CN103942964B - A bicycle and a group based on the location detection means laser scanning - Google Patents

A bicycle and a group based on the location detection means laser scanning Download PDF

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CN103942964B
CN103942964B CN201410138521.3A CN201410138521A CN103942964B CN 103942964 B CN103942964 B CN 103942964B CN 201410138521 A CN201410138521 A CN 201410138521A CN 103942964 B CN103942964 B CN 103942964B
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bicycle
detection
laser scanning
vehicle
gps
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CN103942964A (en
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黄玲
刘敏
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华南理工大学
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Abstract

本发明公开了一种基于激光扫描的自行车群定位检测装置及方法,该装置包括自行车检测杆、车载激光扫描检测单元、车载GPS定位单元及数据存储单元;自行车检测杆安装在自行车上,车载激光扫描检测单元和车载GPS定位单元一起安装在机动车车顶。 The present invention discloses apparatus and method for positioning a bicycle detection based on laser scan cluster, the apparatus comprising a detection lever bicycle, car detection laser scanning unit, GPS positioning unit and a data storage unit; bicycle detection lever mounted on a bicycle, RLG scanning means and detecting car GPS positioning unit mounted in a motor vehicle with a roof. 方法步骤为:安装检测杆的自行车群开始骑行和移动,安装车载激光扫描仪和GPS定位单元及数据存储单元的机动车车辆在自行车群附近匀速行驶,得到检测数据;通过将激光扫描检测数据与GPS定位数据融合,由处理系统对自行车群多个自行车进行检测和定位。 Method steps of: moving and starts riding the bicycle mounting detection rod group, motor vehicle mounted onboard the laser scanner and the GPS positioning unit and the data storage unit constant speed in the vicinity of the bicycle group, to obtain detection data; detection data by the laser scanner fusion with the GPS positioning data, the plurality of groups of the bicycle and the bicycle is detected by a positioning processing system. 本发明具有成本低、安装简易、便携性佳、易于标定和精确度高等优点。 The present invention has a low cost, ease of installation, good portability, easy calibration and high accuracy advantages.

Description

一种基于激光扫描的自行车群定位检测装置及方法 A bicycle and a group based on the location detection means laser scanning

技术领域 FIELD

[0001]本发明涉及交通检测与定位装置技术领域,特别涉及一种基于激光扫描的自行车群定位检测装置及方法。 [0001] The present invention relates to the field of traffic detection and location technology, and more particularly relates to a bicycle and a group of the location detection means of a method based on laser scanning.

背景技术 Background technique

[0002]自行车动态微观数据采集是进行交通行为分析、建模、交通管理、规划的基础性工作。 [0002] bicycle microscopic dynamic traffic data collection is behavior analysis, modeling, traffic management, infrastructure work planning. 自行车动态微观数据主要包括:轨迹、速度、加速度等,自行车检测和定位技术是获取自行车动态微观数据的基础。 Bicycle micro dynamic data including: trajectory, velocity, acceleration, detection and location bicycle bicycle is to obtain micro dynamic data base. 现有技术对自行车检测和定位主要采用: Prior art bicycle detection and localization mainly:

[0003] 1、视频检测法 [0003] 1, video detection method

[0004]利用视频检测和图像处理技术的设备对自行车进行检测和定位,优点是易于安装,精度较高;缺点是设备成本高且图像处理技术软件开发难度大。 [0004] The use of video detection device and image processing techniques to detect and locate the bicycle, the advantage is easy to install, high accuracy; disadvantage is the high cost of equipment and image processing software development difficult. 另外,视频检测器很难克服在阴影干扰、雨雾等恶劣天气的情况下对自行车进行准确检测和定位的问题。 Further, the video detector of the bicycle difficult to overcome the problem of positioning and accurately detected in a case where interference of shading, fog and other inclement weather.

[0005] 2、红外检测法 [0005] 2, the infrared detection

[0006]利用红外检测设备对自行车进行检测,优点是易于安装,成本较低,不受恶劣天气的影响;缺点是定位精度低,采集数据无法进一步推算自行车的轨迹、速度、加速度等动态微观数据,只能用于自行车检测和流量检测方面。 [0006] using an infrared detecting apparatus for detecting a bicycle, the advantage of easy installation, low cost, not affected by bad weather; disadvantage is that the positioning accuracy is low, no further data acquisition estimated path of the bicycle, velocity, acceleration and other dynamic microdata only for a bicycle detection and traffic detection.

[0007] 3、线圈检测法 [0007] 3, detection coils

[0008]线圈检测器只能提供流量方面的数据,无法对自行车进行精确定位,也无法获得自行车动态微观数据。 [0008] The loop detectors can provide data traffic aspect, the bicycle can not be accurately positioned, the bicycle can not be obtained dynamic micro data.

[0009] 4、多端口压强检测法 [0009] 4, the multi-port pressure detection

[0010]利用安装有多端口压强检测装置的底毯对自行车进行检测,优点在于抗干扰能力强,能比较好的克服了恶劣天气的影响,检测精度较高;缺点是由于受底毯的大小限制(一般是5〜1m),只能获得很小范围内自行车的定位数据和流量数据,无法进一步推算长时间自行车的轨迹、速度、加速度等动态微观数据,只能用于自行车检测和流量检测方面。 [0010] With the installation of multi-port pressure detection means for detecting a bicycle bottom of the carpet, the advantage that the anti-interference ability, better able to overcome the impact of bad weather, a high detection accuracy; disadvantage is the size of the bottom of the carpet by limit (typically 5~1m), positioning data is obtained only within a narrow range and flow data of the bicycle, the bicycle can not be further prolonged the estimated path, velocity, acceleration and other dynamic micro data, and can detect the flow rate detector for a bicycle aspect.

[0011] 5、视频&压强检测法 [0011] 5, the pressure detection video &

[0012] 实用新型专利N0.ZL201220317852.X公开了一种自行车检测与定位装置,包括底毯、多端口压强检测器;多端口压强检测器包括密封气压管、压强传感探头、微处理器、电源与信号电缆。 [0012] Utility Model Patent discloses a bicycle N0.ZL201220317852.X detecting and positioning means comprises a blanket bottom multi-port pressure sensor; multi-port pressure sensor comprises a sealed pressure tube, a pressure sensing probe, a microprocessor, power and signal cables. 本实用新型气压管形成规则网格并安装在底毯上,该气压管相对位置固定,压强检测器抗干扰能力强,很好地克服了恶劣天气的影响,实现了检测精度更高、可靠性较好,但该装置只能在某个固定地方安装,无法对自行车群进行长时间运动精确定位。 The present invention pneumatic tubes form a regular grid and mounted on the bottom carpet, the air hose fixed relative positions, and strong anti-interference ability of the pressure sensor, well overcome the impact of bad weather, to achieve higher detection accuracy, reliability preferably, but only in a certain place means the installation can not be prolonged exercise bicycle group precise positioning.

[0013]发明专利N0.201210228890.2利用高清摄像系统和多端口压强检测装置同时对自行车进行检测,通过数据处理系统对其数据进行融合处理已达到对自行车的定位,此方法的优点在于融合了视频检测法和多端口压强检测法的优点,具有配置灵活、安装简易、便携性佳、易于标定和精确度高的优点,但是其仍然无法对自行车群进行长时间的自行车的轨迹、速度、加速度等动态微观数据进行推算。 [0013] Patent N0.201210228890.2 HD camera system and using a multi-port pressure detection means simultaneously detecting a bicycle, its data fusion process by the data processing system has reached the positioning of the bicycle, the advantage of this approach is that the integration of video detection locus and advantages of the multi-port pressure detection method, having a flexible configuration, simple installation, good portability, easy calibration and high accuracy advantages, but it still can not be prolonged bicycle bicycle group, velocity, acceleration and other dynamic microdata calculated.

[0014]因此,目前只有视频检测可对自行车进行较精确的检测和定位,但视频检测的设备成本高且图像处理技术软件开发难度大。 [0014] Thus, only the video of the bicycle can be detected more accurate detection and location, but the high cost of video detection device and image processing software development difficult. 此外,视频检测法很难克服在阴影干扰、雨雾等恶劣天气的问题,虽然还有结合了视频检测法和多端口压强检测法的方式,但是仍然没法对自行车长时间的动态微观参数进行推算分析,更无法对自行车群的交通特性进行分析,适用范围十分有限。 In addition, the video detection method is difficult to overcome the problem of shadow interference, rain and fog and other inclement weather, although there is a way to combine video and multi-port pressure detection method detection method, but still not on the bike for a long time dynamic microscopic parameters were calculated analysis, but can not analyze the traffic characteristics bike group, the scope is very limited.

发明内容 SUMMARY

[0015]本发明的发明目的是针对现有自行车检测的技术不足,提供一种基于激光扫描的自行车群定位检测装置。 [0015] The invention object of the present invention is directed to bicycle detecting deficiencies in the prior art, the location detection means bicycle group based laser scanning.

[0016]本发明的另一目的在于,提供一种基于激光扫描的自行车群定位检测方法。 [0016] Another object of the present invention is to provide a bicycle group orientation detection method based on laser scanning.

[0017]为了达到上述第一目的,本发明采用以下技术方案: [0017] To achieve the above first object, the present invention employs the following technical solution:

[0018] —种基于激光扫描的自行车群定位检测装置,包括自行车检测杆、车载激光扫描检测单元、车载GPS定位单元及数据存储单元;自行车检测杆安装在自行车上,车载激光扫描检测单元和车载GPS定位单元一起安装在机动车车顶;当该装置开始检测时,安装车载激光扫描检测单元、车载GPS定位单元及数据存储单元的机动车在自行车群附近停止或匀速行驶,得到检测数据;通过将数据存储单元中的激光扫描检测数据与GPS定位数据融合,由处理系统对自行车群多个自行车进行检测和定位。 [0018] - bicycle group orientation detecting means based on laser scanning, including bicycle detection lever, the vehicle-mounted laser scanning detection unit, GPS positioning unit and a data storage unit; bicycle detection lever mounted on a bicycle, the vehicle-mounted laser scanning detecting means and vehicle GPS positioning unit is installed in a motor vehicle with a roof; when the start detecting means, vehicle mounted laser scanning detecting means, motor vehicle GPS positioning unit and the data storage unit constant speed or stop the bicycle in the vicinity of the group, to obtain detection data; by the laser scanning unit in the data storage GPS location data and the detection data fusion, a plurality of group bicycle bicycle detection and localization by the processing system.

[0019]优选的,所述自行车检测杆安装在实验自行车上,接收来自实验机动车上激光扫描检测单元发出的激光扫描检测信号,并将激光扫描检测信号反射出去; [0019] Preferably, the detection lever is mounted on the bicycle experiment bicycle, receiving the laser scanning motor experimental detection signal detecting unit scanning the laser emitted from, reflected off the laser scanning and the detection signal;

[0020]所述的车载激光扫描单元安装在实验机动车车顶,通过不断发射激光信号和接收自行车检测杆反射的信号以获得自行车空间位置数据; [0020] The laser scanning unit mounted onboard the vehicle roof experiment, the signal reflected by the continuous laser signal transmitting and receiving detection lever the bicycle to obtain the spatial position data of the bicycle;

[0021 ]所述的车载GPS定位单元安装在实验机动车车顶,得到实验机动车GPS空间位置数据; [0021] The vehicle-mounted GPS positioning unit is installed in the experimental vehicle roof, the vehicle GPS spatial position obtained experimental data;

[0022]所述的数据存储单元安装在实验机动车内部,通过电缆与车载GPS定位单元、激光扫描装置反射信号接收装置相连接,实时存储实验机动车和自行车的空间位置数据及激光扫描检测周期编号;通过车载GPS定位单元的实验机动车空间位置数据和自行车群的空间位置数据融合处理以得到自行车群各自行车实时空间位置及行驶轨迹数据。 A data storage unit [0022] The experiment is mounted inside the vehicle, through a cable car GPS positioning unit, the reflected laser scanning device is connected to the signal receiving means, real-time storage space experiment motor vehicles and bicycles, and the laser scanning position data detection period No; spatial position data of the vehicle test unit space Vehicular GPS position data and the bicycle by fusion group to give each group of bicycles and bicycle real spatial position of the traveling locus data.

[0023]优选的,自行车检测杆上的激光扫描检测点距离地面高度在1.5m〜1.Sm之间。 [0023] Preferably, a laser scanning bar bike detecting detection points height from the ground between 1.5m~1.Sm.

[0024]为了达到上述第二目的,本发明采用以下技术方案: [0024] To attain the above second object, the present invention employs the following technical solution:

[0025] —种基于激光扫描的自行车群定位检测方法,包括下述步骤: [0025] - Group positioning bicycle detection based laser scanning, comprising the steps of:

[0026] I)检测装置安装:包括安装在自行车上的检测杆、安装在实验机动车上的激光扫描检测单元、车载GPS定位单元及数据存储单元; [0026] I) detecting means mounted: a detection lever mounted on the bicycle, the laser scanning detection unit is mounted on the test vehicle, GPS positioning unit and a data storage unit;

[0027] 2)系统时间校准:对安装在实验机动车车顶的激光扫描检测单元和GPS单元的系统时间进行校准,保证二者系统时间完全同步; [0027] 2) Time Calibration System: the system time of the laser scanning unit and the detecting unit is installed in the GPS vehicle roof calibration experiments, both to ensure complete synchronization system time;

[0028] 3)样本信息采集:首先要求实验机动车尽量匀速行驶;再者,以0.02s到0.1s为一个激光扫描检测周期,以实验机动车为圆心,在设定半径值的空间检测范围内,采集自行车群各个体样本的空间位置坐标、激光扫描检测周期编号;同时以Is/次或者5s/次的频率实时采集实验机动车的GPS坐标和GPS数据采集周期编号; [0028] 3) Sample information collection: First experimental requirements as far as possible constant speed motor; Furthermore, 0.02s to 0.1s to a laser scanning detection period, the experimental vehicle to a circle, the radius of the spatial detection range setting value the spatial position coordinates of each group of individual samples collected bicycle, scanning laser detection cycle number; the same frequency is / or secondary 5s / real-time acquisition times of GPS coordinates and GPS data collection period numbered test vehicle;

[0029] 4)检测数据存储:使用实验机动车车载存储单元以激光扫描检测周期为存储文件单位对自行车群各个体的空间位置坐标进行存储,以GPS数据采集周期为存储文件单位对实验机动车空间位置坐标进行实时存储; [0029] 4) detection data storage: a storage unit using a motor vehicle to test the laser scanning cycle detect the spatial position coordinates of each individual group bicycle store unit to store files, GPS data collection period to store the file in units of a motor vehicle Experimental spatial location coordinates stored in real time;

[0030] 5)系统坐标参数标定:以GPS空间坐标系为绝对坐标系标定实验机动车各GPS数据采集周期内的空间位置坐标,再对GPS数据采集周期内的GPS空间位置坐标采用线性差分计算法则计算出每个激光扫描检测周期内对应的实验机动车空间位置坐标,分别以此空间位置坐标为原点建立相对坐标系计算各激光扫描检测周期内采集到的自行车群各个体空间位置坐标; [0030] 5) the calibration coordinates: Spatial coordinates of the GPS spatial position of each GPS coordinates in the absolute coordinate system data acquisition cycle calibration experiments vehicle, then the GPS position of the spatial coordinates within the GPS data acquisition cycle difference calculating linear experimental rule calculated spatial position corresponding to the coordinates of the vehicle in each laser scanning detection cycle, respectively, in order to establish the spatial location of each individual spatial coordinates of the position coordinates calculated in each relative coordinate system of the laser scanning detection period acquired group bicycle as an origin;

[0031 ] 6)自行车定位:采用人工或者简单智能算法识别自行车各个体样本的行驶轨迹以完成自行车定位工作,可以得到自行车的定位数据以及行驶轨迹、速度、加速度以及自行车群的交通流特性等参数。 [0031] 6) bicycle Location: artificial or simple intelligent algorithm identifies bicycle respective individual samples traveling locus to complete the bicycle positioning work can obtain parameters of the positioning data of the bicycle, and traveling locus, speed, traffic flow characteristics of the acceleration and the bicycle group, etc. .

[0032]优选的,步骤(3)中所述样本信息参数各激光扫描检测周期内的自行车群相对空间位置坐标、激光扫描检测周期编号及各GPS数据采集周期的实验机动车GPS坐标和GPS数据采集周期编号。 [0032] Preferably, the step (3) in the sample relative spatial position coordinates of bike group, the experimental vehicle GPS coordinates and GPS data detecting laser scanning cycle number and each GPS data collection period in the laser scanning information parameters for each detection period acquisition cycle number.

[0033]优选的,步骤(5)中所述系统坐标参数标定包括采用GPS定位数据建立系统绝对坐标系,并经过线性差分算法获得每个激光扫描检测周期内的实验机动车GPS坐标,再以此作为为原点对自行车群各个体样本的空间位置坐标进行标定。 [0033] Preferably, the step (5) in the parameter calibration coordinate system including the use of GPS location data to establish the absolute coordinate system, and the linear difference algorithm obtained through the experiment in the vehicle GPS coordinates detection period of each laser scan, then as the origin of this spatial position coordinates of each individual cluster calibration samples bicycle.

[0034]优选的,使用人工或者相应的简单智能算法对各自行车个体样本行驶轨迹进行识别,以此为基础进行其他的信息参数分析。 [0034] Preferably, the use of artificial intelligence or corresponding simple algorithm to identify individual samples for each bike traveling locus, in order for the additional information based on the analysis parameters.

[0035]优选的,所述计算机数据处理系统包括下述步骤: [0035] Preferably, the computer data processing system comprising the steps of:

[0036] (11)系统时间校准:对激光扫描检测单元和GPS检测单元的系统时间进行校准,保证它们达到完全同步; [0036] (11) System Calibration Time: system time of the laser scanning unit and the detecting means detecting GPS calibration to ensure that they are synchronized completely;

[0037] (12)GPS坐标数据导入:将实验机动车的GPS坐标数据导入到数据库中; [0037] (12) GPS coordinate data import: import experiments vehicle GPS coordinate data to the database;

[0038] (13)建立绝对坐标系:对各GPS数据采集周期内的试验机动车的GPS空间位置坐标采用线性差分算法计算出每个激光扫描检测周期内对应的实验机动车空间位置坐标,建立绝对坐标系; [0038] (13) to establish the absolute coordinate system: linear difference algorithm for GPS spatial position coordinates in each test vehicle GPS data acquisition cycle test vehicle calculated spatial position coordinates corresponding to each laser scanning detection cycle, to establish absolute coordinate system;

[0039] (14)建立相对坐标系:以GPS位置为原点建立各激光扫描检测周期的相对坐标系; [0039] (14) establish a relative coordinate system: to establish the relative position of the GPS coordinates of each laser scanning detection period as an origin;

[0040] (15)自行车群中个体空间位置数据导入:根据激光扫描检测周期顺序将相应自行车群个体样本数据导入,获得相对坐标,并根据GPS坐标计算得到绝对坐标; [0040] (15) the spatial position of the individual group data bicycle introduced: the respective individual samples in the data lead group bicycle laser scanning sequence detection period, obtain the relative coordinates, and the calculated absolute coordinates based on the GPS coordinates;

[0041 ] (16)数据分析处理:采用人工或者简单智能算法识别自行车各个体样本的行驶轨迹图,自行车群定位检测处理完毕。 [0041] (16) Data analysis: The individual samples of each trajectories with an artificial intelligence algorithm or simply to identify, bicycles group orientation detection process is completed.

[0042]优选的,步骤(16)中通过所述人工或者智能算法识别获得自行车运行轨迹图、速度、加速度动态微观数据以及自行车流的交通参数;该交通参数包括自行车流的地点车速、 [0042] Preferably, the step (16) obtained in FIG bicycle trajectory, velocity, acceleration, and dynamic data traffic parameters bicycle micro flow through said artificial intelligence algorithm or recognition; the parameter comprises traffic flow spot speed bicycle,

流量、密度。 Traffic density.

[0043]本发明与现有技术相比,具有如下优点和有益效果: [0043] Compared with the prior art the present invention has the following advantages and benefits:

[0044] 1、本发明采用特制的自行车检测与定位装置,该自行车检测与定位装置定位精确度越高、可根据需求设置装置的构成、实验器材获得容易、容易携带和安装;因此,本发明具有成本低、配置灵活、安装简易、便携性佳、易于标定和精确度高等优点; [0044] 1, the present invention employs a special bike detecting and locating means, the higher the accuracy of detection of the bicycle and the positioning means, it can be obtained easily according to the requirements set configuration, experimental equipment device, easy to carry and install; Accordingly, the present invention low cost, flexible configuration, simple installation, good portability, easy calibration and high accuracy, etc;

[0045] 2、本发明采用的自行车检测杆、车载激光扫描检测单元、车载GPS定位单元及数据存储单元没有严格要求,容易获得,具有稳定、经济、铺设简易、便携性佳,非常适用于自行车动态数据采集工作,因此本发明具有很大的实际推广价值。 [0045] 2, the bicycle detection lever used in the invention, the vehicle-mounted laser scanning detection unit, GPS positioning unit and the data storage unit is not critical, readily available, stable, economical, laying simplicity, portability is good, ideal for a bicycle dynamic data collection, the invention has great practical value to popularize.

[0046] 3、本发明采用的自行车群检测与定位装置,安装在实验机动车顶端激光扫描检测装置,通过周期性的发射360度检测激光覆盖以实验机动车为圆心的一块区域,并不断接收来至自行车检测杆的反射激光,并通过相应导线将自行车杆反射激光信号存储在车载存储单元上,车载GPS定位单元也将每个GPS数据采集周期内的实验机动车的空间位置信息存储在车载存储单元上,该检测装置配置完善,抗干扰能力强,可以适应任何恶劣天气下、任何不利道路环境下的工作,可以实现检测精度高、可靠性高的优点;此外,该套自行车群定位检测装置可以在任何需要检测的路段上进行实验,其不仅能够研究单个性自行车瞬时、长时间的交通特性,还可以研究自行车群体性的交通特性,比如交通密度等,有助于自行车相互干扰性问题的研究。 [0046] 3, group bicycle detection and location means employed in the present invention, mounted on top of the laser scanning motor experiment detecting means, by periodically detecting the emission of the laser 360 is covered with an experimental vehicle as the center region, and continuously receiving the bicycle to be detected reflected laser rod, and through the corresponding wires on-board storage unit, the vehicle-mounted GPS positioning unit also positional information stored in an onboard memory bicycle lever reflected laser signal within each experimental vehicle GPS data acquisition cycle on the storage unit, the detecting device equipped, strong anti-interference capability and can adapt to any adverse weather, road work under any adverse environment, high precision, high reliability advantage can be achieved; in addition, the group set of the location detection bicycle means can be performed on any link to be detected experiments to study not only the instantaneous bicycle single individual, long transport properties, may also be of traffic characteristics of the bicycle, such as traffic density, contribute to the problem of mutual interference bike Research.

[0047] 4、本发明成本低,经济性好,易于推广和应用。 [0047] 4, the advantages of low cost, economical, and easy promotion and application.

附图说明 BRIEF DESCRIPTION

[0048]图1为基于激光扫描的自行车群定位检测装置的结构示意图; [0048] FIG. 1 is a schematic view of a bicycle location detection device group based laser scanning;

[0049]图2为实施例为图1中的定位检测装置连接外部计算机的结构示意图; [0049] FIG. 2 is a schematic view of the embodiment in FIG 1 the location detection means is connected to an external computer;

[0050]图3为实施例定位检测装置机动车端的结构框图; [0050] FIG. 3 is a block diagram showing the structure of a motor vehicle positioned end detecting device embodiment;

[0051 ]图4为实施例的基于激光扫描的自行车群定位检测装置安装结构框图; [0051] FIG. 4 is a block diagram showing the location detection device is mounted bicycle group based laser scanning embodiment;

[0052]图5为本发明基于激光扫描的自行车群定位检测方法的流程图。 [0052] FIG 5 is a flowchart of the location detection method based on laser scanning group bicycle of the present invention.

具体实施方式 Detailed ways

[0053]下面结合附图和具体实施例对本发明的发明目的作进一步详细地描述,实施例不能在此一一赘述,但本发明的实施方式并不因此限定于以下实施例。 [0053] conjunction with the accompanying drawings and specific embodiments of the object of the present invention will be further described, the embodiment is not attempting to repeat in detail, but the embodiment of the present invention therefore is not limited to the following Examples. 除非特别说明,本发明采用的材料和加工方法为本技术领域常规材料和加工方法。 Unless otherwise noted, technical field of conventional materials and methods of the invention employ processing materials and processing methods are known.

[0054] 实施例 [0054] Example

[0055]如图1所示,一种自行车群检测与定位装置,包括自行车检测杆1、车载激光扫描检测单元2、车载GPS定位单元3、数据存储单元4、第一数据传输电缆5、第二数据传输电缆6、数据存储单元的数据输出接口7。 [0055] As shown, a bicycle group detection and localization apparatus 1, a detection lever comprising a bicycle, vehicle detection laser scanning unit 2, GPS positioning unit 3, a data storage unit 4, a first data transmission cable 5, two data transmission cables 6, a data output interface 7 to the data storage unit. 自行车检测杆反射来至激光扫描检测单元发射的激光扫描检测信号,激光扫描检测单元接收来至自行车检测杆的反射信号,并将接收到的自行车群各个体样本的空间位置坐标和激光扫描周期编号通过第一数据传输电缆5传送给数据存储单元4,车载GPS定位单元与激光扫描检测单元同步开始工作,每间隔一定时间(I s或者5s),将实验机动车当前空间位置信息及GPS数据采集周期编号通过第二数据传输电缆6传送给数据存储单元4,数据存储单元设有与外部计算机连接的数据输出接口7。 Bicycle detection lever detecting reflection to the laser scanning unit emits a laser scanning signal detection, scanning laser detection means receives the reflected signal to the bicycle detection lever, and the spatial position coordinates of each of the individual samples of the received laser scanning bicycle cycle number and the group transmission cable 5 to transmit data storing unit 4, the vehicle-mounted GPS positioning unit and the laser scanning start detecting unit operated by a first synchronous data, every predetermined time interval (I s or 5S), the current spatial position information and vehicle experimental GPS data collection transmitting a second periodic number data transmission cable 6 to the data storage unit 4, the data storage unit is provided with data output interface 7 is connected to an external computer through.

[0056]如图3所示,自行车群定位检测装置包括激光扫描检测单元(包括信号发射和接收)、自行车检测杆、车载GPS定位单元、车载存储单元(含与外部计算机相连接的RS232接口)。 [0056] As shown, the location detection means comprises a group bicycle laser scanning detection unit (including signal transmission and reception), the detection lever bicycle, Vehicular GPS unit, onboard storage unit 3 (including external computer connected to the RS232 interface) .

[0057]该装置可实现对自行车群的检测和定位。 [0057] The positioning device may be implemented to detect and group bicycle. 一般来说,是将该装置置于地表对通过整个非机动车道的自行车进行检测和定位,以便据此数据计算出单个自行车运动轨迹、速度和加速度以及自行车群运动的交通特性研究(干扰)。 Generally, the device is placed across the entire surface of the non-motorized vehicles to detect and locate a bicycle, whereby the data to calculate the characteristics of a single bicycle Traffic trajectory, velocity and acceleration and the bicycle cluster motion (interference).

[0058]其中,自行车检测杆I可由铝、铁、木头等材料制成,直径为3cm左右,只要求可以反射激光扫描信号。 [0058] wherein, I bike detecting lever formed from aluminum, iron, wood, and other materials, having a diameter of about 3cm, may reflect only the required laser scanning signal.

[0059]车载激光扫描检测单元和车载GPS定位单元采用常用车载三维激光扫描仪,其系统传感器部分集成在一个可稳固连接在普通车顶行李架或定制部件的过渡板上,支架可以分别调整激光传感器头、数码相机、MU与GPS天线的姿态或位置。 [0059] The vehicle-mounted laser scanning unit and the detecting unit Vehicular GPS vehicle using conventional three-dimensional laser scanner, the system is integrated in the sensor portion may be firmly attached to a roof rack or the common custom transition plate member, the laser holder can be adjusted separately attitude or position sensors, digital cameras, MU and GPS antenna. 高强度的结构足以保证传感器头与导航设备间的相对姿态和位置关系稳定不变。 High structural strength and sufficient to ensure the relative positional relationship between the attitude of the sensor head and the navigation device stable.

[0060]如图2所示,将该定位检测装置作为整个系统来看待,包括机动车端10、自行车端20以及外部计算机30,自行车端包括自行车以及自行车检测杆;机动车端包括车载激光扫描检测单元、GPS定位及存储单元;外部计算机30用于处理外部数据。 [0060] 2, the system as a whole, the location detection means to look, comprising a motor end 10, the bicycle computer 30 and an external terminal 20, a bicycle and a bicycle comprising the bicycle end detecting lever; motor vehicle comprising a laser scanning end detecting means, GPS positioning and a storage unit; external computer 30 for processing the external data. 自行车检测杆通过对来至激光扫描检测单元的检测信号的反射使得车载激光扫描单元获得自行车的空间位置坐标,车载激光扫描检测单元、车载GPS定位单元将自行车空间位置坐标、激光扫描周期编号(系统时间)以及实验机动车空间位置坐标(GPS)、GPS数据采集周期编号传输给外部数据处理单元,通过外部数据处理单元一系列的数据处理对自行车群进行定位分析。 Bicycle detecting lever by reflecting pair to the laser scan detection means for detecting a signal such that the vehicle-mounted laser scanning unit to obtain the spatial position coordinates of the bicycle, the vehicle-mounted laser scanning detection unit, GPS positioning unit bicycle spatial position coordinates of the laser scanning cycle number (system time) and spatial position coordinates of the vehicle experiment (GPS), GPS data acquisition cycle number to the external data processing unit, through a series of external data processing unit group bicycle positioning analysis.

[0061]如图4所示,在该定位检测装置中,激光扫描检测单元发射检测信号,自行车检测杆反射检测信号,激光检测单元接收来至自行车检测杆的反射信号,并将接收来的反射信号、激光扫描周期编号(系统时间)连同GPS空间位置信息传输给车载存储单元,通过RS232接口电路与外部数据处理系统即计算机相连接。 [0061] As shown, the location detection means, detecting the laser scanning unit emits a detection signal, the detection signal reflected bicycle detection lever, the detection unit receives the reflected laser signal detection lever 4 to the bicycle, and receives the reflected signal, a laser scanning cycle number (system time) along with the GPS spatial position information to the vehicle-mounted storage unit that is connected to the computer via RS232 interface circuit and the external data processing system.

[0062]如图5所示,本发明采用的自行车群激光扫描检测与定位方法包括如下步骤: [0062] FIG. 5, the bicycle group detection and location of the laser scanning employed in the present invention comprises the steps of:

[0063] I)检测装置安装:包括安装在自行车上的检测杆、安装在实验机动车上的激光扫描检测单元、车载GPS定位单元及数据存储单元; [0063] I) detecting means mounted: a detection lever mounted on the bicycle, the laser scanning detection unit is mounted on the test vehicle, GPS positioning unit and a data storage unit;

[0064] 2)系统时间校准:对安装在实验机动车车顶的激光扫描检测单元和GPS单元的系统时间进行校准,保证二者系统时间完全同步; [0064] 2) Time Calibration System: the system time of the laser scanning unit and the detecting unit is installed in the GPS vehicle roof calibration experiments, both to ensure complete synchronization system time;

[0065] 3)样本信息采集:首先要求实验机动车尽量匀速行驶;再者,以0.02s到0.1s为一个激光扫描检测周期,以实验机动车圆心的、半径80m(或者根据实际情况进行调整)的空间为检测范围,采集自行车群各个体样本的空间位置坐标、激光扫描检测周期编号(系统时间);同时以Is/次或者5s/次的频率实时采集实验机动车的GPS坐标和GPS数据采集周期编号(系统时间)。 [0065] 3) Sample information collection: First experimental requirements as far as possible constant speed motor; Furthermore, 0.02s to 0.1s to a laser scanning detection period, the experimental vehicle to the center, the radius of 80m (or adjusted according to actual situation ) spatial detection range, the spatial position coordinates of each collecting individual samples bicycle group, scanning laser detection cycle number (system time); while the frequency of is / or secondary 5s / acquisition times of GPS coordinates and GPS data in real-time experiments vehicle acquisition cycle number (system time).

[0066] 4)检测数据存储:使用实验机动车车载存储单元以激光扫描检测周期为存储文件单位对自行车群各个体的空间位置坐标进行存储,以GPS数据采集周期为存储文件单位对实验机动车空间位置坐标进行实时存储; [0066] 4) detection data storage: a storage unit using a motor vehicle to test the laser scanning cycle detect the spatial position coordinates of each individual group bicycle store unit to store files, GPS data collection period to store the file in units of a motor vehicle Experimental spatial location coordinates stored in real time;

[0067] 5)系统坐标参数标定:以GPS空间坐标系为绝对坐标系标定实验机动车各GPS数据采集周期内的空间位置坐标,再对GPS数据采集周期内的GPS空间位置坐标采用线性差分计算法则计算出每个激光扫描检测周期内对应的实验机动车空间位置坐标,分别以此空间位置坐标为原点建立相对坐标系对各激光扫描检测周期内采集到的自行车群各个体空间位置坐标进行标定; [0067] 5) the calibration coordinates: Spatial coordinates of the GPS spatial position of each GPS coordinates in the absolute coordinate system data acquisition cycle calibration experiments vehicle, then the GPS position of the spatial coordinates within the GPS data acquisition cycle difference calculating linear experimental rule calculated spatial position corresponding to the coordinates of the vehicle in each laser scanning detection cycle, respectively, in order to establish the spatial position coordinates of the respective individual position coordinates of the spatial coordinate system relative to the laser scanning in each detection cycle collected population as the origin bicycle calibration ;

[0068] 6)自行车定位:采用人工或者简单智能算法识别自行车各个体样本的行驶轨迹以完成自行车定位工作,可以得到自行车的定位数据以及行驶轨迹、速度、加速度以及自行车群的交通流特性等参数。 [0068] 6) bicycle Location: artificial or simple intelligent algorithm identifies bicycle respective individual samples traveling locus to complete the bicycle positioning work can obtain parameters of the positioning data of the bicycle, and traveling locus, speed, traffic flow characteristics of the acceleration and the bicycle group, etc. .

[0069]其中,实验机动车空间位置坐标和GPS数据采集周期编号由车载GPS定位单元获得,自行车空间位置坐标、激光扫描周期编号由车载激光扫描检测单元获得。 [0069] wherein experimental GPS vehicle position coordinates and the spatial period of the data acquisition unit ID obtained from the vehicle-mounted GPS positioning, the spatial position coordinates of the bicycle, the laser scanning cycle number obtained by the onboard laser scanning detection means. 先将实验机动车空间位置信息以GPS数据采集周期编号为区分在地理信息系统软件构建的绝对坐标系中进行标定,再对GPS数据采集周期内的GPS空间位置坐标采用线性差分计算法则计算出每个激光扫描检测周期内对应的实验机动车空间位置坐标,分别以此空间位置坐标为原点建立相对坐标系对各激光扫描检测周期内采集到的自行车群各个体空间位置坐标进行标定 First experimental vehicle GPS positional information number to distinguish data acquisition cycle is calibrated in the GIS software to build the absolute coordinate system, then the GPS spatial position coordinates in the GPS data acquisition cycle using the linear difference calculated for each calculation rule corresponding to the laser detection scanning cycle test vehicle spatial position coordinates, respectively, in order to establish the spatial position coordinates of the respective individual position coordinates of the spatial coordinate system relative to the laser scanning detected in each cycle to collect the bicycle group calibration origin

[0070]上述实施例为本发明较佳的实施方式,但本发明的实施方式并不受上述实施例的限制,其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化,均应为等效的置换方式,都包含在本发明的保护范围之内。 [0070] The preferred embodiment of the present invention embodiment, but the embodiment of the present invention is not limited to the above embodiments, changes made to any other without departing from the spirit and principle of the present invention, modifications, substitutions , combined, simplified, should be equivalent replacement method, it is included within the scope of the present invention.

Claims (7)

1.一种基于激光扫描的自行车群定位检测装置,其特征在于,包括自行车检测杆、车载激光扫描检测单元、车载GPS定位单元及数据存储单元;自行车检测杆安装在自行车上,车载激光扫描检测单元和车载GPS定位单元一起安装在机动车车顶;当该装置开始检测时,安装车载激光扫描检测单元、车载GPS定位单元及数据存储单元的机动车在自行车群附近停止或匀速行驶,得到检测数据;通过将数据存储单元中的激光扫描检测数据与GPS定位数据融合,由处理系统对自行车群多个自行车进行检测和定位; 所述自行车检测杆安装在实验自行车上,接收来自实验机动车上激光扫描检测单元发出的激光扫描检测信号,并将激光扫描检测信号反射出去; 所述的车载激光扫描单元安装在实验机动车车顶,通过不断发射激光信号和接收自行车检测杆反射的信号以获得自行 A bicycle group positioning detectors based on laser scanning, characterized in that the detection lever comprising a bicycle, vehicle detection laser scanning unit, GPS positioning unit and a data storage unit; bicycle detection lever mounted on a bicycle, the vehicle-mounted laser scanning detector GPS positioning unit and the vehicle unit installed in a motor vehicle with a roof; when the start detecting means, vehicle mounted laser scanning detecting means, motor vehicle GPS positioning unit and the data storage unit constant speed or stop the bicycle in the vicinity of the group, to give the detection transactions;, bicycle group by the plurality of laser scanning bicycle data in the detection data storage unit and GPS location data fusion system by the detection and localization processing; detection lever of the bicycle is mounted on the bicycle experiment, receiving the experimental vehicle laser scanning signal detecting means detecting the laser scanning emitted and reflected out of the laser scanning detection signal; said vehicle mounted laser scanning unit in the experimental vehicle roof, by continuously transmitting laser signals and receiving signals reflected from the bicycle to obtain the detection lever voluntarily 空间位置数据; 所述的车载GPS定位单元安装在实验机动车车顶,得到实验机动车GPS空间位置数据; 所述的数据存储单元安装在实验机动车内部,通过电缆与车载GPS定位单元、激光扫描装置反射信号接收装置相连接,实时存储实验机动车和自行车的空间位置数据及激光扫描检测周期编号;通过车载GPS定位单元的实验机动车空间位置数据和自行车群的空间位置数据融合处理以得到自行车群各自行车实时空间位置及行驶轨迹数据。 Spatial location data; said vehicle GPS positioning unit is installed in the experimental vehicle roof, the vehicle GPS spatial position obtained experimental data; said data storage unit mounted inside the vehicle experiment, the cable car GPS positioning unit, a laser scanning means reflected signal receiving apparatus is connected to real memory space of motor vehicles and bicycles experimental data and the position of the laser scanning detection cycle number; fusion experiment spatial position data of the motor vehicle space vehicle GPS positioning unit and the position data obtained by the bicycle group bicycle bicycle real spatial position of each group and the traveling locus data.
2.根据权利要求1所述的基于激光扫描的自行车群定位检测装置,其特征在于,自行车检测杆上的激光扫描检测点距离地面高度在1.5m〜1.Sm之间。 2. Bicycle Group-based laser scanning location detection means according to claim 1, characterized in that the height between the laser scan detection of bicycle detection rod from the ground 1.5m~1.Sm.
3.一种基于激光扫描的自行车群定位检测方法,其特征在于,包括下述步骤: 1)检测装置安装:包括安装在自行车上的检测杆、安装在实验机动车上的激光扫描检测单元、车载GPS定位单元及数据存储单元; 2)系统时间校准:对安装在实验机动车车顶的激光扫描检测单元和GPS单元的系统时间进行校准,保证二者系统时间完全同步; 3)样本信息采集:首先要求实验机动车尽量匀速行驶;再者,以0.02s到0.1 s为一个激光扫描检测周期,以实验机动车为圆心,在设定半径值的空间检测范围内,采集自行车群各个体样本的空间位置坐标、激光扫描检测周期编号;同时以Is/次或者5s/次的频率实时采集实验机动车的GPS坐标和GPS数据采集周期编号; 4)检测数据存储:使用实验机动车车载存储单元以激光扫描检测周期为存储文件单位对自行车群各个体的空间位置坐标进行存储, A bicycle group locating detection based laser scanning, characterized by comprising the steps of: a) detecting means mounted: a detection lever mounted on the bicycle, the laser scanner unit detecting vehicle experimentally, Vehicular GPS unit and a data storage unit; 2) system calibration time: system time of the laser scanning unit and the detecting unit is installed in the GPS vehicle roof calibration experiments, both to ensure complete synchronization system time; 3) collecting the sample information : first experimental requirements as far as possible constant speed motor; Furthermore, 0.02s to 0.1 s to a laser detection scanning cycle, experimental vehicle as the center, a space in the radius value detection range setting, collecting individual samples of each group bike spatial position coordinates of the laser scanning detection cycle number; the same frequency is / or secondary 5s / real-time acquisition times of GPS coordinates and GPS data collection period numbered test vehicle; 4) detects the data storage: a storage unit using a motor vehicle experimental storing the spatial position coordinates of each individual group of the bicycle to the laser scanning unit detection period to store a file, GPS数据采集周期为存储文件单位对实验机动车空间位置坐标进行实时存储; 5)系统坐标参数标定:以GPS空间坐标系为绝对坐标系标定实验机动车各GPS数据采集周期内的空间位置坐标,再对GPS数据采集周期内的GPS空间位置坐标采用线性差分计算法则计算出每个激光扫描检测周期内对应的实验机动车空间位置坐标,分别以此空间位置坐标为原点建立相对坐标系计算各激光扫描检测周期内采集到的自行车群各个体空间位置坐标; 6)自行车定位:采用人工或者简单智能算法识别自行车各个体样本的行驶轨迹以完成自行车定位工作,可以得到自行车的定位数据以及行驶轨迹、速度、加速度以及自行车群的交通流特性等参数。 GPS data collection period to store the file in units of spatial position coordinates of the vehicle in real time storage experiments; 5) the calibration coordinates: the GPS coordinates of the spatial position of the spatial coordinates within each GPS data acquisition cycle calibration experiments the absolute coordinate system of the motor vehicle, then the GPS spatial position coordinates in the GPS data acquisition cycle using the linear differential calculation algorithms to calculate the spatial position coordinates of the vehicle experiment corresponding to each laser scanning detection cycle, respectively, in order to establish the relative spatial coordinates of the position coordinates calculated for each laser as the origin each individual spatial position coordinates acquired in the scan detection period bicycle groups; 6) bicycle location: artificial or simple intelligent algorithm identifies bicycle respective individual samples traveling locus to complete the bicycle positioning work can be obtained by a bicycle positioning data and the traveling locus, speed and acceleration, and the traffic flow characteristics of the bicycle and the like groups.
4.根据权利要求3所述的基于激光扫描的自行车群定位检测方法,其特征在于,步骤3)中所述样本信息采集各激光扫描检测周期内的自行车群相对空间位置坐标、激光扫描检测周期编号及各GPS数据采集周期的实验机动车GPS坐标和GPS数据采集周期编号。 4. Bicycle Group Location-based laser scanning detection method according to claim 3, wherein in step 3) the relative spatial location information collecting sample bicycle in each group of the laser scanning coordinate detection period, scanning laser detection period experimental vehicle GPS coordinates and GPS data collection period number number GPS data acquisition cycle and all.
5.根据权利要求3所述基于激光扫描的自行车群定位检测方法,其特征在于,步骤5)中所述系统坐标参数标定包括采用GPS定位数据建立系统绝对坐标系,并经过线性差分算法获得每个激光扫描检测周期内的实验机动车GPS坐标,再以此作为为原点对自行车群各个体样本的空间位置坐标进行标定。 The positioning of the detection method based on laser scanning of bikes 3 group claim, wherein step 5) comprises a calibration of the coordinates using GPS location data to establish the absolute coordinate system, and after obtaining each of the linear difference algorithm experimental vehicle GPS in laser scanning coordinate detection period, and then as the spatial position coordinates of each group of individual samples bicycle calibration origin.
6.根据权利要求5所述基于激光扫描的自行车群定位检测方法,其特征在于,使用人工或者相应的简单智能算法对各自行车个体样本行驶轨迹进行识别,以此为基础进行其他的信息参数分析。 The location detection based laser scanning method according to claim bicycle group, wherein the use of artificial intelligence or corresponding simple algorithm for each bike traveling locus to identify individual samples, in order to make other parameter information based on the analysis .
7.根据权利要求3所述的基于激光扫描的自行车群定位检测方法,其特征在于,步骤6)中通过所述人工或者简单智能算法识别获得自行车运行轨迹图、速度、加速度动态微观数据以及自行车流的交通参数;该交通参数包括自行车流的地点车速、流量、密度。 The location detection method of claim 3 groups based laser scanning bicycle as claimed in claim, wherein step 6) obtained in FIG bicycle trajectory, velocity, acceleration and dynamic microdata bicycle or simply by the artificial intelligence algorithm identifies traffic flow parameter; the parameter comprises traffic flow spot speed bicycles, traffic density.
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