CN106093454A - Non-calibrating vehicle-mounted space filtering speed measuring device and speed-measuring method - Google Patents
Non-calibrating vehicle-mounted space filtering speed measuring device and speed-measuring method Download PDFInfo
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- CN106093454A CN106093454A CN201610503901.1A CN201610503901A CN106093454A CN 106093454 A CN106093454 A CN 106093454A CN 201610503901 A CN201610503901 A CN 201610503901A CN 106093454 A CN106093454 A CN 106093454A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
Abstract
The present invention provides a kind of non-calibrating vehicle-mounted space filtering speed measuring device and speed-measuring method, this non-calibrating vehicle-mounted space filtering speed measuring device, utilize and there is the laser displacement sensor measuring this device with pending pavement-height difference function, measure non-calibrating vehicle-mounted space filtering speed measuring device height overhead, without the scale factor of this device is repeated demarcation, improve detection efficiency.
Description
Technical field
The present invention relates to vehicle-mounted velocity measuring technique field, be specifically related to a kind of non-calibrating vehicle-mounted space filtering speed measuring device and
Speed-measuring method.
Background technology
The basic imaging principle of existing space filtering tachymeter: when light source is irradiated to surface of moving object, scattered light will fortune
The image information on animal body surface passes on equidistant grating (spatial filter) through receiving object lens, and spatial filter is interval with
Black and white part, wherein black part is divided into the part that is in the light, and white portion is light transmission part.Certain particle of surface of moving object
As moving on spatial filter, thus the velocity information of this particle is converted into a frequency by spatial filter transports with particle
The light intensity signal that dynamic speed is directly proportional, then by condenser lens, light intensity signal is converged on the detector, it is converted into by detector
The time-domain signal of same frequency.If it is that V ', V ' are with flat that the particle of body surface has speed in the plane vertical with optical axis
The velocity component of row slit vertical direction is ν ' cos θ.Then between movement velocity v and the frequency of time domain signal f of body surface particle
Relation be:Wherein: p is the interval in wave filter between parallel slits, i.e. space periodic；M is in imaging system
The amplification of object lens, i.e. v '=Mv.By measuring the frequency of the time-domain signal of detector output, it is possible to obtain object of which movement
Speed.Commonly referred to as p/ (Mcos θ) is the scale factor of system.
In the occasion of space filtering tachymeter vehicular applications, operating distance affect the ratio of space filtering tachymeter because of
Son, and operating distance not only along with vehicle jolt and the fluctuating on road surface and change, also with air pressure and the vehicle of vehicle tyre
The weight carried is relevant.In prior art, in order to make the change of operating distance not cause the change of scale factor, need to use
Telecentric imaging system overcomes the interference of the operating distance comparative example factor.But, in telecentric system only in chief ray with
The parallel light beam of optical axis has contribution to imaging, relatively low to the brightness of image on road surface to be detected after using telecentric system, reduces
The detectivity of space filtering tachymeter.
Additionally, telecentric system can not be completely eliminated the shadow of the operating distance change comparative example factor in actual applications
Ring, the change of scale factor can only be suppressed to a certain extent.On the other hand, after using telecentric system, space filtering is surveyed
Speed instrument will re-scale scale factor after installing every time, and this brings great inconvenience to use.Problem above is also
Have impact on the certainty of measurement of space filtering tachymeter.
Summary of the invention
For overcoming the disadvantages mentioned above of existing vehicle-mounted space filtering tachymeter, the invention provides a kind of vehicle-mounted space of non-calibrating
Filtering speed measuring device and speed-measuring method.
The present invention provides a kind of non-calibrating vehicle-mounted space filtering speed measuring device, including:
For the illuminator that road surface is illuminated, for obtain road surface optical information reception lens,
For the diaphragm suppressing bias light to disturb, for the CMOS in road surface program, for the voltage signal that CMOS is obtained
The signal processing circuit that carries out processing, for detecting the height d of non-calibrating vehicle-mounted space filtering speed measuring device distance road surface
Laser displacement sensor and for showing the display screen of testing result, illuminator is arranged at the side receiving lens, illumination
The light that device is launched passes below reception lens；Diaphragm is arranged in the transmission light path receiving lens and CMOS；CMOS with
Electrically connect between signal processing circuit；The detecting head of laser displacement sensor electrically connects towards ground and with signal processing circuit；
Signal processing circuit electrically connects with display；
Laser displacement sensor includes the laser instrument for producing laser, for the CCD of measured point imaging, for laser
Control circuit that device and CCD are controlled and for processing to obtain road surface displacement information to CCD output information
Signal processing module, arranges condenser lens at the emergent light mouth of laser instrument, and the input path of CCD arranges imaging len, and energy
Realize the laser optical path transmission entering CCD from imaging len after the laser line focus lens focus of laser emitting.
Further, illuminator is the illuminator that can produce relatively high power incoherent light source.
Further, CMOS is linear array type CMOS.
Another aspect of the present invention additionally provides the speed-measuring method of a kind of above-mentioned non-calibrating vehicle-mounted space filtering speed measuring device, bag
Include following steps: step S100: the mistake in laser displacement sensor is integrated into non-calibrating vehicle-mounted space filtering speed measuring device
Cheng Zhong, make the distance of laser displacement sensor and its datum level and the nominal operation of non-calibrating vehicle-mounted space filtering speed measuring device away from
From unanimously；Thus ensure that non-calibrating vehicle-mounted space filtering speed measuring device is operated under nominal operation distance,
Step S200: measure the moving displacement of the velocity source of known translational speed in real time, obtains elemental height d1
Under scale factor；
Step S300: compared with the initial height changing the non-calibrating vehicle-mounted space filtering speed measuring device that the present invention provides by a small margin
Degree d1, the most again the moving displacement of velocity source is measured in real time, the height d after obtaining velocity information simultaneously and changingi；
It is ± 3～5mm more by a small margin.
Step S400: step S300 is repeated several times, until the field depth of non-calibrating vehicle-mounted space filtering speed measuring device is all
Stop when obtaining covering, obtain velocity information v' and real work distance d；
Step S500: according to velocity information v' obtained in step S100～S400 and real work distance d and speed
Actual speed v in sourcetrue, the relation of three is carried out curve fitting and obtains function:
vtrue=f (v ', d) (3)
Step S600: measure actual speed v' obtained and laser position according in non-calibrating vehicle-mounted space filtering speed measuring device
Displacement sensor records real work distance d, and solution formula (3) obtains revised speed v.
The technique effect of the present invention:
1, the present invention provides non-calibrating vehicle-mounted space filtering speed measuring device, utilizes and has this device of measurement and pending road surface
The laser displacement sensor of difference in height function, measures non-calibrating vehicle-mounted space filtering speed measuring device height overhead, it is not necessary to right
The scale factor of this device is complicated to be demarcated, and improves detection efficiency.
2, the present invention provides non-calibrating vehicle-mounted space filtering speed measuring device, revises survey in real time based on measured height d and exempts from mark
The scale factor of fixed vehicle-mounted space filtering speed measuring device.On the one hand improve the certainty of measurement that space filtering tests the speed；On the other hand,
The vehicle-mounted sky of non-calibrating obtained according to laser displacement sensor measurement after every time installing non-calibrating vehicle-mounted space filtering speed measuring device
Between filter speed measuring device height overhead, can accurately calculate scale factor, it is to avoid the frequent demarcation to system.
2, the present invention provides non-calibrating vehicle-mounted space filtering speed measuring device, uses frequency spectrum refinement and Spectrum Correction in frequency domain,
Improve spectral resolution and the accuracy of signal frequency, thus reduce the error that classical signal Processing Algorithm causes.
3, the present invention provides non-calibrating vehicle-mounted space filtering speed measuring device, with linear array CMOS (Complementary Metal
Oxide Semiconductor) replace traditional grating or light cell as spatial filter, expand space filtering tachymeter
The scope that tests the speed and improve the reliability of measuring results.
Specifically refer to that the vehicle-mounted space filtering speed measuring device of the non-calibrating according to the present invention and speed-measuring method propose is various
Embodiment described below, by apparent for the above and other aspect making the present invention.
Accompanying drawing explanation
Fig. 1 is the structural representation of preferred embodiment of the present invention non-calibrating vehicle-mounted space filtering speed measuring device；
Fig. 2 is preferred embodiment of the present invention laser triangulation specular displacement measuring principle schematic diagram；
Fig. 3 is that in preferred embodiment of the present invention non-calibrating vehicle-mounted space filtering tachymeter, operating distance measuring unit structure is shown
It is intended to.
Marginal data:
1, illuminator；2, road surface；3, lens are received；4, diaphragm；5CMOS、；6, laser displacement sensor；7, letter
Number process circuit；8, display screen.
Detailed description of the invention
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, and the present invention's is schematic real
Execute example and illustrate for explaining the present invention, being not intended that inappropriate limitation of the present invention.
For ease of understanding, the technical scheme general introduction that the present invention is provided: measure mainly by laser displacement sensor 6 and exempt from
Demarcate vehicle-mounted space filtering speed measuring device height d overhead, and utilize height d to revise the scale factor of velocity-measuring system in real time.
Seeing Fig. 1, the non-calibrating vehicle-mounted space filtering speed measuring device that the present invention provides includes for carrying out road surface
The illuminator illuminated, the reception lens, the diaphragm for suppressing bias light to disturb, the use that are used for obtaining road surface optical information
In to the CMOS in road surface program, for CMOS obtain voltage signal process signal processing circuit, for
Detect the laser displacement sensor of the height d of non-calibrating vehicle-mounted space filtering speed measuring device distance road surface and be used for showing inspection
Surveying the display screen of result, illuminator is arranged at the side receiving lens, and the light that illuminator is launched is from receiving below lens
Pass；Diaphragm is arranged in the transmission light path receiving lens and CMOS；Electrically connect between CMOS with signal processing circuit；Laser position
The detecting head of displacement sensor electrically connects towards ground and with signal processing circuit；Signal processing circuit electrically connects with display.
During use, illuminator illuminates tested road surface, and road surface produces in linear array CMOS by receiving lens imaging
Raw light radiates through reception lens imaging in linear array CMOS, after linear array CMOS receives the stimulation of this luminous reflectance, and the electricity of output
Pressure signal transmission processes to signal processing circuit, by signal processing circuit related algorithm such as spatial filtering algorithms (tool
Body algorithm sees He Xin, and Long Xingwu, Zhou Jian, Nie Xiaoming are published in the 5th phase of volume 35 " Acta Optica " in May, 2015
" new spatial based on the linear array CMOS-type space-time filter filtering tachymeter " of 0512006-1～0512006-8 page) first to line
The output of type CMOS carries out space filtering and obtains space filtering signal, resolves the frequency of this signal the most again, and then according to signal
Linear relationship between frequency and carrier movement speed is tried to achieve vehicle and relative to the speed of road surface and is shown on a display screen
Out.
Laser displacement sensor measures the operating distance of non-calibrating vehicle-mounted space filtering speed measuring device and road surface simultaneously
D, signal processing circuit combines the voltage signal that obtained and height d, in real time space filtering speed measuring device vehicle-mounted to non-calibrating
Scale factor is modified, and running velocity shows on a display screen the most at last.It is vehicle-mounted that height d herein is non-calibrating
Vertical dimension between space filtering speed measuring device bottom surface and road surface to be measured.So, on the one hand improve space filtering
The certainty of measurement tested the speed；On the other hand, according to laser displacement sensor gained system height overhead install every time after, so that it may
Accurately calculate the scale factor of system, make system avoid demarcating.Scale factor with highly there is direct relation, by revising height
Degree reaches to revise the purpose of scale factor.
The present invention provide laser displacement sensor structure as it is shown on figure 3, include the laser instrument for producing laser, for
The CCD of measured point imaging, for the control circuit that laser instrument and CCD are controlled with to CCD output information
Managing to obtain the signal processing module of road surface displacement information, arrange condenser lens at the emergent light mouth of laser instrument, CCD enters
Penetrate and imaging len is set in light path, and can realize entering from imaging len after the laser line focus lens focus of laser emitting
Laser optical path transmission in CCD.
It is based on laser triangulation principle of reflection that above-mentioned laser displacement sensor measures the principle of height d, and seeing Fig. 2 is direct projection
Light triangulation principle: surface, incident laser vertical incidence measured point, imaging len is passed through at CCD (Charged Couple in measured point
Element) upper imaging.With the optical axis of imaging len and the intersection point of incident laser for thing side's datum mark, with this picture point on CCD
For image space datum mark, and by face on the basis of thing side's datum mark and the plane vertical with incident laser.When measured surface is positioned at
During datum level, it is assumed that object distance is L, image distance is L'.The optical axis of imaging len represents with the angle θ of incident laser, with the folder of CCD
Angle θ ' represents.When being subjected to displacement in order to ensure measured surface, it is necessary that measured point remains to blur-free imaging on CCD, angle theta and θ '
Meet:
Tan θ=β tan θ ' (1)
Wherein, β is the optical magnification of imaging len.
When measured surface has displacement x along laser light incident direction relative to datum level, measured point imaging phase on CCD
For image space datum mark occur corresponding displacement x ', the relation between displacement x and x':
Highly d measures process: focus on datum level after the emergent light line focus lens of laser instrument, and after optic path
Measured point imaging on CCD is made via imaging len.Control circuit controls laser instrument and CCD normally works, and the output of CCD is passed through
Signal processing module is converted to the displacement information on tested road surface.CCD used herein is the detector of sensitive light spot position.
Output is voltage signal, can obtain being radiated at the displacement information of luminous point on CCD, afterwards according to luminous point on CCD through resolving
Displacement information extrapolate non-calibrating vehicle-mounted space filtering speed measuring device according to formula (2) and change with displacement information away from ground level d
The change become.
Laser displacement sensor is integrated at the laser displacement sensor of non-calibrating vehicle-mounted space filtering speed measuring device, should
Speed measuring device can export the movement velocity of measured surface and the operating distance (i.e. height d) of space filtering tachymeter simultaneously,
Thus the errors of proportional factor can used it for compensating operating distance change and cause.This compensation method uses existing method
Realize.
Another aspect of the present invention additionally provides a kind of speed-measuring method:
Space filtering tachymeter needs to carry out its scale factor demarcation and is because operating distance and cannot the most accurately measure.
And the non-calibrating vehicle-mounted space filtering speed measuring device that the present invention provides is in the operating distance of the energy tachymeter of measurement space filtering in real time
In the case of, then the scale factor during measuring can the most accurately obtain, thus realizes changing the vehicle-mounted space of non-calibrating
During filtering speed measuring device installation site, the difficulty of frequently demarcation can be exempted.Non-calibrating can also be realized by this speed-measuring method.
This speed-measuring method comprises the following steps:
Step S100: the process in laser displacement sensor is integrated into non-calibrating vehicle-mounted space filtering speed measuring device
In, make the nominal operation distance of the laser displacement sensor distance with its datum level and non-calibrating vehicle-mounted space filtering speed measuring device
Unanimously；Thus ensure that non-calibrating vehicle-mounted space filtering speed measuring device is operated under nominal operation distance,
Step S200: measure the moving displacement of the velocity source of known translational speed in real time, obtains elemental height d1
Under scale factor；
Step S300: compared with the initial height changing the non-calibrating vehicle-mounted space filtering speed measuring device that the present invention provides by a small margin
Degree d1, the most again the moving displacement of velocity source is measured in real time, the height d after obtaining velocity information simultaneously and changingi；
Herein be often referred to ± 3-5mm more by a small margin；Carrying out Wei little mobile range by this amplitude the least, this correction is the most accurate.
Step S400: step S300 is repeated several times, until the field depth of non-calibrating vehicle-mounted space filtering speed measuring device is all
Stop when obtaining covering, obtain velocity information v' and real work distance d；
Step S500: according to velocity information v' obtained in step S100～S400 and real work distance d and speed
Actual speed v in sourcetrue, the relation of three is carried out curve fitting and obtains function:
vtrue=f (v ', d) (3)
Step S600: measure actual speed v' obtained and laser position according in non-calibrating vehicle-mounted space filtering speed measuring device
Displacement sensor records real work distance d, and solution formula (3) obtains revised speed v.Revised speed v is vtrue。
Formula (3) is embedded in the middle of the algorithm (i.e. algorithm disclosed in aforementioned documents) of space filtering tachymeter,
Realize the non-calibrating of space filtering tachymeter.Velocity information v' that space filtering tachymeter is obtained by embedding herein exactly is with sharp
Real work distance d that Optical displacement sensor records is brought in formula (3) and is obtained revised speed v.Here step S100
～S400 is intended merely to obtain the function of matching.(v ', concrete form d), later with regard to directly to obtain f after installing measurement for the first time
For revising and measuring.
V' is the speed before revising herein；V is revised speed.
After being according to said method corrected, i.e. may be implemented in basis after non-calibrating vehicle-mounted space filtering speed measuring device installation
The height d that laser displacement sensor records, can accurately be finally inversed by the speed of service of carrier, and without sky vehicle-mounted to non-calibrating again
Between filter the scale factor of speed measuring device and demarcate.
Preferably, illuminator used is the illuminator that can produce relatively high power incoherent light source.Employing the type is shone
Bright device can improve the accuracy of gained measurement result.The devices such as such as LED.
Preferably, CMOS is linear array type CMOS.Linear array CMOS (Complementary Metal Oxide
Semiconductor) replace traditional grating or light cell as spatial filter, expand testing the speed of space filtering tachymeter
Scope also improves the reliability of measuring results.
Those skilled in the art will understand that the scope of the present invention is not restricted to example discussed above, it is possible to carries out it
Some changes and amendment, the scope of the present invention limited without deviating from appended claims.Although oneself is through in accompanying drawing and explanation
Book illustrates and describes the present invention in detail, but such explanation and description are only explanations or schematic, and nonrestrictive.
The present invention is not limited to the disclosed embodiments.
By to accompanying drawing, the research of specification and claims, when implementing the present invention, those skilled in the art are permissible
Understand and realize the deformation of the disclosed embodiments.In detail in the claims, term " includes " being not excluded for other steps or element,
And indefinite article " " or " a kind of " are not excluded for multiple.Some measure quoted in mutually different dependent claims
The fact does not means that the combination of these measures can not be advantageously used.It is right that any reference marker in claims is not constituted
The restriction of the scope of the present invention.
Claims (4)
1. a non-calibrating vehicle-mounted space filtering speed measuring device, it is characterised in that including:
For the illuminator that road surface is illuminated, for obtain road surface optical information reception lens, for
Suppress the diaphragm of bias light interference, for the CMOS in described road surface program, for the voltage that described CMOS is obtained
Signal processing circuit that signal carries out processing, for detecting described non-calibrating vehicle-mounted space filtering speed measuring device apart from described road
The laser displacement sensor of the height d on surface and for showing the display screen of testing result, described illuminator is arranged at described
Receiving the side of lens, the light that described illuminator is launched passes below described reception lens；Described diaphragm is arranged at institute
State in the transmission light path receiving lens and described CMOS；Electrically connect between described CMOS with described signal processing circuit；Described sharp
The detecting head of Optical displacement sensor electrically connects towards ground and with described signal processing circuit；Described signal processing circuit is with described
Display electrically connects；
Described laser displacement sensor includes the laser instrument for producing laser, for the CCD of measured point imaging, for described
Control circuit that laser instrument and described CCD are controlled and for processing to obtain described road to described CCD output information
The signal processing module of road surfaces displacement information, arranges condenser lens, the incidence of described CCD at the emergent light mouth of described laser instrument
Imaging len is set in light path, and can realize from the laser of described laser emitting after described condenser lens focuses on from described one-tenth
The laser optical path transmission in described CCD is entered as lens.
Non-calibrating the most according to claim 1 vehicle-mounted space filtering speed measuring device, it is characterised in that described illuminator is
The illuminator of relatively high power incoherent light source can be produced.
Non-calibrating the most according to claim 1 vehicle-mounted space filtering speed measuring device, it is characterised in that described CMOS is linear array
Type CMOS.
4. the non-calibrating vehicle-mounted space filtering speed measuring device speed-measuring method as according to any one of claims 1 to 3, its feature
It is, comprises the following steps:
Step S100: during laser displacement sensor being integrated in non-calibrating vehicle-mounted space filtering speed measuring device, make
The nominal operation distance of laser displacement sensor space filtering vehicle-mounted with the distance of its datum level and non-calibrating speed measuring device is consistent；
Thus ensure that non-calibrating vehicle-mounted space filtering speed measuring device is operated under nominal operation distance,
Step S200: measure the moving displacement of the velocity source of known translational speed in real time, obtains elemental height d1Under ratio
The example factor；
Step S300: compared with the elemental height d changing the non-calibrating vehicle-mounted space filtering speed measuring device that the present invention provides by a small margin1,
The most again the moving displacement of velocity source is measured in real time, the height d after obtaining velocity information simultaneously and changingi；Described
It is ± 3～5mm more by a small margin.
Step S400: step S300 is repeated several times, until the field depth of described non-calibrating vehicle-mounted space filtering speed measuring device is all
Stop when obtaining covering, obtain velocity information v' and real work distance d；
Step S500: according to velocity information v' obtained in step S100～S400 and real work distance d and velocity source
Actual speed vtrue, the relation of three is carried out curve fitting and obtains function:
vtrue=f (v ', d) (3)
Step S600: measure actual speed v' obtained and laser position according in described non-calibrating vehicle-mounted space filtering speed measuring device
Displacement sensor records real work distance d, and solution formula (3) obtains revised speed v.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108279317A (en) * | 2018-01-23 | 2018-07-13 | 江西省智成测控技术研究所有限责任公司 | A kind of space filtering tachogenerator device and the method for improving rate accuracy |
| CN109714513A (en) * | 2019-02-15 | 2019-05-03 | 江西省智成测控技术研究所有限责任公司 | Inhibit the method for velocity calculated noise in a kind of optics speed and mileage measuring instrument |
| CN111781394A (en) * | 2020-06-16 | 2020-10-16 | 江西寻准智能科技有限责任公司 | White light speedometer |
| CN112147358A (en) * | 2020-08-24 | 2020-12-29 | 东南大学 | Non-contact type speed measuring equipment and mounting rack thereof |
| WO2023228493A1 (en) * | 2022-05-27 | 2023-11-30 | アズビル株式会社 | Speed measurement device and speed measurement method |
| WO2023228494A1 (en) * | 2022-05-27 | 2023-11-30 | アズビル株式会社 | Velocity measurement device and velocity measurement method |
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| CN108279317A (en) * | 2018-01-23 | 2018-07-13 | 江西省智成测控技术研究所有限责任公司 | A kind of space filtering tachogenerator device and the method for improving rate accuracy |
| CN109714513A (en) * | 2019-02-15 | 2019-05-03 | 江西省智成测控技术研究所有限责任公司 | Inhibit the method for velocity calculated noise in a kind of optics speed and mileage measuring instrument |
| CN109714513B (en) * | 2019-02-15 | 2021-04-27 | 江西省智成测控技术研究所有限责任公司 | Method for inhibiting speed resolving noise in optical speed and mileage measuring instrument |
| CN111781394A (en) * | 2020-06-16 | 2020-10-16 | 江西寻准智能科技有限责任公司 | White light speedometer |
| CN112147358A (en) * | 2020-08-24 | 2020-12-29 | 东南大学 | Non-contact type speed measuring equipment and mounting rack thereof |
| WO2023228493A1 (en) * | 2022-05-27 | 2023-11-30 | アズビル株式会社 | Speed measurement device and speed measurement method |
| WO2023228494A1 (en) * | 2022-05-27 | 2023-11-30 | アズビル株式会社 | Velocity measurement device and velocity measurement method |
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Application publication date: 20161109 |