Method and device for monitoring state of moving object and system for fast inspecting vehicle

Patent metadata

Field	Value
Publication number	US-10495661-B2
Application number	US-201615278447-A
Country	US
Kind code	B2
Filing date	Sep 28, 2016
Priority date	Dec 4, 2015
Publication date	Dec 3, 2019
Grant date	Dec 3, 2019

Abstract

The present disclosure relates to a method and a device for monitoring a state of a moving object and a system for fast inspecting a vehicle. The method and a device for monitoring a state of a moving object positions and measures speed of the moving object by using a laser scanner. The device includes: a laser scanner configured to monitor at least one moving object entering a monitoring region, by emitting a plurality of laser beams of different angles to the at least one moving object with a preset scanning frequency; and a processing unit configured to, for each moving object, determine and output a relative position of the moving object with respect to the laser scanner at each time instance. It can significantly improve the accuracy of measuring a low speed of the moving object, and the laser scanner is easy to install and has a low cost.

First claim

What is claimed is:

1. A device for monitoring a state of a moving object, comprising:
a laser scanner configured to monitor at least one moving object entering a monitoring region, by emitting a plurality of laser beams of different angles to the at least one moving object with a preset scanning frequency; and
a processing unit configured to, for each moving object, determine at least one fixed point on the moving object, receive a first distance between the at least one fixed point of the moving object and an emitting position of the laser beams and an emitting angle of a corresponding laser beam, all of which are detected by the laser scanner at each time instance, and determine and output a relative position of the moving object with respect to the laser scanner at each time instance according to the first distance and the emitting angle of the corresponding laser beam, wherein the fixed point is a same point relative to the moving object,
wherein the processing unit is further configured to, for each moving object, according to the determined relative position of the moving object with respect to the laser scanner, output a current relative position of the moving object with respect to the laser scanner with different time intervals or with different moving distance intervals of the moving object, and
wherein when the moving object moves towards the laser scanner, the smaller the relative distance between the moving object and the laser scanner is, the smaller the time interval or the moving distance interval is.

2. The device for monitoring a state of a moving object of claim 1 , wherein the processing unit is further configured to, for each moving object, determine and output a moving speed of the moving object according to the first distance and the emitting angle of the corresponding laser beam.

3. The device for monitoring a state of a moving object of claim 1 , wherein the processing unit is further configured to, for each moving object, determine and output a moving speed of the moving object according to the first distance and the emitting angle of the corresponding laser beam.

4. The device for monitoring a state of a moving object of claim 2 , wherein the at least one fixed point includes a plurality of fixed points, and determining a moving speed of the moving object according to the first distance and the emitting angle of the corresponding laser beam comprises: acquiring a second distance of the moving object at a time instance according to first distances between the fixed points of the moving object and the emitting position of the laser beams at the same time instance; and determining the moving speed of the moving object according to second distances of the moving object at time instances.

5. The device for monitoring a state of a moving object of claim 4 , wherein the processing unit is configured to average the first distances to acquire the second distance.

6. The device for monitoring a state of a moving object of claim 1 , wherein the processing unit is further configured to, for each moving object, determine a moving direction of the moving object at a current time instance.

7. The device for monitoring a state of a moving object of claim 1 , wherein the processing unit is further configured to, for each moving object, determine a moving direction of the moving object at a current time instance.

8. The device for monitoring a state of a moving object of claim 6 , wherein the processing unit is configured to determine the moving direction of the moving object at the current time instance according to the different relative positions of the moving object with respect to the laser scanner at the current time instance and at the previous time instance.

9. A method for monitoring a state of a moving object based on a laser scanner, comprising:
monitoring at least one moving object entering a monitoring region, by causing the laser scanner to emit a plurality of laser beams of different angles to the at least one moving object with a preset scanning frequency; and
for each moving object,
determining at least one fixed point on the moving object, the fixed point being a same point relative to the moving object;
receiving a first distance between the at least one fixed point of the moving object and an emitting position of the laser beams and an emitting angle of a corresponding laser beam, all of which are detected by the laser scanner at each time instance; and
determining and outputting a relative position of the moving object with respect to the laser scanner at each time instance according to the first distance and the emitting angle of the corresponding laser beam
wherein the method further comprises:

for each moving object, according to the determined relative position of the moving object with respect to the laser scanner, determining and outputting a current relative position of the moving object with respect to the laser scanner with different time intervals or with different moving distance intervals of the moving object.

10. The method for monitoring a state of a moving object based on a laser scanner of claim 9 , further comprising: for each moving object, determining and outputting a moving speed of the moving object according to the first distance and the emitting angle of the corresponding laser beam.

11. The method for monitoring a state of a moving object based on a laser scanner of claim 9 , further comprising: for each moving object, determining and outputting a moving speed of the moving object according to the first distance and the emitting angle of the corresponding laser beam.

12. The method for monitoring a state of a moving object based on a laser scanner of claim 10 , wherein the at least one fixed point includes a plurality of fixed points, and determining a moving speed of the moving object according to the first distance and the emitting angle of the corresponding laser beam comprises: acquiring a second distance of the moving object at a time instance according to first distances between the fixed points of the moving object and the emitting position of the laser beams at the same time instance; and determining the moving speed of the moving object according to second distances of the moving object at time instances.

13. The method for monitoring a state of a moving object based on a laser scanner of claim 9 , further comprising: for each moving object, determining a moving direction of the moving object at a current time instance.

14. The method for monitoring a state of a moving object based on a laser scanner of claim 9 , further comprising: for each moving object, determining a moving direction of the moving object at a current time instance.

15. A system for fast inspecting a vehicle, comprising:
a radiation imaging device comprising: a ray source configured to emit radiation rays for detecting a subject vehicle; a detector configured to detect radiation rays transmitted through the subject vehicle and/or scattered radiation rays; and an image processing device configured to present images according to signals of the radiation rays detected by the detector;
a controlling device configured to control the radiation imaging device to emit radiation rays to the subject vehicle according to an output of a monitoring device for monitoring a state of a moving object; and
the monitoring device, the monitoring device comprising:
a laser scanner configured to monitor at least one moving object entering a monitoring region, by emitting a plurality of laser beams of different angles to the at least one moving object with a preset scanning frequency; and
a processing unit

Assignees

• Nuctech Co Ltd

Inventors

• Tu Junjie
• Xu Yanwei
• Yu Weifeng
• Wang Yongming

Classifications

• G08G1/04

  using optical or ultrasonic detectors · CPC title

• G01S17/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01P3/36 Primary

  Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light (G01P3/68 takes precedence; gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams G01C19/64) · CPC title

• G01S17/06 Primary

  Systems determining position data of a target · CPC title

• G01S17/88

  Lidar systems specially adapted for specific applications · CPC title