CN112880972A - Angle adjusting method and device of vehicle-mounted marking measuring instrument - Google Patents
Angle adjusting method and device of vehicle-mounted marking measuring instrument Download PDFInfo
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- CN112880972A CN112880972A CN202110038859.1A CN202110038859A CN112880972A CN 112880972 A CN112880972 A CN 112880972A CN 202110038859 A CN202110038859 A CN 202110038859A CN 112880972 A CN112880972 A CN 112880972A
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Abstract
An angle adjusting method and device of a vehicle-mounted marking measuring instrument belong to the field of rapid detection of road traffic markings. The device comprises a multi-dimensional pose monitor, a loading shell, a high-speed calculation module, a vertical pose remote detector and a high-speed double-angle regulator. The loading shell enables the device to be hung on an existing vehicle-mounted marking measuring instrument in an external mode, the vertical pose remote sensor measures to obtain an initial state value of the vehicle-mounted marking measuring instrument, the multi-dimensional pose monitor measures to obtain a road surface real-time elevation matrix and calculates a real-time state value of the vehicle-mounted marking measuring instrument, and the high-speed calculation module processes data to obtain a real-time state correction value and then adjusts the angle of a light beam emitted from the vehicle-mounted marking measuring instrument and the angle of a light beam entering the vehicle. The invention utilizes the multi-dimensional pose monitor and the vertical pose remote detector to monitor the change of the incident angle in the dynamic measurement process of the vehicle-mounted marking line measuring instrument, and uses the high-speed dual-angle regulator to carry out rapid angle adjustment, and the angle adjustment process does not influence the work of the vehicle-mounted marking line measuring instrument.
Description
Technical Field
The invention belongs to the field of rapid detection of road traffic markings.
Background
Vehicle-mounted marking measuring instrument: the vehicle-mounted equipment is used for calculating the retroreflection brightness coefficient of the marking by using the light source to emit light to irradiate the marking to be measured and the photosensitive detector to collect retroreflection light, the incident angle is 88.76 degrees, the observation angle is 1.05 degrees, and the measurement area is generally 6 meters in front of the instrument.
Incident angle: the supplementary angle of the included angle between the light source light of the vehicle-mounted graticule measuring instrument and the ground is divided into a longitudinal incident angle beta 1 and a transverse incident angle beta 2.
Observation angle: the included angle between the axis of the illumination light source and the axis of the receiver of the vehicle-mounted graticule measuring instrument is 1.05 degrees in general.
The rapid detection of the road traffic marking is a 'milestone' mark in the development process of the road detection technology, and a series of research works are developed in the global scope.
In 2010, C Holzschuher et al, department of transportation in Florida, randomly selected six road segments for evaluating the accuracy of the vehicle-mounted marking gauge in the repeatability of the retroreflectivity of the pavement markings in order to continuously and reliably evaluate the road traffic markings at traffic speed by using the vehicle-mounted marking gauge. The Darko Babic et al, the university of sageberg transportation science, crotia, introduced a dynamic method of testing the retroreflection (night visibility) of road traffic markings. The vehicle-mounted marking line measuring instrument is used for measuring, so that the night visibility road traffic marking line can be continuously measured when a vehicle is driven.
ROADVISTA has successfully developed a vehicle-mounted marking gauge, model Laserlux G7, capable of recording 400 measurements per second to ensure continuity of road data; DELTA develops an LTL-M vehicle-mounted marking line measuring instrument, the nominal precision reaches +/-5%, and the repeatability is better than 3%; RetroTek also introduced a vehicle-mounted marking gauge, model RetroTek-M, for measuring the photometric performance of road traffic markings.
However, due to the unevenness of the road, the vibration of the vehicle, and other factors, the incident angle of the vehicle-mounted marking gauge cannot be always maintained at the prescribed 88.76 °, and the accuracy of the measurement result needs to be improved.
In order to solve the problem of accuracy of an incident angle, the conventional vehicle-mounted marking measuring instrument usually measures the distance between the two ends of the vehicle-mounted marking measuring instrument and the ground by using front and rear 2 laser points in a static state, and adjusts the height difference of the vehicle-mounted marking measuring instrument by a manual or automatic motor to realize the adjustment of the incident angle.
(1) The adjustment is needed in a static state, and the adjustment cannot be carried out in a driving state.
(2) Only the ground at the bottom of the vehicle-mounted marking measuring instrument and the incident angle of the light source are ensured to be 88.76 degrees, but the light emitted by the vehicle-mounted marking measuring instrument and the front of the vehicle-mounted marking measuring instrument cannot be ensured because the actually measured area is 6 meters in front of the instrument
The ground surface at 6 meters forms a complementary angle of 88.76 degrees.
The vehicle-mounted marking measuring instrument is installed on 1 detection vehicle for field test.
Because the retroreflection performance of the road traffic marking measured by the vehicle-mounted marking measuring instrument is not isotropic, the retroreflection performance of the same road traffic marking changes obviously when the incidence angle and the observation angle change.
Taking the data actually measured by us as an example, when the maximum clearance h is used for representing the road flatness, and the maximum clearance from the position of the vehicle-mounted marking measuring instrument to the measuring area is 15mm, the deviation of the incident angle is at least +/-0.13 degrees, so that the deviation of the retroreflection performance of the measured road traffic marking can reach 52.04mcd/m2Lx, the retroreflection performance of the road traffic marking is generally 100mcd/m2from/Lx to 200mcd/m2/Lx。
However, currently, the traffic industry requires evaluation of the retroreflection performance of the road traffic marking at an observation angle of 1.05 degrees when the incident angle is 1.24 degrees, so that it is important to adjust the incident angle and the observation angle of the vehicle-mounted marking measuring instrument in real time, and the accuracy of the measuring result is directly influenced.
The problem that the angle change cannot be matched with the measurement speed in the dynamic measurement process is solved by using the galvanometer to control the angle, namely when the vehicle speed is high (100km/h and the like), the angle adjustment is too slow, the measurement area of the vehicle-mounted marking measuring instrument changes a lot after the angle adjustment is finished, and the angle needs to be adjusted again.
The multi-dimensional pose monitor is used for measuring the road inclination state of the measuring area of the vehicle-mounted marking measuring instrument, so that the angle adjustment of the vehicle-mounted marking measuring instrument is in accordance with the inclination state of the measuring area, the whole matching of the road inclination state identification and the angle adjustment at the measuring area is difficult to realize, and when the matching is not good, the measuring area of the vehicle-mounted marking measuring instrument after the angle adjustment is finished changes a lot, and the angle needs to be adjusted again.
The method can reduce the error of the measurement result by 25 to 80 percent.
Disclosure of Invention
The multi-dimensional pose monitoring device mainly comprises a multi-dimensional pose monitor, a loading shell, a high-speed calculation module, a vertical pose remote detector, a high-speed double-angle regulator and the like, wherein a hardware connection diagram is shown in figure 1.
The high-speed double-angle regulator is a vibrating mirror system, the regulating speed is not lower than 40 kilohertz, the high-speed double-angle regulator consists of 2 vibrating mirrors, the upper vibrating mirror is an observation angle regulating vibrating mirror, the lower vibrating mirror is an incidence angle regulating vibrating mirror, the angle (incidence angle) of a light beam emitted from the vehicle-mounted reticle measuring instrument and the angle (observation angle) of the light beam entering the vehicle-mounted reticle measuring instrument are regulated by the frequency not lower than 40 kilohertz, and the angle positioning precision is better than 0.01 degrees.
The observation angle adjusting galvanometer light outlet is arranged at the lower end of the observation angle adjusting galvanometer observation lens, and the incident angle adjusting galvanometer light inlet is arranged at the lower end of the incident angle adjusting galvanometer observation lens. The first observation angle adjusting galvanometer lens and the second observation angle adjusting galvanometer lens are arranged on the right side of the observation angle adjusting galvanometer observation lens, and the first incident angle adjusting galvanometer lens and the second incident angle adjusting galvanometer lens are arranged on the right side of the incident angle adjusting galvanometer observation lens.
The first lens of the observation angle adjusting galvanometer and the initial position of the second lens of the observation angle adjusting galvanometer are in parallel relation, and the first lens of the incidence angle adjusting galvanometer and the initial position of the second lens of the incidence angle adjusting galvanometer are in parallel relation. When in the initial position, the direction of the illumination beam and the external incident beam is unchanged. The first observation angle adjusting galvanometer lens is arranged on the upper left side of the second observation angle adjusting galvanometer lens, and the first incident angle adjusting galvanometer lens is arranged on the upper left side of the second incident angle adjusting galvanometer lens.
When the angle is adjusted, 2 times of the included angle between the first lens of the observation angle adjusting galvanometer and the second lens of the observation angle adjusting galvanometer is the external incident beam angle adjusting value pg, and 2 times of the included angle between the first lens of the incidence angle adjusting galvanometer and the second lens of the incidence angle adjusting galvanometer is the illuminating beam angle adjusting value pr. The illumination beam angle adjustment value pr is an incident angle adjustment value, and the observation angle adjustment value is obtained by subtracting the external incident beam angle adjustment value pg from the illumination beam angle adjustment value pr.
When the loading shell enables the device to be hung on the existing vehicle-mounted marking measuring instrument, the positions of the incidence angle adjusting vibrating mirror and the observation angle adjusting vibrating mirror in the high-speed double-angle adjuster can be adjusted, so that the incidence angle adjusting vibrating mirror is aligned to the lighting lens of the vehicle-mounted marking measuring instrument, and the observation angle adjusting vibrating mirror is aligned to the receiving lens of the vehicle-mounted marking measuring instrument.
The specific implementation details are as follows: the illumination light beam penetrates through the receiving lens from the illumination lens of the vehicle-mounted reticle measuring instrument to be connected with the diaphragm, the observation angle adjusting galvanometer second motor is controlled to enable the observation angle adjusting galvanometer second lens to deflect, the illumination light beam is made to penetrate into the observation angle adjusting galvanometer second lens, the observation angle adjusting galvanometer first motor is controlled to enable the observation angle adjusting galvanometer first lens to deflect, the illumination light beam reflected from the observation angle adjusting galvanometer second lens can penetrate into the observation angle adjusting galvanometer first lens and is reflected to penetrate through the observation angle adjusting galvanometer light outlet hole in the observation lens. The external incident beam is used for adjusting the incident angle of the vibrating mirror observation lens through the incident angle, adjusting the light inlet hole of the vibrating mirror, controlling the first motor of the vibrating mirror to enable the beam to be incident on the first lens of the vibrating mirror and then reflected to the second lens of the vibrating mirror, and controlling the second motor of the vibrating mirror to enable the second lens of the vibrating mirror to reflect the beam to the lighting lens to connect the diaphragm.
The multi-dimensional pose remote sensor can be a multi-dimensional laser ranging matrix, the inclination angle of the multi-dimensional pose remote sensor and the longitudinal horizontal plane of the vehicle-mounted marking measuring instrument is theta (theta is more than 90 degrees and less than 180 degrees), the inclination angle of the multi-dimensional pose remote sensor and the transverse horizontal plane of the vehicle-mounted marking measuring instrument is 0 degree, the number of measuring matrix points is not less than 2 multiplied by 2, the laser is infrared laser, the power is not lower than 1mw, the light spot is not more than 5mm, and the laser is projected on the ground in the range of 5 meters to 7 meters ahead to form a rectangle with the shape similar to the measuring area of the. The vertical pose remote sensor can be a surface laser module, can also be 2 crossed line laser modules, and can also be four camera modules distributed in a cross manner, one axis of the four camera modules is on the same plane with the measuring direction of the vehicle-mounted marking measuring instrument, and the other axis of the four camera modules is vertical to the plane where the measuring direction of the vehicle-mounted marking measuring instrument is. The high-speed calculation module can be a single-board computer, a computer and the like, is embedded with an acceleration sensor, can sense the states of the self movement speed, the self movement direction and the like through the acceleration sensor, can synchronously control the multi-dimensional pose remote sensor, the vertical pose remote sensor and the high-speed double-angle regulator, and has the calculation speed of not less than 50 hundred million floating point operations per second.
The components are in linkage relation. An acceleration sensor arranged in the high-speed calculation module senses the states of the self motion speed, the self motion direction and the like, and when the data of the acceleration sensor is a dynamic sequence, the vertical pose remote detector and the multi-dimensional pose monitor are automatically started. The multi-dimensional pose monitor can automatically work when the vertical pose remote detector detects that the vertical pose changes. If the vertical pose is not changed, the multi-dimensional pose monitor needs to be manually started, namely the high-speed calculation module judges that the data of the acceleration sensor is wrong, and the vehicle-mounted marking measuring instrument is not started at the moment. The effectiveness and reliability of the measurement of the device are ensured by 2 feedback loops.
Drawings
FIG. 1 is a schematic diagram of a hardware connection
In the figure 1, 1 is a multi-dimensional pose remote sensor, 2 is a loading shell, 3 is a high-speed calculation module, 4 is a vertical pose remote sensor, 5 is a high-speed double-angle regulator, 5-3-1 is an observation angle regulation galvanometer observation lens, and 5-6-1 is an incidence angle regulation galvanometer observation lens.
FIG. 2 high speed dual angle adjuster
GC is the receiving lens connecting diaphragm, and RS is the illuminating lens connecting diaphragm. 5-1-1 is a first motor of an observation angle adjusting galvanometer, 5-1-2 is a first lens of the observation angle adjusting galvanometer, 5-2-1 is a second lens of the observation angle adjusting galvanometer, 5-2-2 is a second motor of the observation angle adjusting galvanometer, 5-3-1 is a observation angle adjusting galvanometer observation lens, 5-3-2 is a light outlet of the observation angle adjusting galvanometer, 5-4-1 is a first motor of an incidence angle adjusting galvanometer, 5-4-2 is a first lens of the incidence angle adjusting galvanometer, 5-5-1 is a second lens of the incidence angle adjusting galvanometer, 5-5-2 is a second motor of the incidence angle adjusting galvanometer, 5-6-1 is the observation lens of the incidence angle adjusting galvanometer, and 5-6-2 is a light inlet of the incidence angle adjusting galvanometer.
FIG. 3 is a flow chart of the technical solution
FIG. 4 technical solution flow chart of embodiment 1
Detailed Description
The multi-dimensional pose monitoring device comprises a multi-dimensional pose monitor, a loading shell, a high-speed calculation module, a vertical pose remote detector, a high-speed double-angle regulator and the like.
The overall technical scheme is realized as follows:
(1) the device is mounted on a vehicle-mounted marking measuring instrument.
(2) Starting the vehicle-mounted marking measuring instrument, initializing according to the requirements of a manufacturer of the vehicle-mounted marking measuring instrument, initializing an observation angle, an incidence angle, a transverse swinging angle, a road surface measuring threshold value, a measuring coefficient value of the performance of the road traffic marking, the measuring type and the number of the road traffic markings and positioning information. And adjusting the observation angle and the incidence angle of the vehicle-mounted marking measuring instrument to perform self-calibration.
(3) And the starting device is used for initializing, so that the data of the multi-dimensional pose monitor and the vertical pose remote sensor are cleared, and the high-speed dual-angle regulator keeps the initial position so as not to influence the light ray outgoing and incidence of the vehicle-mounted marking measuring instrument.
(4) And (5) operating the vertical pose remote detector. And measuring 1 elevation sequence CH in the measuring direction of the vehicle-mounted marking line measuring instrument. And calculating an elevation difference p0 between the front position and the rear position in the elevation sequence CH and an elevation difference q0 between the left position and the right position to obtain a longitudinal inclination initial value a0 of the vehicle-mounted marking line measuring instrument, and a transverse inclination initial value b0 of the vehicle-mounted marking line measuring instrument, wherein w is the horizontal distance between two measuring points in the vertical pose telemetry. The sum of the elevation differences (p0+ q0) is divided by 4 to obtain the theoretical vertical height initial value LCH 0.
(5) The multi-dimensional pose monitor automatically works when the vertical pose remote detector detects that the vertical pose changes. If the vertical pose is not changed, the multi-dimensional pose monitor needs to be started manually.
(6) The multi-dimensional pose monitor works. The measuring distance and the measuring range of the corresponding vehicle-mounted marking measuring instrument are input into the high-speed calculating module, the high-speed calculating module controls laser of the multi-dimensional pose monitor to be projected on the front ground to form a rectangle with the measuring distance of the vehicle-mounted marking measuring instrument as a central line and the measuring range as side length, the number of laser points can be 2 multiplied by 2, and a road surface elevation matrix FH at a front position is obtained. And calculating elevation data longitudinally distributed in the road surface elevation matrix FH to obtain an elevation difference Z0, and obtaining a longitudinal initial inclination angle β s10 ═ arctan (k/Z0), wherein k is the horizontal distance between different measuring points used for calculating the elevation difference Z0. And calculating the elevation data transversely distributed in the road surface elevation matrix FH to obtain an elevation difference H, and obtaining a transverse initial inclination angle beta s20 which is arctan (j/H0), wherein j is the horizontal distance between different measuring points used for calculating the elevation difference H0.
(7) The longitudinal initial inclination angle difference d beta 10 ═ beta s10-a0 and the transverse initial inclination angle difference d beta 20 ═ beta s20-b0 are calculated.
(8) And starting the vehicle-mounted marking line measuring instrument to perform dynamic measurement, judging that the vehicle-mounted marking line measuring instrument is in a dynamic measurement state according to a built-in acceleration sensor dynamic sequence, and automatically entering a working state.
(9) And (5) operating the vertical pose remote detector. And measuring 1 elevation sequence CHi in the measuring direction of the vehicle-mounted marking line measuring instrument. And calculating the elevation difference pi between the front position and the rear position in the elevation sequence CHi and the elevation difference qi between the left position and the right position to obtain a longitudinal inclination angle dynamic value ai of the vehicle-mounted reticle measuring instrument, which is arctan (pi/w), and a transverse inclination angle dynamic value bi of the vehicle-mounted reticle measuring instrument, which is arctan (qi/w). The sum of the elevation differences (pi + qi) is divided by 4 to obtain the vertical height dynamic value LCHi.
(10) The multi-dimensional pose monitor also automatically works when the vertical pose remote detector detects that the vertical pose changes. The multi-dimensional pose monitor operates to measure a road surface real-time elevation matrix FHi. And calculating elevation data longitudinally distributed in the road surface elevation matrix FHi to obtain a real-time elevation difference Zi, and obtaining a longitudinal real-time inclination angle beta s1i which is arctan (k/Zi). And calculating the elevation data transversely distributed in the road surface elevation matrix FHi to obtain an elevation difference Hi, and obtaining a transverse real-time inclination angle beta s2i which is arctan (j/Hi).
(11) If the vertical pose is not changed, the high-speed calculation module judges that the data of the acceleration sensor is wrong, the vehicle-mounted marking measuring instrument is not started at the moment, the multi-dimensional pose monitor is not started, the device waits for the vehicle-mounted marking measuring instrument to be started, and whether the vertical pose is changed or not is measured by the acceleration sensor dynamic sequence and the vertical pose remote detector at the moment so as to judge whether the vehicle-mounted marking measuring instrument is started or not.
(12) And calculating to obtain a longitudinal real-time inclination angle difference d beta 1i ═ beta s1i-ai and a transverse real-time inclination angle difference d beta 2i ═ beta s2 i-bi.
(13) And calculating to obtain a longitudinal real-time tilt correction value x1 ═ d beta 1i-d beta 10, and a transverse real-time tilt correction value x2 ═ d beta 2i-d beta 20.
(14) The high-speed calculation module processes x1 and x2 data, controls an observation angle adjusting galvanometer in the high-speed dual-angle adjuster to generate angle deviations x1 and x2 in the longitudinal direction and the transverse direction, controls an incidence angle adjusting galvanometer to generate angle deviations x1 and x2 in the longitudinal direction and the transverse direction, and adjusts the angle (incidence angle) of a light beam emitted from the vehicle-mounted reticle measuring instrument and the angle (observation angle) of a light beam entering the vehicle-mounted reticle measuring instrument, so that the included angle formed by the emitted light beam and a measuring area plane is 1.24 degrees, and the included angle formed by the emitted light beam and the light beam entering the vehicle-mounted reticle measuring instrument is 1.05 degrees.
(15) And (5) if the vehicle-mounted marking measuring instrument continues to measure, repeating the steps (8) to (12).
(16) And if the vehicle-mounted marking measuring instrument stops measuring, the device stops working.
The device can be used for vehicle-mounted marking line measuring instruments such as roadvista LaserLux G7.
(1) The device is mounted on a vehicle-mounted marking measuring instrument.
(2) And starting the vehicle-mounted marking measuring instrument, initializing according to the requirements of a manufacturer of the vehicle-mounted marking measuring instrument, adjusting the observation angle and the incidence angle of the vehicle-mounted marking measuring instrument, and performing self-calibration.
(3) And the starting device is used for initializing, so that the data of the multi-dimensional pose monitor and the vertical pose remote sensor are cleared, and the high-speed dual-angle regulator keeps the initial position so as not to influence the light ray outgoing and incidence of the vehicle-mounted marking measuring instrument.
(4) And (5) operating the vertical pose remote detector. And measuring 1 elevation sequence CH in the measuring direction of the vehicle-mounted marking line measuring instrument. And calculating an elevation difference p0 between the front position and the rear position in the elevation sequence CH and an elevation difference q0 between the left position and the right position to obtain a longitudinal inclination initial value a0 of the vehicle-mounted marking line measuring instrument, and a transverse inclination initial value b0 of the vehicle-mounted marking line measuring instrument, wherein w is the horizontal distance between two measuring points in the vertical pose telemetry. The sum of the elevation differences (p0+ q0) is divided by 4 to obtain the theoretical vertical height initial value LCH 0.
(5) The multi-dimensional pose monitor automatically works when the vertical pose remote detector detects that the vertical pose changes. If the vertical pose is not changed, the multi-dimensional pose monitor needs to be started manually.
(6) The multi-dimensional pose monitor works. The measuring distance and the measuring range of the corresponding vehicle-mounted marking measuring instrument are input into the high-speed calculating module, the high-speed calculating module controls laser of the multi-dimensional pose monitor to be projected on the front ground to form a rectangle with the measuring distance of the vehicle-mounted marking measuring instrument as a central line and the measuring range as side length, the number of laser points can be 2 multiplied by 2, and a road surface elevation matrix FH at a front position is obtained. And calculating elevation data longitudinally distributed in the road surface elevation matrix FH to obtain an elevation difference Z0, and obtaining a longitudinal initial inclination angle β s10 ═ arctan (k/Z0), wherein k is the horizontal distance between different measuring points used for calculating the elevation difference Z0. And calculating the elevation data transversely distributed in the road surface elevation matrix FH to obtain an elevation difference H, and obtaining a transverse initial inclination angle beta s20 which is arctan (j/H0), wherein j is the horizontal distance between different measuring points used for calculating the elevation difference H0.
(7) The longitudinal initial inclination angle difference d beta 10 ═ beta s10-a0 and the transverse initial inclination angle difference d beta 20 ═ beta s20-b0 are calculated.
(8) And starting the vehicle-mounted marking line measuring instrument to perform dynamic measurement, judging that the vehicle-mounted marking line measuring instrument is in a dynamic measurement state according to a built-in acceleration sensor dynamic sequence, and automatically entering a working state.
(9) And (5) operating the vertical pose remote detector. And measuring 1 elevation sequence CHi in the measuring direction of the vehicle-mounted marking line measuring instrument. And calculating the elevation difference pi between the front position and the rear position in the elevation sequence CHi and the elevation difference qi between the left position and the right position to obtain a longitudinal inclination angle dynamic value ai of the vehicle-mounted reticle measuring instrument, which is arctan (pi/w), and a transverse inclination angle dynamic value bi of the vehicle-mounted reticle measuring instrument, which is arctan (qi/w). The sum of the elevation differences (pi + qi) is divided by 4 to obtain the vertical height dynamic value LCHi.
(10) The multi-dimensional pose monitor also automatically works when the vertical pose remote detector detects that the vertical pose changes. The multi-dimensional pose monitor operates to measure a road surface real-time elevation matrix FHi. And calculating elevation data longitudinally distributed in the road surface elevation matrix FHi to obtain a real-time elevation difference Zi, and obtaining a longitudinal real-time inclination angle beta s1i which is arctan (k/Zi). And calculating the elevation data transversely distributed in the road surface elevation matrix FHi to obtain an elevation difference Hi, and obtaining a transverse real-time inclination angle beta s2i which is arctan (j/Hi).
(11) If the vertical pose is not changed, the high-speed calculation module judges that the data of the acceleration sensor is wrong, the vehicle-mounted marking measuring instrument is not started at the moment, the multi-dimensional pose monitor is not started, the device waits for the vehicle-mounted marking measuring instrument to be started, and whether the vertical pose is changed or not is measured by the acceleration sensor dynamic sequence and the vertical pose remote detector at the moment so as to judge whether the vehicle-mounted marking measuring instrument is started or not.
(12) And calculating to obtain a longitudinal real-time inclination angle difference d beta 1i ═ beta s1i-ai and a transverse real-time inclination angle difference d beta 2i ═ beta s2 i-bi.
(13) And calculating to obtain a longitudinal real-time tilt correction value x1 ═ d beta 1i-d beta 10, and a transverse real-time tilt correction value x2 ═ d beta 2i-d beta 20.
(14) The high-speed calculation module processes x1 and x2 data, controls an observation angle adjusting galvanometer in the high-speed dual-angle adjuster to generate angle deviations x1 and x2 in the longitudinal direction and the transverse direction, controls an incidence angle adjusting galvanometer to generate angle deviations x1 and x2 in the longitudinal direction and the transverse direction, and adjusts the angle (incidence angle) of a light beam emitted from the vehicle-mounted reticle measuring instrument and the angle (observation angle) of a light beam entering the vehicle-mounted reticle measuring instrument, so that the included angle formed by the emitted light beam and a measuring area plane is 1.24 degrees, and the included angle formed by the emitted light beam and the light beam entering the vehicle-mounted reticle measuring instrument is 1.05 degrees.
(15) And (5) if the vehicle-mounted marking measuring instrument continues to measure, repeating the steps (8) to (12).
(16) And if the vehicle-mounted marking measuring instrument stops measuring, the device stops working.
This patent has realized that on-vehicle marking measuring apparatu developments measurement in-process incident angle keeps 88.76, and observation angle keeps at 1.05. Namely, the included angle between the light beam emitted by the vehicle-mounted marking line measuring instrument and the ground horizontal plane of the measured area is 88.76 degrees.
This patent has splendid suitability, belongs to outer hanging equipment, and angle accommodation process does not influence the work of on-vehicle marking measuring apparatu itself.
The multi-dimensional pose monitor and the vertical pose remote detector are utilized to monitor the change of the incident angle in the dynamic measurement process of the vehicle-mounted marking line measuring instrument, and the high-speed double-angle regulator is used for carrying out quick angle adjustment.
The angular adjustment speed of this patent can satisfy the measurement needs. Because the adjusting frequency of the observation angle adjusting vibrating mirror and the incidence angle adjusting vibrating mirror in the high-speed double-angle adjuster is not lower than 40 kilohertz, the angle adjustment can be completed within 1/40000 seconds after the deviation of the incidence angle of the vehicle-mounted marking measuring instrument is measured by the device every time, the calculation is performed at the fastest working speed of 100 kilometers per hour of the vehicle-mounted marking measuring instrument, namely the angle adjustment can be completed within 0.7 millimeter of the vehicle-mounted marking measuring instrument. If the measurement and response speeds of the multi-dimensional pose monitor and the vertical pose remote detector are poor, the time required for measuring and adjusting the angle of each group of poses is 20 milliseconds, and the angle adjustment can be completed within 0.56 meter of movement of the vehicle-mounted marking line measuring instrument. The minimum length of the common marking in China is 3 meters, and the vehicle-mounted marking measuring instrument only moves 1/6 parts of the shortest marking during angle adjustment, so that the calculation of the final measuring result is not influenced.
In the patent, several components are in linkage relationship. An acceleration sensor arranged in the high-speed calculation module senses the states of the self motion speed, the self motion direction and the like, and when the data of the acceleration sensor is a dynamic sequence, the vertical pose remote detector and the multi-dimensional pose monitor are automatically started. The multi-dimensional pose monitor can automatically work when the vertical pose remote detector detects that the vertical pose changes. If the vertical pose is not changed, the multi-dimensional pose monitor needs to be manually started, namely the high-speed calculation module judges that the data of the acceleration sensor is wrong, and the vehicle-mounted marking measuring instrument is not started at the moment. The effectiveness and reliability of the measurement of the device are ensured by 2 feedback loops.
Claims (4)
1. Angle adjusting device of on-vehicle marking measuring apparatu, its characterized in that includes: multi-dimensional pose monitor, loading shell, vertical pose remote detector and high-speed dual-angle regulator
The loading shell enables the device to be hung on an existing vehicle-mounted marking measuring instrument; a multi-dimensional pose monitor, a vertical pose remote detector and a high-speed dual-angle regulator are arranged in the loading shell; the multi-dimensional pose remote detector is a multi-dimensional laser ranging matrix;
the high-speed double-angle regulator is a vibrating mirror system, the regulating speed is not lower than 40 kilohertz, the high-speed double-angle regulator consists of 2 vibrating mirrors, the upper vibrating mirror is an observation angle regulating vibrating mirror, the lower vibrating mirror is an incidence angle regulating vibrating mirror, the angle of a light beam emitted from the vehicle-mounted reticle measuring instrument, namely the incidence angle, and the angle of the light beam entering the vehicle-mounted reticle measuring instrument, namely the observation angle are regulated at the frequency of not lower than 40 kilohertz, and the angle positioning precision is better than 0.01 degrees;
the observation angle adjusting galvanometer light outlet is arranged at the lower end of the observation angle adjusting galvanometer observation lens, and the incident angle adjusting galvanometer light inlet is arranged at the lower end of the incident angle adjusting galvanometer observation lens; the observation angle adjusting galvanometer first lens and the observation angle adjusting galvanometer second lens are arranged on the right side of the observation angle adjusting galvanometer observation lens, and the incident angle adjusting galvanometer first lens and the incident angle adjusting galvanometer second lens are arranged on the right side of the incident angle adjusting galvanometer observation lens;
the initial positions of the first lens of the observation angle adjusting galvanometer and the second lens of the observation angle adjusting galvanometer are in parallel relation, and the initial positions of the first lens of the incidence angle adjusting galvanometer and the second lens of the incidence angle adjusting galvanometer are in parallel relation; when the light source is at the initial position, the directions of the illumination light beam and the external incident light beam are not changed; the first observation angle adjusting galvanometer lens is arranged on the upper left side of the second observation angle adjusting galvanometer lens, and the first incident angle adjusting galvanometer lens is arranged on the upper left side of the second incident angle adjusting galvanometer lens.
2. A method for applying the apparatus of claim 1, wherein:
when angle adjustment is carried out, 2 times of the included angle between the first lens of the observation angle adjusting galvanometer and the second lens of the observation angle adjusting galvanometer is an external incident beam angle adjusting value pg, and 2 times of the included angle between the first lens of the incidence angle adjusting galvanometer and the second lens of the incidence angle adjusting galvanometer is an illuminating beam angle adjusting value pr; the illumination beam angle adjustment value pr is an incident angle adjustment value, and the observation angle adjustment value is obtained by subtracting the external incident beam angle adjustment value pg from the illumination beam angle adjustment value pr.
3. A method for applying the apparatus of claim 1, wherein:
an illumination beam penetrates through a receiving lens from an illumination lens of the vehicle-mounted graticule measuring instrument to be connected with a diaphragm, an observation angle adjusting galvanometer second motor is controlled to deflect an observation angle adjusting galvanometer second lens, the illumination beam is incident on the observation angle adjusting galvanometer second lens, an observation angle adjusting galvanometer first motor is controlled to deflect an observation angle adjusting galvanometer first lens, and the illumination beam reflected from the observation angle adjusting galvanometer second lens can be incident on the observation angle adjusting galvanometer first lens and penetrates through an observation angle adjusting galvanometer light outlet on an observation lens in a reflecting mode; the external incident beam is used for adjusting the incident angle of the vibrating mirror observation lens through the incident angle, adjusting the light inlet hole of the vibrating mirror, controlling the first motor of the vibrating mirror to enable the beam to be incident on the first lens of the vibrating mirror and then reflected to the second lens of the vibrating mirror, and controlling the second motor of the vibrating mirror to enable the second lens of the vibrating mirror to reflect the beam to the lighting lens to connect the diaphragm.
4. A method for applying the apparatus of claim 1, wherein:
(1) mounting the device on a vehicle-mounted marking measuring instrument;
(2) starting the vehicle-mounted marking measuring instrument, initializing according to the requirements of a manufacturer of the vehicle-mounted marking measuring instrument, initializing an observation angle, an incidence angle, a transverse swinging angle, a road surface measuring threshold value, a measuring coefficient value of the performance of the road traffic marking, the measuring type and the number of the road traffic markings and positioning information; adjusting an observation angle and an incidence angle of the vehicle-mounted marking measuring instrument to perform self-calibration;
(3) the starting device is used for initializing, so that the data of the multi-dimensional pose monitor and the vertical pose remote sensor are cleared, and the high-speed dual-angle regulator keeps the initial position so as not to influence the light ray emergence and incidence of the vehicle-mounted marking measuring instrument;
(4) working of a vertical pose remote detector; measuring 1 elevation sequence CH in the measuring direction of the vehicle-mounted marking measuring instrument; calculating an elevation difference p0 between the front position and the rear position in the elevation sequence CH and an elevation difference q0 between the left position and the right position to obtain a longitudinal inclination initial value a0 of the vehicle-mounted marking line measuring instrument which is arctan (p0/w), and a transverse inclination initial value b0 of the vehicle-mounted marking line measuring instrument which is arctan (q0/w), wherein w is the horizontal distance between two measuring points in the vertical pose remote sensor; dividing the sum of the elevation differences (p0+ q0) by 4 to obtain a theoretical vertical height initial value LCH 0;
(5) the multi-dimensional pose monitor automatically works when the vertical pose remote detector detects that the vertical pose changes; if the vertical pose is not changed, the multi-dimensional pose monitor needs to be started manually;
(6) the multi-dimensional pose monitor works; inputting the measuring distance and the measuring range of a corresponding vehicle-mounted marking measuring instrument into a high-speed calculating module, controlling laser of a multi-dimensional pose monitor to be projected on the front ground by the high-speed calculating module to form a rectangle with the measuring distance of the vehicle-mounted marking measuring instrument as a central line and the measuring range as side length, wherein the number of laser points can be 2 multiplied by 2, and obtaining a road surface elevation matrix FH at a front position; calculating elevation data longitudinally distributed in a road surface elevation matrix FH to obtain an elevation difference Z0, and obtaining a longitudinal initial inclination angle β s10 ═ arctan (k/Z0), wherein k is a horizontal distance between different measuring points used for calculating the elevation difference Z0; calculating the elevation data transversely distributed in the road surface elevation matrix FH to obtain an elevation difference H, and obtaining a transverse initial inclination angle beta s20 which is arctan (j/H0), wherein j is the horizontal distance between different measuring points used for calculating the elevation difference H0;
(7) calculating to obtain a longitudinal initial inclination angle difference d beta 10 ═ beta s10-a0, and a transverse initial inclination angle difference d beta 20 ═ beta s20-b 0;
(8) starting the vehicle-mounted marking line measuring instrument to perform dynamic measurement, judging that the vehicle-mounted marking line measuring instrument is in a dynamic measurement state according to a built-in acceleration sensor dynamic sequence by the device, and automatically entering a working state;
(9) working of a vertical pose remote detector; measuring 1 elevation sequence CHi in the measuring direction of the vehicle-mounted marking measuring instrument; calculating the elevation difference pi between the front position and the rear position in the elevation sequence CHi and the elevation difference qi between the left position and the right position to obtain a longitudinal inclination angle dynamic value ai of the vehicle-mounted reticle measuring instrument, which is arctan (pi/w), and a transverse inclination angle dynamic value bi of the vehicle-mounted reticle measuring instrument, which is arctan (qi/w); dividing the sum of the elevation differences (pi + qi) by 4 to obtain a vertical height dynamic value LCHi;
(10) the multi-dimensional pose monitor automatically works when the vertical pose remote detector detects that the vertical pose changes; the multi-dimensional pose monitor works to measure a road surface real-time elevation matrix FHi; calculating elevation data longitudinally distributed in the road surface elevation matrix FHi to obtain a real-time elevation difference Zi, and obtaining a longitudinal real-time inclination angle beta s1i which is arctan (k/Zi); calculating the elevation data transversely distributed in the road surface elevation matrix FHi to obtain an elevation difference Hi, and obtaining a transverse real-time inclination angle beta s2i which is arctan (j/Hi);
(11) if the vertical pose is not changed, the high-speed calculation module judges that the data of the acceleration sensor is wrong, the vehicle-mounted marking measuring instrument is not started at the moment, the multi-dimensional pose monitor is not started, the device waits for the vehicle-mounted marking measuring instrument to be started, and whether the vertical pose is changed or not is measured by the acceleration sensor dynamic sequence and the vertical pose remote detector at the moment so as to judge whether the vehicle-mounted marking measuring instrument is started or not;
(12) calculating to obtain a longitudinal real-time inclination angle difference d beta 1i ═ beta s1i-ai and a transverse real-time inclination angle difference d beta 2i ═ beta s2 i-bi;
(13) calculating to obtain a longitudinal real-time inclination correction value x1 ═ d β 1i-d β 10, and a transverse real-time inclination correction value x2 ═ d β 2i-d β 20;
(14) the high-speed calculation module processes data x1 and x2, controls an observation angle adjusting galvanometer in the high-speed double-angle adjuster to generate angle deviations x1 and x2 in the longitudinal direction and the transverse direction, controls an incident angle adjusting galvanometer to generate angle deviations x1 and x2 in the longitudinal direction and the transverse direction, and adjusts the angle of a light beam emitted from the vehicle-mounted reticle measuring instrument, namely the incident angle, and the angle of a light beam entering the vehicle-mounted reticle measuring instrument, namely the observation angle, so that the included angle formed by the emitted light beam and a measuring area plane is 1.24 degrees, and the included angle between the emitted light beam and the light beam entering the vehicle-mounted reticle measuring instrument is 1.05 degrees;
(15) if the vehicle-mounted marking measuring instrument continues to measure, repeating the steps (8) to (12);
(16) and if the vehicle-mounted marking measuring instrument stops measuring, stopping working.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110038859.1A CN112880972A (en) | 2021-01-12 | 2021-01-12 | Angle adjusting method and device of vehicle-mounted marking measuring instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110038859.1A CN112880972A (en) | 2021-01-12 | 2021-01-12 | Angle adjusting method and device of vehicle-mounted marking measuring instrument |
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| CN112880972A true CN112880972A (en) | 2021-06-01 |
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| CN202110038859.1A Pending CN112880972A (en) | 2021-01-12 | 2021-01-12 | Angle adjusting method and device of vehicle-mounted marking measuring instrument |
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| Country | Link |
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| CN (1) | CN112880972A (en) |
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