CN101476277A - Symmetrical multi-beam collimation laser pavement track detection system - Google Patents
Symmetrical multi-beam collimation laser pavement track detection system Download PDFInfo
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- CN101476277A CN101476277A CNA2009100210600A CN200910021060A CN101476277A CN 101476277 A CN101476277 A CN 101476277A CN A2009100210600 A CNA2009100210600 A CN A2009100210600A CN 200910021060 A CN200910021060 A CN 200910021060A CN 101476277 A CN101476277 A CN 101476277A
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Abstract
The invention relates to a symmetrical multiple collimated layers pavement rut detection system used for detecting the rut indexes on pavement, which consists of two downward shooting cameras disposed on both sides of the rear upper part of the system carrying vehicle, a plurality of rear lasers transversely installed on the rear outer lower part of the carrying vehicle body side by side through foldable door shaped rods and front layers installed on the inner lower part of the system carrying vehicle body side by side through transverse connection rods. In practical work, the front and rear lasers send out collimated layer beams to the inclined downwards direction respectively which projects on pavement to form laser scattered lines, and the information of depth, left and right and size of the rut on the pavement can be obtained through the shooting camera imaging, digital image processing and calculating. Compared with the current technologies, By using a plurality of collimated layers instead of high bright line laser, the invention can reduce the damage to human eyes caused by the laser, increases the safety in pavement rut detection by laser, while greatly increases the service life of the detection system.
Description
Technical field
The invention belongs to photoeletric measuring system technical field, relate to the photodetector system of a kind of ohject displacement or face shape and relevant quality index thereof, particularly a kind of laser pavement track detection system that can be used for detecting pavement track index.
Background technology
The detection index of pavement track is an important content of pavement maintenance & rehabilitation management work.The seeping phenomenon that the protruding sunken injustice of pavement track particularly produces in the rainy day often has great potential safety hazard to road traffic, easily make the vehicle travelling produce sideslip, serious rut will make Vehicle Driving Cycle lane change difficulty simultaneously, has had a strong impact on comfortableness and the safety of driving.So, thereby fast detecting goes out the rut situation of road, for road maintenance maintenance provides pavement behavior analysis indexes accurately, be very important.
Known pavement track detection technique mainly contained and adopted the level gage measurement method of manual method, horizontal short chi mensuration, cross section instrument mensuration etc. in the past.In recent years, development along with laser measuring technique, this area has been released again the technology of several fast detecting pavement tracks such as laser rotary mirror scanning method, a plurality of laser displacement sensor detection method, line laser digital picture detection method in succession, because its detection speed is fast, sampling density is large, can provide more objectively the many index of rut, as left and right rut size, rut distribution etc., be subject to a great extent user's favor.Although above-mentioned prior art differs from one another in actual use, correspondingly separately yet have some and need problem to be solved.
The technology that manual method detects rut generally can only be applicable to the amount of being open to traffic situation little, that detect among a small circle.Owing to being manual inspection, testing result usually may be subject to the impact of human factor, in addition, if detect on the speedway that manual inspection method is high for the speed of a motor vehicle, vehicle flowrate is large, also has serious potential safety hazard.
In the technology of several fast detecting pavement tracks, adopt laser rotary mirror scanning method, due to its technical sophistication, product price is also more expensive, and that uses at present is few; Adopt a plurality of laser displacement sensors to detect rut, although while being laid with more laser displacement sensor on cross section, accuracy of detection can meet actual requirement, owing to adopting, laser probe is many, and the product cost of this kind of method is higher.
Line laser digital picture detection method for current employing, it is to utilize the line laser that one direction expands to irradiate road surface, when road surface has rut to exist, the line laser of scattering looks and is out of shape, generally become a curve, by high-speed figure camera, take the line laser of scattering on road surface, on the image of taking, will obtain the deformation curve corresponding with pavement track, and then by image, process the rut that obtains road surface again.This kind of detection method can realize high-density sampling on cross section, thereby can further improve the accuracy of detection of rut.But, the method yet has some serious deficiencies, it is mainly manifested in: 1.. and this detection method is in order to meet the requirement of digital imagery, and the light intensity of line laser is that laser line generator power output is larger, and this is by the injury causing testing staff and other staff's organs of vision; In addition, owing to will adopting the laser line generator of relatively high power, the series of problems such as heat dissipation problem, line laser structural stability, line laser output power stability and application life such as laser line generator have also been drawn; 2.. while adopting the method, rut detection precision is jolted by Vehicular vibration to cause the impact of vehicle pitching situation of change larger, how to overcome the deficiency of line laser pavement track measuring method, and then the impact that fundamentally reduces or eliminate vehicle vibrations, jolt measurement result is produced, be also current line laser rut detection method problem demanding prompt solution.
Summary of the invention
The object of the invention is to overcome the weak point that prior art exists, the symmetrical multi-beam collimation that a kind of project organization is reasonable, easy to use, certainty of measurement is high and can not damage human eye is provided.
The technical solution adopting is for achieving the above object such: the symmetrical multi-beam collimation providing has two and is divided in system and carries bowing to taking camera of car rear end two upper lateral parts, a plurality ofly by extendible door shape bar, along vehicle body, be laterally contained in side by side system and carry the rear side collimation laser devices of outer bottom after car and a plurality ofly by tranverse connecting rod, be contained in side by side the front side collimation laser device that system is carried interior bottom after car, before, the collimated laser beam symmetry that rear side collimation laser device oliquely downward sends intersect at take under camera, take district treat dypass surface.
Laser pavement track detection system of the present invention is a kind of pavement track detection system that detects principle based on symmetrical expression; this detection system replaces the line laser bundle of high brightness by multi-beam collimation laser; on road surfaces, utilize intensive laser spots and discrete laser rays; effectively reduce the injury of laser to personnel's eyes; protection operating personnel and other staff's health has also greatly improved the application life of detection system when greatly improving the safety of employing laser beam detection pavement track.In real work, a plurality of laser light scattering points that the projection of the collimated laser beam that both sides, front and back collimation laser device sends on road surface forms, after digital filming camera imaging, just obtain one corresponding " connecting point curve " as, relend the information such as the degree of depth that helps Digital Image Processing and can be calculated pavement track, left and right rut size; When vehicle up-down vibration, collimated laser beam symmetrical before and after detection system moves simultaneously up or down, and projection peak and the minimum point of collimated laser beam on pavement track is only that front and back position changes, and the corresponding rut degree of depth is constant; When Vehicular vibration or jolt while causing vehicle luffing angle to change, two groups of collimated laser beams produce contrary displacement, by getting the average of both rut detection results, can reduce or eliminate the error of rut detection; When road surface exists gradient situation in small area, two groups of collimated laser beams detect the displacement that size is contrary, by getting the average of both rut detection results, can reduce or eliminate the error of rut detection.In a word, pavement track detection system of the present invention, can reach and reduce or eliminate the impact of various extraneous factors on certainty of measurement, obtains accurately objectively pavement track information.
Accompanying drawing explanation
Fig. 1 is the side direction work structuring schematic diagram of a specific embodiment of the present invention.
Fig. 2 is the embodiment illustrated in fig. 1 fundamental diagram to structure of overlooking.
Fig. 3 is structure embodiment illustrated in fig. 1 with car body along inverse clock to the fundamental diagram that rotates β angle (angle of depression).
Fig. 4 is structure embodiment illustrated in fig. 1 with car body along clockwise to the fundamental diagram that rotates β angle (elevation angle).
In accompanying drawing, each label is respectively: 1-system is carried car, 2-camera fixed mount, 3-shooting camera, 4-turning cylinder, 5-horizontal hack lever, 6-longitudinal hack lever, 7-road surfaces, 8-rear side laser beam, 9-front side laser beam, 10-tranverse connecting rod, 11-turning cylinder, 12-turning cylinder, 13-rear side laser instrument, 14-front side laser instrument, 15-front side laser beam and road surfaces handing-over line, 16-rear side laser beam and road surfaces handing-over line, 17-road surfaces lowest part, 18-road surfaces highest point, 19-shooting viewing field of camera corner edge, 20-shooting camera optical axis, H-rut degree of depth.
The specific embodiment
Below with reference to accompanying drawing, content of the present invention is described further, but actual fabrication structure of the present invention is not limited in illustrated embodiment.
Referring to Fig. 1, symmetrical multi-beam collimation of the present invention carries bowing to taking camera 3, being a plurality ofly laterally contained in side by side system by extendible door shape bar along vehicle body and carrying the rear side laser instrument 13 of car 1 rear outer bottom and be a plurality ofly contained in side by side system by tranverse connecting rod 10 and carry the front side laser instrument 14 of car 1 rear interior bottom and form of car 1 both sides, back upper place by the system that is located at.Bow for two and all adopt digital camera to taking camera 3, be contained in the top that system is carried car 1 both sides, rear end respectively by camera fixed mount 2, every camera is taken the width of 1/2 wide carriageway surfacing.Extendible door shape bar comprises that two front ends are contained in by turning cylinder 12 longitudinal hack lever 6 and the horizontal hack lever 5 that is connected to two longitudinal hack lever 6 front ends by turning cylinder 4 that system is carried car 1 rear end two side lower parts, door shape bar can rotate to realize locating by turning cylinder 12 and put down or pack up, and each rear side laser instrument 13 is equally spaced laid on horizontal hack lever 5.Tranverse connecting rod 10 is contained in system lift-launch ，Ge front side, the rear interior bottom of car 1 laser instrument 14 by turning cylinder 11 and is equally spaced laid on tranverse connecting rod 10.The relative pavement detection location point of front and rear lasers 14,13 in this detection system is symmetrical arranged, its laser beam oliquely downward sending 9,8 symmetries intersect at take that camera takes districts for 3 times treat dypass surface.
The operating principle of symmetrical multi-beam collimation of the present invention as shown in Figure 3 and Figure 4.
One, under normal circumstances, system is carried car 1 along the smooth-ride of straight road surface, door shape bar puts down, the laser beam 9 that front side laser instrument 14 sends is respectively B, C with the intersection point of road surface and rut bottom surface, the laser beam 8 that rear side laser instrument 13 sends is respectively A, D with the intersection point of road surface and rut bottom surface, the rut degree of depth
Two, when vehicle up-down vibration, symmetrically arranged laser instrument 14,13 motion up or down simultaneously before and after detection system, projection peak and the minimum point of collimation laser on pavement track is only that front and back position changes, the corresponding rut degree of depth is constant.
When the vibration three, causing because of road injustice in Vehicle Driving Cycle or jolt causes vehicle luffing angle to change, two laser line generators produce contrary displacement, cause the irradiating angle of both sides line laser bundle 9,8 to change.When the irradiating angle of laser beam 9,8 changes β angle counterclockwise, now former laser beam 9,8 become respectively 9 ', 8 ', the intersection point of the laser beam that it sends and road surface and rut bottom surface is respectively B
1, C
1and A
1, D
1,
Obvious H
before<H, H
after>H; When the irradiating angle of laser beam 9,8 changes β angle clockwise (referring to Fig. 4), now former laser beam 9,8 becomes respectively 9 ", 8 ", and the intersection point of the collimated laser beam that it sends and road surface and rut bottom surface is respectively B
2, C
2and A
2, D
2, in like manner can have H
before><H, H
after<H.
When the average of getting both
(H
before+ H
after) time, no matter rotate counterclockwise or clockwise rotate, all can reduce or eliminate the error of rut detection,
So reach and reduce or eliminate the effect of various extraneous factors on the impact of certainty of measurement, thereby obtain accurately objective pavement track information.
Claims (4)
1, a kind of symmetrical multi-beam collimation, it is characterized in that having two is divided in system and carries bowing to taking camera (3) of car (1) rear end two upper lateral parts, a plurality of rear side collimation laser devices (13) by bottom outside extendible door shape bar is after vehicle body is laterally contained in system lift-launch car (1) side by side and a plurality of front side collimation laser device (14) that is contained in side by side the rear interior bottom of system lift-launch car (1) by tranverse connecting rod (10), before, rear side collimation laser device (13, 7) collimated laser beam (9 oliquely downward sending, 8) symmetry intersect at take camera (3) lower take district treat dypass surface.
2, symmetrical multi-beam collimation according to claim 1, it is characterized in that said extendible door shape bar comprises that two front ends are contained in by turning cylinder (12) longitudinal hack lever (6) and the horizontal hack lever (5) that is connected to two longitudinal hack lever (6) front ends by turning cylinder (4) that system is carried car (1) rear end two side lower parts, each rear side collimation laser device (13) is equally spaced laid on horizontal hack lever (5).
3, symmetrical multi-beam collimation according to claim 1, it is characterized in that said tranverse connecting rod (10) is contained in the rear interior bottom ，Ge front side collimation laser device (14) of system lift-launch car (1) by turning cylinder (11) and is equally spaced laid on tranverse connecting rod (10).
4, symmetrical multi-beam collimation according to claim 1, it is characterized in that bowing for two is contained in system lift-launch car (1) rear end two upper lateral parts by camera fixed mount (2) respectively to taking camera (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2009100210600A CN101476277B (en) | 2009-02-06 | 2009-02-06 | Symmetrical multi-beam collimation laser pavement track detection system |
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| CN2009100210600A CN101476277B (en) | 2009-02-06 | 2009-02-06 | Symmetrical multi-beam collimation laser pavement track detection system |
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| CN101476277A true CN101476277A (en) | 2009-07-08 |
| CN101476277B CN101476277B (en) | 2011-07-27 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101929125A (en) * | 2009-08-21 | 2010-12-29 | 中公高科（北京）养护科技有限公司 | Road rut detection method |
| CN103410079A (en) * | 2013-06-04 | 2013-11-27 | 武汉滨湖电子有限责任公司 | Real-time track detection system with single CCD (Charge Coupled Device) camera |
| CN104141275A (en) * | 2014-08-12 | 2014-11-12 | 东南大学 | Anti-sliding texture detector for highway surface |
| CN104390698A (en) * | 2014-11-20 | 2015-03-04 | 厦门元谷信息科技有限公司 | Preposed measuring device for dynamically testing road illumination on-site |
| CN104452556A (en) * | 2014-12-02 | 2015-03-25 | 吉林大学 | Verification system for vehicle-mounted pavement primary crack acquisition system based on line structured light reference |
| CN106092137A (en) * | 2016-06-06 | 2016-11-09 | 长安大学 | The outdoor calibrator (-ter) unit of a kind of vehicle-mounted three-dimensional laser pavement detection system and method |
| CN108330792A (en) * | 2018-02-07 | 2018-07-27 | 北京北铃专用汽车有限公司 | Road detection vehicle |
| CN109808610A (en) * | 2018-11-27 | 2019-05-28 | 佛山市奥策科技有限公司 | A kind of vehicle-mounted line scanned imagery device using line laser light source |
| CN113358050A (en) * | 2021-06-26 | 2021-09-07 | 南京熙赢测控技术有限公司 | Calibration system and method of laser rut instrument |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201358437Y (en) * | 2009-02-10 | 2009-12-09 | 长安大学 | Multi-beam aligned laser road surface track detection device |
-
2009
- 2009-02-06 CN CN2009100210600A patent/CN101476277B/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101929125A (en) * | 2009-08-21 | 2010-12-29 | 中公高科（北京）养护科技有限公司 | Road rut detection method |
| CN103410079A (en) * | 2013-06-04 | 2013-11-27 | 武汉滨湖电子有限责任公司 | Real-time track detection system with single CCD (Charge Coupled Device) camera |
| CN103410079B (en) * | 2013-06-04 | 2015-08-19 | 武汉滨湖电子有限责任公司 | The real-time track detection system of a kind of single CCD camera |
| CN104141275A (en) * | 2014-08-12 | 2014-11-12 | 东南大学 | Anti-sliding texture detector for highway surface |
| CN104390698A (en) * | 2014-11-20 | 2015-03-04 | 厦门元谷信息科技有限公司 | Preposed measuring device for dynamically testing road illumination on-site |
| CN104452556A (en) * | 2014-12-02 | 2015-03-25 | 吉林大学 | Verification system for vehicle-mounted pavement primary crack acquisition system based on line structured light reference |
| CN104452556B (en) * | 2014-12-02 | 2016-06-08 | 吉林大学 | Based on the verification system of the nascent crackle acquisition system of line-structured light benchmark vehicle-mounted road surface |
| CN106092137A (en) * | 2016-06-06 | 2016-11-09 | 长安大学 | The outdoor calibrator (-ter) unit of a kind of vehicle-mounted three-dimensional laser pavement detection system and method |
| CN106092137B (en) * | 2016-06-06 | 2017-07-07 | 长安大学 | The outdoor calibrator (-ter) unit and method of a kind of vehicle-mounted three-dimensional laser pavement detection system |
| CN108330792A (en) * | 2018-02-07 | 2018-07-27 | 北京北铃专用汽车有限公司 | Road detection vehicle |
| CN109808610A (en) * | 2018-11-27 | 2019-05-28 | 佛山市奥策科技有限公司 | A kind of vehicle-mounted line scanned imagery device using line laser light source |
| CN113358050A (en) * | 2021-06-26 | 2021-09-07 | 南京熙赢测控技术有限公司 | Calibration system and method of laser rut instrument |
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| CN101476277B (en) | 2011-07-27 |
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