CN106679575B - A kind of vehicle super-high ultra-wide detecting system and method based on laser calibration - Google Patents

A kind of vehicle super-high ultra-wide detecting system and method based on laser calibration Download PDF

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Publication number
CN106679575B
CN106679575B CN201611246954.6A CN201611246954A CN106679575B CN 106679575 B CN106679575 B CN 106679575B CN 201611246954 A CN201611246954 A CN 201611246954A CN 106679575 B CN106679575 B CN 106679575B
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China
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laser
vehicle
level road
road track
band
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CN106679575A (en
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蓝章礼
李战
黄涛
匡恒
姚进强
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Chongqing Jiaotong University
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Chongqing Jiaotong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/046—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring width
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention provides a kind of vehicle super-high ultra-wide detecting systems and method based on laser calibration,Utilize light band type laser emitter in system,The crevice projection angle and the two of beam type laser emitter and the geometry site in image collecting device shooting orientation,It is identified by detection control process device by image procossing and projects the horizontal displacement situation of the laser straightway formed on the vehicle by level road track and length situation in vedio data by planar laser band,The high wide measuring and calculating function model of the vehicle demarcated in advance is recycled to calculate the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value,It is detected so as to fulfill contactless vehicle super-high ultra-wide,Its system structure is simple,It is highly practical,Measurement accuracy is higher,The detection rates of Millisecond can be reached,It can realize the not parking continuous detection of the more vehicles that longtime running is kept to perform automatic on-line and superelevation/ultra-wide police instruction,It avoids the problem that causing traffic jam,With good popularizing application prospect.

Description

A kind of vehicle super-high ultra-wide detecting system and method based on laser calibration
Technical field
The present invention relates to traffic safety detection technique field more particularly to a kind of vehicle super-highs based on laser calibration Ultra-wide detecting system and method.
Background technology
With the rapid development of the national economy, China's expressway construction and highway transportation scale be obtained for it is unprecedented Development, the vehicle overload overloading thus brought also getting worse.On the one hand overload transport can shorten highway and bridge On the other hand service life can cause the change of body shapes and the decline of vehicle performance, form the hidden trouble of traffic safety. Therefore, vehicle overload detection for ensuring that highway is unimpeded, safeguarding road property right, ensure that the health of transportation safety and transport market is sent out Exhibition will all play an important role.
At present, the improvement of vehicle super-high ultra-wide is the important component of overload remediation work, mostly also in the artificial stage, mainly It is to be intercepted by law enfrocement official, transfinites, reboot to parking lot really through artificial detection, receive the processing transfinited to it.But this Kind of test mode there are it is following the problem of：First, need more law enfrocement official's executive cost high；Second is that easily injure law enforcement The personal safety of personnel；Third, it is difficult the uninterrupted inspections in 24 hours accomplished truly.
It is studied thus for the detection method of intelligent measurement vehicle super-high ultra-wide, such as：Vehicle ultra-wide superelevation is quantitatively examined It surveys device (201120232493.3) and discloses a kind of vehicle ultra-wide superelevation quantitative testing device, when vehicle passing detection channel When, the height and width detection to vehicle can be automatically performed；A kind of automatic Overheight Vehicles detecting system of city tunnel (201320097314.9) a kind of system popped one's head in using radar emission and realize that superelevation detects is disclosed；One kind is based on laser ranging Vehicle super-high ultra-wide monitoring method (201410684562.2) disclose it is a kind of based on laser ranging vehicle super-high ultra-wide prison Prosecutor method using LMS two-dimensional laser distance measuring sensors, realizes the wide high detection to traveling vehicle and the sound-light alarm that transfinites；It is a kind of It is disclosed by the wide high method (201410684812.2) of laser automatic measuring amount object a kind of by a laser range sensor left side The method that right movement and up and down motion analysis obtain the width and height of object.These inventions are to utilize laser or ultrasound mostly Wave is detected the height and width of vehicle, but these detection methods are primarily present three problems：
First, when vehicle-mounted cargo Present site (such as reinforcing bar, stent) is stretched out outside vehicle, the little object of these volumes may Can be by test leakage, causing measurement result, there are large errors；
Second is that complicated, need to lay a plurality of types of multiple sensors and synchronize real-time acquisition；
Third, vehicle is needed to be stopped in detection zone in detection process, it is difficult to not parking continuous detection is realized, so as to easily Cause traffic jam.
Invention content
For above-mentioned deficiency in the prior art, present invention aims at provide it is a kind of it is simple in structure, highly practical, The higher vehicle super-high ultra-wide detecting system based on laser calibration of measurement accuracy, and it can keep longtime running to perform automatically Online not parking continuous detection, avoids the problem that causing traffic jam.
In order to solve the above technical problems, realizing goal of the invention, the technical solution adopted by the present invention is as follows：
A kind of vehicle super-high ultra-wide detecting system based on laser calibration, including the light being erected above level road track Banding pattern laser emitter, beam type laser emitter and image collecting device and detection control process device and police instruction Device；
The light band type laser emitter is used to launch one of planar laser band, the planar laser emitted diagonally downward The angle of band and horizontal plane is α, 0 ° of 90 ° of ＜ α ＜, rear on level road track is projected can form one along track Width direction is across the laser vertical element in level road track；
The beam type laser emitter is used to launch two beam laser rays vertically downward so that the two beams laser rays and light The planar laser band that banding pattern laser emitter is emitted intersects, and two formed on two beam laser line projections to level road track The laser vertical element that the line of a LASER SPECKLE is formed after being projected on level road track with planar laser band is parallel；
Described image harvester is closely set to beam type laser emitter position, and image collecting device Lens axis is set vertically downward, for overlook it is downward to planar laser band from light band type laser emitter injection after project The projection in level road track carries out video image acquisition by region；
It is described detection control process device image data acquiring end and image collecting device image data output terminal into Row communication connection, detects the signal communication end of control process device and the signal receiving end of warning indicator is communicatively coupled, And the high wide measuring and calculating function model of vehicle is stored with beforehand through calibration in detection control process device：
Wherein, hviRepresent the maximum height measuring and calculating value of vehicle, wviRepresent the maximum width measuring and calculating value of vehicle；KiIt represents to vehicle Image pixel equivalent when being detected, andS0Represent two beam laser rays of beam type laser transmitter projects Project the actual range of two LASER SPECKLEs formed on level road track, si,maxIt represents in vedio data by light beam Two LASER SPECKLEs formed on two beam laser line projections of type laser transmitter projects to the vehicle by level road track Maximum spacing pixel value；H0Represent that two beam laser rays of beam type laser transmitter projects are sent out with light band type laser emitter The planar laser penetrated is with intersection location point to the actual height in level road track, L0Represent beam type laser transmitter projects The line of two LASER SPECKLEs formed on two beam laser line projections to level road track is relative to light band type laser emitter The planar laser band emitted projects the real standard spacing of the laser vertical element formed on level road track；Li0Represent figure As two laser spots formed on two beam laser line projections to level road track of beam type laser transmitter projects in data The planar laser band that is emitted relative to light band type laser emitter of line of point projects swashing of being formed on level road track The level interval pixel value of light vertical element, Li,maxIt represents to be projected by level road track by planar laser band in image data Vehicle on the laser straightway that is formed the laser vertical element formed on level road track is projected relative to planar laser band Maximum horizontal spacing pixel value, wi,maxIt represents to project the vehicle by level road track in image data by planar laser band The maximum length pixel value of the laser straightway formed on；
Detection control process device is used to receive the vedio data that image collecting device is acquired, and pass through at image Reason identify in vedio data by two LASER SPECKLEs being formed on two beam laser line projections to level road track and its It projects two LASER SPECKLEs formed on the vehicle by level road track, level road vehicle is projected by planar laser band The laser vertical element that is formed on road and its laser straightway formed on vehicle by level road track is projected, by image By the line of two LASER SPECKLEs that is formed on two beam laser line projections to level road track relative to planar laser in data Band projects the level interval pixel value of the laser vertical element formed on level road track, by two beam laser line projections to process The maximum spacing pixel value of two LASER SPECKLEs formed on the vehicle in level road track, by planar laser band project by The maximum length pixel value of the laser straightway formed on the vehicle in level road track and its relative to planar laser band project The maximum horizontal spacing pixel value of the laser vertical element formed on to level road track is substituting to the high wide measuring and calculating Function Modules of vehicle In type, conversion obtain the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value, respectively with preset height of car limit value and Vehicle width limit value be compared judge vehicle whether superelevation or ultra-wide, and judging vehicle super-high or notice alarm refers to during ultra-wide Show that device performs corresponding superelevation instruction or ultra-wide instruction operation.
In the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration, preferably, the light band type laser Transmitter across the detection door frame being arranged on level road track by being erected at the top in level road track；The inspection It surveys door frame and includes two and erect the column that is arranged on level road track both sides and along lane width direction across being arranged on two Crossbeam on root post, light band type laser emitter, which is set up, to be mounted on the crossbeam of detection door frame.
In the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration, as the scheme that is further improved, the light belt First angle sensor is installed, for sensing the pitching windup-degree of light band type laser emitter on type laser emitter；Institute It states and second angle sensor is installed on the column of detection door frame, for sensing the pitching windup-degree of the column of detection door frame； The angle-data collection terminal of the detection control process device also respectively with first angle sensor and second angle sensor Angle-data output terminal is electrically connected, for obtaining the angle number of first angle sensor and the output of second angle sensor According to calculating the pitching windup-degree of the column of pitching windup-degree and detection door frame because of detection light band type laser emitter Change and cause to be projected by planar laser band the displacement error value of the laser vertical element formed on level road track, so as to root Error compensation amendment is carried out to the measuring and calculating of the maximum height measuring and calculating value and maximum width measuring and calculating value of vehicle according to the displacement error value.
In the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration, as improvement project, with level road track On by the region that the image-capture field of image collecting device is covered as lane detection region, in the lane detection region Vehicle drive at position and vehicle is driven out at position and is equipped with deceleration strip, and the vehicle in lane detection region drive at position and Vehicle is driven out in the deceleration strip at position to be respectively equipped with and drives into side pressure electric transducer and be driven out to side pressure electric transducer；The detection control The piezoelectric signal collection terminal of processing unit processed is respectively with driving into side pressure electric transducer and being driven out to the piezoelectric signal of side pressure electric transducer Output terminal is electrically connected, and detect control process device control signal output respectively with light band type laser emitter, light The control terminal that opens/stop of beamforming laser emitter and image collecting device is electrically connected, for receiving from driving into side pressure Light band type laser emitter, beam type laser emitter and image collecting device is controlled to start work during the piezoelectric signal of electric transducer Make, light band type laser emitter, beam type laser hair are controlled when receiving from the piezoelectric signal for being driven out to side pressure electric transducer Emitter and image collecting device are stopped.
Correspondingly, the present invention also provides the vehicles using the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration Superelevation ultra-wide detection method；For this purpose, present invention employs following technical solutions：
A kind of vehicle super-high ultra-wide detection method based on laser calibration, using the above-mentioned vehicle super-high based on laser calibration Ultra-wide detecting system is detected, and this method comprises the following steps：
A the light band type laser emitter and beam type laser emitter in vehicle super-high ultra-wide detecting system) are pre-actuated Work operation, measures two formed on two beam laser line projections to level road track of beam type laser transmitter projects The actual range S of LASER SPECKLE0, beam type laser transmitter projects two beam laser rays and light band type laser emitter emitted Actual height H of the planar laser with intersection location point to level road track0And the two of beam type laser transmitter projects The line of two LASER SPECKLEs formed on beam laser line projection to level road track is relative to light band type laser emitter institute The planar laser band of transmitting projects the real standard spacing L of the laser vertical element formed on level road track0, as known Amount is input in the high wide measuring and calculating function model of vehicle of detection control process device storage, completes the high wide measuring and calculating Function Modules to vehicle The calibration of type；
B it) is examined using on level road track by the region that the image-capture field of image collecting device is covered as track Region is surveyed, during vehicle is by the lane detection region, controls the light band type in vehicle super-high ultra-wide detecting system Laser emitter, beam type laser emitter and image collecting device keep working, by image collecting device to vehicle Video image acquisition is carried out by the process in lane detection region, image collecting device institute is received by detection control process device The vedio data of acquisition, and pass through image procossing and identify in vedio data by two beam laser line projections to horizontal road Two LASER SPECKLEs being formed on the track of face and its project two laser spots formed on vehicle by level road track Point is projected the laser vertical element formed on level road track by planar laser band and its projected by level road track Vehicle on the laser straightway that is formed, by image data by formed on two beam laser line projections to level road track two The line of a LASER SPECKLE is projected relative to planar laser band between the level of laser vertical element formed on level road track Away from the maximum spacing of two LASER SPECKLEs formed on pixel value, two beam laser line projections to the vehicle by level road track Pixel value, the maximum length picture that the laser straightway formed on the vehicle by level road track is projected by planar laser band Plain value and its maximum horizontal spacing picture that the laser vertical element formed on level road track is projected relative to planar laser band Plain value is substituting in the high wide measuring and calculating function model of vehicle, and conversion obtains the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating Value；
C) the detection control process device of vehicle super-high ultra-wide detecting system calculates the maximum height for calculating gained vehicle Value and maximum width measuring and calculating value are compared respectively with preset height of car limit value and vehicle width limit value, whether judge vehicle Superelevation or ultra-wide, and notice warning indicator performs corresponding superelevation instruction or ultra-wide instruction when judging vehicle super-high or ultra-wide Operation.
In the above-mentioned vehicle super-high ultra-wide detection method based on laser calibration, as improvement project, the light band type laser Transmitter across the detection door frame being arranged on level road track by being erected at the top in level road track；The inspection It surveys door frame and includes two and erect the column that is arranged on level road track both sides and along lane width direction across being arranged on two Crossbeam on root post, light band type laser emitter, which is set up, to be mounted on the crossbeam of detection door frame；The light band type Laser emission First angle sensor is installed, for sensing the pitching windup-degree of light band type laser emitter on device；The detection door frame Column on second angle sensor is installed, for sense detection door frame column pitching windup-degree；The detection control The angle-data collection terminal of processing unit processed is also defeated with the angle-data of first angle sensor and second angle sensor respectively Outlet is electrically connected, for obtain first angle sensor and second angle sensor output angle-data, calculate because It detects the variation of the pitching windup-degree of the pitching windup-degree of light band type laser emitter and the column of detection door frame and causes The displacement error value of the laser vertical element formed on level road track is projected by planar laser band, so as to according to the displacement Error amount carries out error compensation amendment, error compensation to the measuring and calculating of the maximum height measuring and calculating value and maximum width measuring and calculating value of vehicle Correcting mode is：
Calculate the pitching torsion of the column of the pitching windup-degree and detection door frame because of detection light band type laser emitter The variation of angle and the displacement error value for leading to be projected the laser vertical element formed on level road track by planar laser band ΔD：
Wherein, LpTo detect the strut length of door frame, α is emitted flat by light band type laser emitter in original state The angle of face laser band and horizontal plane, β is the column of detection door frame in original state and the angle of horizontal plane, Δ α are light belt The pitching windup-degree that type laser emitter is emitted, Δ β are the pitching windup-degree for the column for detecting door frame；So as to, according to Planar laser band projects the displacement error value Δ D of the laser vertical element formed on level road track to beam type Laser emission The line of two LASER SPECKLEs formed on two beam laser line projections to level road track of device transmitting swashs relative to light band type The planar laser band that optical transmitting set is emitted projects the real standard spacing of the laser vertical element formed on level road track L0Value be modified, and swashed in image data is calculated by formed on two beam laser line projections to level road track two The line of hot spot point projects the level interval picture of the laser vertical element formed on level road track relative to planar laser band Plain value and the laser straightway formed on the vehicle by level road track is projected by planar laser band relative to plane When laser band projects the maximum horizontal spacing pixel value of the laser vertical element formed on level road track, by planar laser band The displacement error value Δ D for projecting the laser vertical element formed on level road track is counted, and carries out error compensation amendment.
Compared with the prior art, the invention has the advantages that：
1st, the present invention is based on the vehicle super-high ultra-wide of laser calibration to monitor system, utilizes light band type Laser emission in system The geometry site of device, the crevice projection angle of beam type laser emitter and the two and image collecting device shooting orientation, by examining Observing and controlling processing unit is identified in vedio data by image procossing and is projected by planar laser band by level road The horizontal displacement situation of the laser straightway formed on the vehicle in track and length situation recycle the vehicle demarcated in advance high wide Measuring and calculating function model calculates the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value, so as to fulfill contactless vehicle Superelevation ultra-wide detects.
2nd, vehicle super-high ultra-wide of the invention monitoring system, system structure is simple, is easily mounted on the inspection of arbitrary environment Scene is surveyed, it is highly practical, and since the high wide measuring and calculating function model of vehicle is based on light band type laser emitter, beam type laser Definite value parameter is demarcated determined by the position of transmitter and crevice projection angle, is carried out using the high wide measuring and calculating function model of vehicle During measuring and calculating, image pixel equivalent when being detected to vehicle is combined, the transillumination because shooting image can be corrected just And the measuring and calculating error generated, measurement accuracy are higher.
3rd, vehicle super-high ultra-wide of the invention monitoring system and its detection method, due to mainly being clapped by laser and image Take the photograph, identifying processing and be detected, the frame speed for detecting frequency and image taking matches, and can reach the detection speed of Millisecond Rate, detection efficiency is high, and detection process need not be artificial on duty, therefore can realize and longtime running is kept to perform the more of automatic on-line The not parking continuous detection of vehicle and superelevation/ultra-wide police instruction, avoid the problem that causing traffic jam.
4th, each track can also be directed in vehicle super-high ultra-wide monitoring system of the invention and one group of light band type laser is set Transmitter, beam type laser emitter and image collecting device carry out superelevation ultra-wide inspection to the road in each track through vehicle respectively It surveys, so as to fulfill the vehicle super-high ultra-wide automatic on-line detection of multilane and warning function.
5th, vehicle super-high ultra-wide of the invention monitoring system and its detection method are provided for the superelevation ultra-wide detection of vehicle New solution has good popularizing application prospect.
Description of the drawings
Fig. 1 is a kind of side view of specific implementation structure of the vehicle super-high ultra-wide detecting system the present invention is based on laser calibration Structure diagram.
Fig. 2 is side view status diagram when vehicle super-high ultra-wide detecting system of the present invention carries out oversize vehicle detection.
Fig. 3 is side view status diagram when vehicle super-high ultra-wide detecting system of the present invention carries out dilly detection.
Fig. 4 is the testing principle schematic diagram of the vehicle super-high ultra-wide detecting system the present invention is based on laser calibration.
Fig. 5 is that the torsional error of vehicle super-high ultra-wide detecting system of the present invention calculates schematic diagram.
Specific embodiment
The present invention provides a kind of vehicle super-high ultra-wide detecting systems based on laser calibration, as shown in Figure 1 to 4, should Light band type laser emitter 2, beam type laser emitter 3 and the image that system includes being erected at 1 top of level road track are adopted Acquisition means 4 and detection control process device 5 and warning indicator 6.Wherein, light band type laser emitter 2 is for diagonally downward Launch one of planar laser band, the planar laser band and the angle of horizontal plane emitted is α, 0 ° of 90 ° of ＜ α ＜, can One is formed after on level road track is projected along lane width direction across the laser vertical element in level road track. Beam type laser emitter 3 is used to launch two beam laser rays vertically downward so that the two beams laser rays is sent out with light band type laser The planar laser band that emitter 2 is emitted intersects, and two laser spots formed on two beam laser line projections to level road track The laser vertical element that the line of point is formed after being projected on level road track with planar laser band is parallel.Wherein, light band type The planar laser band that laser emitter is emitted is used to carrying out the measurement of wide, the high size of vehicle, and beam type laser emitter institute Two beam laser rays of transmitting are then used to be combined realization calibration with planar laser band.It can see by Fig. 1 and Fig. 2, light band type After the installation site and crevice projection angle of laser emitter 2 and beam type laser emitter 3 are once fix, beam type Laser emission The actual range S of two LASER SPECKLEs formed on two beam laser line projections to level road track of device transmitting0, beam type swashs Two beam laser rays of optical transmitting set transmitting are with the planar laser that light band type laser emitter is emitted with intersection location point to level The actual height H in road surface track0And on two beam laser line projections to level road track of beam type laser transmitter projects The planar laser band that the line of two LASER SPECKLEs formed is emitted relative to light band type laser emitter projects horizontal road The real standard spacing L of the laser vertical element formed on the track of face0It just has determined that, these parameters are to high wide to vehicle The parameter that measuring and calculating function model is demarcated；Meanwhile if it can be observed from fig. 2 that blocking without vehicle 7, planar laser band The laser vertical element formed on level road track can be projected, i.e. the vertical element formed after AD connections in Fig. 2；But due to There is the blocking of vehicle 7, planar laser band projects the laser vertical element formed on level road track and separated for AB, CD two Section, and planar laser band projects the laser straightway EF formd on the vehicle by level road track；Pass through Fig. 3 simultaneously With Fig. 4 it can be seen that, since the angle of planar laser band and horizontal plane is α, 0 ° of 90 ° of ＜ α ＜, therefore planar laser band projects The laser straightway formd on vehicle by level road track projects shape on level road track with planar laser band Into laser vertical element between there are certain horizontal displacement 8, which can be different due to the difference of height of car, vehicle The more big then displacement of height is bigger, and the smaller then displacement of height of car is smaller, and when height of car is larger, planar laser Band projects the laser straightway formed on vehicle it is possible that falling within two laser being formed on two beam laser line projections to vehicle The rear (as shown in figure 3, using the direction of advance of vehicle as front in figure) of spot, and when height of car is smaller, planar laser band The laser straightway formed on vehicle is projected it is possible that falling within two laser spots being formed on two beam laser line projections to vehicle The front (as shown in figure 4, using the direction of advance of vehicle as front in figure) of point；That is, by planar laser band project through It crosses the laser straightway formed on the vehicle in level road track and projects shape on level road track relative to planar laser band Into laser vertical element level interval, there are correspondences between vehicle actual height；Meanwhile from Fig. 2 it can also be seen that The width situation that the length of laser straightway formed on vehicle also intuitively reflects vehicle is projected by planar laser band；Cause This, these image informations can will be acquired to obtain by image collecting device, to carry out the survey of wide, the high size of vehicle Amount.Image collecting device 4 is closely set to beam type laser emitter position, and the lens axis of image collecting device Set vertically downward, then for overlook it is downward to planar laser band from light band type laser emitter injection after project horizontal road The projection in face track carries out video image acquisition by region, can collect planar laser band and project level road vehicle The laser vertical element that is formed on road and the laser straightway formed on vehicle by level road track is projected, so as to real Now to the acquisition of above- mentioned information.Detect the image data acquiring end of control process device 5 and the image data of image collecting device 4 Output terminal is communicatively coupled, and the signal communication end of detection control process device 5 is carried out with the signal receiving end of warning indicator 6 Communication connection, and detect in control process device 5 and be stored with the high wide measuring and calculating function model of vehicle beforehand through calibration：
Wherein, hviRepresent the maximum height measuring and calculating value of vehicle, wviRepresent the maximum width measuring and calculating value of vehicle；KiIt represents to vehicle Image pixel equivalent when being detected, andS0Represent two beam laser rays of beam type laser transmitter projects Project the actual range of two LASER SPECKLEs formed on level road track, si,maxIt represents in vedio data by light beam Two LASER SPECKLEs formed on two beam laser line projections of type laser transmitter projects to the vehicle by level road track Maximum spacing pixel value；H0Represent that two beam laser rays of beam type laser transmitter projects are sent out with light band type laser emitter The planar laser penetrated is with intersection location point to the actual height in level road track, L0Represent beam type laser transmitter projects The line of two LASER SPECKLEs formed on two beam laser line projections to level road track is relative to light band type laser emitter The planar laser band emitted projects the real standard spacing of the laser vertical element formed on level road track；Li0Represent figure As two laser spots formed on two beam laser line projections to level road track of beam type laser transmitter projects in data The planar laser band that is emitted relative to light band type laser emitter of line of point projects swashing of being formed on level road track The level interval pixel value of light vertical element, Li,maxIt represents to be projected by level road track by planar laser band in image data Vehicle on the laser straightway that is formed the laser vertical element formed on level road track is projected relative to planar laser band Maximum horizontal spacing pixel value, wi,maxIt represents to project the vehicle by level road track in image data by planar laser band The maximum length pixel value of the laser straightway formed on.It can be seen that the high wide measuring and calculating function model of the vehicle has recorded figure As the maximum of two LASER SPECKLEs that is formed on by the vehicle in level road track by two beam laser line projections in data Away from pixel value, the maximum length of laser straightway formed on the vehicle by level road track is projected by planar laser band Pixel value and its maximum horizontal spacing that the laser vertical element formed on level road track is projected relative to planar laser band Corresponding conversion relation between pixel value and the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value, the correspondence conversion relation It is according to light band type laser emitter, the crevice projection angle of beam type laser emitter and the two in system and image collecting device bat It takes the photograph determined by the geometry site in orientation.Detection control process device 5 is then adopted for receiving image collecting device as a result, The vedio data of collection, and pass through image procossing and identify in vedio data by two beam laser line projections to level road Two LASER SPECKLEs that two LASER SPECKLEs being formed on track and its project are formed on vehicle by level road track, The laser vertical element formed on level road track is projected by planar laser band and its is projected by level road track The laser straightway formed on vehicle, by image data by formed on two beam laser line projections to level road track two The line of LASER SPECKLE projects the level interval of laser vertical element formed on level road track relative to planar laser band Pixel value, the maximum spacing of two LASER SPECKLEs by being formed on two beam laser line projections to the vehicle for passing through level road track Pixel value, the maximum length picture that the laser straightway formed on the vehicle by level road track is projected by planar laser band Plain value and its maximum horizontal spacing picture that the laser vertical element formed on level road track is projected relative to planar laser band Plain value is substituting in the high wide measuring and calculating function model of vehicle, and conversion obtains the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating Value, be compared respectively with preset height of car limit value and vehicle width limit value judge vehicle whether superelevation or ultra-wide, and Judge that notice warning indicator performs corresponding superelevation instruction or ultra-wide instruction operation when vehicle super-high or ultra-wide.
Vehicle super-high ultra-wide detection is carried out using the present invention is based on the vehicle super-high ultra-wide detecting systems of laser calibration, mainly Include calibration in advance, measure, three steps of superelevation ultra-wide contrasting detection, method is as follows：
A the light band type laser emitter and beam type laser emitter in vehicle super-high ultra-wide detecting system) are pre-actuated Work operation, measures two formed on two beam laser line projections to level road track of beam type laser transmitter projects The actual range S of LASER SPECKLE0, beam type laser transmitter projects two beam laser rays and light band type laser emitter emitted Actual height H of the planar laser with intersection location point to level road track0And the two of beam type laser transmitter projects The line of two LASER SPECKLEs formed on beam laser line projection to level road track is relative to light band type laser emitter institute The planar laser band of transmitting projects the real standard spacing L of the laser vertical element formed on level road track0, as known Amount is input in the high wide measuring and calculating function model of vehicle of detection control process device storage, completes the high wide measuring and calculating Function Modules to vehicle The calibration of type.
The step is to complete the advance calibration of the high wide measuring and calculating function model to vehicle, it is generally the case that the demarcating steps are only Need to system operation initially perform primary or at interval of several weeks times perform it is primary, through the high wide measuring and calculating of calibrated vehicle Function model can then be used for a long time and be detected.
B it) is examined using on level road track by the region that the image-capture field of image collecting device is covered as track Region is surveyed, during vehicle is by the lane detection region, controls the light band type in vehicle super-high ultra-wide detecting system Laser emitter, beam type laser emitter and image collecting device keep working, by image collecting device to vehicle Video image acquisition is carried out by the process in lane detection region, image collecting device institute is received by detection control process device The vedio data of acquisition, and pass through image procossing and identify in vedio data by two beam laser line projections to horizontal road Two LASER SPECKLEs being formed on the track of face and its project two laser spots formed on vehicle by level road track Point is projected the laser vertical element formed on level road track by planar laser band and its projected by level road track Vehicle on the laser straightway that is formed, by image data by formed on two beam laser line projections to level road track two The line of a LASER SPECKLE is projected relative to planar laser band between the level of laser vertical element formed on level road track The maximum of two LASER SPECKLEs formed away from pixel value, by two beam laser line projections on by the vehicle in level road track Away from pixel value, the maximum length of laser straightway formed on the vehicle by level road track is projected by planar laser band Pixel value and its maximum horizontal spacing that the laser vertical element formed on level road track is projected relative to planar laser band Pixel value is substituting in the high wide measuring and calculating function model of vehicle, and conversion obtains the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating Value.
The step is to carry out maximum height measuring and calculating value and maximum width measuring and calculating to the vehicle by the lane detection region The measurement operation of value.During due to vehicle by lane detection region, the vehicle body of vehicle to light band type laser emitter diagonally downward The planar laser band formation launched is blocked, and then projection forms one of laser straightway on vehicle, and swashs relative to plane Light belt projects for the laser vertical element formed on level road track that there are certain displacement, the more big then positions of height of car Shifting amount is bigger, and the length of the laser straightway also intuitively reflects the width situation of vehicle；Therefore, pass through Image Acquisition Device carries out video image acquisition to vehicle by the process in lane detection region, passes through image using control process device is detected Processing identify in vedio data by two LASER SPECKLEs being formed on two beam laser line projections to level road track and It projects two LASER SPECKLEs formed on the vehicle by level road track, projects level road by planar laser band The laser vertical element that is formed on track and its laser straightway formed on vehicle by level road track is projected, calculated Go out in image data by the line of two LASER SPECKLEs that is formed on two beam laser line projections to level road track relative to flat Face laser band projects the level interval pixel value of the laser vertical element formed on level road track, by two beam laser line projections The maximum spacing pixel value of two LASER SPECKLEs that is formed on by the vehicle in level road track is projected by planar laser band The maximum length pixel value of the laser straightway formed on by the vehicle in level road track and its relative to planar laser The maximum horizontal spacing pixel value that band projects the laser vertical element formed on level road track is substituting to the high wide measuring and calculating of vehicle In function model, conversion obtains the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value.
In detection process, two laser in image data by being formed on two beam laser line projections to level road track The line of spot projects the level interval pixel of the laser vertical element formed on level road track relative to planar laser band Value is relatively-stationary value, but due at vehicle body different location height, width may be not quite similar, carried out to vehicle During detection, the position of laser straightway projected on vehicle identified from the different images frame of vedio data Putting may be not quite similar with length, and due near big and far smaller transillumination, (vertical by two beam laser rays being mutually parallel In horizontal plane) camera lens that projects on vehicle the two LASER SPECKLE range image harvesters formed at higher position can be more Closely, therefore the spacing pixel value of two LASER SPECKLEs of this in image data can be bigger.For example, the m frame figures from picture frame t1~tm The length pixel value that the laser straightway on vehicle is projected by planar laser band identified as in is respectively wi,t1, wi,t2,…,wi,tm, its level of laser vertical element formed on level road track is respectively projected relative to planar laser band Maximum spacing pixel value is respectively Li,t1,Li,t2,…,Li,tm, by two beam laser line projections to by level road track vehicle The spacing pixel value of two LASER SPECKLEs of upper formation is respectively si,t1,si,t2,…,si,tm, from wherein filtering out in image data The maximum length pixel value of the laser straightway formed on the vehicle by level road track is projected by planar laser band wI, max=max (wI, t1, wI, t2..., wI, tm) and its project the laser formed on level road track relative to planar laser band The maximum horizontal spacing pixel value L of vertical elementI, max=max (LI, t1, LI, t2..., Li,tm) and filter out in image data by The maximum spacing pixel value of two LASER SPECKLEs formed on two beam laser line projections to the vehicle by level road track sI, max=max (sI, t1, sI, t2..., sI, tm), and be substituting in the high wide measuring and calculating function model of vehicle；Wherein, maximum spacing pixel Value si,maxFor calculating image pixel equivalent K when being detected to vehiclei, si,maxThe more big then corresponding image pixel of value work as Measure KiValue it is smaller, on the contrary then KiValue it is bigger, meanwhile, image pixel equivalent K when being detected to vehicleiIt is used for again in vehicle Maximum horizontal spacing pixel value L is respectively cooperating in high wide measuring and calculating function modeli,max, maximum length pixel value wi,maxTo calculate The maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value, therefore image pixel equivalent K when being detected to vehicleiValue Just the measuring and calculating error generated during the transillumination because shooting image can be corrected, and then ensures the maximum height measuring and calculating value of vehicle There is higher precision with the results of measuring of maximum width measuring and calculating value.
C) the detection control process device of vehicle super-high ultra-wide detecting system calculates the maximum height for calculating gained vehicle Value and maximum width measuring and calculating value are compared respectively with preset height of car limit value and vehicle width limit value, whether judge vehicle Superelevation or ultra-wide, and notice warning indicator performs corresponding superelevation instruction or ultra-wide instruction when judging vehicle super-high or ultra-wide Operation.
It can be seen that the present invention is based on the vehicle super-highs of laser calibration to surpass by above-mentioned vehicle super-high ultra-wide testing process The testing principle of wide monitoring system is to utilize the crevice projection angle of light band type laser emitter, beam type laser emitter in system And the geometry site of the two and image collecting device shooting orientation, it is identified by detection control process device by image procossing Go out to be projected the laser straightway that is formed on the vehicle by level road track by planar laser band in vedio data Horizontal displacement situation and length situation recycle the maximum that the high wide measuring and calculating function model of the vehicle demarcated in advance calculates vehicle high Measuring and calculating value and maximum width measuring and calculating value are spent, is detected so as to fulfill contactless vehicle super-high ultra-wide, system structure is simple, easily It is highly practical in the detection scene mounted on arbitrary environment, and since the high wide measuring and calculating function model of vehicle is based on light band type Laser emitter, the position of beam type laser emitter and definite value parameter determined by crevice projection angle are demarcated, and are utilizing vehicle When high wide measuring and calculating function model is calculated, image pixel equivalent K when being detected to vehicle is combinedi, just can The measuring and calculating error generated during the transillumination because shooting image is corrected, measurement accuracy is higher, if further combined with image collector The lens distortion calibration algorithm put, it might even be possible to so that the measuring and calculating of the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value misses Difference control is in grade；Simultaneously as it is mainly detected by laser and image taking, identifying processing, detection frequency Rate and the frame speed of image taking match, and can reach the detection rates of Millisecond, detection efficiency is high, and detection process is without people Work is on duty, therefore can realize the not parking continuous detection of the more vehicles that longtime running is kept to perform automatic on-line and superelevation/super Wide police instruction avoids the problem that causing traffic jam；In addition, being directed to the situation of multilane, vehicle super-high of the invention surpasses Each track can also be directed in wide detecting system, one group of light band type laser emitter, beam type laser emitter and image are set Harvester carries out superelevation ultra-wide detection through vehicle to the road in each track respectively, surpasses so as to fulfill the vehicle super-high of multilane Wide automatic on-line detection and warning function.
For the present invention is based on the vehicle super-high ultra-wide detecting systems of laser calibration, in technology realization, light band type laser Transmitter, beam type laser emitter are the products of technology maturation, can pass through acquisition purchased in market；Image collecting device may be used Video camera is achieved；Detection control process device, which then may be used, has signal control, data acquisition and data-handling capacity Computing device cooperation software program and be achieved, such as the meter for having corresponding detection control process software program may be used The equipment such as calculation machine, intelligent mobile terminal realize or use designed, designed with microcontroller, programmable logic device, ARM chips It is made of the integrated circuit of core etc. the logic chip for having the storage of certain data and data-handling capacity and dedicated detects control Processing equipment processed is realized；Warning indicator can be then alarm lamp, alarm bell, to carry out sound-light alarm or alarm signal Display is ceased, to carry out the display operation of superelevation/ultra-wide warning message or be with vehicle super-high ultra-wide alarm indication The intelligent mobile terminal equipment of function, word/data to carry out superelevation/ultra-wide warning message are shown and voice broadcast, etc. Deng.And between image collecting device in system and detection control process device and detection control process device refers to alarm Show the communication connection between device, then can be connected or wirelessly communicated using wire communication according to the difference of practical situations The mode of connection is achieved.
In the vehicle super-high ultra-wide detecting system the present invention is based on laser calibration, light band type laser emitter and image are adopted Acquisition means assume that the erection embodiment above level road track can be according to the condition of construction of actually detected track environment It is determined.But certain influence may be brought on accuracy of detection, therefore make in view of the installation situation of light band type laser emitter For a kind of preferred embodiment, light band type laser emitter can by across the detection door frame being arranged on level road track and frame The top in level road track is located at, which includes two and erects the column for being arranged on level road track both sides, with And along lane width direction across the crossbeam being arranged in two root posts, light band type laser emitter, which is set up, is mounted on detection door frame Crossbeam on.Since in this way, it can not only ensure that the vehicle on level road track can pass through and be detected, Er Qiejian The structure for surveying door frame also avoids the swing on light band type laser emitter generation lane width direction and causes measurement error Situation.Certainly, in the environment of system long-play work, the detection door frame and light band type laser emitter be possible to because The effects that wind-force, external force, occurs pitching torsion and brings detection error；Situation in view of this, scheme as a further improvement, Can design increases installation first angle sensor on light band type laser emitter, for sensing light band type laser emitter Pitching windup-degree；Increase installation second angle sensor on the column of detection door frame, for sensing the column of detection door frame Pitching windup-degree；And detect the angle-data collection terminal of control process device also respectively with first angle sensor and second The angle-data output terminal of angular transducer is electrically connected, defeated for obtaining first angle sensor and second angle sensor The angle-data gone out calculates the pitching of the pitching windup-degree and the column of detection door frame because of detection light band type laser emitter The displacement that the variation of windup-degree and causing is projected the laser vertical element formed on level road track by planar laser band misses Difference, so as to be missed according to the displacement error value to the measuring and calculating of the maximum height measuring and calculating value and maximum width measuring and calculating value of vehicle Poor compensating approach, error compensation correcting mode are：
If as shown in figure 5, LpTo detect the strut length (i.e. the length of Fig. 3 middle conductors AB, AB') of door frame, α is light band type The planar laser band and the angle of horizontal plane that laser emitter is emitted in original state, β are to detect the column of door frame first During beginning state and the angle of horizontal plane, the pitching windup-degree that Δ α is emitted by light band type laser emitter, Δ β are detection door The pitching windup-degree of the column of frame then according to geometrical relationship, may be calculated as out because detecting light band type laser emitter Pitching windup-degree and detection door frame column pitching windup-degree variation and cause to project water by planar laser band The displacement error value Δ D (i.e. the length of Fig. 3 middle conductors CC') of the laser vertical element formed on flat road surface track：
So that the displacement error value Δ of the laser vertical element formed on level road track is projected according to planar laser band D is to the company of two LASER SPECKLEs that is formed on two beam laser line projections to level road track of beam type laser transmitter projects The planar laser band that line is emitted relative to light band type laser emitter projects the laser straight line formed on level road track The real standard spacing L of item0Value be modified, and by two beam laser line projections to level road vehicle in image data is calculated It is straight that the line of two LASER SPECKLEs formed on road projects the laser formed on level road track relative to planar laser band The level interval pixel value of lines and the laser formed on the vehicle by level road track is projected by planar laser band Straightway projects the maximum horizontal spacing pixel of the laser vertical element formed on level road track relative to planar laser band During value, the displacement error value Δ D that planar laser band is projected to the laser vertical element formed on level road track is counted, Carry out error compensation amendment.It is corrected as a result, by further error compensation, vehicle super-high ultra-wide detecting system of the invention is just Higher accuracy of detection can be preferably kept during actually detected use.
In addition, it is contemplated that the vehicle super-high ultra-wide detecting system of the present invention is likely to be at the long-term state that works online, in order to Save system energy consumption, as a kind of preferred embodiment, in system on level road track by the image of image collecting device The region that acquisition range is covered as lane detection region, can be driven at position in the vehicle in the lane detection region and Vehicle, which is driven out at position, increases setting deceleration strip, and the vehicle in lane detection region drives at position and vehicle is driven out at position Deceleration strip in be respectively equipped with to drive into and side pressure electric transducer and be driven out to side pressure electric transducer；And detect the piezoelectricity of control process device Signal acquisition terminal is electrically connected respectively with driving into side pressure electric transducer and being driven out to the piezoelectric signal output terminal of side pressure electric transducer, And detection control process device control signal output respectively with light band type laser emitter, beam type laser emitter and figure As the control terminal that opens/stop of harvester is electrically connected, for receiving from the piezoelectric signal for driving into side pressure electric transducer When control light band type laser emitter, beam type laser emitter and image collecting device start work, receiving from sailing Control light band type laser emitter, beam type laser emitter and image collecting device when going out the piezoelectric signal of side pressure electric transducer It is stopped.As a result, vehicle super-high ultra-wide detecting system just can by automatically controlling light band type laser emitter, beam type swashs Optical transmitting set and image collecting device start work when there is vehicle to drive into lane detection region, are driven out to lane detection area in vehicle Be stopped during domain, reach detection process it is automatic open/stop effect, to save system energy consumption.
By the way that the present invention is based on the above structure of the vehicle super-high ultra-wide detecting system of laser calibration and its detection methods Operation principle can see, which can realize contactless vehicle super-high ultra-wide detection, and System structure is simple, is easily mounted on the detection scene of arbitrary environment, highly practical, measurement accuracy is higher, while it can be reached To the detection rates of Millisecond, detection efficiency is high, can realize multilane, the more vehicles that longtime running is kept to perform automatic on-line Not parking continuous detection and superelevation/ultra-wide police instruction, the superelevation ultra-wide detection for vehicle provide new solution, tool There is good popularizing application prospect.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with The present invention is described in detail in good embodiment, it will be understood by those of ordinary skill in the art that, it can be to the skill of the present invention Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this In the right of invention.

Claims (6)

1. a kind of vehicle super-high ultra-wide detecting system based on laser calibration, which is characterized in that including being erected at level road vehicle Light band type laser emitter, beam type laser emitter and image collecting device and detection control process device above road And warning indicator；
The light band type laser emitter for launching one of planar laser band diagonally downward, the planar laser band emitted with The angle of horizontal plane is α, 0 ° of 90 ° of ＜ α ＜, rear on level road track is projected can form one along lane width Direction is across the laser vertical element in level road track；
The beam type laser emitter is used to launch two beam laser rays vertically downward so that the two beams laser rays and light band type The planar laser band that laser emitter is emitted intersects, and two formed on two beam laser line projections to level road track swash The laser vertical element that the line of hot spot point is formed after being projected on level road track with planar laser band is parallel；
Described image harvester is closely set to beam type laser emitter position, and the camera lens of image collecting device Axis is set vertically downward, for overlook it is downward to planar laser band from light band type laser emitter injection after project level The projection in road surface track carries out video image acquisition by region；
The image data acquiring end of the detection control process device and the image data output terminal of image collecting device are led to Letter connection, detects the signal communication end of control process device and the signal receiving end of warning indicator is communicatively coupled, and is examined In observing and controlling processing unit the high wide measuring and calculating function model of vehicle is stored with beforehand through calibration：
Wherein, hviRepresent the maximum height measuring and calculating value of vehicle, wviRepresent the maximum width measuring and calculating value of vehicle；KiRepresent to vehicle into Image pixel equivalent during row detection, andS0Represent two beam laser line projections of beam type laser transmitter projects The actual range of two LASER SPECKLEs formed on to level road track, si,maxIt represents by beam type to be swashed in vedio data Two LASER SPECKLEs formed on the two beam laser line projections to the vehicle by level road track of optical transmitting set transmitting are most Big spacing pixel value；H0What two beam laser rays of expression beam type laser transmitter projects were emitted with light band type laser emitter Planar laser is with intersection location point to the actual height in level road track, L0Represent two beams of beam type laser transmitter projects The line of two LASER SPECKLEs formed on laser line projection to level road track is sent out relative to light band type laser emitter The planar laser band penetrated projects the real standard spacing of the laser vertical element formed on level road track；Li0Represent picture number According to two LASER SPECKLEs formed on two beam laser line projections to level road track of middle beam type laser transmitter projects It is straight that the planar laser band that line is emitted relative to light band type laser emitter projects the laser formed on level road track The level interval pixel value of lines, Li,maxIt represents to project the vehicle by level road track in image data by planar laser band The laser straightway formed on projects the laser vertical element formed on level road track relative to planar laser band most Big level interval pixel value, wi,maxIt represents to be projected by planar laser band in image data on the vehicle by level road track The maximum length pixel value of the laser straightway of formation；
Detection control process device is known for receiving the vedio data that image collecting device is acquired by image procossing Do not go out in vedio data by two LASER SPECKLEs formed on two beam laser line projections to level road track and its projection Two LASER SPECKLEs being formed on by the vehicle in level road track are projected by planar laser band on level road track The laser vertical element of formation and its laser straightway formed on vehicle by level road track is projected, by image data In thrown by the line of two LASER SPECKLEs that is formed on two beam laser line projections to level road track relative to planar laser band It is mapped to the level interval pixel value of the laser vertical element formed on level road track, by two beam laser line projections to process level The maximum spacing pixel value of two LASER SPECKLEs formed on the vehicle in road surface track is projected by planar laser band by level The maximum length pixel value of the laser straightway formed on the vehicle in road surface track and its project water relative to planar laser band The maximum horizontal spacing pixel value of the laser vertical element formed on flat road surface track is substituting in the high wide measuring and calculating function model of vehicle, Conversion obtains the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value, wide with preset height of car limit value and vehicle respectively Degree limit value be compared judge vehicle whether superelevation or ultra-wide, and judging vehicle super-high or warning indicator notified to hold during ultra-wide The corresponding superelevation instruction of row or ultra-wide instruction operation.
2. the vehicle super-high ultra-wide detecting system based on laser calibration according to claim 1, which is characterized in that the light belt Type laser emitter across the detection door frame being arranged on level road track by being erected at the top in level road track； The detection door frame includes two and erects the column that is arranged on level road track both sides and along lane width direction across setting The crossbeam in two root posts is put, light band type laser emitter, which is set up, to be mounted on the crossbeam of detection door frame.
3. the vehicle super-high ultra-wide detecting system based on laser calibration according to claim 2, which is characterized in that the light belt First angle sensor is installed, for sensing the pitching windup-degree of light band type laser emitter on type laser emitter；Institute It states and second angle sensor is installed on the column of detection door frame, for sensing the pitching windup-degree of the column of detection door frame；
The angle-data collection terminal of the detection control process device is also sensed with first angle sensor and second angle respectively The angle-data output terminal of device is electrically connected, for obtaining the angle of first angle sensor and the output of second angle sensor Data calculate the pitching windup-degree of the pitching windup-degree and the column of detection door frame because of detection light band type laser emitter Variation and lead to be projected the displacement error value of the laser vertical element formed on level road track by planar laser band, so as to Error compensation is carried out according to the displacement error value to the measuring and calculating of the maximum height measuring and calculating value and maximum width measuring and calculating value of vehicle to repair Just.
4. the vehicle super-high ultra-wide detecting system based on laser calibration according to claim 1, which is characterized in that with horizontal road It is examined on the track of face by the region that the image-capture field of image collecting device is covered as lane detection region in the track The vehicle in survey region drives at position and vehicle is driven out at position and is equipped with deceleration strip, and the vehicle in lane detection region drives into position The place of putting and vehicle are driven out in the deceleration strip at position to be respectively equipped with and drive into side pressure electric transducer and be driven out to side pressure electric transducer；
The piezoelectric signal collection terminal of the detection control process device is respectively with driving into side pressure electric transducer and being driven out to side pressure fax The piezoelectric signal output terminal of sensor is electrically connected, and detect control process device control signal output respectively with light band type The control terminal that opens/stop of laser emitter, beam type laser emitter and image collecting device is electrically connected, for receiving Light band type laser emitter, beam type laser emitter and image is controlled to adopt during from the piezoelectric signal for driving into side pressure electric transducer Acquisition means start work, controlled when receiving from the piezoelectric signal for being driven out to side pressure electric transducer light band type laser emitter, Beam type laser emitter and image collecting device are stopped.
5. a kind of vehicle super-high ultra-wide detection method based on laser calibration, which is characterized in that use base as described in claim 1 It is detected in the vehicle super-high ultra-wide detecting system of laser calibration, this method comprises the following steps：
A the light band type laser emitter in vehicle super-high ultra-wide detecting system and the work of beam type laser emitter) are pre-actuated Operation, measures two laser formed on two beam laser line projections to level road track of beam type laser transmitter projects The actual range S of spot0, beam type laser transmitter projects two beam laser rays and light band type laser emitter emitted it is flat Actual height H of the face laser with intersection location point to level road track0And two beams of beam type laser transmitter projects swash Light projects the line of two LASER SPECKLEs formed on level road track and is emitted relative to light band type laser emitter Planar laser band project the real standard spacing L of the laser vertical element formed on level road track0, it is defeated as known quantity Enter into the high wide measuring and calculating function model of vehicle of detection control process device storage, complete the high wide measuring and calculating function model to vehicle Calibration；
B) using on level road track by the region that the image-capture field of image collecting device is covered as lane detection area Domain during vehicle is by the lane detection region, controls the light band type laser in vehicle super-high ultra-wide detecting system Transmitter, beam type laser emitter and image collecting device keep working, and vehicle is passed through by image collecting device The process for crossing lane detection region carries out video image acquisition, and receiving image collecting device by detection control process device is acquired Vedio data, and pass through image procossing and identify in vedio data by two beam laser line projections to level road vehicle Two LASER SPECKLEs that two LASER SPECKLEs being formed on road and its project are formed on vehicle by level road track, by Planar laser band projects the laser vertical element formed on level road track and its projects vehicle by level road track The laser straightway formed on will be swashed in image data by two formed on two beam laser line projections to level road track The line of hot spot point projects the level interval picture of the laser vertical element formed on level road track relative to planar laser band The maximum spacing pixel of two LASER SPECKLEs formed in plain value, two beam laser line projections to the vehicle by level road track Value, the maximum length pixel value that the laser straightway formed on the vehicle by level road track is projected by planar laser band And its maximum horizontal spacing pixel value of the laser vertical element formed on level road track is projected relative to planar laser band It is substituting in the high wide measuring and calculating function model of vehicle, conversion obtains the maximum height measuring and calculating value of vehicle and maximum width measuring and calculating value；
C) the detection control process device of vehicle super-high ultra-wide detecting system will calculate gained vehicle maximum height measuring and calculating value and Maximum width measuring and calculating value is compared respectively with preset height of car limit value and vehicle width limit value, judge vehicle whether superelevation Or ultra-wide, and notice warning indicator performs corresponding superelevation instruction or ultra-wide instruction behaviour when judging vehicle super-high or ultra-wide Make.
6. the vehicle super-high ultra-wide detection method based on laser calibration according to claim 5, which is characterized in that the light belt Type laser emitter across the detection door frame being arranged on level road track by being erected at the top in level road track； The detection door frame includes two and erects the column that is arranged on level road track both sides and along lane width direction across setting The crossbeam in two root posts is put, light band type laser emitter, which is set up, to be mounted on the crossbeam of detection door frame；The light band type swashs First angle sensor is installed, for sensing the pitching windup-degree of light band type laser emitter on optical transmitting set；The inspection It surveys on the column of door frame and second angle sensor is installed, for sensing the pitching windup-degree of the column of detection door frame；
The angle-data collection terminal of the detection control process device is also sensed with first angle sensor and second angle respectively The angle-data output terminal of device is electrically connected, for obtaining the angle of first angle sensor and the output of second angle sensor Data calculate the pitching windup-degree of the pitching windup-degree and the column of detection door frame because of detection light band type laser emitter Variation and lead to be projected the displacement error value of the laser vertical element formed on level road track by planar laser band, so as to Error compensation is carried out according to the displacement error value to the measuring and calculating of the maximum height measuring and calculating value and maximum width measuring and calculating value of vehicle to repair Just, error compensation correcting mode is：
Calculate the pitching windup-degree of the column of the pitching windup-degree and detection door frame because of detection light band type laser emitter Variation and lead to be projected the displacement error value Δ D of the laser vertical element formed on level road track by planar laser band：
Wherein, LpTo detect the strut length of door frame, α is swashed by the plane that light band type laser emitter emits in original state The angle of light belt and horizontal plane, β are that the column of detection door frame swashs in original state with the angle of horizontal plane, Δ α for light band type The pitching windup-degree that optical transmitting set is emitted, Δ β are the pitching windup-degree for the column for detecting door frame；So as to according to plane The displacement error value Δ D that laser band projects the laser vertical element formed on level road track sends out beam type laser emitter The line of two LASER SPECKLEs formed on the two beam laser line projections to level road track penetrated is sent out relative to light band type laser The planar laser band that emitter is emitted projects the real standard spacing L of the laser vertical element formed on level road track0's Value is modified, and two laser spots in image data is calculated by being formed on two beam laser line projections to level road track The line of point projects the level interval pixel value of the laser vertical element formed on level road track relative to planar laser band And the laser straightway formed on the vehicle by level road track is projected by planar laser band relative to planar laser When band projects the maximum horizontal spacing pixel value of the laser vertical element formed on level road track, planar laser band is projected The displacement error value Δ D of the laser vertical element formed on to level road track is counted, and carries out error compensation amendment.
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