CN106092137B - The outdoor calibrator (-ter) unit and method of a kind of vehicle-mounted three-dimensional laser pavement detection system - Google Patents
The outdoor calibrator (-ter) unit and method of a kind of vehicle-mounted three-dimensional laser pavement detection system Download PDFInfo
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- CN106092137B CN106092137B CN201610394539.9A CN201610394539A CN106092137B CN 106092137 B CN106092137 B CN 106092137B CN 201610394539 A CN201610394539 A CN 201610394539A CN 106092137 B CN106092137 B CN 106092137B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses the outdoor calibrator (-ter) unit and method of a kind of vehicle-mounted three-dimensional laser pavement detection system, including calibration plate, the bottom even of calibration plate is distributed with some bearings that can adjust height, the outer of calibration plate is provided with some horizontal levelling bubbles, and the calibration plate includes the debugging section, laterally-graded shape calibration segment, the stepped calibration segment in longitudinal direction and the longitudinal corrugated calibration segment that are sequentially arranged along detection direction.Three calibration regions that the present invention passes through default known elevation, set up vehicle-mounted three-dimensional laser detecting system road pavement Defect inspection model, analysis is compared by the testing result and model true value of detecting system, the corresponding accuracy of detection of detecting system and parameter are drawn, the purpose calibrated to the accuracy of detection of three-dimensional laser detecting system is reached.
Description
Technical field
The present invention relates to precision calibration field outside vehicle-mounted three-dimensional laser detecting system room, and in particular to a kind of vehicle-mounted three-dimensional sharp
The outdoor calibrator (-ter) unit and method of light pavement detection system.
Background technology
With continuous growth, the quick increase of the magnitude of traffic flow and increasingly the carrying for public's demand of China's highway mileage
Height, Highway Maintenance scale is increasing.The Eleventh Five-Year Plan period, 550,000 kilometers of whole nation completion road network reconstruction project, highway are big
Repair 16.7 ten thousand kilometers of engineering, 36.4 ten thousand kilometers of highway intermediate maintenance engineering.In Eleventh Five-Year Plan latter stage, the maintenance speed of China's highway is
Through having exceeded construction speed, the emphasis of highway development is realizing the transition from building to conserving.In " 12 ", highway maintenance is met
Come periodic peak period, highway communication flow particularly Heavy Traffic amount maintains sustained and rapid growth in addition, and highway faces concentration
Overhaul and the pressure of transformation, maintenance task are extremely arduous.Maintenance task is risen and instructs to be detected into the road disease of correcting action
For maintenance, personnel are primarily upon emphasis, and this trend will be highlighted more in " 13 ".In existing highway maintenance mechanism, road
The detection of the apparent disease in face is that maintenance personnel are visually observed or measured using the simple survey tool such as ruler, clearance gauge mostly.Through
Cross long-term engineering practice to find, manual detection method has low detection efficiency, dangerous height, the low shortcoming of accuracy of detection, causes
Delay of the Maintenance Design with decision-making work and deviation, often result in and miss optimal maintenance opportunity, cause the wave of maintaining cost
Take.
With the development of sensor technology, emerging vehicle-mounted three-dimensional laser detection technique is convenient by its detection process, inspection
Survey the characteristics of data are more, and accuracy of detection is high and cause that the three-dimensional laser detecting system with motor vehicle as detection platform turns into pavement of road
The popular research direction of apparent Defect inspection.Three-dimensional laser detection technique make use of principle of triangulation method, and its principle is laser
Detector sends line laser to tested road surface, by optical system imaging to line array CCD, by geometric triangulation relation from picture point
Position on CCD can be calculated the coordinate and elevation of institute's measuring point, then just can be by by the scanning motion of laser detecting apparatus
Obtained along the three-dimensional data of direction of motion road surface.
, it is necessary to its elevation carrection precision, width is surveyed before Road Detection is carried out using vehicle-mounted three-dimensional laser detecting system
The parameters such as amount scope are calibrated, and to ensure the integrality and accuracy of data in detection process, reach the standard of engineering survey.
Existing three-dimensional laser calibrator (-ter) unit, is not considered that laser construction of platform changes with three-dimensional laser measuring instrument as calibration object and made mostly
Into influence, and objective function is single does not have market value.In face of the supply of lot of domestic and foreign three-dimensional laser measuring apparatus
Variety classes and the three-dimensional laser measuring instrument of model that business provides, add what is constituted as construction of platform with miscellaneous motor vehicle
Three-dimensional laser detecting system, existing calibrator (-ter) unit and method are often difficult to reach the task of precision calibration and turn into vehicle-mounted three-dimensional
The major obstacle that laser detection system is promoted the use of.
Country's correlation test research at present shows：Indoors under the conditions of static test, vehicle-mounted three-dimensional laser detecting system can
With the detection for completing road pavement rut, pit, gathering around the apparent diseases in road surface such as bag, every precision can reach engineering construction requirement；
And the research of the accuracy of detection of the vehicle-mounted three-dimensional laser detecting system under outdoor testing conditions, there is no a set of complete precision mark
The accuracy calibrating method of accurate and system.
The content of the invention
It is an object of the invention to provide the outdoor calibrator (-ter) unit and method of a kind of vehicle-mounted three-dimensional laser pavement detection system,
With the defect for overcoming above-mentioned prior art to exist, the present invention sets up vehicle-mounted three by three calibration regions of default known elevation
Dimension laser detection system road pavement Defect inspection model, is compared point by the testing result of detecting system and model true value
Analysis, draws the corresponding accuracy of detection of detecting system and parameter, reaches and the accuracy of detection of three-dimensional laser detecting system is calibrated
Purpose.
To reach above-mentioned purpose, the present invention is adopted the following technical scheme that：
A kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system, including calibration plate, the bottom of calibration plate are equal
Even that some bearings that can adjust height are distributed with, the outer of calibration plate is provided with some horizontal levelling bubbles, and the calibration plate includes
Debugging section, laterally-graded shape calibration segment, the stepped calibration segment in longitudinal direction and the longitudinal corrugated school being sequentially arranged along detection direction
Quasi- section.
Further, the calibration plate is PLA material.
Further, the bottom even of calibration plate is distributed with five bearings that can adjust height, and five bearings set respectively
Put the surrounding in calibration plate bottom and center；The outer of calibration plate is arranged with six horizontal levelling bubbles.
Further, the debugging section is 0.05m long, the first level panel of 1m wide, and plane elevation residing for debugging section
It is 0mm.
Further, the laterally-graded shape calibration segment includes five pieces of second levels being set up in parallel with first level panel
Panel, a length of 0.05m of the second horizontal panel, a width of 1m, five piece of second horizontal panel is distributed into a ladder, and five piece of second water
The elevation of surface plate is followed successively by -10mm, -5mm, 0mm, 5mm, 10mm along its length.
Further, the 3rd horizontal panel of the stepped calibration segment in the longitudinal direction including nine block length 0.15m, 0.1m wide and
4th horizontal panel of two block length 0.15m, 0.05m wide, the 3rd horizontal panel and the 4th horizontal panel with first level panel
It is vertically arranged, and the 4th horizontal panel is arranged on the both sides of the 3rd horizontal panel, the 3rd horizontal panel and the 4th horizontal panel
Elevation is followed successively by -0.01mm, 0mm, 0.01mm, 0.02mm, 0.03mm, 0.04mm, 0.03mm, 0.02mm in the width direction,
0.01mm, 0mm, -0.01mm.
Further, longitudinal corrugated calibration segment includes the corrugated panel of seven block length 0.15m, 1m wide, described watt
Stupefied shape panel includes the 5th horizontal panel and sloping desk, and the 5th horizontal panel is vertically arranged with first level panel, phase
The 5th adjacent horizontal panel is connected by sloping desk, on sloping desk and horizontal plane between angle be 45 °, the 5th horizontal plane
The elevation of plate is followed successively by 25mm, -25mm, 25mm, -25mm, 25mm, -25mm, 25mm.
A kind of calibration method of the outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system, comprises the following steps：
Step 1：Detection prepares
Step 1.1：Outdoor calibrator (-ter) unit is placed on to be measured immediately below three-dimensional laser detecting system detection course
Area, adjusts calibration plate placement direction so that calibration plate cross section is vertical with detection direct of travel, and ensures school by adjusting bearing
The level of quasi- plate datum level；
Step 1.2：By the debugging section of the detection planar alignment calibration plate of three-dimensional laser detecting system, and by detection now
Plane sets are elevation zero plane；
Step 1.3：The measurement parameter of three-dimensional laser detecting system is set；
Step 2：Data acquisition
Step 2.1：The elevation of laterally-graded shape calibration segment is gathered by three-dimensional laser detecting system；
Step 2.2：The elevation of the stepped calibration segment in longitudinal direction is gathered by three-dimensional laser detecting system；
Step 2.3：The elevation of longitudinal corrugated calibration segment is gathered by three-dimensional laser detecting system；
Step 3：Data analysis
Step 3.1：The data gathered to step 2 carry out efficiency analysis；
Step 3.2：Laterally-graded shape calibration segment, the stepped calibration segment in longitudinal direction and longitudinal corrugated calibration segment are gathered
Data be analyzed with actual value；
Step 3.3：Judge whether three-dimensional laser detecting system meets engineering requirements according to comparative analysis result.
Compared with prior art, the present invention has following beneficial technique effect：
Apparatus of the present invention can more precisely, efficiently, easily carry out the outdoor calibration of vehicle-mounted three-dimensional laser detecting system,
Improve existing a set of system and calibrate a defect for precision, the detecting system for all kinds of models proposes different calibrations
Tremendous contribution, three schools that the present invention passes through default known elevation are made in standard, the popularization to three-dimensional laser pavement detection system
Quasi- region, sets up vehicle-mounted three-dimensional laser detecting system road pavement Defect inspection model, by the testing result and mould of detecting system
Type true value is compared analysis, draws the corresponding accuracy of detection of detecting system and parameter, reaches to three-dimensional laser detecting system
The purpose that accuracy of detection is calibrated.
The inventive method is set up vehicle-mounted three-dimensional laser detecting system and is satisfied the need by three calibration regions of default known elevation
Face Defect inspection model, analysis is compared by the testing result and model true value of detecting system, show that detecting system is corresponding
Accuracy of detection and parameter, reach the purpose calibrated to the accuracy of detection of three-dimensional laser detecting system.
Brief description of the drawings
Fig. 1 is to calibrate flow chart outside three-dimensional laser detecting system room；
Fig. 2 is that (A is three-dimensional laser detecting system to vehicle-mounted three-dimensional laser detecting system road pavement Defect inspection model, and B is to set
Meter road surface calibrator (-ter) unit)；
Fig. 3 is calibrator (-ter) unit organigram；
Fig. 4 (1) is the three-view diagram of the laterally-graded shape calibration segment of calibration plate, wherein (a) is front view；B () is side view；
C () is top view；And a is 600mm in figure, b is 200mm, and c is 250mm, and d is 60mm, and e is 400mm, and f is 110mm；
Fig. 4 (2) is the three-view diagram of the longitudinal stepped calibration segment of calibration plate, wherein (a) is front view；B () is side view；
(c) be top view, and figure in g be 20mm, h is 5mm, and i is 1000mm, and j is 50mm, and k is 30mm, and l is 40mm；
Fig. 4 (3) is the three-view diagram of calibration plate longitudinal direction corrugated calibration segment, wherein (a) is front view；B () is side view；
C () is top view；, and in figure q is 100mm, r is 50mm, and s is 150mm, and t is 50mm, and u is 5mm, and v is 30mm, and θ is 45 °；
Fig. 5 be three-dimensional laser detecting system connection diagram (overlook, C be three-dimensional laser measuring instrument, D for measurement control with
Processing equipment)；
Fig. 6 is that laterally-graded shape calibration segment detection section chooses schematic diagram；
Fig. 7 chooses schematic diagram for the stepped calibration segment detection section in longitudinal direction；
Fig. 8 is that longitudinal corrugated calibration segment detection section chooses schematic diagram；
Fig. 9 is laterally-graded shape calibration segment h, k Distribution value figure, wherein (a) is h Distribution value figures；B () is k Distribution value figures；
Figure 10 is stepped calibration segment h, the k Distribution value figure in longitudinal direction, wherein (a) is h Distribution value figures；B () is k Distribution value figures；
Figure 11 is longitudinal corrugated calibration segment h, k Distribution value figure, wherein (a) is h Distribution value figures；B () is k Distribution value figures；
Figure 12 is absolute error average and the equation of linear regression away from distance between center line in the stepped calibration segment in longitudinal direction；
Figure 13 is the selection of three-dimensional laser line length in the stepped calibration segment in longitudinal direction；
Figure 14 is slope error of tilt conversion schematic diagram in longitudinal corrugated calibration segment；
Figure 15 is that dynamic calibration tests laterally-graded shape calibration segment detection absolute error with detection speed variation tendency；
Figure 16 is that the stepped calibration segment in dynamic calibration experiment longitudinal direction detects absolute error with detection speed variation tendency；
Figure 17 is that dynamic calibration tests longitudinal corrugated calibration segment detection absolute error with detection speed variation tendency；
Figure 18 is that dynamic calibration tests longitudinal corrugated calibration segment elevation absolute error average with detection speed variation tendency.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
First, environment division
Referring to Fig. 2 to Fig. 4 (3), calibrator (-ter) unit of the invention is mainly three calibration regions by presetting known elevation,
Vehicle-mounted three-dimensional laser detecting system road pavement Defect inspection model is set up, is entered by the testing result and model true value of detecting system
Row comparative analysis, draws the corresponding accuracy of detection of detecting system and parameter, reaches the accuracy of detection to three-dimensional laser detecting system
The purpose calibrated.
Test pavement simulating equipment body of the present invention is that material is the school of PLA (PLA, Poly Lactic Acid)
Quasi- plate, by high-precision processing, error is positive and negative 0.05mm, is made up of three parts：Support section, school is arranged on by 5
Quasi- plate surrounding and the bearing that height can the be adjusted composition at middle part；Debugging part, 6 level vials for being arranged on calibration plate edge
Bubble, as shown in Figure 2；Calibrated section, is divided into 1 debugging section and 3 calibration segments, is successively debugging section, horizontal rank along detection direction
Scalariform calibration segment, the stepped calibration segment in longitudinal direction, longitudinal corrugated calibration segment.
Debugging section is 0.05m long, and the horizontal panel (such as Fig. 4) of 1m wide, the purpose for setting debugging section is to determine detection
Datum water level, the road level face as in model, elevation zero.Can also be to three-dimensional laser when zeroing work is carried out
Every measurement parameter of detecting system is configured, it is ensured that good measuring environment.
Laterally-graded shape calibration segment by 5 block length 0.05m, 1m wide horizontal panel along its length it is stepped distribution and
Elevation is followed successively by -10mm, -5mm, 0mm, 5mm, 10mm (such as Fig. 4).The purpose for setting laterally-graded shape calibration segment is to calibrate
Height accuracy, it is ensured that three-dimensional laser detecting system measurement accuracy on elevation direction.
The stepped calibration segment in longitudinal direction is by the horizontal panel of 9 block length 0.15m, 0.1m wide and 2 block length 0.15m, 0.05m wide along wide
Degree directional combination gets up, and elevation is followed successively by -0.01mm, 0mm, 0.01mm, 0.02mm, 0.03mm, 0.04mm, 0.03mm,
0.02mm, 0.01mm, 0mm, -0.01mm (such as Fig. 4).The purpose for setting laterally-graded shape calibration segment is to calibrate width
On height accuracy, it is ensured that three-dimensional laser detecting system is going up measurement accuracy in the width direction.It is simultaneously three-dimensional sharp in order to calibrate
The level of optical detection system sets up angle.
Longitudinal corrugated calibration segment is made up of the corrugated panel of 0.15m long 1m wide, and horizontal panel is 0.15m long, wide
0.1m rectangles, elevation is positive or negative 25mm.The horizontal aspect of sloping desk is 0.15m and 0.05m, and inclination angle is 45 ° (such as Fig. 4).
The purpose for setting longitudinal corrugated calibration segment is to calibrate height accuracy during detection slope, it is ensured that three-dimensional laser detecting system
The measurement accuracy on the direction of slope.
Vehicle-mounted three-dimensional laser detecting system of the present invention includes：Three-dimensional laser construction of platform, detection control and treatment
Equipment, Gocator2380 type three-dimensional laser measuring instruments.
Wherein, the design parameter of Gocator2380 types three-dimensional laser measuring instrument is：Planing surface line includes data point 1280
Point, z dimension linears degree be 0.04, z directional resolutions 0.092mm to 0.488mm, x directional resolution be 0.375mm extremely
1.100mm, clear distance 350mm, visual field 390mm to 1260mm.Measurement controls to processing equipment to be the corresponding software kit of installation
Running memory for 8GB desktop computer, three-dimensional laser construction of platform be one repacking after reach the motor-driven of outdoor test standard
Vehicle, specific assembling mode such as Fig. 5.The output end of laser measuring apparatus is connected to measurement control and processing equipment, can export survey
Amount data；Input accesses power supply and I/O data-in ports, it is ensured that the normal work of three-dimensional laser measurement system.
2nd, certainty of measurement calibration
The outdoor precision calibration experiments of the vehicle-mounted calibration system based on Gocator2080 type three-dimensional laser measuring instruments are divided into 2
Individual part, i.e. Static Detection precision calibration experiments, dynamic detection precision calibration experiments.The purpose of Static Detection precision calibration experiments
It is that the static accuracy of three-dimensional laser measurement system is calibrated, for follow-up test provides accuracy guarantee.Dynamic detection precision school
The purpose of quasi-experiment be to adding speed factor after, obtain three-dimensional laser measurement system dynamic accuracy and provide corresponding evaluation
Index.
1) Static Detection precision calibration test
(1) preparatory stage is measured
1. the placement of calibration plate
Calibration plate is placed on the area to be measured immediately below three-dimensional laser detecting system detection course, adjustment calibration plate is put
Put direction so that calibration plate cross section is vertical with detection direct of travel.By adjusting the height of calibration board support, the horizontal water of leveling
Quasi- bubble, it is ensured that the level of calibration plate datum level.
2. the determination of datum level
Start detection car to move forward so that the detection section with its common mobile three-dimensional laser detecting system falls in school
On the debugging section of quasi- plate, and ensure section centerline in calibration plate approximate centerline.Three-dimensional laser detecting system is opened to enter
Detection plane sets now are elevation zero plane by row data acquisition.
3. the setting of three-dimensional laser detecting system measurement parameter
The working interface of measuring system is opened in measurement control with data processing equipment, is joined at measurement parameter interface
Number setting.Bonding apparatus and measuring condition, are exposed the setting of the design parameters such as value, frequency, are until three-dimensional laser is detected
System can obtain complete, the Measure section data of stabilization.
The measurement parameter of this detection is set to：Triggering mode is set to the time, and speed is set to 0km/h, and the visual field is set
It is 1100mm, exposure is set to automatic harmony.
(2) data acquisition and the stage of selection
Slowly moved forward after detection car igniting, traveling stops to stopping working during section to be measured, and three-dimensional laser detecting system is entered
Row static measurement, pending data is collected and finished, and detection car igniting carries out next section survey.Three schools on calibration plate are measured successively
Quasi- section：Laterally-graded shape calibration segment, the stepped calibration segment in longitudinal direction, longitudinal corrugated calibration segment.And with vernier caliper measurement each
The elevation of section is detected, using the measured value of each detection section as the true elevation of section.According to《ASTM C802-14》It is required that, it is right
For some detection object, if the experimental group number of experiment is 10-15 groups, its every group repeats experiment and is at least 3 groups；Such as
Fruit experimental group number is less than 10 groups, and it repeats experiment quantity N=(30/p)+1, and (wherein, p is experimental group number, if 30 is not the whole of p
Several times number, then take the adjacent maximum integer of its result)；If experimental group number is more than 15, it repeats experiment number and is at least 2
Group.According to the difference of measurement calibration segment, be divided into three different pieces is carried out respectively for static measurement, and existing details are as follows：
1. laterally-graded shape calibration segment：
The calibration segment have chosen 5 experimental groups, then the duplicate detection number of times of each experimental group is 7 times.This calibration segment is total to
5 groups of sections (such as Fig. 6) are chosen, each elevation ladder section chooses 1 group of section, containing 5 detector segments, testing result is each section
The average value of interior detection elevation point height.
Laterally-graded calibration segment detection data summarized results is listed by table 1：
The laterally-graded calibration segment of table 1 is detected
Note：Average and variance are calculated by following formula in table 1,2,3：
Group I J detects the average of section
Group I J detects the single group variance of section
2. the stepped calibration segment in longitudinal direction：
The calibration segment have chosen 5 experimental groups, and the duplicate detection number of times of each experimental group is 7 times.5 groups are equidistantly chosen to break
Face (such as Fig. 7), each section contains 9 detector segments, and testing result is the average value of detection elevation point height in detector segments
And three-dimensional laser test point elevation map.
The stepped calibration segment detection data summarized results in longitudinal direction is listed by table 2 and Fig. 7：
The stepped calibration segment detection data in the longitudinal direction of table 2
3. longitudinal corrugated calibration segment：
The calibration segment have chosen 6 experimental groups, and the duplicate detection number of times of each experimental group is 6 times.6 groups are equidistantly chosen to break
Face (such as Fig. 8), each section contains 6 detector segments, and testing result is 6 detection elevational point altitude datas of detector segments,
And the scatterplot module using Excel carries out linear fit to the data of each domatic section, obtains equation of linear regression, calculate
The slope value for going out is the tangent value of the domatic angle with horizontal plane, finally converses domatic angle.
Longitudinal corrugated calibration segment detection data summarized results is listed by table 3：
The longitudinal corrugated calibration segment detection data of table 3
(3) data processing stage
1. data validity analysis
A, consistency check：Before data analysis is carried out, it is necessary to the uniformity of data is checked according to following two conditions：
The uniformity of a, experiment class mean；The uniformity of b, experimental group variance.
A, experiment class mean uniformity：
Average uniformity refer to different experiments group it is same calibration section Change in Mean amplitude be it is similar,《ASTM
C802-14》In give quantizating index with corresponding boundary value：H values, specific formula for calculation is as follows：
Wherein：The average of section is detected for Group I J, is calculated by formula (1)；
The grand mean of section is detected for J, is calculated by following formula：
The standard deviation of section is detected for J, is calculated by following formula：
The uniformity of b, experimental group variance：
The uniformity of variance refers to that the amplitude of variation of the same calibration section variance of different experiments group is similar, is given in ASTM
Quantizating index is gone out with corresponding boundary value：K values, specific formula for calculation is as follows：
Wherein：SrijFor Group I J detects section experimental group single group standard deviation, by the square root of the calculated value of formula 2；
SrjFor J detects the multigroup standard deviation of section, calculated by following formula：
《ASTM C802-14》The h values for being given, k value critical values are as shown in table 4：
The h values of table 4, the critical value table of k values
Note：H values can have positive and negative, k values only on the occasion of.
The h values of each calibration segment, k values result of calculation is respectively such as table 5, Fig. 9, table 6, Figure 10, shown in table 7, Figure 11：
H, k value of the laterally-graded shape calibration segment of table 5
H, k value of the stepped calibration segment in the longitudinal direction of table 6
H, k value of the longitudinal corrugated calibration segment of table 7
Can be seen that all data meet by above chart and form《ASTM-C802-14》Requirement, for close
6 groups of data of critical value, maintain order at a public gathering by measurement data, and after confirming repeatedly without detection mistake, data can add precision water
It is flat to calculate.
B, the inspection of not interfereing with each other property
Whether the data between by observing different tests group interfere influence, such as the data variation rule phase of each experimental group
Seemingly, then may determine that mutual independence between each experimental group.
As can be seen that for different experimental groups, the Changing Pattern of measured value is similar, illustrate not interfereing with each other property into
It is vertical.
By the analysis of above-mentioned detection data, the accuracy of detection level of each calibration segment is as shown in table 8：
The precision level of the calibration segment detection data of table 8
Note：Single group standard deviation S in tablerjCalculated by following formula：
Multigroup standard deviation SRjCalculated by following formula：
Coefficient of variation is the percentage of the corresponding standard deviation of each group, and takes two significant digits.
Each calibration segment detection data is contrasted with actual value, as a result as shown in table 9, table 10, table 11.
The laterally-graded shape calibration segment detected value of table 9 is contrasted with True Data
Note：Measured value number retains four significant digits in table 9,10,11, and actual value can be according to actual conditions (vernier
Slide calliper rule precision) it is digital to determine the significance bit that it retains.
The longitudinal direction of table 10 contrasts to stepped calibration segment detected value and True Data
The longitudinal corrugated calibration segment detected value of table 11 is contrasted with True Data
2. interpretation of result：
A, laterally-graded shape calibration segment
The absolute error of each detected value is respectively less than 0.02mm in table 8 to 9, and relative error is respectively less than 0.2%, meets engineering reality
The required precision on border.With the change of measurement elevation, the value changes amplitude of absolute error is little, and in irregular distribution.By three
The triangulation Cleaning Principle for tieing up laser detection system understands that height accuracy is smaller in the intensity of variation along elevation direction, institute
Thought with this method, in the detection positive and negative 10mm of height value to positive and negative 25mm sections vertical error and negative 10mm to positive 10mm sections
It is consistent.
This method recommends static height accuracy requirement：Detection elevation absolute error in positive and negative 10mm is less than 0.02mm, inspection
Survey elevation relative error between positive and negative 10mm to 25mm and be less than 0.2%.In testing conditions illumination deficiency or three-dimensional laser detector
In the case that device detection points are less, accuracy standard 1 times can be amplified, engineering requirements can be equally met.
B, longitudinal ladder calibration segment
A, determine detection width
The absolute error of each measured value is respectively less than 0.1mm in table 10, and with measurement position from the center to both sides, definitely by mistake
Poor value is by small increase, substantially linear distribution.Can be according to this trend, it is contemplated that detection width.
According to calibration size of the section center line away from calibration plate center line distance, by the absolute error of each detector segments substitute into
Row mean value computation, such as table 12：
The absolute error average of each detector segments of table 12
Note：Absolute error average is the absolute error away from calibration plate distance between center line identical calibration section (such as A and I)
Average
By the scatter diagram data module of Excel, linear time between distance between center line and absolute error average is obtained
Return equation and coefficient correlation, as shown in figure 12.
Y=0.0001X-0.0028；R2=0.96 (11)
Linear regression result：Coefficient correlation is more than 0.90, and correlation results meet requirement.
Can be obtained by engineering detecting practice, the absolute error upper limit is 0.1mm.Equation of linear regression is substituted into, the value of X is
1028mm, show that the critical distance away from center line is 1028mm, it is contemplated that detection width is 2000mm (being rounded downwards by 100mm),
With reference to the innate detection width (laser linear field is detecting the projection of car direct of travel, such as Figure 13) of three-dimensional laser detecting system,
The end value of detection width is 1200mm (being rounded downwards by 100mm).
B, calibrated horizontal set up angle
Measure for convenience and be provided with level and set up the projection of angle, i.e. laser on the road surface level folder horizontal with road
Angle.It is 12 ° that the level of this experiment sets up angle, and specific calibration process is as follows：
From five groups of three-dimensional laser test point elevation map pictures of the stepped calibration segment in longitudinal direction, the identical elevation in interception left and right two ends
Data (such as Figure 13) between catastrophe point, derive length L between elevation catastrophe pointij, using itself and calibration segment cross-sectional width Dj's
Trigonometric function relation calculates average level and sets up angle, and computing formula is as follows：
As shown in table 13, as a result precision is less than 0.2 degree to result of calculation, meets Practical Project requirement.
The level of table 13 sets up the calculating of angle
The error of level erection angle mainly influences the test position at three-dimensional laser linear field edge, with from inspection center
The distance increase of line, error also gradually increases, and coordinates the detection width of three-dimensional laser detecting system, by angular error be converted into away from
Calibrated from change, specific formula for calculation is as follows：
Can be calculated by above formula, when detection width is 900.04mm, detection edge maximum offset is 27.365mm.
This method recommends quiescent levels to set up angle accuracy standard：After detection width is combined, edge peak excursion is detected
Amount should be no more than 50.000mm.
C, longitudinal corrugated calibration segment
To height accuracy, the change size at slope inclination angle is difficult to react the change of height accuracy to slope performance prevailing relationship.
By known slope width, slope error of tilt is converted into vertical error carries out metrics evaluation (such as Figure 14), specific to calculate
Formula is as follows：
Concrete outcome arranges such as table 14：
The longitudinal corrugated calibration segment testing result conversion of table 14
In the slope detection of 50mm elevations, the absolute error of detected value is less than 0.5mm, and relative error is less than 1%, meets
The actual requirement of engineering.
This method recommends static slope precision performance standard：Detect under normal circumstances, elevation absolute error should be less than
0.5mm, in the situation that illumination condition is complicated, i.e. illumination are not enough or detection surface specular reflections are strong condition and testing equipment
Laser spots deficiency under conditions of, elevation absolute error should be less than 1mm, now remain to meet engineering requirements.
2) dynamic detection precision calibration test
Dynamic measuring condition, measuring environment during simulation actual measurement are added on the basis of static experiment.Three-dimensional laser is detected
Include DIM survey line pitch control units in system, remain to keep three-dimensional laser line in being advanced with friction speed with identical
Line spacing is measured to examined object, therefore measuring speed does not influence the quantity of the detection section on calibration plate.Will detection
Car measuring speed is divided into 10,20,40,60 kilometer per hours, and 4 grades are tested, by the forecast analysis of Trendline, most
It is expected simulation more difficult in the lab, but the km of speed interval 60 to 80 generally used in existing detection process per small eventually
When accuracy of detection situation.In dynamic measurement process, the restriction of spacing, the section number got are measured due to three-dimensional laser line
Amount is limited, and similarity is higher between adding the same calibration segment section of calibration plate, it is considered herein that detection car is to a calibration section
The multiple measurement duplicate measurements that is regarded as to same section.It should be noted that obtained by three-dimensional laser detecting system
Data result is preliminary data, in addition it is also necessary to subtract the elevation of now debugging section, and the data for obtaining could participate in follow-up precision level
Calculate.
(1) experiment prepares and Data Collection
Calibration plate is placed in predetermined region to be detected, calibration plate cross section vertical detection car direct of travel, adjustment branch
Seat, leveling horizontal levelling bubble.Debugging three-dimensional laser measurement system enters working condition, detection car is started and starts to advance, and passes through
After one section of buffer distance, empirically require at the uniform velocity by calibration plate top, collect calibration segment data message.Conversion measurement speed
Degree, repeats above-mentioned process of the test, until being measured.And each calibrates the elevation of section with vernier caliper measurement, by each calibration
The measured value of section is used as the true elevation of section.
According to《ASTM c802-2014》Requirement, with reference to Static Detection precision calibration test, school is controlled by adjusting DIM
The number of repetition of quasi- zone detection, chooses corresponding test group (can voluntarily being chosen according to experimental condition), and this experiment passes through
It is 2mm that DIM sets three-dimensional laser line spacing, then in 5CM detector segments long number of repetition up to more than 7 times.
(2) selection of data and treatment
The selection of dynamic test group is identical with static calibration experiment, and the treatment of data is similar to static calibration process of the test,
Data result arranges such as table 15, Figure 15, table 16, Figure 16, shown in table 17, Figure 17：
The laterally-graded shape calibration segment dynamic detection result of table 15
The stepped calibration segment dynamic detection result in the longitudinal direction of table 16
The longitudinal corrugated calibration segment dynamic detection result of table 17
(3) dynamic experiment conclusion
1. laterally-graded shape calibration segment
With the increase of detection speed, the absolute error of detected value declines rapidly (Figure 15), and 58,000 are more than in detection speed
Rice per hour after, the absolute error of all detector segments is less than 0.1mm.Speculated according to speed-precision Trendline, the inspection of the system
Degree of testing the speed is at 58 kilometer per hours so that in up to 80 kilometer per hours of speed interval, laterally-graded shape calibration segment accuracy of detection is equal
Less than 0.1mm, the actual standard of engineering is reached.This method is recommended in detection speed in 60 to 80 kilometer per hours of intervals, horizontal
0.1mm is less than to the maximum of stepped calibration segment accuracy of detection, that is, thinks that detection is qualified.
2. the stepped calibration segment in longitudinal direction
A, calibration detection width
With reference to static calibration experiment, detection data is substituted into, it was therefore concluded that：It is right when detection speed is 60 kilometer per hours
According to static calibration testing standard (detection absolute error should be less than 0.1mm), detection width is 900mm, and at 40 kilometer per hours
When, detection width is 200mm.Accordingly at 80 kilometer per hours, detection width has reached 1100mm.
Then according to the trend line analysis of the stepped calibration segment in longitudinal direction, in 60 to 80 kilometer per hours of speed intervals, detection
It is most appropriate that width should choose 900mm.
B, calibrated horizontal set up angle
The three-dimensional laser line length that identical process obtains the different elevations of each section is carried out from static calibration experiment, is substituted into and is detected
Data, it was therefore concluded that：The error that level sets up angle is not presented correlation with detection speed, but combines detection width, carries out
When edge maximum deviation is calculated, as detection speed increases, maximum deviation increase is substantially distributed in quadratic function.Detection speed
For 40 kilometer per hours when, maximum deviation is 17.648mm, and when detection speed is 60 kilometer per hours, maximum deviation is
36.843mm.When detection speed is more than 72.6 kilometer per hours, maximum deviation will exceed 50mm；But if fixed test is wide
Degree, then detection speed is not by highest speed limit system.
By with compareing that detection width is chosen, when detection width be 900mm when, maximum deviation less than 50mm it is set will
Ask.
3. longitudinal corrugated calibration segment
With reference to static calibration experiment, detection data is substituted into, it was therefore concluded that：As shown in table 18, with the increase of detection speed,
The slope performance of detecting system speculates in lifting according to speed-precision Trendline, in detection speed more than 54 kilometer per hours
Afterwards, accuracy of detection is less than 0.5mm.In 60 to 80 kilometer per hours of speed intervals, accuracy of detection is less than the set of 0.5mm will
Ask, so thinking that detection is qualified in the detection of longitudinal corrugated calibration segment.
3) accuracy detection result
Tested with checking of dynamic accuracy by static, calibrated the precision of the three-dimensional laser detecting system, work as detection width
It is set as 900mm, when detection speed interval is 60 to 80 kilometer per hours, every detection of the three-dimensional laser pavement detection system
Precision meets set requirement, then it is assumed that detection is qualified, can serve as Detection task.
The longitudinal corrugated calibration segment elevation absolute error dynamic detection result of table 18
Claims (8)
1. a kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system, it is characterised in that including calibration plate, calibration plate
Bottom even some bearings that can adjust height are distributed with, the outer of calibration plate is provided with some horizontal levelling bubbles, the school
Quasi- plate includes the debugging section, laterally-graded shape calibration segment, the stepped calibration segment in longitudinal direction and the longitudinal direction that are sequentially arranged along detection direction
Corrugated calibration segment.
2. a kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system according to claim 1, its feature exists
In the calibration plate is PLA material.
3. a kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system according to claim 1, its feature exists
In the bottom even of calibration plate is distributed with five bearings that can adjust height, and five bearings are separately positioned on calibration plate bottom
Surrounding and center；The outer of calibration plate is arranged with six horizontal levelling bubbles.
4. a kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system according to claim 1, its feature exists
In the debugging section is that 0.05m long, the first level panel of 1m wide, and plane elevation residing for debugging section are 0mm.
5. a kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system according to claim 4, its feature exists
In the laterally-graded shape calibration segment includes five pieces of second horizontal panels being set up in parallel with first level panel, the second level
A length of 0.05m of panel, a width of 1m, five piece of second horizontal panel are distributed into a ladder, and five piece of second elevation of horizontal panel
- 10mm, -5mm, 0mm, 5mm, 10mm are followed successively by along its length.
6. a kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system according to claim 4, its feature exists
In the stepped calibration segment in longitudinal direction includes the 3rd horizontal panel and two block length 0.15m of nine block length 0.15m, 0.1m wide, wide
4th horizontal panel of 0.05m, the 3rd horizontal panel and the 4th horizontal panel are vertically arranged with first level panel, and the 4th
Horizontal panel is arranged on the both sides of the 3rd horizontal panel, the elevation of the 3rd horizontal panel and the 4th horizontal panel in the width direction according to
Secondary is -0.01mm, 0mm, 0.01mm, 0.02mm, 0.03mm, 0.04mm, 0.03mm, 0.02mm, 0.01mm, 0mm, -0.01mm.
7. a kind of outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system according to claim 4, its feature exists
Include the corrugated panel of seven block length 0.15m, 1m wide in, longitudinal corrugated calibration segment, the corrugated panel includes the
Five horizontal panels and sloping desk, and the 5th horizontal panel is vertically arranged with first level panel, the 5th adjacent horizontal plane
Plate by sloping desk be connected, on sloping desk and horizontal plane between angle be 45 °, the elevation of the 5th horizontal panel is followed successively by
25mm, -25mm, 25mm, -25mm, 25mm, -25mm, 25mm.
8. the calibration method of the outdoor calibrator (-ter) unit of vehicle-mounted three-dimensional laser pavement detection system described in a kind of use claim 1,
It is characterised in that it includes following steps：
Step 1：Detection prepares
Step 1.1：Outdoor calibrator (-ter) unit is placed on the area to be measured immediately below three-dimensional laser detecting system detection course, is adjusted
Whole calibration plate placement direction so that calibration plate cross section is vertical with detection direct of travel, and ensure calibration plate by adjusting bearing
The level of datum level；
Step 1.2：By the debugging section of the detection planar alignment calibration plate of three-dimensional laser detecting system, and by detection plane now
It is set as elevation zero plane；
Step 1.3：The measurement parameter of three-dimensional laser detecting system is set；
Step 2：Data acquisition
Step 2.1：The elevation of laterally-graded shape calibration segment is gathered by three-dimensional laser detecting system；
Step 2.2：The elevation of the stepped calibration segment in longitudinal direction is gathered by three-dimensional laser detecting system；
Step 2.3：The elevation of longitudinal corrugated calibration segment is gathered by three-dimensional laser detecting system；
Step 3：Data analysis
Step 3.1：The data gathered to step 2 carry out efficiency analysis；
Step 3.2：The number that laterally-graded shape calibration segment, the stepped calibration segment in longitudinal direction and longitudinal corrugated calibration segment are gathered
It is analyzed according to actual value；
Step 3.3：Judge whether three-dimensional laser detecting system meets engineering requirements according to comparative analysis result.
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| CN110687129A (en) * | 2019-11-15 | 2020-01-14 | 南京铂文嘉诚科技有限公司 | Device for calibrating precision of mounting position of three-dimensional equipment |
| CN111583413B (en) * | 2020-03-24 | 2023-06-02 | 交通运输部科学研究院 | BIM parametric modeling and augmented reality mobile inspection method for pavement diseases |
| CN117214875A (en) * | 2023-11-08 | 2023-12-12 | 山东富锐光学科技有限公司 | Zero point calibration method and structure for laser radar incremental coding |
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