CN104361752A - Laser scanning based vehicle type recognition method for free flow charging - Google Patents
Laser scanning based vehicle type recognition method for free flow charging Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
- G01B11/046—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring width
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- Optical Radar Systems And Details Thereof (AREA)
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Abstract
The invention relates to a laser scanning based vehicle type recognition method for free flow charging. The laser scanning based vehicle type recognition method includes the following steps: by a laser scanning detector, parallelly scanning two sections of a travelling vehicle to acquire measured angle and distance data, wherein the two sections are perpendicular to the road plane and intersect; by the laser scanning detector, uploading the measured angle and distance data to a vehicle type recognition device; by the vehicle type recognition device, calculating to acquire length, width and height of the vehicle and outline information of the whole vehicle; matching the acquired vehicle outline information with a vehicle type classification feature library to acquire a vehicle type to achieve automatic vehicle type recognition. By the laser scanning based vehicle type recognition method, automatic vehicle type recognition of all passing vehicles of free vehicle flows with the average vehicle speed below 120 kilometers/hour can be realized.
Description
Technical field
The invention belongs to Intelligent traffic information acquiring Apparatus and method for technical field, be specifically related to a kind of laser scanning model recognizing method freely flowing charge.
Background technology
Current China road traffic pressure is day by day serious, all there is serious jam in whole nation key cities, in this case in order to solve major urban arterial highway congestion-pricing problem, improve the intelligent traffic administration system level of IT application, high speed ETC (electronic charging system without parking) i.e. multilane without toll island freely flows the focus that (Multi-lane Free Flow, MLFF) Fare Collection System has become domestic and international research and development.Freely flow and decrease railing and toll island compared with low speed ETC, improve charge efficiency and vehicle pass-through speed, but need the systems such as multiple stage roadside unit (RSU), vehicle location, automatic vehicle classification, video capture and Car license recognition are installed on the portal frame of road major trunk roads.Wherein automatic vehicle classification technology can automatic acquisition vehicle information, and it mated with the vehicle cab recognition information on board units (OBU), according to matching result, performs and operate accordingly.By the method, the vehicle information that OBU can be avoided corresponding and the not corresponding situation of vehicle, avoid vehicle fee evasion.Relevant list of references is as " ETC multilane freely flows implementation " (Ye Hongyun, Zhang Jian, " Chinese transportation is information-based " [J], 09 phase in 2013) and " electronic fee collection on multilane free flow Discussion on Technology " (Gao Dongfeng, Wang Chunsheng, Tianlin County's rock, Ma Gang, " Chinese transportation is information-based " [J], 01 phase in 2011).
At present, the automatic recognition classification technology of vehicle mainly contains two classes, and a class has the earth induction recognition technology based on earth induction principle, and a class is the recognition technology of the video image based on video flowing.Relevant list of references is as " freely flowing toll collection technique research " (Qiu Liangliang, Guo Xiaochun, " Chinese transportation is information-based " [J], 08 phase in 2012), (Fan great Shuai " is detected and model recognition system " based on the vehicle circumference of multisensor, Zhang Jun, Wang Hanning, Jin Huiyu, 31 Chinese Control Conference collection of thesis D rolls up, and 2012).
Earth coil identification based on earth induction principle needs inductive coil to be embedded in the lane in which the drivers should pay fees, when vehicle passes through above toroidal inductor, the ferromagnetic material of chassis of vehicle body and toroid winding produce eddy effect, toroid winding inductance value is changed, the induced signal of this reflection vehicle characteristics is sorted out and just can realize vehicle classification.Its shortcoming is: the three-dimensional information of vehicle chassis shape is changed into the one-dimension information sensed by earth induction identification, increases the difficulty of signal analysis and identifies the difficulty of vehicle, and when vehicle has a strong impact on the accuracy rate of identification above coil during speed change.
Based on the vehicle cab recognition of the video image of video flowing, image acquisition is carried out to the vehicle entering vehicle detection district, first vehicles segmentation and extraction is carried out to target area, then choose the feature of vehicle, according to vehicle classification device, target vehicle is classified.Its shortcoming is: the segmentation of video flowing vehicle under the scene of environmental background complexity and extraction comparison difficulty, cause identify stability and accuracy poor.Simultaneously when higher by car speed, need data volume to be processed huge, difficulty and the system cost of process are higher.Pertinent literature is see Hussain, K.F. " Automatic vehicleclassification system using range sensor ", Information Technology:Coding and ComputingITCC 2005.International Conference on (Volume:2), 2005; And Stroffek, J. " Highway TollEnforcement ", Vehicular Technology Magazine, IEEE (Volume:5, Issue:4), Dec.2010.
The patent No. is CN201210202048.1, name is called that the Chinese patent application of " automatic Vehicle Recognition System and method based on high-speed pulse laser scanning " (day for announcing is on 07 09th, 2014) discloses a kind of automatic Vehicle Recognition System based on high-speed pulse laser scanning and method, this automatic Vehicle Recognition System comprises high frequency lasers range finder module, vehicle ' s contour drafting module and vehicle cab recognition module, and high frequency lasers range finder module and vehicle ' s contour drafting module are vertically installed in above track.Method disclosed in this invention is carried out real-time pulse laser ranging by high frequency lasers range finder module and sends distance value to vehicle ' s contour drafting module; Vehicle ' s contour drafting module real-time rendering distance parameter scintigram also sends it to vehicle cab recognition module; Vehicle cab recognition module is according to the vehicle ' s contour information realization vehicle cab recognition on distance parameter scintigram, thus effectively overcome defect of the prior art, provide a kind of setting and safeguard simple, with low cost, vehicle cab recognition rate is higher, the automatic Vehicle Recognition System had wide range of applications and method.But there is following problem in this technical scheme:
1, the program adopts single-point laser range finding, accurately cannot obtain the length data of vehicle, and Vehicle length needs to calculate according to the speed of a motor vehicle with by the time, and when the speed of a motor vehicle is very fast, measuring accuracy can reduce.
2, the program cannot detect the width data of vehicle.Namely the vehicle cab recognition disappearance vehicle width data of the program, may cause system to judge by accident in actual application.
The patent No. is CN201210384872.3, name is called that the Chinese patent application of " a kind of vehicle type recognition detection method based on laser instrument and system " (day for announcing is on 04 16th, 2014) discloses a kind of vehicle type recognition detection method based on laser instrument and system, comprise the following steps: S1, laser instrument is measured and is calculated the maximum height value of vehicle; S2, the limit for height height value set in the maximum height value of described vehicle and described laser instrument contrasts by described laser instrument; S3, described laser instrument is measured and is calculated the extreme length value of described vehicle and the car frame rate of change of described vehicle, and the extreme length value of described vehicle and the car frame rate of change of described vehicle and radial pattern normal data are compared respectively, and comparison result is sent to described main control system; S4, described main control system judges whether according to the comparison result of described vehicle the image storing the described vehicle that described collecting device gathers.But there is following problem in this technical scheme:
1, vehicle high-speed (120km/s) by time cannot the width of Measurement accuracy vehicle and length information.
2, laser measurement direction and road surface out of plumb, wagon flow by time exist measure blind area, be unfavorable for the Vehicles separation carrying out front truck and rear car.
Summary of the invention
For the defect existed in prior art, the object of this invention is to provide a kind of laser scanning model recognizing method freely flowing charge.All vehicles by vehicle that the method can realize average speed less than 120 kilometers/hour free wagon flows identify automatically.
For reaching above object, the technical solution used in the present invention is, a kind of laser scanning model recognizing method freely flowing charge, comprises the following steps:
By two cross sections of laser scanning inspection device parallel scan driving vehicle, obtain the angle and distance data measured, two described cross section orthogonal are in road plane and mutually intersect;
Laser scanning inspection device by measure angle and distance data upload to vehicle type recognition device;
Vehicle type recognition device calculates the length of vehicle and the profile information of whole vehicle;
The profile information of the vehicle obtained is mated with vehicle classification feature database, obtains type of vehicle, realize the automatic identification function of vehicle.
Further, in two cross sections of described parallel scan driving vehicle, first scanning plane is parallel to road bearing of trend, road centre position is positioned at perpendicular to road plane, scan through the profile information of the vehicle longitudinal section of vehicle, the second scanning plane and the first scanning plane have angle, cover whole road width perpendicular to road plane, scan through the vehicle cross-sectional profiles information of vehicle, the second described scanning plane and the angle of the first scanning plane are not right angles.
Further, in 70-80 degree angle between the first described scanning plane and the second scanning plane.
Further, in 75 degree of angles between the first described scanning plane and the second scanning plane.
Further, described laser scanning inspection device is installed on the high road surface support of 5.5m.
Further, the main control board of described laser scanning inspection device adopts the solution of ARM+FPGA.
Further, the 905nm pulsed infrared laser that pulse laser emission drives semiconductor laser diode in described laser scanning inspection device produces 5-20ns pulsewidth, peak power is 20W-50W, laser to be less than the angle of divergence injection of 5mrad through collimation optics, to run into object back echo and arrives return laser beam receiving circuit through receiving optics.
Further, the 905nm pulsed infrared laser that described pulse laser emission drives semiconductor laser diode produces 10ns pulsewidth, peak power is 30W.
Further, the electric machine controller in described laser scanning inspection device controls DC brushless motor by pulse width modulating signal and at the uniform velocity rotates, and drives laser mirror to rotate the plane of scanning motion forming two dimension, sweep velocity 1200-3000 rev/min; The rotation angle information that individual pen absolute value code-disc obtains is for controlling the x time of laser, and to realize the Uniform Scanning of specific angle resolution, sweep limit is 120-180 degree; The scope of described angular resolution is 0.15-0.5 degree.
Further, adopt the echo detecting method of digital full-wave type when obtaining by laser scanning inspection device the angle and distance data measured, comprise the following steps:
(1) adopt High Speed Analog digital quantizer (ADC) that the simulating signal of return laser beam is converted into digital signal;
(2) pulse waveform of laser echo signal is extracted;
(3) laser echo signal and laser firing signals are carried out characteristic matching;
(4) judge the echo moment according to matching result, calculate echo time delay and obtain range measurement.
Further, first the measurement data of scanister is converted to by the polar coordinates taking measuring equipment as reference with road surface by described vehicle type recognition device is the rectangular coordinate of reference, then the measurement data of the first scanning plane, the second scanning plane is merged, calculate the length of vehicle and the profile information of whole vehicle.
Further, described vehicle type recognition device is arranged on the host computer of backstage.
Further, described vehicle type recognition device is directly embedded in laser scanning inspection device.
Effect of the present invention is, adopts method of the present invention, and all vehicles by vehicle that can realize average speed less than 120 kilometers/hour free wagon flows identify automatically, specifically:
1, laser profile is based on the three-D profile of the direct measuring vehicle of laser distance measuring principle, and method is reliable and stable, by background environment and climatic influences less;
2, equipment is for freely flowing Fare Collection System application, realize 120km/h at a high speed by the accurate identification of vehicle, two cover scanning laser sensor are adopted to generate vertical road surface, two laser scanning faces and the scan mode of sweeping, obtain the distance measurement data on two scanning planes, width and the height of vehicle is obtained according to the measurement result of one of them scanning plane, the length of vehicle is obtained according to the measurement result of another scanning plane, like this can the length of simultaneously measuring vehicle, wide, three high dimensions, then complete vehicle three-dimensional outline can be obtained by data reconstruction, ensure that the recognition accuracy of hot-short, still higher measuring accuracy can be ensured when car speed is very fast, meet the application scenarios freely flowing charge,
3, in order to improve measuring speed and precision, the echo detecting method of digital full-wave type is applied in laser scanning vehicle cab recognition equipment;
4, equipment adopts coupling fiber, fiber optic collimator, optical fibre light splitting technology, realizes the reception of single circuit board to Emission Lasers and return laser beam, improve device integration, reduce system cost by the method for fiber delay time.
Accompanying drawing explanation
Fig. 1 is the principle schematic of method described in the specific embodiment of the invention;
Fig. 2 is the structured flowchart of the system realizing described method in the specific embodiment of the invention;
Fig. 3 is the process flow diagram of method described in the specific embodiment of the invention;
Fig. 4 is the circuit diagram of the circuit of pulse laser emission described in the specific embodiment of the invention;
Fig. 5 is the circuit diagram of the receiving circuit of return laser beam described in the specific embodiment of the invention;
Fig. 6 is the process flow diagram of the echo detecting method of digital full-wave type described in the specific embodiment of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
The present invention is directed to the free stream Fare Collection System application of highway or major urban arterial highway, propose a kind of vehicle automatic identifying method based on laser profile.
As shown in Figure 1, Figure 3, a kind of laser scanning model recognizing method freely flowing charge, comprises the following steps:
S11, by being arranged on two cross sections of the laser scanning inspection device 11 parallel scan driving vehicle on road surface support 1, obtain the angle and distance data measured, wherein the first scanning plane 5 is parallel to road bearing of trend, be positioned at road centre position perpendicular to road plane 3, scan through the profile information of the vehicle longitudinal section of vehicle, the second scanning plane 6 and the first scanning plane 5 have angle, cover whole road width perpendicular to road plane 3, scan through the vehicle cross-sectional profiles information of vehicle;
S12, described laser scanning inspection device 11 by network interface by measure angle and distance data upload to the vehicle type recognition device 12 on the host computer of backstage;
S13, first the measurement data of scanister is converted to by the polar coordinates taking measuring equipment as reference the rectangular coordinate that road surface is reference by described vehicle type recognition device 12, then the measurement data of the first scanning plane 5, second scanning plane 6 is merged, calculate the length of vehicle and the profile information of whole vehicle, and the Vehicles separation realized under many vehicle condition judges;
S14, mates the profile information of the vehicle obtained with vehicle classification feature database, and realizes the automatic identification function of vehicle.
In practical application, also can be other angle between the first described scanning plane 5 and the second scanning plane 6, as long as two scanning planes all can realize same goal of the invention at an angle perpendicular to road plane 3, preferred angular range be 70-80 degree.In the present embodiment, the first scanning plane 5 and the second scanning plane 6 are in 75 degree of angles.In order to be that the scanning plane of adjacent two identification equipments when avoiding multilane overlaps the signal cross-talk problem caused, out of plumb between the first scanning plane 5 and the second scanning plane 6.
Described laser scanning inspection device 11 is installed on the high road surface support 1 of 5.5m, and the main control board of laser scanning inspection device 11 adopts the solution of ARM+FPGA.
The 905nm pulsed infrared laser that pulse laser emission drives semiconductor laser diode in described laser scanning inspection device produces 5-20ns pulsewidth, peak power is 20W-50W, laser to be less than the angle of divergence injection of 5mrad through collimation optics, to run into object back echo and arrives return laser beam receiving circuit through receiving optics.Preferably, the 905nm pulsed infrared laser that described pulse laser emission drives semiconductor laser diode produces 10ns pulsewidth, peak power is 30W.
Electric machine controller in described laser scanning inspection device controls DC brushless motor by pulse width modulating signal and at the uniform velocity rotates, and drives laser mirror to rotate the plane of scanning motion forming two dimension, sweep velocity 1200-3000 rev/min; The rotation angle information that individual pen absolute value code-disc obtains is for controlling the x time of laser, and to realize the Uniform Scanning of specific angle resolution, sweep limit is 120-180 degree; The preferable range of described angular resolution is 0.15-0.5 degree.
In addition, described vehicle type recognition device can be arranged on the host computer of backstage, also can be directly embedded in laser scanning inspection device.
As shown in Figure 6, in order to realize high-acruracy survey fast, adopting the echo detecting method of digital full-wave type when obtaining by laser scanning inspection device the angle and distance data measured in the present embodiment, comprising the following steps:
S21, adopts High Speed Analog digital quantizer (ADC) that the simulating signal of return laser beam is converted into digital signal;
S22, extracts the pulse waveform of laser echo signal;
S23, carries out characteristic matching by laser echo signal and laser firing signals;
S24, judges the echo moment according to matching result, calculates echo time delay and obtains range measurement.
Can be found out by above-described embodiment, adopt the method described in the specific embodiment of the invention, all vehicles by vehicle that can realize average speed less than 120 kilometers/hour free wagon flows identify automatically.
As shown in Figure 2, a kind of laser scanning model recognition system freely flowing charge, comprise vehicle type recognition device 12 two parts in laser scanning inspection device 11 and connected backstage host computer, wherein said laser scanning inspection device 11 comprises Laser emission and receiver module 1, Laser emission and receiver module 2 14, connected laser scanning module 1, laser scanning module 2 16, the data processing be connected with laser scanning module 1, laser scanning module 2 16 and system control module 17 respectively.Described laser scanning inspection device 11 can realize the laser profile of two two dimensional surfaces, detects the vehicle section on the both direction vector of road surface simultaneously, measures the vehicle information by vehicle directly, fast.
In the present embodiment, described Laser emission and receiver module 1, Laser emission and receiver module 2 14 comprise pulse laser emission circuit as shown in Figure 4, return laser beam receiving circuit, laser alignment optics, laser pick-off optics and semiconductor laser diode etc. as shown in Figure 5.
The 905nm pulsed infrared laser that wherein pulse laser emission drives semiconductor laser diode produces 10ns pulsewidth, peak power is about 30W, laser penetrates with the angle of divergence being less than 5mrad through collimation optics.The pulsewidth of described 905nm pulsed infrared laser other values that can also to be scope be in 5-20ns, it is other values in 20W-50W that peak power may also be scope; After running into object, return laser beam arrives return laser beam receiving circuit through receiving optics.In order to improve integrated level and stability, transmitting and receiving opticator adopts optical fiber to export the technology such as coupling, optical fibre light splitting, fiber optic collimator.
Described laser scanning module 1, laser scanning module 2 16 are made up of electric machine controller, DC brushless motor, individual pen absolute value code-disc.Electric machine controller controls DC brushless motor by pulse-length modulation (PWM) signal and at the uniform velocity rotates, and drives laser mirror to rotate the plane of scanning motion forming two dimension, 3000 turns per minute of sweep velocity.The rotation angle information that individual pen absolute value code-disc obtains is for controlling the x time of laser, and to realize the Uniform Scanning of specific angle resolution (as 0.5 degree), sweep limit is greater than 120 degree.Wherein, described sweep velocity other values that also can be scope be in 1200-3000 rev/min; Described angular resolution other values that also can be scope be in 0.15-0.5 degree.
Data processing and system control module 17 are cores of whole pick-up unit, comprise data acquisition and procession unit 18 and system control unit 19 two parts.Wherein data acquisition and procession unit 18 can carry out sample quantization, distance calculating in real time, the laser ranging point cloud that can realize 50K per second.In order to realize high-acruracy survey fast, adopt the echo detecting method of digital full-wave type, as shown in Figure 6.The echo detecting method of numeral full-wave type refers to directly samples to laser echo signal (needing pre-service) with High Speed Analog digital quantizer (ADC), the moment judgement of return laser beam and the measurement of time all adopt the method for digital signal processing, comprise the following steps:
S21, adopts High Speed Analog digital quantizer (ADC) that the simulating signal of return laser beam is converted into digital signal;
S22, extracts the pulse waveform of laser echo signal;
S23, carries out characteristic matching by laser echo signal and laser firing signals;
S24, judges the echo moment according to matching result, calculates echo time delay and obtains range measurement.
System control unit 19 controls rotating speed and the pulse laser emission moment of motor, angle information and range information is mated, and uploads to backstage host computer vehicle type recognition device 12 by Ethernet interface.Backstage host computer performs vehicle classification algorithm as the carrier of vehicle type recognition device 12, and model data is uploaded to lane system.Adopt industrial computer and front end laser scanning measurement system (2 overlap) communication, by communication interface as network interface or RS485 obtain the distance of vehicle section each point to measuring system, thus determine height, width, the length situation along each section of vehicle lengthwise direction, the overall profile information of vehicle is obtained by the data fusion of two scanning planes, and carry out characteristic matching with all types of vehicles, obtain type of vehicle, upload to lane system by 3G or Ethernet.
It will be understood by those skilled in the art that method of the present invention is not limited to the embodiment described in embodiment, specific descriptions above, just in order to explain object of the present invention, are not for limiting the present invention.Those skilled in the art's technical scheme according to the present invention draws other embodiment, and belong to technological innovation scope of the present invention equally, protection scope of the present invention is by claim and equivalents thereof.
Claims (13)
1. freely flow a laser scanning model recognizing method for charge, comprise the following steps:
By two cross sections of laser scanning inspection device parallel scan driving vehicle, obtain the angle and distance data measured, two described cross section orthogonal are in road plane and mutually intersect;
Laser scanning inspection device by measure angle and distance data upload to vehicle type recognition device;
Vehicle type recognition device calculates the length of vehicle and the profile information of whole vehicle;
The profile information of the vehicle obtained is mated with vehicle classification feature database, obtains type of vehicle, realize the automatic identification function of vehicle.
2. a kind of laser scanning model recognizing method freely flowing charge as claimed in claim 1, it is characterized in that: in two cross sections of described parallel scan driving vehicle, first scanning plane is parallel to road bearing of trend, road centre position is positioned at perpendicular to road plane, scan through the profile information of the vehicle longitudinal section of vehicle, second scanning plane and the first scanning plane have angle, whole road width is covered perpendicular to road plane, scan through the vehicle cross-sectional profiles information of vehicle, the second described scanning plane and the angle of the first scanning plane are not right angles.
3. a kind of laser scanning model recognizing method freely flowing charge as claimed in claim 2, is characterized in that: in 70-80 degree angle between the first described scanning plane and the second scanning plane.
4. a kind of laser scanning model recognizing method freely flowing charge as claimed in claim 3, is characterized in that: in 75 degree of angles between the first described scanning plane and the second scanning plane.
5. a kind of laser scanning model recognizing method freely flowing charge as claimed in claim 1, is characterized in that: described laser scanning inspection device is installed on the high road surface support of 5.5m.
6. a kind of laser scanning model recognizing method freely flowing charge as claimed in claim 1, is characterized in that: the main control board of described laser scanning inspection device adopts the solution of ARM+FPGA.
7. a kind of laser scanning model recognizing method freely flowing charge as described in any one of claim 1 to 6, it is characterized in that: the 905nm pulsed infrared laser that the pulse laser emission drives semiconductor laser diode in described laser scanning inspection device produces 5-20ns pulsewidth, peak power is 20W-50W, laser to be less than the angle of divergence injection of 5mrad through collimation optics, to run into object back echo and arrives return laser beam receiving circuit through receiving optics.
8. a kind of laser scanning model recognizing method freely flowing charge as claimed in claim 7, is characterized in that: the 905nm pulsed infrared laser that described pulse laser emission drives semiconductor laser diode produces 10ns pulsewidth, peak power is 30W.
9. a kind of laser scanning model recognizing method freely flowing charge as described in any one of claim 1 to 6, it is characterized in that: the electric machine controller in described laser scanning inspection device controls DC brushless motor by pulse width modulating signal and at the uniform velocity rotates, laser mirror is driven to rotate the plane of scanning motion forming two dimension, sweep velocity 1200-3000 rev/min; The rotation angle information that individual pen absolute value code-disc obtains is for controlling the x time of laser, and to realize the Uniform Scanning of specific angle resolution, sweep limit is 120-180 degree; The scope of described angular resolution is 0.15-0.5 degree.
10. a kind of laser scanning model recognizing method freely flowing charge as claimed in claim 9, is characterized in that, adopt the echo detecting method of digital full-wave type, comprise the following steps when obtaining by laser scanning inspection device the angle and distance data measured:
(1) adopt High Speed Analog digital quantizer that the simulating signal of return laser beam is converted into digital signal;
(2) pulse waveform of laser echo signal is extracted;
(3) laser echo signal and laser firing signals are carried out characteristic matching;
(4) judge the echo moment according to matching result, calculate echo time delay and obtain range measurement.
11. a kind of as described in any one of claim 1 to 6 freely flow the laser scanning model recognizing method of charge, it is characterized in that: first the measurement data of scanister is converted to by the polar coordinates taking measuring equipment as reference with road surface by described vehicle type recognition device is the rectangular coordinate of reference, then the measurement data of the first scanning plane, the second scanning plane is merged, calculate the length of vehicle and the profile information of whole vehicle.
12. a kind of as described in any one of claim 1 to 6 freely flow the laser scanning model recognizing method of charge, it is characterized in that: described vehicle type recognition device is arranged on the host computer of backstage.
13. a kind of as described in any one of claim 1 to 6 freely flow the laser scanning model recognizing method of charge, it is characterized in that: described vehicle type recognition device is directly embedded in laser scanning inspection device.
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