CN-121702289-B - Non-contact vehicle chassis height overrun detection method, device, equipment and medium

CN121702289BCN 121702289 BCN121702289 BCN 121702289BCN-121702289-B

Abstract

The invention relates to the technical field of data processing, and provides a non-contact vehicle chassis height overrun detection method, device, equipment and medium, which can generate a detection area according to false detection height and a scanning surface, and avoid false triggering caused by objects in irrelevant areas by defining a detection range; when the target vehicle is detected to enter the detection area, whether the chassis height of the target vehicle exceeds the limit is detected according to the chassis height, the false height and the safety height threshold, so that the overrun detection of the chassis height of the vehicle is rapidly completed on the premise of not damaging the vehicle or the RGV through non-contact detection.

Inventors

LI FURONG
HU SHUAI
WANG ZHENYU
YIN LONGKANG
WANG SHAOYUN
CHEN JING

Assignees

中建科工集团智慧停车科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260211

Claims (9)

1. The non-contact vehicle chassis height overrun detection method is characterized by comprising the following steps of: In response to a target RGV-based vehicle chassis height overrun detection instruction, configuring a false height and a safety height threshold for the target RGV; Acquiring a scanning surface of a laser radar deployed on the target RGV based on the headroom requirement; generating a detection area according to the false detection height and the scanning surface; When the target RGV starting operation is detected, synchronously starting the laser radar to monitor whether a vehicle enters the detection area in real time; when the target vehicle is detected to enter the detection area, calculating the chassis height of the target vehicle according to the laser radar; Detecting whether the chassis height of the target vehicle exceeds a limit or not according to the chassis height, the false height and the safety height threshold; the acquiring is based on a headroom requirement in front of a scan of a lidar deployed on the target RGV, the method further comprising: Acquiring the width of a working channel, the clearance height requirement, the size of a laser radar detection area and the detection distance requirement of the target RGV; Determining an inclined installation angle according to the width of the working channel, the clearance height requirement, the size of the laser radar detection area and the detection distance requirement; Acquiring the laser radar with a stable scanning function; Fixedly mounting the lidar to a front end of the target RGV according to the tilt mounting angle; Wherein, under the inclined installation angle, the scanning line of the laser radar does not conflict with the self structure of the target RGV; Under the installation height of the laser radar, the integral installation structure of the laser radar does not invade a working channel clearance reserved range and does not influence the normal passing of other vehicles except the target RGV; The laser radar detection area size comprises the distance from the vertical projection of the laser emission point to the connecting point between the mounting bracket and the RGV vehicle body, the distance between the laser emission point and the intersection point between the beam reverse extension line and the RGV vehicle body, the distance between the connecting point between the bracket and the RGV vehicle body and the clearance height vertex, the distance between the beam reverse extension line and the intersection point between the beam reverse extension line and the RGV vehicle body and the connecting point between the bracket and the RGV vehicle body, the distance between the connecting point between the bracket and the RGV vehicle body and the ground, and the vertical distance between the laser emission point and the mounting bracket.
2. The method of claim 1, wherein the configuring the false height and safety height thresholds of the target RGV comprises: acquiring the highest protrusion height and safety margin of an operating component of the target RGV; calculating the sum of the highest protrusion height and the safety margin to obtain the false detection height; acquiring the distance between the top surface of the target RGV and the ground as the top surface height; and calculating the sum of the top surface height and the false height to obtain the safety height threshold.
3. The non-contact vehicle chassis height overrun detecting method according to claim 1, wherein said generating a detection area from said false detection height and said scanning surface comprises: taking the top surface of the target RGV as a reference surface, and drawing a horizontal reference line at a position with the vertical distance from the reference surface as the false detection height; acquiring an intersection point of the reference line and the scanning surface; Acquiring a distance detected in advance in an expected travelling direction and a maximum passing width of a vehicle in a working channel of the target RGV; Calculating the value of the length direction of the detection area according to the distance detected in advance in the expected travelling direction and the inclined installation angle; The intersection point is taken as the midpoint of the width direction, and the intersection point symmetrically extends to the left and right sides according to the maximum passing width of the vehicle to obtain two end points of the width direction; And generating a closed rectangular area according to the numerical value of the length direction of the detection area and the two end points of the width direction, and taking the closed rectangular area as the detection area.
4. The non-contact vehicle chassis height overrun detection method according to claim 1, wherein the calculating the chassis height of the target vehicle from the lidar includes: transmitting laser pulses into the detection area by using the laser radar, and receiving reflected pulses; calculating a time difference between the emitted laser pulse and the reflected pulse; calculating the linear distance from the laser radar to the chassis of the target vehicle according to the time difference and the light speed; calculating the product of the linear distance and the cosine value of the inclined installation angle to obtain the vertical distance from the laser radar to the chassis of the target vehicle; And calculating the sum of the installation height and the vertical distance to obtain the chassis height of the target vehicle.
5. The non-contact vehicle chassis height overrun detection method according to claim 1, wherein the detecting whether the chassis height of the target vehicle is overrun based on the chassis height, the false height, and the safety height threshold value comprises: When the chassis height is greater than the safety height threshold, determining that the chassis height of the target vehicle is not overrun, or And when the chassis height is smaller than or equal to the safety height threshold value, determining that the chassis height of the target vehicle is out of limit.
6. The non-contact vehicle chassis height overrun detection method according to claim 5, wherein after the determining that the chassis height of the target vehicle is overrun, the method further comprises: and sending out an acousto-optic early warning signal and controlling the target RGV to slow down or stop running.
7. A noncontact vehicle chassis height overrun detecting device, characterized in that the noncontact vehicle chassis height overrun detecting device includes: a configuration unit for configuring a false detection height and a safety height threshold of a target RGV in response to a vehicle chassis height overrun detection instruction based on the target RGV; An acquisition unit configured to acquire a scanning plane of a lidar deployed on the target RGV based on a headroom requirement; the generating unit is used for generating a detection area according to the false detection height and the scanning surface; The monitoring unit is used for synchronously starting the laser radar to monitor whether a vehicle enters the detection area in real time when the target RGV starting operation is detected; A calculating unit, configured to calculate a chassis height of a target vehicle according to the lidar when it is detected that the target vehicle enters the detection area; The detection unit is used for detecting whether the chassis height of the target vehicle exceeds the limit according to the chassis height, the false height and the safety height threshold; The acquiring is based on headroom requirements in front of a scan of a lidar deployed on the target RGV, the apparatus further comprising: Acquiring the width of a working channel, the clearance height requirement, the size of a laser radar detection area and the detection distance requirement of the target RGV; Determining an inclined installation angle according to the width of the working channel, the clearance height requirement, the size of the laser radar detection area and the detection distance requirement; Acquiring the laser radar with a stable scanning function; Fixedly mounting the lidar to a front end of the target RGV according to the tilt mounting angle; Wherein, under the inclined installation angle, the scanning line of the laser radar does not conflict with the self structure of the target RGV; Under the installation height of the laser radar, the integral installation structure of the laser radar does not invade a working channel clearance reserved range and does not influence the normal passing of other vehicles except the target RGV; The laser radar detection area size comprises the distance from the vertical projection of the laser emission point to the connecting point between the mounting bracket and the RGV vehicle body, the distance between the laser emission point and the intersection point between the beam reverse extension line and the RGV vehicle body, the distance between the connecting point between the bracket and the RGV vehicle body and the clearance height vertex, the distance between the beam reverse extension line and the intersection point between the beam reverse extension line and the RGV vehicle body and the connecting point between the bracket and the RGV vehicle body, the distance between the connecting point between the bracket and the RGV vehicle body and the ground, and the vertical distance between the laser emission point and the mounting bracket.
8. A computer device, the computer device comprising: And a processor executing the instructions stored in the memory to implement the noncontact vehicle chassis height overrun detection method according to any one of claims 1 to 6.
9. A computer readable storage medium having stored therein at least one instruction for execution by a processor in a computer device to implement the non-contact vehicle chassis height overrun detection method as claimed in any one of claims 1 to 6.

Description

Non-contact vehicle chassis height overrun detection method, device, equipment and medium Technical Field The present invention relates to the field of data processing technologies, and in particular, to a method, an apparatus, a device, and a medium for detecting an overrun in a chassis height of a non-contact vehicle. Background In the fields of logistics transportation, industrial production and the like, a carrier such as an RGV (Rail Guided Vehicle ) and the like is widely used for material transfer, and other small vehicles (such as a working trolley and an auxiliary transport vehicle) are often arranged in a working channel of the carrier. Therefore, in order to avoid collision of the carrier with the front vehicle, the chassis height of the front vehicle needs to be detected. If the vehicle chassis is too low, interference with the raised structure or running components of the carrier may occur, thereby causing a safety accident. In the prior art, the vehicle chassis height detection technology is mainly divided into two types, namely, an air bag is arranged on the surface of a carrier, the height is detected through contact feedback of the air bag and the vehicle chassis, and the detection is carried out by adopting a laser direct irradiation mode. However, the two technologies have obvious defects that the airbag occupies vertical space on the surface of the carrier after being installed, so that the clearance height of a channel is reduced, the passing of partial high vehicles or materials is limited, when laser direct irradiation detection is performed, the detection blind area is easy to form due to the influence of the laser emission angle, the shielding of the vehicle chassis structure and the like, the full-range coverage detection cannot be realized, and the potential safety hazard exists. Therefore, there is a need for a non-contact vehicle chassis height overrun detection technology that does not affect the channel clearance height and no detection dead zone, so as to solve the deficiencies of the prior art and ensure the safety and the traffic flexibility of the operation of the carrier. Disclosure of Invention In view of the foregoing, it is necessary to provide a non-contact vehicle chassis height overrun detection method, device, apparatus and medium, which aims to solve the problems that the existing vehicle chassis height overrun detection method affects the channel clearance height and has detection dead zones. A non-contact vehicle chassis height overrun detection method, the non-contact vehicle chassis height overrun detection method comprising: In response to a target RGV-based vehicle chassis height overrun detection instruction, configuring a false height and a safety height threshold for the target RGV; Acquiring a scanning surface of a laser radar deployed on the target RGV based on the headroom requirement; generating a detection area according to the false detection height and the scanning surface; When the target RGV starting operation is detected, synchronously starting the laser radar to monitor whether a vehicle enters the detection area in real time; when the target vehicle is detected to enter the detection area, calculating the chassis height of the target vehicle according to the laser radar; And detecting whether the chassis height of the target vehicle exceeds the limit according to the chassis height, the false height and the safety height threshold. A noncontact vehicle chassis height overrun detecting device, the noncontact vehicle chassis height overrun detecting device comprising: a configuration unit for configuring a false detection height and a safety height threshold of a target RGV in response to a vehicle chassis height overrun detection instruction based on the target RGV; An acquisition unit configured to acquire a scanning plane of a lidar deployed on the target RGV based on a headroom requirement; the generating unit is used for generating a detection area according to the false detection height and the scanning surface; The monitoring unit is used for synchronously starting the laser radar to monitor whether a vehicle enters the detection area in real time when the target RGV starting operation is detected; A calculating unit, configured to calculate a chassis height of a target vehicle according to the lidar when it is detected that the target vehicle enters the detection area; And the detection unit is used for detecting whether the chassis height of the target vehicle exceeds the limit according to the chassis height, the false height and the safety height threshold value. A computer device, the computer device comprising: and a processor executing the instructions stored in the memory to implement the non-contact vehicle chassis height overrun detection method. A computer readable storage medium having stored therein at least one instruction for execution by a processor in a computer device to implement the non-contact vehicle chassis height o