CN207817005U - Vehicle speed measurement device - Google Patents
Vehicle speed measurement device Download PDFInfo
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- CN207817005U CN207817005U CN201721390208.4U CN201721390208U CN207817005U CN 207817005 U CN207817005 U CN 207817005U CN 201721390208 U CN201721390208 U CN 201721390208U CN 207817005 U CN207817005 U CN 207817005U
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Abstract
The utility model is to belong to speed measurement techniques field about a kind of vehicle speed measurement device, which includes：One or more laser sensors, configuration detect plane between ground and the top of wheel to be formed；Wherein, the laser sensor includes：Transmitting module, for after detecting that at least one wheel enters the detection plane, emitting the laser of a plurality of different angle to each wheel with a default scan frequency；Receiving module, for receive the laser of reflection with calculate different moments each wheel and the multi-stripe laser transmitting position first apart from and with the described first launch angle apart from corresponding laser；Movement speed computing module is connect with the laser sensor, the movement speed for calculating according to first distances of different moments and with the described first launch angle apart from corresponding laser each wheel.The device can improve the accuracy rate of tachometric survey.
Description
Technical field
The utility model is related to speed measurement techniques fields, in particular to a kind of vehicle speed measurement device.
Background technology
Currently, when the speed to vehicle is detected, generally use mode is：By installing the thunder that tests the speed at the top of passageway
It is carried out up to equal tachogenerators.
But it when being detected through the above way to the speed of vehicle, has the disadvantage that：On the one hand, velocity radar
It is easy (such as to be met haze or sleety weather by body shapes, current weather, since microwave transmission can be interfered, be easy
Cause the detection to vehicle not prompt enough) etc. factors influence, cause the velocity error measured larger；On the other hand, work as vehicle body
Distance areas laser be less than predicted detection apart from when, it may appear that check frequency, and then lead to not examine the speed of vehicle
It surveys.
It should be noted that the information in above-mentioned background technology part utility model is only used for reinforcing to the utility model
The understanding of background, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Invention content
The purpose of this utility model is to provide a kind of vehicle speed measurement devices, and then overcome at least to a certain extent
One or more problem caused by the limitation and defect of the relevant technologies.
One side according to the present utility model provides a kind of vehicle speed measurement device, including：
One or more laser sensors, configuration detect plane between ground and the top of wheel to be formed；Wherein, institute
Stating laser sensor includes：
Transmitting module, for after detecting that at least one wheel enters the detection plane, scanning frequency to be preset with one
Rate emits the laser of a plurality of different angle to each wheel；And
Receiving module, for receiving the laser of reflection to calculate different moments each wheel and the multi-stripe laser
Transmitting position first distance and with the described first launch angle apart from corresponding laser；
Movement speed computing module is connect with the laser sensor, for first distance according to different moments
And the movement speed of each wheel is calculated with the described first launch angle apart from corresponding laser.
In a kind of exemplary embodiment of the utility model, the vehicle estimates measuring device and further includes：
Speed averaging module is averaged for the speed to each wheel, obtains the speed of vehicle.
In a kind of exemplary embodiment of the utility model, the movement speed computing module includes：
Fixed point determining module, for determining multiple fixed points on each wheel respectively；
Second distance obtains module, is used for the multiple fixed point according to each wheel described in synchronization distance
The first different distances between laser sensor, obtain the wheel the synchronization second distance；
Movement speed determining module, for according to described the second of wheel different moments described in two different moments
Distance determines the movement speed of each wheel.
It in a kind of exemplary embodiment of the utility model, is averaged to the first different distance, obtains institute
State second distance.
In a kind of exemplary embodiment of the utility model, the vehicle speed measurement device further includes：
Relative position computing module, for using it is described first distance and with the described first hair apart from corresponding laser
Firing angle degree calculates relative position of the wheel in the different moments apart from the laser.
In a kind of exemplary embodiment of the utility model, calculates the wheel and swash apart from described in the different moments
The relative position of light device includes：
Relative position according to the wheel in the different moments apart from the laser, with different time intervals or
With the different displacement interval of the wheel, the wheel is calculated apart from the current relative position of the laser sensor.
In a kind of exemplary embodiment of the utility model, the vehicle speed measurement device further includes：
Moving direction determining module is used for according to each wheel at current time and historical juncture apart from the laser
The different relative positions of sensor determine the moving direction at the wheel current time.
In a kind of exemplary embodiment of the utility model, the size of the time interval is big with the displacement interval
It is small to be determined according to the moving direction of the vehicle and the size of the relative position.
In a kind of exemplary embodiment of the utility model, the laser sensor is set to apart from ground 80mm-
At 400mm.
A kind of vehicle speed measurement device of the utility model, by configuring laser sensor in predeterminated position to form detection
Plane emits the laser of a plurality of different angle to wheel, then according to each vehicle when having detected that wheel enters the detection plane
Wheel with multi-stripe laser transmitting position different moments first apart from and it is true with the first launch angle apart from corresponding laser
Make the movement speed of wheel；On the one hand, detection plane is formed then to vehicle by the way that laser sensor is arranged in predeterminated position
Wheel tests the speed, and avoids influencing caused by laser sensor due to body color difference, improves the accuracy rate to test the speed；It is another
Aspect is positioned and is tested the speed to wheel using laser sensor, can be notable compared to tachogenerators such as velocity radars
The measurement accuracy of wheel that is moved for low speed of raising, and laser sensor is more easily installed, while can also be saved
Cost；Further, since there are vehicle multiple wheels, the utility model can ensure at any time all at least one
A wheel is in detection zone, is realized and is detected to the non-blind area of car speed, can continuously, accurately detect each vehicle
Speed.
It should be understood that above general description and following detailed description is only exemplary and explanatory, not
The utility model can be limited.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets the utility model
Embodiment, and for explaining the principles of the present invention together with specification.It should be evident that the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 schematically shows a kind of block diagram of vehicle-speed detecting device.
Fig. 2 schematically shows a kind of schematic diagram of the detection zone of laser sensor.
Fig. 3 schematically shows the exemplary plot of a Laser emission.
Fig. 4 schematically shows a kind of schematic diagram of vehicle-speed detecting device.
Fig. 5 schematically shows a kind of flow chart of vehicle speed detection method.
Specific implementation mode
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the utility model will
More fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described spy
Sign, structure or characteristic can be in any suitable manner incorporated in one or more embodiments.In the following description, it carries
For many details to provide fully understanding to the embodiment of the utility model.However, those skilled in the art will
, it is realized that the technical solution of the utility model can be put into practice and omit it is one or more in the specific detail, or can be with
Using other methods, constituent element, device, step etc..In other cases, known solution is not shown in detail or describes to keep away
Exempt from that a presumptuous guest usurps the role of the host and so that the various aspects of the utility model thicken.
In addition, attached drawing is only the schematic illustrations of the utility model, it is not necessarily drawn to scale.It is identical attached in figure
Icon note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in attached drawing
It is functional entity, it not necessarily must be corresponding with physically or logically independent entity.Software form may be used to realize this
A little functional entitys, or these functional entitys are realized in one or more hardware modules or integrated circuit, or heterogeneous networks and/
Or these functional entitys are realized in processor device and/or microcontroller device.
The utility model additionally provides a kind of vehicle-speed detecting device, refering to what is shown in Fig. 1, the vehicle-speed detecting device
May include：One or more laser sensors 500 and movement speed computing module 505, wherein laser sensor can wrap
Include transmitting module 501 and receiving module 503.
In above-mentioned vehicle speed measurement device, on the one hand, by the way that laser is arranged between ground and the top of wheel
Sensor plane and then tests the speed to wheel with forming detection, avoids due to body color difference the shadow caused by laser sensor
It rings, improves the accuracy rate to test the speed；On the other hand, wheel is positioned and is tested the speed using laser sensor, compared to survey
The tachogenerators such as fast radar can significantly improve the measurement accuracy of the wheel moved for low speed, and laser sensor
It more easily installs, while cost can also be saved；Further, since vehicle has multiple wheels, the utility model
It can ensure that all at least one wheel is in detection zone at any time, realize and the non-blind area of car speed is detected,
It can continuously, accurately detect the speed of each vehicle.
In the following, detailed explanation will be carried out to various pieces in above-mentioned vehicle speed measurement device in this example embodiment
And explanation.
First, one or more laser sensors 100, it is flat that configuration forms detection between ground and the top of wheel
Face.Specifically：
Refering to what is shown in Fig. 2, one or more laser sensors can be only fitted at the 80mm-400mm of ground, also may be used
To be other height, such as 80mm can be less than or be higher than 400mm, there is no special restriction on this for this example；Further
, it should be noted that the allocation position of laser sensor is configured according to the height on the chassis of vehicle, at some
In the case of special, the height on chassis could possibly be higher than 400mm, therefore can also raise predeterminated position.In this example,
By the way that laser sensor is arranged in predeterminated position, it is flat that detection is then formed according to the laser of the different angle of laser transmitter projects
Face, the detection plane may include vertical detection plane and horizontal detection plane etc..
Secondly, above-mentioned laser sensor further includes：Transmitting module 501 and receiving module 503.Wherein：
Transmitting module 501 can be used for after detecting that at least one wheel enters the detection plane, default with one
Scan frequency emits the laser of a plurality of different angle to each wheel.Specifically：
Refering to what is shown in Fig. 2, the mounting means of above-mentioned laser sensor 100 may include two kinds：The first, which can be referred to, swashs
Shown in optical sensor 100, such as it can be set to the side of sense channel, 100 scanning cross-section of laser sensor and detection
The ground in channel is parallel；Second can be with shown in reference laser sensor 100', such as inclined can be set to sense channel
Side, angle between the scanning cross-section of laser sensor 100' and the ground of sense channel is in an acute angle or obtuse angle；Laser
Sensor 100 or 100' are with a preset frequency, such as 100Hz (i.e. per second scanning 100 times), at least one wheel into
Row detection, laser sensor 100 or 100' can once emit the laser of a plurality of different angle simultaneously, what multi-stripe laser was constituted
The starting point A of scanning cross-section institute coverage area is laser sensor 100 or the detection zone of 100'；The detection of laser sensor
Range is bigger, usually can continuously be detected to its front and back 30 meters -40 meters even longer ranges.For example：
It can detect whether that wheel enters detection zone first with laser sensor 100 or 100', such as can be with
It is No. 1 position shown in Fig. 2；When detecting that at least one wheel enters No. 1 position, to a plurality of different angles of wheel transmitting
The laser of degree.
Further, when being detected to wheel using laser sensor 100, because its detection range is excessive, in order to keep away
Exempt from unnecessary detection data storage, therefore before wheel is by laser sensor and a predeterminated position would generally be reached
(position relative to laser scanner) just starts to handle the detection data of laser sensor, it is therefore to be understood that
It is that since above-mentioned predeterminated position, wheel has been put into the detection zone of laser sensor；Above-mentioned predeterminated position can for example be set
It is set to：It it is 20 meters apart from the position of laser sensor, or 25 meters or 28 meters, it is special that this example embodiment party does not do this
Limitation.
Further, receiving module 503 can be used for receiving the laser of reflection to calculate different moments each vehicle
Wheel with the multi-stripe laser transmitting position first apart from and with the described first launch angle apart from corresponding laser.In detail
For thin：
Refering to what is shown in Fig. 3, above-mentioned first distance for example can be the d in Fig. 3, above-mentioned launch angle for example can be Fig. 3
In θ.For example：Receive the reflection position of each wheel and multi-stripe laser that laser sensor 100 was detected in different moments
The launch angle θ of the corresponding laser of first distance d and the first distance d of (laser sensor).
Finally, movement speed computing module 505 is connect with the laser sensor, for according to described in different moments
First distance and the movement speed that each wheel is calculated with the described first launch angle apart from corresponding laser.Wherein,
Movement speed computing module 505 may include：Fixed point determining module, for determining multiple fixations on each wheel respectively
Point；Second distance obtains module, is used for according to the multiple fixed point of each wheel in synchronization apart from the laser
The first different distances between sensor, obtain the wheel the synchronization second distance；Movement speed determines
Module determines each wheel for the second distance according to wheel different moments described in two different moments
Movement speed.Specifically：
When there is no wheel to enter detection zone, measures and preserve apart from 100 closest approach of laser sensor (with reference in figure 4
Point B) corresponding angle γ；When wheel 101 is located at No. 1 position shown in Fig. 2, detected according to laser sensor 100
The distance between more changed (with reference to the fixed point A in figure 4) the current distance Laser emission position of returned data S1
(S1 for example can be to be the average value of multiple first distances in the first moment, such as can beWherein,
S1'、S2'、…、Sn' be different first distances of the n fixed point in the first moment T1 between laser sensor on wheel)
Angle [alpha] corresponding with the laser thereby determines that the relative position L1 of No. 1 positional distance laser sensor 100 is：L1=S1*cos
α, it is L that can also be write as1=S1*sin(γ-α)；When wheel is moved to No. 2 positions along moving direction shown in arrow, root
More changed (with reference to the fixed point A in the figure 4) current distance of returned data detected again according to laser sensor 100
(S2 for example can be the average value of multiple first distances in the second moment to the distance between Laser emission position S2, such as can be with
It isWherein, S1″、S2″、…、Sn" for n fixed point on wheel in the second moment T2 apart from laser
The first different distances between sensor) corresponding with laser angle beta, to determine No. 2 positional distance laser sensors 100
Relative position L2 be：L2=S2*cosβ；Further, can also by calculate wheel No. 1 position and No. two positions it
Between displacement S3 calculate the relative position L2 between No. 2 positions and laser sensor 100.It is possible, firstly, to according to two laser
Angle [alpha] and β calculate S1 and S2 between angle theta, then further according to the cosine law calculate S3 be：
Therefore, the speed v of wheel can be calculated according to S3, and have：
Further, in order to can be more accurately detected to the speed of vehicle, above-mentioned vehicle estimates measuring device also
Including：Speed averaging module is averaged for the speed to each wheel, obtains the speed of vehicle.Specifically：
For example, the speed of each wheel is v1、v2、v3And v4, then the speed of vehicle can be：
Herein it should be noted that for wheel count for four vehicles, the speed of vehicle can also be multiple wheels
The average value of speed, there is no special restriction on this for this example.
Further, the vehicle speed measurement device further includes：Relative position computing module, for utilizing described the
One distance and with the described first launch angle apart from corresponding laser, calculate the wheel in the different moments apart from institute
State the relative position of laser.Wherein, calculate wheel includes in relative position of the different moments apart from the laser：Root
Relative position according to the wheel in the different moments apart from the laser, with different time intervals or with the wheel
Different displacement intervals calculates the wheel apart from the current relative position of the laser sensor.Specifically：
When there is no wheel to enter detection zone, measures and preserve apart from 100 closest approach of laser sensor (with reference in figure 4
Point B) corresponding angle γ；When wheel 101 is located at No. 1 position shown in Fig. 2, detected according to laser sensor 100
The distance between more changed (with reference to the fixed point A in figure 4) the current distance Laser emission position of returned data S1 with
The corresponding angle [alpha] of the laser thereby determines that the relative position L1 of No. 1 positional distance laser sensor 100 is： L1=S1* cos α,
Can also be write as is L1=S1*sin(γ-α)；When wheel is moved to No. 2 positions along moving direction shown in arrow, according to
More changed (with reference to the fixed point A in the figure 4) current distance of returned data that laser sensor 100 detects again swashs
The distance between light emitting position S2 angle betas corresponding with the laser, to determine the phase of No. 2 positional distance laser sensors 100
It is to position L2：L2=S2*cosβ.Herein it should be added that, when wheel towards laser sensor move, and wheel with
When the relative position of laser sensor is closer, time interval or the displacement interval are smaller.
Further, the vehicle speed measurement device further includes：Moving direction determining module, for according to each described
Wheel is when the different relative positions of current time and historical juncture apart from the laser sensor determine that the wheel is current
The moving direction at quarter.Wherein, the size of the size of the time interval and the displacement interval is according to the mobile side of the vehicle
To and the size of the relative position be determined.Specifically：
It is possible, firstly, to know that mobile target is currently directed towards according to the angle information in 100 returned data of laser sensor
Laser sensor 100 moves, or is moved far from laser sensor 100.When mobile target is moved towards laser sensor 100
When, if distance of the current time wheel apart from laser sensor 100 is less than last moment wheel apart from laser sensor 100
Distance, then it is assumed that wheel be advance；If it is being to retreat more than, then it is assumed that wheel；And if it is equal to, then it is assumed that wheel stops
Only move.And when wheel is moved far from laser sensor 100, if current time wheel apart from laser sensor 100 away from
The distance of laser sensor 100 with a distance from more than last moment wheel, then it is assumed that wheel is to advance；If it is less than, then it is assumed that
Wheel is to retreat.In addition it is also possible to directly judge its direction of travel according to the variation of wheel return laser light beam angle degree twice.Example
Such as when being moved towards laser sensor 100, the laser angle of return is answered smaller and smaller；And it is moved when far from laser sensor 100
When dynamic, then the laser angle returned then should be increasing.
In the following, provide a kind of vehicle speed detection method with to vehicle speed detector provided by the utility model into traveling
The explanation of one step and explanation.Refering to what is shown in Fig. 5, the car speed method may include step S110- steps S140.Wherein：
In step s 110, configuration can form the laser sensor of detection plane between ground and the top of wheel.
In this example embodiment, refering to what is shown in Fig. 2, above-mentioned predeterminated position can be apart from ground 80mm-400mm
Place can also be other height, such as can be less than 80mm or be higher than 400mm, and there is no special restriction on this for this example；
Further, it should be noted that the predeterminated position is configured according to the height on the chassis of vehicle, special at some
In the case of, the height on chassis could possibly be higher than 400mm, therefore can also raise predeterminated position.In this example, pass through
Laser sensor is set in predeterminated position, detection plane is then formed according to the laser of the different angle of laser transmitter projects,
The detection plane may include vertical detection plane and horizontal detection plane etc..
In the step s 120, after detecting that at least one wheel enters the detection plane, with a default scanning frequency
Rate emits the laser of a plurality of different angle to each wheel.
In this example embodiment, refering to what is shown in Fig. 2, the mounting means of above-mentioned laser sensor 100 may include two
Kind：The first can be with shown in reference laser sensor 100, such as can be set to the side of sense channel, laser sensor
100 scanning cross-section is parallel with the ground of sense channel；Second can be with shown in reference laser sensor 100', such as can incline
The oblique side for being set to sense channel, the angle between the scanning cross-section of laser sensor 100' and the ground of sense channel are in
One acute angle or obtuse angle；Laser sensor 100 or 100' are with a preset frequency, such as 100Hz (i.e. per second scanning 100 times),
At least one wheel is detected, laser sensor 100 or 100' can once emit swashing for a plurality of different angle simultaneously
The starting point A of light, the scanning cross-section institute coverage area that multi-stripe laser is constituted is laser sensor 100 or the detection zone of 100'
Domain；The detection range of laser sensor is bigger, can usually be carried out to its front and back 30 meters -40 meters even longer ranges continuous
Detection.Specifically：
It can detect whether that wheel enters detection zone first with laser sensor 100 or 100', such as can be with
It is No. 1 position shown in Fig. 2；When detecting that at least one wheel enters No. 1 position, to a plurality of different angles of wheel transmitting
The laser of degree.
In step s 130, receive each wheel that the laser sensor was detected in different moments with it is described a plurality of
Laser transmitting position first distance and with the described first launch angle apart from corresponding laser.
In this example embodiment, refering to what is shown in Fig. 3, above-mentioned first distance for example can be the d in Fig. 3, above-mentioned hair
Firing angle degree for example can be the θ in Fig. 3.Specifically：
Receive the reflection position (laser of each wheel and multi-stripe laser that laser sensor 100 was detected in different moments
Sensor) the first distance d and the corresponding laser of the first distance d launch angle θ.
In step S140, according to it is described first distance and with the described first launch angle meter apart from corresponding laser
Calculate the movement speed of each wheel.
In this example embodiment, the movement speed for calculating each wheel may include：According to the described more of the wheel
Different first distances of a fixed point in synchronization between the laser sensor, by the first different distances
Averagely obtained the wheel the synchronization second distance；Then according to the wheel described in different moments
Second distance determines the movement speed of the wheel.Specifically：
When there is no wheel to enter detection zone, measures and preserve apart from 100 closest approach of laser sensor (with reference in figure 4
Point B) corresponding angle γ；When wheel 101 is located at No. 1 position shown in Fig. 2, detected according to laser sensor 100
The distance between more changed (with reference to the fixed point A in figure 4) the current distance Laser emission position of returned data S1
(S1 for example can be to be the average value of multiple first distances in the first moment, such as can beWherein,
S1'、 S2'、…、Sn' for n fixed point on wheel different first of the first moment T1 between laser sensor away from
From) corresponding with laser angle [alpha], thereby determine that the relative position L1 of No. 1 positional distance laser sensor 100 is：L1=S1*
Cos α, it is L that can also be write as1=S1*sin(γ-α)；When wheel is moved to No. 2 positions along moving direction shown in arrow,
The returned data more changed (with reference to the fixed point A in figure 4) detected again according to laser sensor 100 currently away from
From the distance between Laser emission position S2 (S2 for example can be multiple first in the second moment with a distance from average value, such as can
To beWherein, S1″、S2″、…、Sn" swash in the second moment T2 distance for n fixed point on wheel
The first different distances between optical sensor) corresponding with laser angle beta, to determine No. 2 positional distance laser sensors
100 relative position L2 is：L2=S2*cosβ；It further, can also be by calculating wheel in No. 1 position and No. two positions
Displacement S3 between setting calculates the relative position L2 between No. 2 positions and laser sensor 100.It is possible, firstly, to according to two
The angle [alpha] and β of laser calculate the angle theta between S1 and S2, and then calculating S3 further according to the cosine law is：
Therefore, the speed v of wheel can be calculated according to S3, and have：
In this exemplary another embodiment, above-mentioned Vehicle Velocity Measurement Method can also include：To each wheel
Speed is averaged, and the speed of vehicle is obtained.For example：
Such as the speed of each wheel is v1、v2、v3And v4, then the speed of vehicle can be：This
It should be noted that for wheel count for four vehicles, the speed of vehicle can also be the speed of multiple wheels at place
The average value of degree, there is no special restriction on this for this example.
In addition, although describing each step of method in the utility model with particular order in the accompanying drawings, this is simultaneously
Undesired or hint must execute these steps according to the particular order, or have to carry out the step ability shown in whole
Realize desired result.Additional or alternative, it is convenient to omit multiple steps are merged into a step and executed by certain steps,
And/or a step is decomposed into execution of multiple steps etc..
Above-mentioned described feature, structure or characteristic can be incorporated in one or more embodiment party in any suitable manner
In formula, if possible, it is characterized in discussed in each embodiment interchangeable.In the above description, it provides many specific thin
Section is to provide fully understanding to the embodiment of the utility model.It will be appreciated, however, by one skilled in the art that can be real
The technical solution of the utility model is trampled without one or more in the specific detail, or others side may be used
Method, component, material etc..In other cases, known features, material or operation are not shown in detail or describe to avoid fuzzy sheet
The various aspects of utility model.
In this specification, term "one", " one ", "the", " described " and "at least one" indicating there are one or
Multiple element/component parts/etc.；Term "comprising", " comprising " and " having " are indicating the open meaning being included
And refer to the element in addition to listing/component part/also may be present other than waiting other element/component part/etc.；Term " the
One ", " second ", " third " and " the 4th " etc. only uses as label, is not the quantity limitation to its object.
It should be appreciated that the utility model be not limited in its application to this specification proposition component detailed construction and
Arrangement.The utility model can have other embodiment, and can realize and execute in many ways.Aforementioned change
Shape form and modification are fallen in the scope of the utility model.It should be appreciated that this specification utility model and restriction
The utility model extend to text and/or drawings mention or two or more apparent independent features it is all alternative
Combination.All these different combinations constitute multiple alternative aspects of the utility model.Embodiment described in this specification
It illustrates the best mode for becoming known for realizing the utility model, and those skilled in the art will be enable new using this practicality
Type.
Claims (9)
1. a kind of vehicle speed measurement device, which is characterized in that including：
One or more laser sensors, configuration detect plane between ground and the top of wheel to be formed；Wherein, described to swash
Optical sensor includes：
Transmitting module, for when detect at least one wheel enter the detection plane after, with a default scan frequency to
Each wheel emits the laser of a plurality of different angle；And
Receiving module, for receiving the laser of reflection to calculate the hair of the different moments each wheel and the multi-stripe laser
Penetrate position first distance and with the described first launch angle apart from corresponding laser；
Movement speed computing module is connect with the laser sensor, for according to different moments it is described first distance and
The movement speed of each wheel is calculated with the described first launch angle apart from corresponding laser.
2. vehicle speed measurement device according to claim 1, which is characterized in that the vehicle is estimated measuring device and also wrapped
It includes：
Speed averaging module is averaged for the speed to each wheel, obtains the speed of vehicle.
3. vehicle speed measurement device according to claim 1, which is characterized in that the movement speed computing module packet
It includes：
Fixed point determining module, for determining multiple fixed points on each wheel respectively；
Second distance obtains module, is used for according to the multiple fixed point of each wheel in synchronization apart from the laser
The first different distances between sensor, obtain the wheel the synchronization second distance；
Movement speed determining module, for according to described the second of wheel different moments described in two different moments away from
From determining the movement speed of each wheel.
4. vehicle speed measurement device according to claim 3, which is characterized in that carried out to the first different distance
It is average, obtain the second distance.
5. vehicle speed measurement device according to claim 1, which is characterized in that the vehicle speed measurement device also wraps
It includes：
Relative position computing module, for using it is described first distance and with described first angle of departure apart from corresponding laser
Degree, calculates relative position of the wheel in the different moments apart from the laser sensor.
6. vehicle speed measurement device according to claim 5, which is characterized in that calculate the wheel when described different
Carving the relative position apart from the laser sensor includes：
Relative position according to the wheel in the different moments apart from the laser sensor, with different time intervals or
With the different displacement interval of the wheel, the wheel is calculated apart from the current relative position of the laser sensor.
7. vehicle speed measurement device according to claim 1, which is characterized in that the vehicle speed measurement device also wraps
It includes：
Moving direction determining module is used for according to each wheel at current time and historical juncture apart from the laser sensing
The different relative positions of device determine the moving direction at the wheel current time.
8. vehicle speed measurement device according to claim 6, which is characterized in that the size of the time interval with it is described
The size of displacement interval is determined according to the moving direction of the vehicle and the size of the relative position.
9. according to any vehicle speed measurement devices of claim 1-8, which is characterized in that the laser sensor setting
In at the 80mm-400mm of ground.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110881275A (en) * | 2018-10-26 | 2020-03-13 | 深圳市大疆创新科技有限公司 | Speed measuring method, speed measuring device, toy gun, movable robot and control system |
| CN112485462A (en) * | 2020-11-19 | 2021-03-12 | 易思维（杭州）科技有限公司 | Train speed measuring system |
| CN117542208A (en) * | 2023-11-22 | 2024-02-09 | 广东泓胜科技股份有限公司 | Dynamic speed measuring system and method for automobile |
| CN117830974A (en) * | 2024-03-04 | 2024-04-05 | 天津所托瑞安汽车科技有限公司 | Vehicle speed determining method, device and equipment based on wheels and storage medium |
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2017
- 2017-10-25 CN CN201721390208.4U patent/CN207817005U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110881275A (en) * | 2018-10-26 | 2020-03-13 | 深圳市大疆创新科技有限公司 | Speed measuring method, speed measuring device, toy gun, movable robot and control system |
| CN112485462A (en) * | 2020-11-19 | 2021-03-12 | 易思维（杭州）科技有限公司 | Train speed measuring system |
| CN117542208A (en) * | 2023-11-22 | 2024-02-09 | 广东泓胜科技股份有限公司 | Dynamic speed measuring system and method for automobile |
| CN117830974A (en) * | 2024-03-04 | 2024-04-05 | 天津所托瑞安汽车科技有限公司 | Vehicle speed determining method, device and equipment based on wheels and storage medium |
| CN117830974B (en) * | 2024-03-04 | 2024-05-07 | 天津所托瑞安汽车科技有限公司 | Vehicle speed determining method, device and equipment based on wheels and storage medium |
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