CN100595515C - Pulse type line laser road sectional rut tester - Google Patents
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- CN100595515C CN100595515C CN 200710301266 CN200710301266A CN100595515C CN 100595515 C CN100595515 C CN 100595515C CN 200710301266 CN200710301266 CN 200710301266 CN 200710301266 A CN200710301266 A CN 200710301266A CN 100595515 C CN100595515 C CN 100595515C
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Abstract
The invention provides a pulse type line laser road cross section rut tester, which comprises a laser triangular distance measuring structure with a projecting optical system and a receiving optical system. The tester is characterized in that the projecting optical system is connected with a pulse type line laser and the receiving optical system is connected with a planar array CCD camera. The pulse type line laser is a nanosecond grade green laser. The tester can improve the measuring precision and can carry out all-weather test; the real time testing point position, vehicle speed and rut depth can be collected, processed, displayed, and stored through a bran-new real time processing software system; and the tester provides accurate judging data for highway acceptance and maintenance.
Description
Technical field
The present invention relates to the Road Detection instrument, particularly a kind of pulse type line laser road sectional rut tester.
Background technology
Rut be since the road surface through automobile travel repeatedly produce flow deformation, wearing and tearing, depression after, the vertical banded rut groove that on the driveway wheel paths, produces, the appearance of rut has not only influenced flatness, the comfort level on road surface, and jeopardizes traffic safety.Vehicle travels having on the road surface of rut, can reduce road-ability and road speed, surpasses under the situation of 10～13mm at rut, and the vehicle of running at high speed can traffic hazard take place because of breakking away appear in rut ponding.Therefore the rut problem of bituminous pavement becomes one of road surface breakage form of countries in the world common concern.According to the data of developed country, on highway, rut is that the road surface Practical Performance reduces, causes damaging the main reason of keeping in repair, and in states such as Japan, in the reason of express highway pavement maintenance, cover, the ratio of rut is up to more than 80%.The original maintenance standard of China does not propose the maintenance technology standard of rut, because the problem of rut becomes increasingly conspicuous, governments at all levels and highway administration department more and more recognize the size of road pavement rut, the importance that distribution situation quick and precisely detects now.
Current pavement track checkout equipment, mostly be the quick transversal section of common crossbeam rut instrument, it adopts contactless altimeter mostly, based on laser displacement sensor and ultrasonic displacement sensor, quantity does not wait to more than 30 by 3, the mode that forms sectional curve by lateral separation multimetering road surface elevation is measured the maximum rut depth value in road surface, displacement transducer quantity is many more, laterally measuring point is intensive more, the rut detection confidence is just high more, is total to many altimeters of crossbeam transversal section rut instrument, technical development comparative maturity at present, department generally adopts for various countries' highway administration, but still have the puzzlement of two aspects, and the one, in order to increase the continuous coverage of horizontal section, improve the confidence level of rut test, need constantly to increase the quantity of altimeter, also just multiplication of price so; The 2nd, measure in order to realize laterally full track, the installation crossbeam of altimeter has to stretch out to the car body both sides, on highway, have a strong impact on normal traffic, the laser sheet optical rut section detection technique of Nanjing Beech Co., Ltd development, absorbed foreign latest pavement track measuring technology experience, can carry out the measurement of horizontal continuous cross-section, but owing to fail to break through at the key hardware technical elements, remain bottleneck both ways at present, adopt the continuous laser sheet laser, if carry out the blurring effect that will there be optical field in dynamically quick measurement, contained the precision of measuring, the continuous laser source power wretched insufficiency of emission-type and be difficult to improve, except can testing night, daytime almost can not proper testing, global design aspect in addition, can not handle data in the test process in good time, calculating and demonstration, can only be to carry out analytical calculation with the poster processing soft after test finishes, so its practicality still can not satisfy the demand of efficient test.
Summary of the invention
The present invention is directed to the above-mentioned defective or the deficiency that exist in the prior art, a kind of pulse type line laser road sectional rut tester is provided, this tester can improve the precision of measurement, and can carry out round-the-clock test, by brand-new real-time processing software system, can gather, handle, show and store point position, the speed of a motor vehicle, the rut degree of depth in real time, for highway is checked and accepted, maintenance provides judgment data accurately.
Technical conceive of the present invention is, by pulsed laser line generator, area array CCD camera are set in the laser triangulation structure, can accurately measure the road section rut, and can carry out round-the-clock test, thereby for highway is checked and accepted, maintenance provides judgment data accurately at any time.
Technical scheme of the present invention is as follows:
Pulse type line laser road sectional rut tester, comprise laser triangulation structure with projection optics system and receiving optics, it is characterized in that: described projection optics system is connected with the pulsed laser line generator, and the described optical system of accepting is connected with area array CCD camera; Area array CCD camera connects data processing host computer, this image acquisition card connection laser driver by image pick-up card.
Described pulsed laser line generator is a nanosecond pulse optical filtering laser instrument.
Described receiving optics is the wide-angle lens of distortion, change F value, and has added spike interference filter in wide-angle lens.
Described image pick-up card is the pci card with Cameralink interface.
Described data processing host computer PC or industrial control computer.
Described laser driver has impulse semiconductor laser driving, temperature control, electrooptical modulation and system monitoring device.
Described area array CCD camera is a kind of black and white camera of lining by line scan that is used to absorb the moving object image.
Described projection optics system has ultrashort focal length cylindrical mirror.
Technique effect of the present invention is as follows:
Because pulse type line laser road sectional rut tester of the present invention, principle according to range of triangle, adopt the projection of pulse laser line style, area array CCD camera imaging mode, thereby can realize to highway section (rut, pit, projection etc.) carry out in real time, on-line measurement, for highway is checked and accepted, maintenance provides judgment data accurately.
Conventional CCD triangulation method generally adopts the continuous wave laser projection, but because the restriction of Stimulated Light device power, even the adding narrow band pass filter also can't guarantee to measure under the open-air solar radiation in accepting system; CCD is the charge integration device in addition, and it is fuzzy that shooting will inevitably produce streaking to high-speed moving object.Therefore, Chang Gui CCD triangulation method can't adapt to the actual engine request that rut is measured.Think ratio with prior art, pulse type line laser road sectional rut tester of the present invention has adopted nanosecond (ns level) pulse optical filtering laser instrument as the line projection source innovatively, cooperate synchronous ultrashort shutter CCD camera, thereby pass through time-domain filtering, tens W are brought up in the equivalence of projection source power, greatly suppress the strong sunlight ground unrest, solved round-the-clock problems of measurement.Simultaneously, owing to adopt ns level pulse green (light) laser fundamentally to avoid ccd image trailing smear problem as the line projection source, thus realized the precision of the measurement that the high and low speed of a motor vehicle is same.
Pulse type line laser road sectional rut tester of the present invention can make transversal section test width reach 3.6 meters, the transversal section number of test points is 1100 points, its number of test points is far longer than the quick transversal section test of common crossbeam width and reaches 3.6 meters, the transversal section number of test points is 1100 points, its number of test points is far longer than 3-30 point of the quick transversal section of common Heng Liang rut instrument, the accurate measurement of the maximum rut degree of depth in enough road surfaces from horizontal sampling dense degree; Brand-new ground unrest suppresses technology and has greatly suppressed the strong sunlight ground unrest, has solved round-the-clock problems of measurement.Point position, the speed of a motor vehicle, the rut degree of depth are gathered, handle, show and stored in the real-time processing software system in real time.
Description of drawings
Fig. 1 is laser triangulation (range finding) structural principle synoptic diagram.
Fig. 2 is a pulse type line laser road sectional rut tester structural representation of the present invention.
Fig. 3 is a synoptic diagram for the light channel structure of pulse green glow fixed laser.
Fig. 4 is the trigger pulse and the time shutter sequential chart of trigger sweep mode.
Fig. 5 is Beijing-to-Shijiazhuang highway (Hebei section) rut depth value scatter chart.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described in detail.
One, laser triangulation (range finding) principle
Laser triangulation, it is a kind of important method of non-cpntact measurement displacement, is widely used in three-D profile, thickness, width and vibration survey.As shown in Figure 1, laser instrument projects diffuse reflection hot spot that tested object plane (having represented three height points with a, o, b among the figure) forms as transducing signal with laser beam by collector lens, is pooled to optical receiver (what represent among the figure is line array CCD) with diffusing of will collecting of lens imaging principle (position that has shown imaging len L among the figure) and goes up and form picture point (a ', o ', b ' with correspondence among the figure represent).Angle, isoparametric meeting of distance have also been represented among the figure.This receiver can be line array CCD or area array CCD.When launching spot moved with tested object plane, imaging point was done corresponding moving on optical receiver, so by its triangle relation, can determine the displacement of tested object plane according to resembling the structural parameters that move size and sensor.Launching spot can intuitively show the real time position of tested object plane as the mechanical probes of contact measurement.Its structure as shown in Figure 1.
Pulse type line laser road sectional rut tester is according to the principle of range of triangle, adopt the area array CCD camera imaging mode of the projection of high brightness pulse laser line style, high speed, high resolution realize to highway section (rut, pit, projection etc.) carry out in real time, on-line measurement, for highway examination, maintenance provide judgment data accurately.
Two, the structure specification pulse type line laser road sectional rut tester of pulse type line laser road sectional rut tester of the present invention tells CCD digital image acquisition unit and data processing host computer etc. partly to form by pulsed high-energy laser line generator.
As shown in Figure 2, it comprises laser driver, pulse green glow solid state laser and projection optics system thereof, receiving optics, high speed face array CCD camera, PCI image pick-up card and upper PC etc. and partly forms.
At first, the green laser pulse that laser driver requires its output compliance with system according to the laser pumping driving parameter pulsed solid stale laser of given synchronizing signal of system and setting, then behind projection optics system by the high speed face array CCD camera imaging, wherein just carry the information that road surface rises and falls.At last, the raw data through quantizing sends the PCI image pick-up card to by the CCD camera and carries out the data analysis processing by PC, extracts the data that highway rises and falls, and adopts thereby finish once.Along with pulse type line laser road sectional rut tester constantly moves, samples along highway, thereby finish measurement to the whole piece highway.
Below component parts is described:
1), pulse green glow solid state laser and projection optics system thereof
Adopt 1.064 μ m laser tunings that diode side pumped, active Q-switching, cavity external frequency multiplication technology produce the Nd:YAG laser instrument to the 532nm wave band, have all solid state, characteristics such as synchronization accuracy is high, high-level efficiency, long-life, volume are little, high reliability, specifically light channel structure as shown in Figure 3: wherein, M1 is the 1064nm total reflective mirror; M2 is the high saturating outgoing mirrors of 1.064 μ m; Active Q-switching is the KD*P crystal.Frequency multiplication is the ktp crystal of noncritical phase matching.
The diode pumping Nd:YAG source that this equipment adopts is the folded quasi-continuous LDbar of multilayer, with semiconductor cooler LD and YAG rod is carried out temperature control, the emission wavelength of adjusting LD be positioned at the strongest absorption band of Nd:YAG laser medium (～808nm).Nd:YAG crystal by adopting side polishing makes the emission light beam of LD focus on the back through Nd:YAG and form the distribution of concentrating relatively in excellent cross section, thus realize hanging down threshold value and efficiently base touch running, help the raising of shg efficiency.
For with the strict synchronism of high speed camera time shutter, native system has adopted the time of active Q-switching technology with accurate control laser pulse output.Adopt the active Q-switching technology can further improve laser instrument output facula pattern in addition, thereby improve shg efficiency and wealthy Shu Xiaoguo.Online laser projections aspect, native system adopts the light beam compress technique, selects ultrashort focal length cylindrical mirror to realize throwing greater than the wide-angle green glow of 90 degree simultaneously.
The laser instrument the key technical indexes
| Project | Index |
| Wavelength | 532nm |
| Pulse energy | ＞0.5mJ |
| Pulse width | 7～10ns |
| The operate as normal repetition | ＜30pps |
| Crevice projection angle | ＞90 |
2), laser driver
Laser driver has functions such as impulse semiconductor laser driving, the control of TEC temperature, electric light adjusting and system monitoring.In this system, adopted closed loop constant-current pulse Laser Drive, the TEC thermostatic control that efficient PWM drives, the modulation of high pressure electro-optical Q-switch and the intelligentized MCU central control system of high integration respectively, thereby provide compact, efficient, drive reliably for laser instrument.
The MCU system was made up of with several parts such as interface and AD, DA conversions MCU minimum system, RS232 interface, time, can control the electric current of LD, pulsewidth, temperature, Q-switch frequency etc. according to external command or storage inside parameter by embedded software, thereby realize required Repetition Frequency Laser pulse output.In addition, the MCU system also detects in real time to the key parameter of system, prevents the out-of-limit device failure that causes.
The LD temperature control comprises that partly temperature detection, thermostatic control and TEC drive several parts, compare by the temperature of thermistor monitoring LD and with the MCU design temperature, its error signal is given PWM pulse width modulator after the constant temperature control circuit that ratio, integration, differentiating circuit are formed is handled, the dutycycle of PWM pulse width modulator output signal will change with temperature gap, this signal power is given TEC semiconductor cooler after driving, thereby realizes the temperature regulating and controlling of LD.Simultaneously, parameters such as the temperature of TEC, voltage are also sent the MCU system, if the out-of-limit LD that will close drives, prevent that LD and TEC from damaging.
The LD pulsed drive comprises that partly current detecting, constant current control and LD drive several parts, it is compared by the electric current of serial connection current sensor monitoring LD and with the pulse voltage that MCU sets, its error signal is through voltage, thus the pulse current closed-loop control of realization LD.Simultaneously, parameters such as the electric current of LD, voltage are also given the MCU system, if the out-of-limit LD that will close drives, prevent that LD from damaging.
The high pressure electro-optical Q-switch drives and comprises high pressure generator and pulse-modulator, and it produces a high-voltage pulse signal according to the given synchronizing signal of system and is applied to the KD*P crystal, thereby makes laser pulse of laser instrument output.
3), receiving optics
For the required detection width of roadway of assurance system, must adopt wide-angle to receive camera lens.But the bigger barrel shape distortion of the general existence of wide-angle lens is adopted follow-up digital compensation and is proofreaied and correct very complicated and difficult.Through multiple scheme contrast test, selected the wide-angle lens of low distortion, limit F value at last.Though caused image light and shade difference like this, guaranteed the set degree of distortion of image well, thereby guaranteed the measuring accuracy of full visual field.
In order to suppress the strong sunlight background interference, in receiving camera lens, add spike interference filter in addition, suppressed the ground unrest interference at frequency domain well.
4), high speed face array CCD camera
The CCD camera that native system adopts is a kind of high precision that designs for picked-up moving object image black/white camera of lining by line scan.The CCD chip is 1/2 inch, has the square arrangement pixel, can obtain the photoelectric sensor of high precision image.The external trigger CCD scan mode of tight design and the combination of telling the controlled time shutter provide the mode of reliably and stably obtaining precise time section moving image.Can pass through the RS232C serial line interface, set the parameters such as mode of operation, major clock, brightness, contrast, r correction, time shutter of camera by microcomputer software.
The camera of native system is operated in external trigger scan mode at random.In a certain particular moment, camera obtains an external trigger pulse, the expression electron exposure is started working, time shutter can be set on demand, behind the end exposure, output terminal is exported a whole frame image, and except PLCK pixel main clock pulse and horizontal synchronizing pulse continuously produced, camera entered the wait that next external trigger arrives again.By a series of external trigger pulse, camera just can obtain the video image of a series of particular moments.
The row of external trigger formula scanning, field, exposure time series be as shown in Figure 4: external trigger pulse is through major clock PLCK sampling back formation and the synchronous internal trigger signal of PLCK, begin totally 50 main clock pulses from the external trigger pulse negative edge, wherein camera is provided with 2 PLCK and pixel empties time 48 PLCK.The time that empties finishes the back pixel and begins exposure, and the time shutter is unit with the line period, and by the exposure of the value of setting N line period, error is negative delegation.Time shutter, a field scan began when finishing, and a complete vision signal comprises 1060 row videos, and wherein the output of 1024 behavior effective videos is gone, and the frame synchronization head contains three line periods.
From the course of work of above-mentioned camera under the external trigger state as can be seen, obtain the start time of image, promptly electron exposure start time error is the cycle of 1 PLCK pixel major clock, within ten seconds.Fig. 4 has represented the trigger pulse and the time shutter sequential of trigger sweep mode.
CCD camera the key technical indexes
| Black and white or colour | Black/white |
| Scan format | Line by line scan |
| The frame frequency scope | 8～24Hz |
| The pixel clock ranges | 14～40MHz |
| Ccd sensor | 1/2 |
| The CCD size | 7.6×6.2mm |
| The pixel size | 4.65×4.65μm |
| Effective video pixel number | 1300×1024 |
| Sensitivity | 0.20lux |
| Signal to noise ratio (S/N ratio) | ＞50db |
| The maximum exposure time | Under the external trigger mode of operation=3 seconds |
| Gamma proofreaies and correct | 0.45-1.0 |
| The method of synchronization | Continuous sweep/external trigger scanning |
| The external trigger input | TTL |
| Control interface | The RS232C serial line interface |
| Function by RS232 control | Scan mode, the time shutter, frame rate, black level, gain, Gamma just wait |
| Lens interface | " C " installs |
5) PCI image pick-up card and PC
The image pick-up card of native system employing is the pci card with Gameralink interface, is strict install PCI standard 2.2 (backward compatible) and design, can adapt to the Pentium host computer system of all size.Because by telling pci bus can realize that direct images acquired is to the host computer system internal memory, realize sequence image continuous acquisition frame by frame, carry out speed that sequence image handles with the improving constantly and be improved of CPU speed, make image to host memory walk abreast and be treated as possibility in real time.Therefore have high precision, high-speed, use characteristics such as flexible, be highly suitable for the application of this project.
Behind the quantized image that CCD camera and capture card obtain, carry out numerical analysis, feature extraction, thus the fluctuating distributed intelligence that obtains rut is stored, demonstration, statistical study etc.
Three, the technical characterstic of pulse type line laser road sectional rut tester of the present invention
1) ground unrest control
Conventional CCD triangulation method generally adopts the continuous wave laser projection, but because the restriction of Stimulated Light device power, even the adding narrow band pass filter also can't guarantee to measure under the open-air solar radiation in receiving system; CCD is the charge integration device in addition, and it is fuzzy that shooting will inevitably produce streaking to high-speed moving object.Therefore, Chang Gui CCD triangulation method can't adapt to the actual engine request that rut is measured.In order to overcome above-mentioned drawback, native system has adopted ns level pulse green (light) laser as the line projection source innovatively, cooperate synchronous ultrashort shutter CCD camera, thereby pass through time-domain filtering, tens W are brought up in the equivalence of projection source power, greatly suppress the strong sunlight ground unrest, solved round-the-clock problems of measurement.Simultaneously, owing to adopt ns level green (light) laser fundamentally to avoid ccd image trailing smear problem as the line projection source, thus realized the precision of the measurement that high and low car element is same.
2), wide-angle projection and reception
The area array CCD triangulation scheme has significant technical advantage than single-point line array CCD measurement scheme.But in order to adapt to requirement of engineering better, further reduce system cost, native system has been realized the projection of wide-angle line source by the pulsed laser that adopts high power, high light beam quality, become F value distortion wide-angle lens by employing and realized the wide-angle reception, thereby make a set of equipment have the measurement capability of two complete equipments in the past.
3), long-life, non-maintaining high Repetition Frequency Laser device
Semiconductor side pumped pulsed laser has high-level efficiency, long-life, all solid state, non-maintaining characteristics, adapts to the actual needs of open-air engineering survey.Adopt initiatively Q-regulating technique, have synchronous degree of accuracy height, the characteristics of good beam quality have satisfied the technical requirement of native system well.
4) memory shared technology Data transmission
Pass through the memory shared technology-mapped to one section of computing machine continuous internal memory from the raw data that capture card collects, rut calculation procedure operation back is according to the real-time reading of data from this section internal memory of distance, at first data have been carried out medium filtering one time, reduced the influence of noise to signal, measure the standard of the rut degree of depth then according to ASTM, calculate and demonstrate the maximum rut degree of depth in real time.
5), adopt the digital signal filter technology to reduce The noise
When laser signal is demarcated, the laser original signal that collects has been carried out medium filtering twice, reduced the influence of noise to signal, make the precision of parameter calibration higher, the value that measures is more accurate.
Four, advantage or good effect
After pulse type line laser road sectional rut tester used above-mentioned new technology, transversal section test width reached 3.6 meters, and the transversal section number of test points reaches 1100 points, has suppressed the strong sunlight ground unrest fully, realizes round-the-clock measurement.Point position, the speed of a motor vehicle, the rut degree of depth are gathered, handle, show and stored in multiple functional real-time processing software system in real time in equidistant mode, satisfies the needs of efficient test fully.
Five, experimental example
Pulse type line laser road sectional rut tester is after the general assembly debugging, divide in September, 2006 and to be clipped to ground such as Inner Mongol, Qinghai, Gansu and Beijing-to-Shijiazhuang, airport expressway and to carry out the real road test, the test mileage reaches 4,000 kilometers, overwhelming majority test data has submitted to production unit to use, and is respond well.
In entire test, bigger applause does not appear in instrument, so the complete machine failure rate of equipment is very little, and the development of equipment is successful, and operation is stable.
Fig. 5 has represented that Beijing-to-Shijiazhuang tells highway (Hebei section) rut depth value distribution curve (mm), has certain representativeness.
Should be pointed out that the above embodiment can make those skilled in the art more fully understand the present invention, but do not limit the present invention in any way.Therefore, although this instructions has been described in detail the present invention with reference to drawings and Examples,, those skilled in the art are to be understood that, still can make amendment or be equal to replacement the present invention, for example the type selecting of area array CCD camera and laser instrument can also have multiple choices; And all do not break away from the technical scheme and the improvement thereof of the spirit and scope of invention, and it all should contain general in the middle of the protection domain of patent of the present invention.
Claims (8)
1. pulse type line laser road sectional rut tester, comprise laser triangulation structure with projection optics system and receiving optics, it is characterized in that: described projection optics system is connected with the pulsed laser line generator, and described receiving optics is connected with area array CCD camera; Area array CCD camera connects data processing host computer, this image acquisition card connection laser driver by image pick-up card.
2. pulse type line laser road sectional rut tester according to claim 1 is characterized in that: described pulsed laser line generator is the nanosecond pulse green (light) laser.
3. pulse type line laser road sectional rut tester according to claim 1 is characterized in that: described receiving optics is the wide-angle lens of low distortion, change F value, and has added spike interference filter in wide-angle lens.
4. pulse type line laser road sectional rut tester according to claim 1 is characterized in that: described image pick-up card is the pci card with Cameralink interface.
5. pulse type line laser road sectional rut tester according to claim 1 is characterized in that: described data processing host computer PC or industrial control computer.
6. pulse type line laser road sectional rut tester according to claim 1 is characterized in that: described laser driver has impulse semiconductor laser driving, temperature control, electrooptical modulation and system monitoring device.
7. pulse type line laser road sectional rut tester according to claim 1 is characterized in that: described area array CCD camera is a kind of black and white camera of lining by line scan that is used to absorb the moving object image.
8. pulse type line laser road sectional rut tester according to claim 1 is characterized in that: described projection optics system has ultrashort focal length cylindrical mirror.
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| CN 200710301266 CN100595515C (en) | 2007-01-16 | 2007-12-18 | Pulse type line laser road sectional rut tester |
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| CN 200710301266 CN100595515C (en) | 2007-01-16 | 2007-12-18 | Pulse type line laser road sectional rut tester |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101929125B (en) * | 2009-08-21 | 2012-05-09 | 中公高科（北京）养护科技有限公司 | Road rut detection method |
| CN103290766B (en) * | 2013-06-24 | 2016-01-13 | 广东惠利普路桥信息工程有限公司 | Pavement crack detection system |
| CN103318087A (en) * | 2013-06-25 | 2013-09-25 | 天津云视科技发展有限公司 | Road traffic markings auto-identification reminder for motor vehicles |
| CN104878679B (en) * | 2015-05-25 | 2017-06-13 | 上海翌森信息科技有限公司 | A kind of vehicle-mounted rut real-time detecting system and detection method |
| CN104859562A (en) * | 2015-05-27 | 2015-08-26 | 北京信息科技大学 | Method and device for detecting barriers behind vehicle |
| CN106112809A (en) * | 2016-08-08 | 2016-11-16 | 泉州装备制造研究所 | Self-adapting intelligent stone grinder system |
| CN108093186B (en) * | 2017-12-26 | 2020-04-10 | 上海奕瑞光电子科技股份有限公司 | Automatic exposure control method and device based on slow emptying mode |
| CN109764858B (en) * | 2018-12-24 | 2021-08-06 | 中公高科养护科技股份有限公司 | Photogrammetry method and system based on monocular camera |
| CN110608704A (en) * | 2019-09-10 | 2019-12-24 | 广州珠江黄埔大桥建设有限公司 | Rut contour detection device and method |
| CN111735487B (en) * | 2020-05-18 | 2023-01-10 | 清华大学深圳国际研究生院 | Sensor, sensor calibration method and device, and storage medium |
| CN114951005A (en) * | 2022-06-16 | 2022-08-30 | 诸暨市天佑环保科技有限公司 | A float high check out test set for metal assembly spare |
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