plurality of different angles of objective emission at least one.
Fig. 2 is the schematic diagram of the monitored area according to the laser scanner shown in an example.As in figure 2 it is shown, laser scanner has two kinds of mounting means: the first such as can be arranged at the top of sense channel as shown in laser scanner 111, and its scanning cross-section is vertical with the ground of sense channel；The second way such as shown in laser scanner 111 ', such as, can be arranged at above the side of sense channel, and the angle between its scanning cross-section and ground of sense channel is an acute angle or obtuse angle.Laser scanner 111 or 111 ' with a rate of scanning preset, such as 100Hz (scanning the most per second 100 times), at least one is moved target be monitored, it once can launch the laser beam of a plurality of different angles simultaneously, and starting point A of the scanning cross-section institute coverage that multi-stripe laser bundle is constituted is laser scanner 111 or 111 ' monitored area.The monitoring range of laser scanner is very big, generally can be continuously monitored 80 meters of scopes the most longer before and after it.
In certain embodiments; when using laser scanner that mobile target is monitored; because its monitoring range is the biggest; for avoiding unnecessary Monitoring Data to store; therefore would generally work as mobile target not by before laser scanner and reach a predeterminated position (relative to the position of laser scanner) and just start its Monitoring Data is processed, namely think and initially enter its monitored area from this predeterminated position.In practice, such as this predeterminated position can be arranged at 25 meters before laser scanner installation site, but this utility model is not limited.Introduce under above two mounting means separately below, the minimal distance requirement between adjacent two mobile targets.
For the first mounting means, assume initially that the setting height(from bottom) for example, 5.2 meters of laser scanner 111；Multiple mobile targets highly consistent, the most for example, 4.8 meters.When there being new mobile target range laser scanner 25 meters, i.e. initially entering monitoring section, in order to enable to be monitored the multiple mobile target in monitored area simultaneously, in can extrapolating monitored area, the minimum range between adjacent mobile target is 2 meters.
For the second mounting means, it is also assumed that the setting height(from bottom) of laser scanner 111 ' for example, 5.2 meters；Multiple mobile targets highly consistent, the most for example, 4.8 meters；Assume further that the installation site 3 meters (this parameter is for embodying the laser scanning cross section different angles from ground) that the centrage in laser scanning cross section is away from laser scanner 111 '.When there being new mobile target range laser scanner 25 meters, i.e. initially entering monitoring section, in order to enable to be monitored the multiple mobile target in monitored area simultaneously, in can extrapolating monitored area, the minimum range between adjacent mobile target is 2.5 meters.
Laser scanner is used to be easily installed and low cost as mobile dbjective state (as positioned, testing the speed) monitoring device, in actual applications without emphasizing the strict angle of inclination of sensor in erection code, different mounting inclination angle degree does not produce any impact to required precision and algorithm.Additionally, can accurately measure the movement velocity of the mobile target of low speed (such as 5 kilometers per hour) when using laser scanner to test the speed.
Step S220, for each mobile target in monitored area, determine that this moves at least one fixing point in target, receive laser scanner and move distance and the transmitting angle of corresponding laser beam thereof of at least one fixing point of target and the transmitting position (i.e. the installation site of laser scanner) of multi-stripe laser bundle at this detected the most in the same time.
First, when choosing above-mentioned fixing point, can choose laser scanner return data variation a bit, such as the point etc. in the obvious catastrophe point (such as moving the certain point near edge of the objective or afterbody etc.) of mobile target or mobile target sustained height, this utility model is not limited.
Generally, when using laser scanner to be scanned mobile target, laser scanner sends the multi-stripe laser bundle of different angles at synchronization.When certain laser beam runs into object reflection, return the distance between this pip and radiating laser beams position, and the angle of this laser beam.Fig. 3 is according to the laser beam schematic diagram shown in an example.As it is shown on figure 3, laser scanner can detect and return each multi-angle laser bundle in real time launches position to distance d between laser beam reflection position (the A point as on headstock forward position in Fig. 3) and the transmitting angle, θ of correspondence thereof.
Step S230, for above-mentioned mobile target, this detected according to the laser scanner received moves at least one fixing point transmitting angle with the distance of radiating laser beams position and corresponding laser beam thereof of target, determines and exports this and moves the target relative position at distance laser scanner the most in the same time.
Fig. 4 is the schematic diagram according to the Moving objects location method shown in an example.Without loss of generality, explanation as a example by returning, as laser scanner 110, the point that data change using a certain fixing point A on mobile target 100 forward position of selection in Fig. 4.As shown in Figure 4, when the scope of measurement is empty, does not i.e. have target to enter monitored area, search and preserve the corresponding angle γ of distance laser scanner 110 closest approach (such as B point in Fig. 4).When mobile target 100 is positioned at No. 1 position, distance S1 between a bit (i.e. fixing point A in Fig. 4) current distance radiating laser beams position that the return data detected according to laser sensor change and the angle [alpha] of this laser beam, determine that the relative position L1 of No. 1 positional distance laser sensor is:
L1=S1*cos α (1)
Or, L1=S1*sin (γ-α) (2)
When mobile target 100 moves to No. 2 positions along the moving direction shown in arrow, distance S2 between a bit (i.e. fixing point A in Fig. 4) current distance radiating laser beams position that the return data again detected according to laser scanner 110 change and the angle beta of this laser beam, determine that the relative position L2 of No. 2 positional distance laser sensors is:
L2=S2*cos β (3)
Or, it is also possible to calculate No. 2 position L2 by calculating mobile target displacement S3 between No. 1 position and No. 2 positions.
It is possible, firstly, to angle [alpha] and β according to two laser beams calculate angle, θ between S1 and S2, calculating S3 further according to the cosine law is:
Afterwards, the L1 tried to achieve further according to formula (1) calculates L2: L2=L1-S3.
In certain embodiments, treatment effeciency is improved in order to reduce process data volume, important monitoring range is carried out emphasis monitoring simultaneously, to provide certainty of measurement, monitoring range can also be carried out region division, thus for different regions, use different displacement interval or time interval measurement the positional information of output mobile target.Which namely judge the region that mobile target is positioned in subregion relative to the position of laser scanner, so that it is determined that determine with corresponding displacement interval or time interval and the positional information of output mobile target.Wherein move towards laser scanner when mobile target, and when it is the nearest apart from the relative position of laser scanner, above-mentioned time interval or displacement interval are the least.Such as, can be as shown in Figure 2, monitored area is divided into 4 regions, in these 4 regions, when mobile target moves to apart from No. 3 regions that laser scanner is nearest, corresponding determination the position of output mobile target fastest, namely mobile target often moves a least displacement or at interval of a minimum time, it is determined that and export the position once moving target.Concrete region divides and the setting of output frequency can determine according to reality application, and this utility model is not limited.
Further, while for Moving objects location, it is also possible to the moment detects the moving direction that each mobile target is current.Such as can according to mobile target current time and on a moment distance laser scanner different determine relative to position and to move the moving direction of target current time.First, such as can know that mobile target is currently directed towards laser scanner and moves according to the angle information that laser scanner returns in data, also be remote from laser scanner and move.When mobile target moves towards laser scanner, if current time moves the distance of target range laser scanner and moved the distance of target range laser scanner less than a upper moment, then it is assumed that mobile target is for advancing；If being more than, then it is assumed that mobile target is for retreating；And if being equal to, then it is assumed that mobile target stops mobile.And when mobile target moves away from laser scanner, if current time moves the distance of target range laser scanner and moved the distance of target range laser scanner more than a upper moment, then it is assumed that mobile target is for advancing；If being less than, then it is assumed that mobile target is for retreating.
In addition it is also possible to directly judge its direct of travel according to the change of mobile twice return laser light beam angle degree of target.Such as when moving towards laser scanner, the laser beam angular of return should be more and more less；And when moving away from laser scanner, then the laser beam angular returned then should be increasing.
According to the judgement to mobile target translational speed, whether state is for abnormal to can be easy to find tested mobile target, as moveed backward in sense channel, stopping etc., thus disposes the most accordingly.
Step S240, for above-mentioned mobile target, this detected according to the laser scanner received moves at least one fixing point transmitting angle with the distance of radiating laser beams position and corresponding laser beam thereof of target, determines and export this translational speed moving target.
Such as, with continued reference to Fig. 4, as above-mentioned, after determining No. 1 of mobile target 100 and No. 2 relative distances L1 between position and laser scanner and L2 or the displacement S3 determining between it, the speed v of mobile target 100 can be calculated according to following formula:
Wherein T1 and T2 is respectively mobile target 100 and moves to No. 1 position and the time of No. 2 positions.This time such as can be obtained by laser scanner.
In certain embodiments, multiple fixing point can also be chosen, the point (as moved the point of differing heights in target or moving the multiple obvious catastrophe points etc. in target) that the most multiple return data change, after calculating above-mentioned displacement respectively based on each fixing point, multiple shift values are fitted, such as be averaged calculating, calculates the speed of mobile target according to the average displacement finally given.Test the speed according to multiple fixing points, its accuracy value can be improved further.
The flow chart of based on laser scanner the mobile dbjective state monitoring method shown in another example embodiment according to Fig. 6.As shown in Figure 6, the method 30 includes:
Step S310, is monitored the monitored area of laser scanner.
This monitored area can be such as the maximum magnitude of the scanning cross-section covering of above-mentioned laser scanner, it is also possible to for above-mentioned for avoid unnecessary Monitoring Data to store, and the optimization monitoring region preset.
Furthermore, it is possible to use laser scanner itself to be monitored, it would however also be possible to employ as the equipment such as ground induction coil, light curtain is monitored, this utility model is not limited.
Step S320, it may be judged whether have mobile target to enter above-mentioned monitored area, if it has, then perform step S330；Otherwise, step S310 is returned.
Step S330, according to the output of laser scanner, moves target to this and is monitored.
Step S340, it is judged that this mobile status moving target is the most abnormal, if without exception, then perform step S360, otherwise performs step S350.
The mobile status of mobile target is abnormal such as include this move target move backward in sense channel, parking etc., concrete detection method is not as it was previously stated, repeat them here.
Step S350, output error message, to send target abnormal prompt.
Step S360, determines periodically and exports this and move the position of target, speed.
Moving target position, speed determination method as it has been described above, do not repeat them here.This cycle can be a fixing cycle, or can also be for above-mentioned according to the different displacement interval arranged corresponding to zones of different or time interval.
Step S370, it is judged that this moves whether target leaves monitored area, if it is, this is moved the monitoring of target by end；Otherwise return step S330.
For example, it is possible to these return data moving target tail are judged that this moves whether target leaves monitored area by laser scanner；Or, it is also possible to by installing ground induction coil, the equipment of light curtain detects, and this utility model is not limited.
Mobile target is positioned, tests the speed by using laser scanner by the mobile dbjective state monitoring method that this utility model provides, compared to tachogenerators such as velocity radars, it is remarkably improved low speed and moves the certainty of measurement of target, and laser scanner is easily installed and low cost.Additionally, be can also readily be the abnormality (as moveed backward in sense channel, parking etc.) finding mobile target by laser scanner, thus quickly it is processed.
Fig. 7 is the structural representation quickly checking system according to the vehicle shown in an example embodiment.As it is shown in fig. 7, vehicle quickly checks that system 40 includes: radiation imaging apparatus 410, mobile object monitoring device 10 and control device 420.
Wherein radiation imaging apparatus 410 includes: radiographic source 4110, for launching the radiation ray bundle detecting tested vehicle；, through the radiation ray of tested vehicle and/or there is the radiation ray scattered for detection in detector 4120；And image processing apparatus 4130, carry out imaging for the radiation ray signal detected according to detector 4120.
Mobile object monitoring device 10 is as it has been described above, for monitoring the mobile status of tested vehicle in vehicle quickly checks system 30.Such as, detect tested vehicle whether abnormal (as moveed backward in sense channel, parking etc.), detect the position of tested vehicle, determine the gait of march etc. of tested vehicle.Mobile object monitoring device 10 illustrate as above, do not repeat them here.
Control device 420 and be used for the output according to mobile object monitoring device 10, control radiation imaging apparatus to tested vehicle emissions radiation ray bundle.Such as, control device 420 and by mobile object monitoring device 10, tested vehicle cab part positioned, determine if already out radiogenic to go out to restraint position, when determine driver's cabin already out go out restraint position after, start to tested vehicle emissions radiation ray.Or, control device 420 and can also combine length information and the vehicle information thereof etc. of tested vehicle according to the positional information of mobile object monitoring device 10 output, velocity information and combine and make decisions going out Shu Shiji.
By using mobile object monitoring device, vehicle of the present utility model quickly checks that system can improve going out the degree of accuracy that Shu Shiji judges, thus effectively prevent because of the erroneous judgement to tested vehicle headstock part is the potential safety hazard brought of driver.
More than it is particularly shown and described illustrative embodiments of the present utility model.It should be understood that this utility model is not limited to disclosed embodiment, on the contrary, this utility model is intended to contain the various amendments and equivalent replacement comprised within the scope of the appended claims.
Claims (9)
1. a mobile dbjective state monitoring device, it is characterised in that including:
Laser scanner, is monitored at least one entering a monitored area is moved target, with one preset rate of scanning to described at least one move the laser beam of a plurality of different angles of objective emission；And
Processing module, for for each described mobile target: determine that this moves at least one fixing point in target；Receive described laser scanner and move at least one fixing point described in target and the launch between position first distance of described multi-stripe laser bundle and the transmitting angle of corresponding laser beam at this detected the most in the same time；And according to described first distance and the transmitting angle of corresponding laser beam, determine and export this and move target described the most in the same time apart from the relative position of described laser scanner.
Mobile dbjective state monitoring device the most according to claim 1, it is characterized in that, described processing module is additionally operable to for each described mobile target, the relative position of laser scanner described in target range is moved according to this determined, move the displacement interval that target is different at various time intervals or with this, export this and move the relative position that laser scanner described in target range is current.
Mobile dbjective state monitoring device the most according to claim 2, it is characterised in that move towards described laser scanner when this moves target, and when it is the nearest apart from the relative position of described laser scanner, described time interval or described displacement interval are the least.
Mobile dbjective state monitoring device the most according to claim 1 and 2, it is characterized in that, described processing module is additionally operable to, for each described mobile target, according to described first distance and the transmitting angle of corresponding laser beam, determine and export this translational speed moving target.
Mobile dbjective state monitoring device the most according to claim 4, it is characterized in that, at least one fixing point described includes multiple, according to described first distance and the transmitting angle of corresponding laser beam, determine that this translational speed moving target includes: move the plurality of fixing point of target at synchronization apart from the first different distance sent between position of described multi-stripe laser bundle according to this, it is thus achieved that this moves the target second distance in this moment；Move target at described described second distance the most in the same time according to this, determine that this moves the translational speed of target.
Mobile dbjective state monitoring device the most according to claim 5, it is characterised in that described processing module is by being averaged to described the first different distance, to obtain described second distance.
Mobile dbjective state monitoring device the most according to claim 1 and 2, it is characterised in that described processing module is additionally operable to, for each described mobile target, determine that this moves the moving direction of target current time.
Mobile dbjective state monitoring device the most according to claim 7, it is characterized in that, described processing module according to this move target current time and before the moment determine that this moves the moving direction of target current time apart from the different of described laser scanner relative to position.
9. a vehicle quickly checks system, it is characterised in that including:
Radiation imaging apparatus, including: radiographic source, for launching the radiation ray bundle detecting tested vehicle；, through the radiation ray of described tested vehicle and/or there is the radiation ray scattered for detection in detector；And image processing apparatus, carry out imaging for the radiation ray signal detected according to described detector；
According to the mobile object monitoring device described in any one of claim 1-8；And
Control device, for the output according to described mobile object monitoring device, control described radiation imaging apparatus to radiation ray bundle described in described tested vehicle emissions.
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