CN104930990B - Road surface imaging device and method - Google Patents
Road surface imaging device and method Download PDFInfo
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- CN104930990B CN104930990B CN201510348531.4A CN201510348531A CN104930990B CN 104930990 B CN104930990 B CN 104930990B CN 201510348531 A CN201510348531 A CN 201510348531A CN 104930990 B CN104930990 B CN 104930990B
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Abstract
A kind of road surface imaging device of present invention offer and method.Road surface imaging device provided by the invention, including：Optical module, control module and signal processing module, wherein, control module is connected with optical module, signal processing module respectively, for controlling optical module and signal processing module, optical module is connected with signal processing module, horizontal direction of the optical module under the control of control module by the rotation of movable double mirror by incident light along road surface reflexes to road surface, and receive the light of road reflection, the light for the reflection that signal processing module is used to receive optical module is handled, and obtains road surface image.The present invention can reduce cost, also, improve the precision of road surface imaging.
Description
Technical field
The present invention relates to pavement detection technology more particularly to a kind of road surface imaging device and methods.
Background technology
The construction depth on road surface is detected by road surface imaging technique, construction depth characterizes the concave-convex degree of road level.
Construction depth mainly influences the antiskid performance on road surface, is one of the key technical indexes for evaluating pavement quality.
In the prior art, road surface imaging is carried out using multiple single-point type scanners：Apart from the top of road surface certain distance,
Multiple single-point type scanners, the level of multiple single-point type scanner road pavements is arranged in horizontal direction distance certain intervals along road surface
Direction is scanned, you can realizes that road pavement is imaged.Length direction along road surface moves multiple single-point type scanners, can obtain
To the image on road surface in different road surface extension positions.
But in aforesaid way, road pavement imaging to need multiple single-point type scanners, cost higher.Also, multiple lists
Spacing is larger between point type scanner, and the precision of road pavement imaging is not high.
Invention content
The present invention provides a kind of road surface imaging device and method, with solve that road pavement imaging cost is higher and imaging precision not
High problem.
The present invention provides a kind of road surface imaging device, including：
Optical module, control module and signal processing module, wherein the control module respectively with the optical module,
The signal processing module connection, for controlling the optical module and the signal processing module, the optical module and institute
State signal processing module connection；The optical module under the control of the control module for passing through movable double mirror
It rotates the horizontal direction by incident light along road surface and reflexes to the road surface, and receive the light of the road reflection；At the signal
The light for the reflection that reason module is used to receive the optical module is handled, and obtains road surface image.
Further, in above-mentioned road surface imaging device, further include：Power module, the power module respectively with the light
Learn module, the control module, signal processing module connection.
Further, in above-mentioned road surface imaging device, the optical module includes：Light source, the movable double mirror,
First stationary mirror, the second stationary mirror, lens and position sensitive detector PSD, wherein the light source, described movable double
Face speculum, the lens and the PSD are set gradually, and first stationary mirror and second stationary mirror are symmetrical
It is arranged in the both sides of the movable double mirror, the movable double mirror is connect with the control module, in institute
It states and is rotated in preset angular range under the control of control module, the light source is for emitting incident light to described movable two-sided
On first face of speculum, the first face of the movable double mirror is by the reflection of generation incident light to first fixation reflex
The reflection of generation incident light to the road surface, second stationary mirror are received the road by mirror, first stationary mirror
The light of face reflection, and by the light reflection of the road reflection to the second face of the movable double mirror, it is described movable double
Second face of face speculum the light reflection of the road reflection to the lens, the lens are converged the light of the road reflection
It is polymerized to hot spot, is incident upon on the PSD.
Further, in above-mentioned road surface imaging device, the optical module further includes：Optical filter, the optical filter are used for
Filter out sunlight.
Further, in above-mentioned road surface imaging device, the power module includes：It is ac/dc AC/DC converters, straight
Stream/direct current DC/DC converters and linear voltage regulator, the AC/DC converters, the DC/DC converters and the linear voltage stabilization
Device is sequentially connected.
Further, in above-mentioned road surface imaging device, the signal processing module includes：Facula position processing unit, road
Face picture forms unit and storage unit, the facula position processing unit are connected with the PSD, for described to being incident upon
Facula information on PSD is handled, and the first information is obtained, and calibration information, the calibration letter are stored in the storage unit
Breath is the mapping relations of the second information and distance that are obtained according to experimental data, the facula position processing unit and the road surface
Image forms unit connection, and the road surface image forms unit and is used to form institute according to the first information and the calibration information
State road surface image.
Further, in above-mentioned road surface imaging device, the light source is laser diode.
The present invention also provides a kind of road surface imaging methods, including：
Horizontal direction along road surface emits incident light to road surface, and receives the light of the road reflection；It is anti-to the road surface
The light penetrated is handled, and road surface image is obtained.
Further, the light to the road reflection is handled, and obtains road surface image, including：According to the road
The light of face reflection obtains hot spot, and the first information is obtained according to hot spot；Road surface shadow is obtained according to the first information and calibration information
Picture.
Further, it is described road surface image is obtained according to the first information and calibration information before, including：Acquisition experiment
Data obtain the mapping relations of horizontal direction sampled point and the second information；It is obtained according at a distance from the horizontal direction sampled point
To the mapping relations of second information and the distance, the calibration information is obtained, wherein the calibration information passes through multinomial
The mode of formula coefficient storage is stored.
Road surface imaging device of the present invention and method, by the way that optical module, control module and signal processing module, control is arranged
Module is connected with optical module, signal processing module respectively, for controlling optical module and signal processing module, optical module and
Signal processing module connects, and optical module is used under the control of control module will be incident by the rotation of movable double mirror
Horizontal direction of the light along road surface reflexes to road surface, and receives the light of road reflection, and signal processing module receives optical module
The light of reflection is handled, and road surface image is obtained.Because optical module can be under the control of control module by movable two-sided
Horizontal direction of the rotation of speculum by incident light along road surface reflexes to road surface, realizes that the interval of the point of road pavement horizontal direction is adopted
Sample, to reduce cost；Further, by the rotation of movable double mirror by incident light along the horizontal direction on road surface
Road surface is reflexed to, compared with by the way of multiple simple scan instrument, the sampling interval of the point of road pavement horizontal direction is short, from
And improve the precision of road surface imaging.
Description of the drawings
It, below will be to embodiment or the prior art in order to illustrate more clearly of the present invention or technical solution in the prior art
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is the one of the present invention
A little embodiments for those of ordinary skill in the art without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram of road surface imaging device embodiment one of the present invention；
Fig. 2 is the structural schematic diagram of road surface imaging device embodiment two of the present invention；
Fig. 3 is the structural schematic diagram of optical module in Fig. 2；
Fig. 4 is the flow chart of road surface imaging method embodiment one of the present invention；
Fig. 5 is the flow chart of road surface imaging method embodiment two of the present invention；
Fig. 6 is experimental data curve and curve comparison figure after calibration in road surface imaging method of the present invention；
Fig. 7 is the enlarged drawing of region A in Fig. 6.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of not making the creative labor, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram of road surface imaging device embodiment one of the present invention.Fig. 1 is please referred to, it is provided in this embodiment
Road surface imaging device includes：Optical module 12, control module 11 and signal processing module 13, control module 11 is respectively and optical mode
Block 12, signal processing module 13 connect, for controlling optical module 12 and signal processing module 13, at optical module 12 and signal
Module 13 is managed to connect；Optical module 12 is used for will be incident by the rotation of movable double mirror under the control of control module 11
Horizontal direction of the light along road surface reflexes to road surface (not shown), and receives the light of road reflection；Signal processing module 13 is used
It is handled in the light of the reflection received to optical module 12, obtains road surface image.
Specifically, control module 11 and optical module 12 connect, and control module 11 and signal processing module 13 connect.Control
Module 11 and optical module 12 can be mechanical connections, for example, control module 11 may include a motor and table top, light
The movable double mirror learned in module 12 is fixed on table top, and table top rotates under the drive of motor, then movable double-sided reflecting
Mirror rotates under the drive of control module 11, and the horizontal direction by incident light along road surface reflexes to road surface in the process, and receives
The light of road reflection.The light for the reflection that signal processing module 13 is used to receive optical module 12 is handled, and obtains road surface shadow
Picture.Control module 11 and signal processing module 13 can be electrical connections, and control module 11 can be sent a control signal at signal
Module 13 is managed, so that the light that control process module 13 starts the road reflection received to optical module 12 is handled and obtains road
Face picture.
It is understood that control module 11 and optical module 12 can also have other types of attachment, control module 11
Can also there are other control modes, the present embodiment to be not limited thereto with signal processing module 13.
Road surface imaging device provided in this embodiment can be arranged the road pavement on automobile chassis and is imaged.The present embodiment
The course of work of the road surface imaging device of offer is as follows：The movable double mirror that control module 11 controls optical module 12 turns
Dynamic, movable double mirror is after going to an angle, and by a bit of the reflection of generation incident light to road surface, and the point for receiving road surface is anti-
The light penetrated, at this point, control module 11 can send a control signal to signal processing module 13, signal processing module 13 is to optical mode
The light for the reflection that block 12 receives is handled.Then, control module 11 controls horizontal direction of the movable double mirror along road surface
Next angle is gone to, by another point of the reflection of generation incident light to road surface, and receives the light of the point reflection on road surface, control module 11
Signal processing module 13 is sent a control signal to, signal processing module 13 handles reflected light.Until control module 11 is controlled
Movable double mirror in optical module 12 processed goes to maximum value, and control module 11 controls movable two-sided in optical module 12
Speculum is rotated along road level direction, has obtained the reflected light of multiple points in road level direction, and signal processing module 13 is logical
It crosses and the light of multiple point reflection is handled, obtain road surface image.Length direction of the automobile along road surface moves, and repeats above-mentioned mistake
Journey, you can obtain the image on the road surface in different road surface extension positions.Road surface image in the present embodiment can be road surface water
Square to each point and road surface imaging device distance mapping relations, can be used for detecting the construction depth on road surface.Road surface water
Square to each point and road surface imaging device distance can be each point at a distance from the plane of road surface imaging device place.
Road surface imaging device provided in this embodiment, by the way that optical module, control module and signal processing module, control is arranged
Molding block is connected with optical module, signal processing module respectively, for controlling optical module and signal processing module, optical module
It is connected with signal processing module, optical module by the rotation of movable double mirror for that will be entered under the control of control module
It penetrates horizontal direction of the light along road surface and reflexes to road surface, and receive the light of road reflection, signal processing module receives optical module
The light of reflection handled, obtain road surface image.Because optical module can be under the control of control module by movable double
Horizontal direction of the rotation of face speculum by incident light along road surface reflexes to road surface, realizes the interval of the point of road pavement horizontal direction
Sampling, to reduce cost；Further, by the rotation of movable double mirror by incident light along the level side on road surface
To road surface is reflexed to, compared with by the way of multiple simple scan instrument, the sampling interval of the point of road pavement horizontal direction is short, from
And improve the precision of road pavement imaging.
Fig. 2 is the structural schematic diagram of road surface imaging device embodiment two of the present invention, and Fig. 3 is the structure of optical module in Fig. 2
Schematic diagram.Referring to Fig. 2 and Fig. 3, on the basis of the above embodiments, road surface imaging device provided in this embodiment also wraps
It includes：Power module 21, power module 21 are connected with optical module 12, control module 11, signal processing module 13 respectively.Optical mode
Block 12 includes：Light source 121, movable double mirror 123, the first stationary mirror 122, the second stationary mirror 126, lens
124 and position sensitive detector (Position Sensitive Device；Referred to as：PSD)125.Signal processing module 13 includes：
Facula position processing unit 131, road surface image form unit 133 and storage unit 132.
Specifically, power module 21 includes：Ac/dc (Alternating Current/Direct Current；Letter
Claim：AC/DC) converter 211, DC/DC (Direct Current/Direct Current；Referred to as：DC/DC) converter
212 and linear voltage regulator 213, AC/DC converters 211, DC/DC converters 212 and linear voltage regulator 213 be sequentially connected.AC/DC
Converter 211 is used to AC conversion be direct current, and direct current can be converted to direct current by DC/DC converters 212, for rising
Pressure or decompression, linear voltage regulator 213 can make the voltage stabilization of output, ripple small.Linear voltage regulator 213 is respectively and optical module
12, control module 11 and signal processing module 13 connect, and give above three module for power supply.
In optical module 12, light source 121, movable double mirror 123, lens 124 and PSD125 are set gradually.First is solid
Determine speculum 122 and the second stationary mirror 126 is symmetricly set on the both sides of movable double mirror 123.Movable double-sided reflecting
Mirror 123 and control module 11 connect, for being rotated in preset angular range under the control of control module 11.Light source 121
For emitting incident light 127 to the first face of movable double mirror 123, the first face of movable double mirror is by incident light
127 reflex to the first stationary mirror 122, and incident light 127 is reflexed to road surface by the first stationary mirror 122, and second fixes instead
The light 128 that mirror 126 receives road reflection is penetrated, and the light of road reflection 128 is reflexed to the second face of movable double mirror 123
On, the light 128 of road reflection is reflexed to lens 124 by the second face of movable double mirror 123, and lens 124 are by road reflection
Light 128 pool hot spot, transmit on PSD125.
It should be noted that road surface imaging device provided in this embodiment realizes road surface by trigonometry laser distance measuring principle
Imaging.Trigonometry laser distance measuring principle is as follows：Light source, testee and laser receiver system are placed on three different positions,
Triangle, laser ranging system includes lens and PSD, and light source emits incident light, and incident light reaches testee back reflection
Light be incident upon on PSD after lens aggregation imaging and generate hot spot, the corresponding hot spot position when testee position occurs mobile
It sets and also moves, it is known that the amount of movement of facula position can find out the displacement of object according to Similar Principle of Triangle.Specifically
Into the present embodiment, it is known that the amount of movement of facula position, you can find out the distance of road surface distance road surface imaging device.
Further, optical module 12 can also include optical filter (not shown), and optical filter is for filtering out sunlight.
It is too strong for the light that sunlight is sent out compared to light source 121, it can improve the precision that road pavement is imaged after filtering sunlight.
Optionally, light source can be laser diode in optical module 12.Laser diode has output power height, volume
The advantages of small and long lifespan.
In signal processing module 13, facula position processing unit 131 is connected with PSD125, for being incident upon PSD125
Facula information handled, obtain the first information, be stored with calibration information in storage unit 132, calibration information is according to reality
The mapping relations of the second information and distance that data obtain are tested, facula position processing unit 131 and road surface image form unit 133
Connection, road surface image form unit 133 for forming road surface shadow with the calibration information in storage unit 132 according to the first information
Picture.Specifically, facula position processing unit 131 can be according to position of the hot spot on PSD125 come to facula information
Reason, obtains the first information, the first information can be information of voltage.Experimental data can be obtained by experiment method in the lab
, the second information can also be information of voltage, in the lab by measuring calibration plate apart from road surface imaging device different distance
When the second information for being obtained on the different sampled point of calibration plate horizontal direction obtained not by the way of polynomial interopolation
The mapping relations of second information and distance on same sampled point.Facula position processing unit 131 obtains the first information, according to second
The mapping relations of information and distance are replaced the second information with the first information, are substituted into the mapping relations of the second information and distance, i.e.,
The value of distance corresponding with the first information can be obtained, multiple sampled points are in the same way, you can obtain road surface image.
Further, light can also be connected to including data acquisition module, data acquisition module in signal processing module 13
Spot position processing unit 131 and road surface image are formed between unit 133, and for being exported to facula position processing unit 131
One information is sampled, and converts analog signal to digital signal.
For the present embodiment by restriction optical module, the concrete structure of voltage module and signal processing module, voltage module is defeated
The voltage stabilization gone out, ripple are small, it is ensured that imaging device normal work in road surface provided in this embodiment improves work efficiency；
Optical module receives the light of road reflection, the facula position processing of signal processing module in the form of transmiting hot spot on PSD
Unit obtains the first information according to the position of hot spot on PSD, road surface image formed unit according to the first information in storage unit
Calibration information obtain road surface image, as a result of calibration information, further improve the precision of road surface imaging.
Fig. 4 is the flow chart of road surface imaging method embodiment one of the present invention.Please refer to Fig. 4, road surface provided by the embodiment at
Image space method includes：
S41：Horizontal direction along road surface emits incident light to road surface, and receives the light of road reflection.
Specifically, the road surface imaging device that road surface imaging method provided in this embodiment can be provided by Fig. 1 executes.Along road
The horizontal direction in face emits incident light to road surface, by under the control of control module, optical mode movable double-sided reflecting in the block
For mirror during rotation, the horizontal direction by incident light along road surface reflexes to road surface.
S42：The light of road pavement reflection is handled, and road surface image is obtained.
Specifically, the range information of the point on road surface is carried in the light of road reflection, at the light of road pavement reflection
Reason, you can obtain distance of the point apart from road surface imaging device on road surface, you can obtain road surface image.
Road surface imaging method provided in this embodiment emits incident light to road surface by the horizontal direction along road surface, and receives
The light of the light of road reflection, road pavement reflection is handled, and road surface image is obtained, and realizes the interval of the point of road pavement horizontal direction
Sampling, to reduce cost；Further, emit incident light to road surface, with the multiple single-points of use along the horizontal direction on road surface
The mode of scanner is compared, and the sampling interval of the point of road pavement horizontal direction is short, to improve the precision of road pavement imaging.
Fig. 5 is the flow chart of road surface imaging method embodiment two of the present invention.Fig. 5 is please referred to, on the basis of above-described embodiment
On, S42 is specifically included：
S421：Hot spot is obtained according to the light of road reflection, the first information is obtained according to hot spot.
Specifically, the road surface imaging device that road surface imaging method provided in this embodiment can be provided by Fig. 2 executes.Road surface
Position of the hot spot that signal processing module is obtained according to the light of road reflection in imaging device on PSD, obtains the first information.It lifts
For example, the first information can be obtained according to the distance of hot spot distance PSD first ends and the distance of hot spot distance PSD second ends.
The first information can be information of voltage.
S422：Road surface image is obtained with calibration information according to the first information.
Specifically, it before carrying out S422, needs to obtain calibration information, calibration information obtains in the following manner：Acquisition
Experimental data obtains the mapping relations of horizontal direction sampled point and the second information；It is obtained according at a distance from horizontal direction sampled point
To the mapping relations of the second information and distance, calibration information is obtained, wherein calibration information is by way of multinomial coefficient storage
It is stored.Distance of the horizontal direction sampled point that distance herein refers to apart from plane where the imaging device of road surface.Fig. 6 is this hair
Experimental data curve and curve comparison figure after calibration, Fig. 7 are the enlarged drawing of region A in Fig. 6 in bright road surface imaging method.Please simultaneously
Referring to figure 6 and figure 7, left figure is experimental data curve in Fig. 6, indicates the mapping relations of horizontal direction sampled point and the second information,
Abscissa is sampled point, and ordinate is the second information, and in the present embodiment, the second information is information of voltage.Right figure is school in Fig. 6
Curve graph after standard, abscissa are sampled point, and ordinate is distance.It can be calibrated in the lab.By road surface imaging device
Be placed on testboard, a calibration plate placed before the imaging device certain distance of road surface, to the horizontal direction of calibration plate into
Row scanning, can obtain the second information of the different sampled point of calibration plate horizontal direction, and in the present embodiment, the second information is electricity
Pressure value.Calibration plate is moved toward the direction far from or close to road surface imaging device, is repeated the above steps, you can obtain Fig. 6 left figures
Shown in experimental data curve.
It should be noted that since road surface imaging device is there are blind area, need to carry out smoothly original experimental data, it can
It is carried out by way of filtering smoothly, or is carried out smoothly by way of repeatedly measuring and being averaged.
After obtaining experimental data curve shown in Fig. 6 left figures, if without calibration, when road pavement is imaged,
It can be as being shown curve 61, road surface image deforms, and cannot reflect the truth on road surface.Please refer to Fig. 7, x1、x2With
x3Indicate different sampled points, h1、h2And h3Indicate different distance of the calibration plate apart from road surface imaging device, y1、y2、y3、y′1、
y′2With y '3It indicates the second information, indicates voltage value in the present embodiment.For example, in the figure 7, in x1At sampled point, triangle
The point of shape passes through (y3,h3),(y2,h2),(y1,h1) three points, in the way of polynomial interopolation, for example, Lagrange's interpolation
Multinomial can be obtained in x1At sampled point, the mapping relations of distance and the second information are indicated with formula one：H=p31y1 3+
p21y1 2+p11y1+p01, you can obtain the mapping relations of the second information and distance.In x2At sampled point, pass through same mode
It can obtain the mapping relations of the second information and distance.At multiple sampled points, for example, 2500 sampled points shown in Fig. 6,
The mapping relations that can obtain the second information and distance are indicated with formula two：hi=p3iyi 3+p2iyi 2+p1iyi+p0i, i=
1 ..., 2500, you can the mapping relations of 2500 groups of second information and distance at different sampled points, i.e. calibration information are obtained,
Wherein, polynomial coefficient p3i,p2i,p1i,p0iIt is different at different sampled points, when storing calibration information, it is only necessary to
Polynomial coefficient is stored, the use of memory headroom is reduced.After calibration in curve such as Fig. 6 shown in the figure on the right, curve 62 exists
It is shown normally in figure on the right of Fig. 6, the true shape on road surface can be reacted.
In practical applications, road surface image is obtained with calibration information according to the first information, is realized by following procedure：When
To after the first information of a certain sampled point in road surface, go to read calibration information corresponding with the sampled point in internal storage location, by first
Information substitutes into formula two to get the distance at the point.Interval sampling is carried out along road level direction, difference can be obtained
The distance at place finally draws different sampled points with it away from road surface image is obtained at a distance from the imaging device of road surface, for example, Fig. 6
Middle curve 62 can indicate a kind of road surface image.
It should be noted that formula two is one such realization method, polynomial exponent number specifically can be according to reality
The smooth degree for testing data and curves determines.
Road surface imaging mode provided in this embodiment is obtained by obtaining hot spot according to the light of road reflection according to hot spot
The first information obtains road surface image with calibration information according to the first information, as a result of calibration information, further improves road
The precision of face imaging.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (6)
1. a kind of road surface imaging device, which is characterized in that including：Optical module, control module and signal processing module, wherein
The control module is connected with the optical module, the signal processing module respectively, for controlling the optical module
With the signal processing module, the optical module is connected with the signal processing module；
The optical module is used for incident light edge under the control of the control module through the rotation of movable double mirror
The horizontal direction on road surface reflexes to the road surface, and receives the light of the road reflection；
The light for the reflection that the signal processing module is used to receive the optical module is handled, and obtains road surface shadow
Picture；
The optical module includes：Light source, the movable double mirror, the first stationary mirror, the second stationary mirror, thoroughly
Mirror and position sensitive detector PSD, wherein
The light source, the movable double mirror, the lens and the PSD are set gradually, first stationary mirror
The both sides of the movable double mirror, the movable double mirror and institute are symmetricly set on second stationary mirror
Control module connection is stated, for being rotated in preset angular range under the control of the control module, the light source is used for
Emit on incident light to the first face of the movable double mirror, the first face of the movable double mirror is by the incidence
Light reflection to first stationary mirror, first stationary mirror by the reflection of generation incident light to the road surface, it is described
Second stationary mirror receives the light of the road reflection, and by the light reflection of the road reflection to the movable double-sided reflecting
On second face of mirror, the second face of the movable double mirror by the light reflection of the road reflection to the lens, it is described
The light of the road reflection is pooled hot spot by lens, is incident upon on the PSD；
The signal processing module includes：Facula position processing unit, road surface image form unit and storage unit, the hot spot
Position processing unit is connected with the PSD, for handling the facula information being incident upon on the PSD, obtains the first letter
Breath, is stored with calibration information in the storage unit, the calibration information be the second information for being obtained according to experimental data with away from
From mapping relations, the facula position processing unit and the road surface image form unit and connect, and the road surface image is formed
Unit is used to form the road surface image according to the first information and the calibration information；
Wherein：It is described that the road surface image is formed according to the first information and the calibration information, including：
When by measuring calibration plate apart from road surface imaging device different distance on the different sampled point of calibration plate horizontal direction
The second information arrived, by the way of polynomial interopolation, the mapping for obtaining the second information and distance on different sampled points is closed
System；According to the mapping relations of the second information and distance, the second information is replaced with the first information, substitutes into reflecting for the second information and distance
It penetrates in relationship, obtains the value of distance corresponding with the first information, road surface shadow is worth to according to the corresponding distance of the first information
Picture.
2. road surface imaging device according to claim 1, which is characterized in that the road surface imaging device further includes power supply mould
Block, the power module are connected with the optical module, the control module, the signal processing module respectively.
3. road surface imaging device according to claim 1, which is characterized in that the optical module further includes：Optical filter, institute
Optical filter is stated for filtering out sunlight.
4. road surface imaging device according to claim 2, which is characterized in that the power module includes：Ac/dc
AC/DC converters, DC/DC DC/DC converters and linear voltage regulator, the AC/DC converters, the DC/DC converters
It is sequentially connected with the linear voltage regulator.
5. road surface imaging device according to claim 1, which is characterized in that the light source is laser diode.
6. a kind of road surface imaging method, which is characterized in that including：
Horizontal direction along road surface emits incident light to road surface, and receives the light of the road reflection；
The light of the road reflection is handled, road surface image is obtained；
The light to the road reflection is handled, and obtains road surface image, including：
Hot spot is obtained according to the light of the road reflection, the first information is obtained according to hot spot；
Road surface image is obtained according to the first information and calibration information；
It is described road surface image is obtained according to the first information and calibration information before, including：
Experimental data is acquired, the mapping relations of horizontal direction sampled point and the second information are obtained；
According to the mapping relations of second information and the distance are obtained at a distance from the horizontal direction sampled point, institute is obtained
State calibration information, wherein the calibration information is stored by way of multinomial coefficient storage；
Wherein, described that road surface image is obtained according to the first information and calibration information, including：
When by measuring calibration plate apart from road surface imaging device different distance on the different sampled point of calibration plate horizontal direction
The second information arrived, by the way of polynomial interopolation, the mapping for obtaining the second information and distance on different sampled points is closed
System；According to the mapping relations of the second information and distance, the second information is replaced with the first information, substitutes into reflecting for the second information and distance
It penetrates in relationship, obtains the value of distance corresponding with the first information, road surface shadow is worth to according to the corresponding distance of the first information
Picture.
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|---|---|---|---|
| CN201510348531.4A CN104930990B (en) | 2015-06-23 | 2015-06-23 | Road surface imaging device and method |
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| CN201510348531.4A CN104930990B (en) | 2015-06-23 | 2015-06-23 | Road surface imaging device and method |
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| CN104930990A CN104930990A (en) | 2015-09-23 |
| CN104930990B true CN104930990B (en) | 2018-09-14 |
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| CN1255572A (en) * | 1999-12-02 | 2000-06-07 | 何永辉 | Measuring and control system of pavement smoothness (straightness) for paving machine |
| CN1196912C (en) * | 1999-06-01 | 2005-04-13 | 加拿大国家研究委员会 | Three dimensional optical scanning |
| CN103776370A (en) * | 2014-01-06 | 2014-05-07 | 湖南丰汇银佳科技有限公司 | Face characteristic detection device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1196912C (en) * | 1999-06-01 | 2005-04-13 | 加拿大国家研究委员会 | Three dimensional optical scanning |
| CN1255572A (en) * | 1999-12-02 | 2000-06-07 | 何永辉 | Measuring and control system of pavement smoothness (straightness) for paving machine |
| CN103776370A (en) * | 2014-01-06 | 2014-05-07 | 湖南丰汇银佳科技有限公司 | Face characteristic detection device and method |
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