Research And Implementation Of Vehicle Dimension 3D Laser Measurement System And Its Point Cloud Registration

With the fast development of the society,the road traffic is increasingly developing,and the road transport industry is booming.However,some truck owners modify their vehicles to maximize the benefits at the risk of endangering the safety of lives and properties.Overload and overrun transportation easily induces traffic accidents and seriously breaks the national rules and regulations.It’s also the main cause of abnormal damage on roads and bridges.At present,road transport sectors and traffic management sectors in our country have a mature development of technology application on the control of overload vehicle.Many toll stations use electronic truck scale to check the weight of vehicles.As for the control of overrun vehicle,there is no mature technical means currently.Most toll stations still measure the dimensions of vehicles manually,with low efficiency and high error.Based on the phenomena and problems above,this thesis researches measurement means and key technology on vehicle dimensions measurement,with applications of 3D laser measurement technology and point cloud process technology.It also completes the design of the prototype of vehicle dimensions measurement system and real vehicle measurement experiments.The main research and design work of this thesis is listed below:1、This thesis researches the development and status of the control on overload and overrun vehicles at home and abroad,the development of vehicle dimension measurement at the present stage and the background and development of point cloud process technology.2、This thesis deeply studies the operational principle of LMS111 laser measurement sensor and SI3 speed measuring radar,and develops the hardware system of vehicle dimension measurement system,including the installation of measurement devices,the Ethernet connection between LMS devices and PC,the serial connection between speed measuring radar and PC.3、This thesis deeply researches the registration algorithms in point cloud process technologies and presents a registration scheme on point cloud data:manual rough registration + ICP accurate registration.According to the ICP algorithm simulation result,this thesis finishes the design and tests of point cloud data registration program.The experiment result proves the feasibility of point cloud registration applied to vehicle point cloud.4、This thesis researches the software design methods of Qt.and PCL.It also builds the software development platform of vehicle dimension measurement system based on Qt and PCL.On account of the development platform above,this thesis achieves the design of vehicle dimension calculation algorithm.Applied to socket programming and multi-threaded programming,this thesis implements data communication module,vehicle dimension measurement module and UI program module of vehicle dimension measurement system.5、This thesis completes the design and tets of real vehicle experiment scheme of vehicle dimension measurement system.The vehicle speed range in the real vehicle experiments is between 5km/h and 40km/h.The experiment result indicates that all performances of measurement system accord with national standard and meet the design demands at a speed range between 5 km/h and 20km/h.