CN101476277B - 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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- CN101476277B CN101476277B CN2009100210600A CN200910021060A CN101476277B CN 101476277 B CN101476277 B CN 101476277B CN 2009100210600 A CN2009100210600 A CN 2009100210600A CN 200910021060 A CN200910021060 A CN 200910021060A CN 101476277 B CN101476277 B CN 101476277B
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- collimation laser
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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 the 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 the pavement track index.
Background technology
The detection index of pavement track is an important content of maintenance of surface maintenance 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, the vehicle that travels is produced to break away, serious rut will make vehicle ' lane change difficulty simultaneously, has had a strong impact on the comfortableness and the security of driving.So the pavement behavior analysis indexes is very important thereby the rut situation that fast detecting goes out road is for the road maintenance maintenance provides accurately.
Known in the past pavement track detection technique mainly contains the level gage measurement method that adopts manual method, horizontal short chi mensuration, transversal section instrument mensuration etc.In recent years, development along with laser measuring technique, this area has been released 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 again, because its detection speed is fast, sampling density is big, can provide the many index of rut more objectively,, be subjected to user's favor to a great extent as left and right sides rut size, rut distribution etc.Though above-mentioned prior art differs from one another in actual use, the corresponding separately problem that yet has some need be 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 be manual inspection, testing result usually may be subjected to artificial factor, and in addition, also there is serious potential safety hazard in the manual inspection method if be used for detecting on the big highway of speed of a motor vehicle height, vehicle flowrate.
In the technology of several fast detecting pavement tracks, adopt the laser rotary mirror scanning method, because its technical sophistication, product price is also expensive, that uses at present is few; Adopt a plurality of laser displacement sensors to detect ruts, though when being laid with more laser displacement sensor on the transversal section, accuracy of detection can satisfy actual requirement, owing to adopt laser probe many, the cost of products of this kind method is higher.
Line laser digital picture detection method for present employing, it is to utilize folk prescription to the line laser irradiation road surface of expanding bundle, when the road surface has rut to exist, the line laser of scattering looks and is out of shape, become a curve generally speaking, take the line laser of scattering on the road surface by the high-speed figure camera, on the image of taking, will obtain the deformation curve corresponding, and then obtain the rut on road surface again by Flame Image Process with pavement track.This kind detection method can realize high-density sampling on the transversal section, thereby can further improve the accuracy of detection of rut.But, this method yet has some serious deficiencies, it mainly shows: 1.. this detection method is in order to satisfy the requirement of digital imagery, and the light intensity of line laser is that the laser line generator output power is bigger, and this will cause the injury to testing staff and other staff's organs of vision; In addition, owing to will adopt more powerful laser line generator, a series of problems such as heat dissipation problem, line laser structural stability, line laser output power stability and serviceable life have also been drawn such as laser line generator; 2.. the rut accuracy of detection is jolted by Vehicular vibration to cause the influence of vehicle pitching situation of change bigger when adopting this method, how to overcome the deficiency of line laser pavement track measuring method, and then the influence that fundamentally reduces or eliminate the vehicle vibrations, jolt measurement result is produced, also be present line laser rut detection method problem demanding prompt solution.
Summary of the invention
The objective of the invention is to overcome the weak point that prior art exists, the symmetrical expression multi-beam collimation laser pavement track detection system that provides that a kind of project organization is reasonable, easy to use, measuring accuracy is high and can not damage human eye.
The technical solution that adopts is so for achieving the above object: the symmetrical expression multi-beam collimation laser pavement track detection system that is provided has two and is divided in system and carries bowing to taking camera of car rear end two upper lateral parts, a plurality of by extendible door shape bar outer bottom after car is carried in the vehicle body system that laterally is contained in side by side rear side collimation laser device and a plurality ofly carry the front side collimation laser device of interior bottom behind the car by the tranverse connecting rod system that is contained in side by side, preceding, the collimated laser beam symmetry that rear side collimation laser device sends to oblique below intersect at take that camera takes the district down treat the 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 discontinuous laser rays; effectively reduce the injury of laser to personnel's eyes; protection operating personnel and other staff's health, the serviceable life of when greatly improving the security of employing laser beam detection pavement track, also having improved detection system greatly.In the real work, a plurality of laser light scattering points that the projection of collimated laser beam on the road surface that both sides, front and back collimation laser device sends forms, behind the digital filming camera imaging, " connect point curve " that just obtains a correspondence as, relend and help Digital Image Processing and calculate information such as the degree of depth that can obtain pavement track, left and right sides rut size; When the vehicle up-down vibration, the collimated laser beam of symmetry motion up or down simultaneously before and after the detection system, projection peak and the minimum point of collimated laser beam on pavement track only is that front and back position changes, the corresponding rut degree of depth is constant; When Vehicular vibration or jolt when causing the vehicle luffing angle to change, two groups of collimated laser beams produce opposite displacements, by getting the average of both rut testing results, can reduce or eliminate the error of rut detection; When there was gradient situation in the road surface in small area, two groups of collimated laser beams detected the opposite displacement of size, by getting the average of both rut testing results, can reduce or eliminate the error that rut detects.In a word, pavement track detection system of the present invention can reach and reduces or eliminate the influence of various extraneous factors to measuring accuracy, obtains accurately objectively pavement track information.
Description of drawings
Fig. 1 is the side direction work structuring synoptic diagram of a specific embodiment of the present invention.
Fig. 2 is the fundamental diagram of overlooking to structure embodiment illustrated in fig. 1.
Fig. 3 is a 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 a structure embodiment illustrated in fig. 1 with car body along clockwise to the fundamental diagram that rotates β angle (elevation angle).
Each label is respectively in the accompanying drawing: car is carried in the 1-system, 2-camera fixed mount, and 3-takes camera, the 4-rotation axis, the horizontal hack lever of 5-, the vertical hack lever of 6-, 7-road surfaces, 8-rear side laser beam, 9-front side laser beam, 10-tranverse connecting rod, 11-rotation axis, the 12-rotation axis, 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-takes the viewing field of camera corner edge, 20-takes camera optical axis, the H-rut degree of depth.
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 expression multi-beam collimation laser pavement track detection system of the present invention carries bowing of both sides, car 1 back upper place by the system that is located to be formed to shooting camera 3, a plurality of rear side laser instrument 13 and a plurality of front side laser instrument 14 that is contained in bottom in system lift-launch car 1 back by tranverse connecting rod 10 side by side that laterally is contained in bottom outside system lift-launch car 1 back by extendible door shape bar along vehicle body side by side.Bow for two and all adopt digital camera to taking camera 3, be contained in the top that both sides, car 1 rear end are carried in system by camera fixed mount 2 respectively, every camera is taken the width of 1/2 wide carriageway surfacing.Extendible door shape bar comprises that two front ends are contained in vertical hack lever 6 and horizontal hack lever 5 that is connected two vertical hack lever 6 front ends by rotation axis 4 that car 1 rear end two side lower parts are carried in system by rotation axis 12, door shape bar can rotate to realize locating and put down or pack up by rotation axis 12, and each rear side laser instrument 13 equally spaced is laid on the horizontal hack lever 5.Tranverse connecting rod 10 carries bottom in car 1 back by rotation axis 11 system that is contained in, and each front side laser instrument 14 equally spaced is laid on the tranverse connecting rod 10.Front and rear lasers 14,13 relative pavement detection location points in this detection system are symmetrical arranged, its laser beam 9,8 symmetries of sending to oblique below intersect at take that camera takes the district for 3 times treat the dypass surface.
The principle of work of symmetrical expression multi-beam collimation laser pavement track detection system of the present invention as shown in Figure 3 and Figure 4.
One, under the normal condition, car 1 is carried along the smooth-ride of straight road surface in system, 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, then the rut degree of depth
H＝CBsin∠BCD＝K·C′B′sin∠BCD。
Two, when the vehicle up-down vibration, symmetrically arranged laser instrument 14,13 motion up or down simultaneously before and after the detection system, projection peak and the minimum point of collimation laser on pavement track only is that front and back position changes, the corresponding rut degree of depth is constant.
Three, when the vibration that causes because of the road injustice in the vehicle ' or jolt when causing the vehicle luffing angle to change, two laser line generators produce opposite 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 the β angle counterclockwise, this moment former laser beam 9,8 become 9 respectively ', 8 ', the intersection point of laser beam that it sends and road surface and rut bottom surface is respectively B
1, C
1And A
1, D
1, then
H
Before=KC '
1B '
1Sin ∠ BCD
H
After=KA '
1D '
1Sin ∠ BCD
Obvious H
Before＜H, H
After＞H; When the irradiating angle of laser beam 9,8 changes the β angle clockwise (referring to Fig. 4), this moment, former laser beam 9,8 became 9 respectively ", 8 ", and the intersection point of collimated laser beam that it sends and road surface and rut bottom surface is respectively B
2, C
2And A
2, D
2, then in like manner H can be arranged
Before＞＜H, H
After＜H.
When the average of getting both is
The time, no matter rotate counterclockwise or clockwise rotate, all can reduce or eliminate the error that rut detects, promptly
So promptly reach and reduce or eliminate of the effect of various extraneous factors, thereby obtain accurately objectively pavement track information the influence of measuring accuracy.
Claims (4)
1. symmetrical expression multi-beam collimation laser pavement track detection system, 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 ofly carry the rear side collimation laser device (13) of outer bottom, car (1) back and a plurality ofly be contained in the front side collimation laser device (14) of interior bottom behind system's lift-launch car (1) side by side along the vehicle body system that laterally is contained in side by side by tranverse connecting rod (10) by extendible door shape bar, preceding, rear side collimation laser device (13,7) collimated laser beam (9 that sends to oblique below, 8) symmetry intersects at and takes the road surfaces to be measured place that camera (3) is taken the district down.
2. symmetrical expression multi-beam collimation laser pavement track detection system according to claim 1, it is characterized in that said extendible door shape bar comprises that two front ends carry vertical hack lever (6) of car (1) rear end two side lower parts and one by rotation axis (12) system that is contained in and are connected the horizontal hack lever (5) of two vertical hack lever (6) front ends by rotation axis (4), each rear side collimation laser device (13) equally spaced is laid on the horizontal hack lever (5).
3. symmetrical expression multi-beam collimation laser pavement track detection system according to claim 1, it is characterized in that said tranverse connecting rod (10) carries bottom in car (1) back by rotation axis (11) system that is contained in, each front side collimation laser device (14) equally spaced is laid on the tranverse connecting rod (10).
4. symmetrical expression multi-beam collimation laser pavement track detection system according to claim 1 is characterized in that bowing for two and carries car (1) rear end two upper lateral parts by camera fixed mount (2) system that is contained in respectively to taking camera (3).
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| 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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| CN101476277B true CN101476277B (en) | 2011-07-27 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN104141275B (en) * | 2014-08-12 | 2016-04-27 | 东南大学 | A kind of highway road table antiskid skin texture detection instrument |
| 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 |
| 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 |
| 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 |
| CN109808610B (en) * | 2018-11-27 | 2020-12-15 | 佛山市奥策科技有限公司 | Vehicle-mounted line scanning imaging device using line laser light source |
| CN113358050B (en) * | 2021-06-26 | 2023-05-23 | 南京熙赢测控技术有限公司 | Calibration system and method for laser rut meter |
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| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201358437Y (en) * | 2009-02-10 | 2009-12-09 | 长安大学 | Multi-beam aligned laser road surface track detection device |
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