CN106770317B - Pavement image acquisition method based on laser projection light supplement mode - Google Patents
Pavement image acquisition method based on laser projection light supplement mode Download PDFInfo
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- CN106770317B CN106770317B CN201611108929.1A CN201611108929A CN106770317B CN 106770317 B CN106770317 B CN 106770317B CN 201611108929 A CN201611108929 A CN 201611108929A CN 106770317 B CN106770317 B CN 106770317B
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
The invention discloses a road surface image acquisition method based on a laser projection light supplement mode, which comprises the following steps: fixing a shooting part and a laser on a fixing frame above the rear part of the automobile, wherein the irradiation direction faces to the rear part of the automobile; the device is characterized in that the angle of the light emitting curtain of the laser and the shooting angle of the shooting component are adjusted, so that the emitting surfaces of the light emitting curtain of the laser and the scanning line of the shooting component are staggered and not coplanar, and an included angle is formed; and in projection on the ground, the scanning line is in the projected light curtain; and controlling the shooting component to acquire an image. The invention effectively improves the obtained image effect.
Description
Technical Field
The invention relates to the technical field of highway maintenance detection, in particular to a pavement image acquisition method based on a laser projection light supplement mode.
Background
The pavement damage condition is one of the main bases of a highway management department for evaluating the pavement service performance and making a highway pavement maintenance decision.
The early pavement damage condition investigation mainly depends on the artifical visual inspection to confirm the pavement damage type, generally adopts the ruler to measure the length or the area of pavement damage. The method has the advantages of low efficiency, poor precision, high labor intensity, great influence on road traffic and easy traffic accidents.
With the emergence and the popularization and application of machine vision technology, an automatic detection method for road surface damage, which utilizes a vehicle-mounted high-resolution linear array camera to acquire road surface images and automatically process the images and identify diseases, is widely applied. Because the high-speed line camera is installed on a detection vehicle running at high speed (the highest speed reaches 100km/h) for data acquisition, the intensity of road surface ambient light changes along with the moving time of the vehicle, and the exposure formula of the camera is as follows:
exposure amount is the intensity of ambient light x aperture x exposure time
Correct exposure is one of the key technologies for obtaining high-definition road surface images. Natural light cannot meet the requirement of high-definition image acquisition required by automatic identification, so an active lighting device is generally required to be added to provide additional lighting for a camera. At present, the vehicle is mainly illuminated by laser, in the illumination process, because the vehicle-mounted laser projector and the camera are convenient to mount, the laser projector covers the camera scanning line, the mounting position is on the same straight line, the vehicle does not need to be improved, the laser projector and the light emitting surface of the camera scanning line form coplanar mounting, and the camera scanning line is parallel to the normal plane of the axle, namely vertical to the ground for shooting, as shown in fig. 1, the scanning line (dotted line) emitted by the camera 22 is in the light curtain emitted by the laser projector 21, and the quality of the collected road surface image is reduced due to the fact that the front view field of the shot road surface is too bright, so that flare and image microscopic details are lost, the contrast is reduced, and other image quality are reduced.
Disclosure of Invention
In view of the above, the present invention provides a road surface image collecting method based on a laser projection light supplementing manner, so as to solve the above-mentioned problems that the quality of the collected road surface image is too bright in front of the shot road surface, which causes flare and loss of contrast of microscopic image details, and other image quality is degraded.
In order to solve the above problems, the present invention provides a road surface image collecting method based on a laser projection light supplement mode, comprising: fixing a shooting part and a laser on a fixing frame above the rear part of the automobile, wherein the irradiation direction faces to the rear part of the automobile; the device is characterized in that the angle of the light emitting curtain of the laser and the shooting angle of the shooting component are adjusted, so that the emitting surfaces of the light emitting curtain of the laser and the scanning line of the shooting component are staggered and not coplanar, and an included angle is formed; and in projection on the ground, the scanning line is in the projected light curtain;
and controlling the shooting component to acquire an image.
Preferably, the shooting component is a line camera;
and the adjusted shooting angle ensures that the emission surface of the scanning line of the linear array camera is not coplanar with the normal plane of the axle.
Preferably, the normal plane has an established x-axis, z-axis and y-axis perpendicular to the normal plane;
adjusting an included angle of 7-8 degrees between an emitting surface of a scanning line of the linear array camera and the z axis;
and adjusting the included angle of the emitting surface of the scanning line of the linear array camera and the x axis to be 1-3 degrees.
Preferably, an included angle of 7.5 degrees is formed between an emission surface of a scanning line of the linear array camera and the z axis;
and adjusting the emission angle of the laser to form a 9-degree included angle with the z axis.
Preferably, an included angle of 2 degrees is formed between an emission surface of a scanning line of the linear array camera and the x axis;
the number of the linear array cameras and the number of the lasers are respectively 2, 2 included angles of 2 degrees between the emitting surface of the scanning line of the 2 linear array cameras and the x axis are mirror images, and the intersection point of the ground projection is positioned in the middle of the automobile; the uniformity error of the gray values at the middle part and the two ends of the shot image is not more than 5 percent, and the jigsaw error is less than 0.5 pixel.
Preferably, two linear cameras are respectively fixed at two ends of a fixing frame above the rear of the automobile, and two lasers are arranged between the two linear cameras.
Preferably, the scanning line of the photographing part is cut into the emission light curtain at a position 200mm above the ground.
Preferably, the method further comprises: installing a laser generating module connected with the two lasers and positioned in the automobile;
the laser generation module is connected with an industrial personal computer in the vehicle.
Preferably, the method further comprises:
and a speed controller connected with the industrial personal computer is installed in the automobile and used for adjusting the working line frequency of the linear array camera according to the current speed.
The method adopts two linear array cameras and two laser projectors, and an installation method of forming an included angle of 2 degrees with a transverse X axis of a detected road surface, simultaneously ensures that scanning lines on two sides of the two cameras intersect at a P point of the center of the road surface, and the splicing error is less than or equal to 0.5 pixel, thereby realizing directly obtaining a road surface image with the width of 4 meters.
Drawings
FIG. 1 is a schematic view of a camera and a laser installed in a prior art;
fig. 2 is a schematic structural diagram of a road surface image acquisition system in a laser projection light supplement mode according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a twin-line camera and a diagonally mounted dual laser projector according to an embodiment of the present invention.
FIG. 4 is a light coincidence diagram of a projection line of a twin line-array camera and a bar structure of a twin laser projector according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the emission and reflection lines of a laser projector according to an embodiment of the present invention;
FIG. 6 shows a common beam mounting manner for a line camera and a laser projector according to an embodiment of the present invention
Fig. 7 is a schematic view of a linear array camera and a laser projector fixing base structure provided in an embodiment of the present invention;
FIG. 8 is an image acquired by a prior art system;
FIG. 9 is an image acquired by a system of the present technology.
Detailed Description
For the purpose of illustrating the invention in detail, preferred embodiments are given below with reference to the accompanying drawings.
The invention discloses a road surface image acquisition method based on a laser projection light supplement mode, which comprises the following steps: fixing a shooting part and a laser on a fixing frame above the rear part of the automobile, wherein the irradiation direction faces to the rear part of the automobile; the device is characterized in that the angle of the light emitting curtain of the laser and the shooting angle of the shooting component are adjusted, so that the emitting surfaces of the light emitting curtain of the laser and the scanning line of the shooting component are staggered and not coplanar, and an included angle is formed; and in projection on the ground, the scanning line is in the projected light curtain;
and controlling the shooting component to acquire an image.
Due to the adoption of the staggered non-coplanar mode, flare and image microscopic detail loss and contrast reduction caused by over-bright front view field in the coplanar shooting process vertical to the ground in the prior art can be effectively prevented, and the image quality is improved.
Referring specifically to fig. 2, in an embodiment, the laser is a laser projector 5 and the acquisition system comprises the following components:
1. an industrial personal computer; 2. an image acquisition card; 3. a laser generation controller; 4. a fiber optic cable; 5. A laser projector; 55. the surface of the laser emission light curtain; 6. a line camera; 66. an emission surface of the camera scan line; 65. the camera scanning line and the laser light curtain are cut into positions; 7. sharing the beams of the equipment; 8. a fixed mount; 9. a speed controller; 10. a distance measuring instrument; 11. a measuring vehicle and the like; f is a normal plane perpendicular to the ground and parallel to the axle.
In order to obtain a 4 m × 2m wide high-definition road image, in the invention, two high-speed line cameras 6 are symmetrically installed on a common device beam 7 at the tail of a measuring vehicle 11, and comprise a line camera 61 and a line camera 62 as shown in fig. 4. According to the working principle of the linear array camera, the measuring vehicle 11 moves at a high speed along the road surface direction, the speed controller 9 controls the working line frequency of the linear array camera 6, the linear array camera 6 continuously scans and images the detected road surface line by line, then continuous single-line road surface images are sequentially spliced into an image, so that the continuous collection of the whole road surface image is completed, and finally, the detected road surface cracks and other disease defects are obtained through the processing and algorithm of later-stage software. As shown in fig. 1.
In order to solve the problem that the quality of road surface images acquired by the linear array camera 6 due to different road surface environment light (such as different illumination angles or intensities) is affected, the invention symmetrically installs two laser projectors 5 at two ends of a common beam 7 of the equipment, such as a laser projector 51 and a laser projector 52 shown in fig. 4, and the two laser projectors are used as supplementary lighting of the high-speed linear array camera 6, when the installation height A of the linear array camera 6 is about 2m, the width of a scanning line of the laser projector is about B-2 m, as shown in fig. 3, the laser projector 5 corresponding to the linear array camera 6 is used as a camera rotation angle α corresponding to the laser projector 5 along the vehicle driving direction and the longitudinal Y-axis of the road surface according to the angle of the laser divergence angle, the installation height of the laser projector is adjusted, the length C of a structural light stripe spot projected to the road surface by the laser projector 5 is ensured to be larger than the length B of the scanning line of the linear array camera 6, the linear array camera 6 is capable of displaying clear laser projection intensity in an illumination range larger than 2m width, the gray value of the image is not larger than 5%, the gray value of the linear array camera is capable of displaying clear images, and the contrast ratio of the laser projector is not more capable of displaying clear images, and the contrast ratio of the contrast of the laser projector is capable of displaying clear images of the road surface images which is capable of displaying clear images and is capable of being controlled by the contrast ratio of being disclosed by the invention, and the invention.
The ray divergence principle shows that the attenuation and divergence from the near end to the far end of the line structure light projection axis are changed linearly along with the angle difference between the projection surface normal. Through verification, the problem of overlarge linear array image gray level uniformity deviation is effectively avoided by adopting a mode of combining near-end softening and gain. And ensuring that the gray value uniformity error between the middle part and the two ends of the image is not more than 5 percent.
The laser projector 5 is arranged in a diagonal direction with the line camera 6, and the installation height is more than 2 m. Due to the monochromatic and linear polarization characteristics of the laser, the laser is very easy to generate coupling resonance with light waves in certain frequency spectrum bands in the road surface ambient light. Therefore, specular reflection is easily formed on a specific surface, and particularly, a white highlight region is easily formed in a road surface image collected in a repaired, oiled, and otherwise smooth region. In order to avoid the flare of the linearly polarized laser in the center of the lens from affecting the image quality, according to the principle that the incident angle of light is equal to the reflection angle, the invention adopts a non-coplanar installation mode for installing two linear array cameras and corresponding laser projectors, and the plane of the scanning line of the linear array camera and the projection light curtain of the laser are not vertical to the measured road surface. I.e., at an angle to the normal plane F, and a coordinate system on the normal plane including the z-axis, the x-axis, and the y-axis perpendicular thereto. The x-axis is parallel to the axle and may be considered parallel to the road surface.
Referring to fig. 2 and 6, the common beam 7 of the apparatus mounted on the measuring truck 10 is rotated backward by β degrees around the K axis (parallel to the X axis in the transverse direction of the road surface) so that the laser beam of the laser projector 5 forms an angle β ═ 9 °, also can be considered as 9 degrees with the z axis, the angle θ shown in fig. 5 is equal to 9 degrees, also in order to further suppress the effect of flare and improve the contrast of the image, the present invention rotates the line camera 6 mounted on the common beam 7 of the apparatus around the H axis (parallel to the X axis in the transverse direction of the road surface) by an angle γ ═ 7 or γ ═ 8 degrees, preferably γ ═ 7.5 °, the angle δ of the incident optical axis of the line camera mounted on the common beam 7 of the line camera and the emission optical axis of the laser projector 5 is equal to β - γ ═ 1.5 °, the angle of the incident optical axis of the line camera mounted on the line camera 6 and the emission optical axis of the line camera 5 is equal to 1.5, in order to avoid the effect that the laser light curtain is parallel to the scan line scan field in space (or coplanar) and the image is shifted to the position of the line scan, and the line scan area of the line scan is approximately equal to the projected by the same distance D, and the projected by approximately mm, the same distance of the projected image, the projected by the same distance of the line scan area as the projected by the line scan.
In order to solve the problem of image dislocation of the double linear-array cameras, in the invention, the scanning line of the left linear-array camera 6 and the light ray of the strip-shaped structure of the line laser projector 5 rotate around the central normal of the projection surface, so that an included angle phi of 2 degrees is formed between the scanning line and the transverse X axis of the measured road surface. As shown in fig. 4, the scanning lines of the linear camera 6 on the right side and the light rays of the strip-shaped structure of the laser projector 5 are rotated around the central normal of the projection surface, so that an included angle of phi 2 degrees is formed between the scanning lines and the transverse X axis of the measured road surface, and the installation height is adjusted to ensure that the scanning lines on the two sides of the two cameras intersect at the central point P of the road surface, and the jigsaw error is less than or equal to 0.5 pixel. Therefore, the problem of left and right image dislocation of two linear array cameras can be solved, the problem of unobvious transverse crack light and shade contrast caused by the fact that the light projection direction of the laser projector 5 is parallel to the transverse X axis of the detected road surface can be solved, and the contrast of the image is effectively improved.
As shown in fig. 6, the apparatus mainly comprises an apparatus common beam, an apparatus fixing frame, two camera fixing clamps, 8 fixing screws which are changed into 8 fixing screws ( screws 141, 142, 143, 144, 145, 146, 147 and 148), two camera fixing seats, two laser fixing seats and two laser fixing clamps, wherein the apparatus fixing frame 8 is made of aluminum profiles and is rigidly connected with a vehicle-mounted platform through a supporting connecting piece, the apparatus common beam 7 is rigidly connected with the apparatus fixing frame 8 through bolts, the apparatus common beam 7 supports the two laser projectors 5 to form an included angle of β degrees with a road surface normal line, and supports the two line cameras 6 to form an included angle of γ 7.5 degrees with the road surface normal line.
As shown in fig. 7, the two line cameras 6 and the two laser projectors 5 of the present apparatus are respectively fixed on the left and right sides of the common beam 7 of the apparatus with the two fixing bases 151, 152 and the fixing bases 161, 162 by the two fixing clips 131, 132 and the fixing clips 171, 172.
The laser fixing base 161 supports the laser projector 51 and the line camera 62 to be installed in a diagonal manner, the laser fixing base 162 supports the laser projector 52 and the line camera 61 to be installed in a diagonal manner, the camera fixing clamps 131 and 132 and the fixing bases 151 and 152 support the line cameras 61 and 62, and the laser projector fixing clamps 171 and 172 and the fixing bases 161 and 162 support the laser projector 51 and 52, and the distance and angle adjusting function (used for adjusting the P point of cutting, overlapping and meeting of a camera scanning line and a laser light curtain) in 3 dimensions of space is achieved.
In order to solve the problem that the service life of a laser integrated module is quickly attenuated due to the fact that the laser integrated module is sensitive to the change of the environmental temperature, the laser projector 5 is independently installed outside the detection vehicle 11, the laser generation module 3 with the output power of 20W is installed inside the detection vehicle 11, the temperature of the laser generation module is controlled by the vehicle air conditioner, and the laser generation module and the detection vehicle air conditioner are connected through the optical fiber cable 4.
In order to ensure the image acquisition precision, the vertical and horizontal matching of 1mm, which is the object movement speed (mm/s)/the working line frequency (Hz) formula of the line camera is improved according to the image vertical precision (mm/pixel). The invention designs a speed controller 9, the controller 9 acquires distance signals through an encoder 10 on a hub of a measuring vehicle to obtain the running speed of the measuring vehicle 11, the working line frequency of the camera 6 is correspondingly increased when the moving speed of the measuring vehicle 11 is increased, the line frequency of the camera 6 is simultaneously reduced when the moving speed of the measuring vehicle 11 is reduced, but the ratio of the two, namely the precision, is always kept constant.
In order to prevent accidents caused by direct vision of laser by human eyes under the condition that a vehicle is static or runs at a low speed, the invention designs a laser safety protection control system for controlling a laser switch according to the running speed, calculates the running speed of the vehicle 11 by extracting a signal of an encoder 10, and closes all laser projectors 5 if the running speed is lower than the minimum control speed so as to control the switch of the laser projectors 5, thereby avoiding damages to the direct irradiation of the human eyes under the condition of low speed or static.
The invention adopts an installation method that the angle formed by the laser ray of a laser and the normal direction of the road surface is β degrees and the angle formed by the incident angle of a linear array camera and the normal direction of the road surface is β degrees and 7.5 degrees, and the installation method is used as the cut-in point of the laser scanning line at the position where the scanning line of the camera is close to the ground height and about D is 200mm, thereby inhibiting the problem that the image quality is influenced by the over-bright front field of the linear array camera caused by the fact that the lighting field of view of the incident angle of the camera and the light curtain of the laser emitting angle are parallel (coplanar) in space and the overlapping distance.
The method adopts two linear array cameras and two laser projectors, enables scanning lines of a left camera and a right camera and strip-shaped structure light rays of the laser projectors to rotate around a central normal line of a projection surface, and forms an included angle of 2 degrees with a transverse X axis of a detected road surface, meanwhile, ensures that the scanning lines on two sides of the two cameras are intersected at a point P in the center of the road surface, and splicing error is less than or equal to 0.5 pixel, so that road surface images with width of 4 meters can be directly obtained.
The laser projector outside the detection vehicle is connected with the laser generation module inside the detection vehicle by adopting an optical fiber coupling technology.
The method of adopting the speed controller realizes the safe use of the laser projector under the condition that the vehicle is static or runs at a slow speed. And the working line frequency (Hz) of the linear array camera is synchronously controlled in real time, so that the pavement image acquisition precision is always kept constant.
Any modifications, equivalents, improvements and the like which are within the spirit and principle of the present invention and which are made to the embodiments of the present invention are included in the scope of the present invention.
Claims (4)
1. A road surface image acquisition method based on a laser projection light supplement mode comprises the following steps: fixing a shooting part and a laser on a fixing frame above the rear part of the automobile, wherein the irradiation direction faces to the rear part of the automobile; the device is characterized in that the angle of the light emitting curtain of the laser and the shooting angle of the shooting component are adjusted, so that the emitting surfaces of the light emitting curtain of the laser and the scanning line of the shooting component are staggered and not coplanar, and an included angle is formed; and in projection on the ground, the scanning line is in the projected light curtain;
controlling the shooting component to acquire images, wherein the shooting component is a linear array camera;
the adjusted shooting angle enables an emission surface of a scanning line of the linear array camera to be not coplanar with a normal plane of an axle, and the normal plane has an established x axis, a z axis and a y axis vertical to the normal plane;
adjusting the included angle of the emission surface of the scanning line of the linear array camera and the x axis to be 2 degrees;
the number of the linear array cameras and the number of the lasers are respectively 2, 2 included angles of 2 degrees between the emitting surface of the scanning line of the 2 linear array cameras and the x axis are mirror images, and the intersection point of the ground projection is positioned in the middle of the automobile; the gray value uniformity error between the middle and two ends of the shot image is not more than 5%, the jigsaw error is less than 0.5 pixel, and the scanning line of the shooting part is cut into the emission light curtain at a position 200mm above the ground;
the line camera rotates for an angle around an H axis parallel to a transverse x axis of the road surface,
adjusting an included angle of 7.5 degrees between an emitting surface of a scanning line of the linear array camera and the z axis;
and adjusting the emission angle of the laser to form an included angle of 9 degrees with the z axis, so that the included angle delta between the incident optical axis of the lens of the line-scan camera and the emission optical axis of the laser is β -gamma which is 1.5 degrees.
2. The method according to claim 1, characterized in that two linear cameras are respectively fixed at two ends of a fixed frame at the rear upper part of the automobile, and two lasers are arranged between the two linear cameras.
3. The method of claim 1, further comprising: installing a laser generating module which is connected with the two lasers and is positioned in the automobile;
the laser generation module is connected with an industrial personal computer in the vehicle.
4. The method of claim 3, further comprising:
and a speed controller connected with the industrial personal computer is installed in the automobile and used for adjusting the working line frequency of the linear array camera according to the current speed.
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| CN109537419A (en) * | 2018-12-10 | 2019-03-29 | 中公高科养护科技股份有限公司 | A kind of pavement image acquiring device and collecting vehicle |
| CN113605188B (en) * | 2021-08-06 | 2023-09-08 | 广西威航道路工程有限公司 | Pavement structure testing method |
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