CN114241177A - Airport pavement apparent image detection system based on linear array scanning imaging - Google Patents
Airport pavement apparent image detection system based on linear array scanning imaging Download PDFInfo
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Abstract
The invention provides an airport pavement apparent image detection system based on a linear array camera, which comprises: the imaging control device, the visual imaging device, the industrial personal computer and the positioning device are fixed on the motion chassis; the moving chassis drives on the airport pavement according to a preset driving path; the imaging control device is fixed at the front wheel of the motion chassis and used for recording the rotation angle of the front wheel, and the visual imaging device is used for carrying out linear array scanning imaging on the airport pavement based on the received trigger signal to obtain corresponding airport pavement apparent image information and sending the airport pavement apparent image information to the industrial personal computer; the positioning device is used for acquiring the position information of the motion chassis and sending the position information to the industrial personal computer; and the industrial personal computer is used for detecting the abnormal target of the received road surface apparent image, determining the area and the position of the abnormal target based on the position information acquired by the positioning device and generating a corresponding detection result when the abnormal target is detected. The invention can reduce the workload of workers and has the advantages of high precision, high efficiency, good timeliness and the like.
Description
Technical Field
The application relates to the field of airport pavement apparent image detection, in particular to an airport pavement image detection system based on a linear array camera.
Background
The airport pavement is an important facility of the airport, the abnormal information contained in the apparent image of the airport pavement comprises the integrity degree of a marking line, surface cracks, surface diseases, surface foreign matters and the like, and the airport needs to pay attention to the dynamic change of the information all the time so as to eliminate potential safety hazards and ensure the safe operation of the airport.
At present, apparent image information of a road surface is obtained by adopting a manual visual inspection mode in airport road surface detection, wherein one inspector drives a vehicle, the other worker observes the apparent condition of the road surface, and if the abnormal condition occurs, the vehicle is stopped for observation and the information is recorded in a manual mode.
Along with the high-speed increase of navigation traffic volume and the application of novel intelligent airports, inspection robots are introduced into some airports, the operation mode of the inspection robots is that an area array camera is carried on a motion platform, road surface apparent image information is collected and stored in an onboard hard disk, inspection data are copied manually after the inspection task is finished, the inspection data are analyzed based on an identification algorithm, but the exposure time of the area array camera is long due to the limitation of an imaging principle, smear is easily generated under the condition of high-speed motion, the accuracy of an analysis result is influenced, the inspection speed is greatly limited, and if a high-power light source is used, the high cost and high heat yield bring new problems. Meanwhile, the offline data processing mode reduces the real-time performance of information acquisition, abnormal first-time troubleshooting cannot be performed, and certain potential safety hazards exist. In addition, in order to enlarge the field of view, when the area-array camera is installed, an imaging plane of the area-array camera is required to be inclined to a ground plane, so that tangential distortion is generated on a collected picture, and difficulty is brought to image splicing.
Disclosure of Invention
To the above technical problem, the technical scheme adopted by the application is as follows:
the embodiment of the application provides an airport pavement apparent image detecting system based on linear array camera, includes: the device comprises a motion chassis, and an imaging control device, a visual imaging device, an industrial personal computer and a positioning device which are fixed on the motion chassis; the industrial personal computer is respectively in communication connection with the imaging control device, the visual imaging device and the positioning device; the moving chassis is used for driving on an airport pavement to be detected according to a preset driving path based on an instruction of the industrial personal computer; the imaging control device is fixed at a front wheel axle of the moving chassis and used for recording the rotation angle of a front wheel, generating a corresponding trigger signal based on each recorded rotation angle and sending the trigger signal to the visual imaging device; the visual imaging device comprises a linear array camera, a linear array scanning imaging device and an industrial personal computer, wherein the linear array camera is used for carrying out linear array scanning imaging on the airport pavement to be detected based on the received trigger signal to obtain a corresponding pavement apparent image and sending the corresponding pavement apparent image to the industrial personal computer; the positioning device is used for acquiring the position information of the motion chassis and sending the position information to the industrial personal computer; and the industrial personal computer is used for detecting the abnormal target of the received road surface apparent image, and when the abnormal target is detected, determining the area and the position of the abnormal target based on the position information acquired by the positioning device and generating a corresponding detection result.
The airport pavement apparent image detection system based on the linear array camera, provided by the application, carries the visual imaging device, the industrial personal computer and the like on the motion chassis, so that images acquired by the visual imaging device can be processed in time, the information acquisition real-time performance is high, and abnormal targets existing on a pavement can be checked at the first time. In addition, the visual imaging device adopts the linear array camera to acquire images, so that the accuracy of the acquired images is high, and the images are easy to splice.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a single mounting bracket of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application;
fig. 3 is a top view of a visual imaging device of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application;
fig. 4 is a front view of a visual imaging device of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a photoelectric rotary encoder of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application;
fig. 6 is a schematic routing inspection route diagram of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic structural diagram of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application; fig. 2 is a schematic structural diagram of a single mounting bracket of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application; fig. 3 is a top view of a visual imaging device of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application; fig. 4 is a front view of a visual imaging device of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application; fig. 5 is a schematic structural diagram of a photoelectric rotary encoder of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application; fig. 6 is a schematic routing inspection route diagram of an airport pavement appearance image detection system based on a line camera according to an embodiment of the present application.
As shown in fig. 1 and fig. 2, an embodiment of the present application provides an airport pavement apparent image detection system based on line scan imaging, which includes a motion chassis 1, a visual imaging device 2, a positioning device 3, an imaging control device 5, and an industrial personal computer 6. The vision imaging device 2, the positioning device 3, the imaging control device 5 and the industrial personal computer 6 are all fixed on the motion chassis 1 and move along with the motion of the motion chassis. The industrial personal computer 6 is respectively in communication connection with the visual imaging device 2, the positioning device 3 and the imaging control device 5.
In the embodiment of the present application, the industrial personal computer 6 may include a motion control module, a data acquisition module, and a data processing module. The motion control module is in communication connection with the motion chassis and used for controlling the motion of the motion chassis 1, and the data acquisition module is in communication connection with the visual imaging device 2, the positioning device 3 and the data processing module.
In the embodiment of the present application, the motion chassis 1 may be a square structure, and includes 4 wheels 4, and is used for driving on the airfield pavement to be detected according to a preset driving path under the control of the motion control module of the industrial personal computer. Before the inspection work is started, a user inputs a landmark GPS point position in the inspection process and draws a track, the remote controller is used for controlling the motion chassis 1 to move to the starting point of the inspection task, and the motion control module controls the motion chassis to move from the starting point according to the track and to the end point of the inspection task. Taking an airport runway as an example, the preset routing inspection route can be shown in fig. 6. In addition, in order to ensure the operation safety, the millimeter wave radar and the ultrasonic radar can be installed on the moving chassis 1 for avoiding obstacles, and the principle of stopping when encountering dynamic obstacles and bypassing when encountering static obstacles is followed in the routing inspection process.
Further, as shown in fig. 1 and 5, in the embodiment of the present application, the imaging control device 5 is fixed at a front wheel axle 11 of the moving chassis 1, and is configured to record a rotation angle of a front wheel, generate a corresponding trigger signal based on each recorded rotation angle, and send the trigger signal to the visual imaging device 2. The imaging control device 5 generates trigger signals for N times every time the wheel rotates for one circle, and the trigger signals are pulse signals. Specifically, in the embodiment of the present application, the imaging control device 5 may be a photoelectric rotary encoder, as shown in fig. 5, the photoelectric rotary encoder is connected to a front wheel axle 11 of the motion chassis through a coupler, rotates synchronously with the front wheel, encodes a wheel rotation angle, generates an imaging control pulse signal of N times/rotation, and sends the imaging control pulse signal as a trigger signal to the visual imaging device to control the visual imaging device to scan an image. The number N of output pulses per revolution of the photoelectric rotary encoder is related to the perimeter Cs of the wheels of the moving chassis and the precision r of the visual imaging module, and the number N of the pulses should be larger than Cs/r. In an exemplary embodiment, the number of output pulses N per revolution of the photoelectric rotary encoder may be set to 3000, the circumference Cs of the wheel of the moving chassis may be set to 600mm, and the accuracy r of the visual imaging device may be set to 0.5 mm. Further, as shown in fig. 5, a protective cover 12 may be provided on the photoelectric rotary encoder to protect the photoelectric rotary encoder.
In the embodiment of the application, the visual imaging device 2 includes a linear array camera, and is configured to perform linear array scanning imaging on the airfield pavement to be detected based on the received trigger signal, obtain a corresponding pavement appearance image, and send the corresponding pavement appearance image to the industrial personal computer 6, and specifically send the corresponding pavement appearance image to the data acquisition module of the industrial personal computer 6.
Further, in the embodiment of the present application, as shown in fig. 1, 2, 3 and 4, the visual imaging apparatus 2 may include: the system comprises a first linear array scanning imaging group 2-1 and a second linear array scanning imaging group 2-2, wherein each linear array scanning imaging group comprises 1 linear array camera and 1 linear light source, namely the first linear array scanning imaging group 2-1 comprises the first linear array camera and the first linear light source, and the second linear array scanning imaging group 2-2 comprises the second linear array camera and the second linear light source. The pulse signals generated by the imaging control device 5 can be converted into two paths of pulse signals through the deconcentrator, and meanwhile, the 2 linear array scanning imaging groups are controlled to carry out image scanning.
As shown in fig. 1, each linear array scanning imaging group can be fixed above the moving chassis through the mounting bracket 7, so as to prevent the moving chassis from blocking the view of the linear array camera. As shown in fig. 2, the mounting bracket 7 may include a fixing bracket 701, a connecting bracket 702, and a mounting bracket 703, and the fixing bracket 701 may be fixed to the moving chassis 1 by, for example, bolts. The connection frame 702 and the fixing frame 701 are vertically connected and may be connected by a reinforcing bar 704 to improve the connection strength therebetween. The mounting rack 703 is disposed above the connecting rack 702 for fixing the scanning imaging group. In order to reduce the shake of the visual imaging device 2 in the motion process of the motion chassis 1 and avoid the imaging effect from being influenced, a rubber pad is padded between the visual imaging device 2 and the mounting bracket 7.
Further, in the embodiment of the present application, a narrowband filter with a wavelength of a1 is installed at the front end of each line camera, the optical axis of the narrowband filter is vertically downward, and the imaging plane of the narrowband filter is perpendicular to the extension line of the driving direction of the motion chassis 1, so as to perform two-dimensional imaging scanning on the surface of the road surface. Each line light source can be a laser sheet light, the wavelength can be in the range of 800-920nm, and the irradiation plane of the line light source is coplanar with the plane of the line camera to provide illumination for the line camera.
Further, in the embodiment of the present application, as shown in fig. 4, the imaging fields of view of the first linear array scanning imaging group 2-1 and the second linear array scanning imaging group 2-2 have a preset overlapping area 10, that is, an overlapping length. The imaging planes of the 2 linear array cameras are coplanar, the wavelength a1-1 of the first linear light source is different from the wavelength a1-2 of the second linear light source, namely a1-1 is not equal to a1-2, so that mutual interference is reduced during working, the irradiation overlapping area of the 2 linear light sources, namely the preset overlapping area, does not exceed b, and the value range of b is 400-800mm, so that the field splicing of the 2 linear array scanning imaging groups is realized in the scanning area of the track surface. Further, a 1-1-808 nm and a 1-2-915 nm are provided to ensure safety.
Further, in the embodiment of the present application, the width of the visual field of the visual imaging device 2 may be about 3-4m, in order to cover the apparent image of the whole road surface, a plurality of simultaneous cluster inspection or single reciprocating operation may be adopted, and at the same time, it is ensured that two adjacent paths cover an overlapping area of 20-30% of the visual field, so as to ensure the subsequent image stitching.
Further, the first linear array scanning imaging group 2-1 and the second linear array scanning imaging group 2-2 are erected at a height h from the airport pavement and at a distance d from the airport pavement. The setting of the erection height h can be determined by combining the factors of the depth of field (determining the imaging clarity), the acquisition efficiency and the overall stability of the motion chassis of the linear array camera, and the erection height determines the visual field range. In an exemplary embodiment, h has a value in the range of 1500-2000mm and a field of view in the range of 2000-2400 mm. The camera spacing d can be 1400-1600mm to ensure the overlapping rate of the viewing ranges of 20-30%.
Further, in the embodiment of the present application, after the visual imaging apparatus determines the installation height, a camera calibration needs to be performed, and a calibration process may be performed according to the prior art, and in an exemplary embodiment, the calibration process may be: the chessboard pattern images are placed at different positions of the road surface and inclined at different angles, 15-20 different chessboard pattern images are collected by a visual imaging device, an internal reference matrix A and an external reference matrix [ Rt ] are solved by using a Zhang friend camera calibration method, image distortion is corrected by using the internal reference matrix A, the conversion relation of a single point from an image pixel coordinate system to a world coordinate system is calculated by using the internal reference matrix A and the external reference matrix [ Rt ], and the size and the actual position coordinate of an apparent abnormal area of the road surface are calculated by reading the position information of the motion chassis output by a positioning device at a data processing module, so that the accurate positioning of the abnormal area is realized. Further, in this embodiment of the application, the positioning device 3 is configured to acquire position information of the motion chassis and send the position information to the data acquisition module of the industrial personal computer 6. In one exemplary embodiment, the hardware portion of the positioning device 3 may be a GPS receiver and IMU inertial navigation combination navigation form.
Further, the device also comprises a counter C, wherein the initial value of the counter C is 0; the counter is in communication connection with the imaging control device and the industrial personal computer, and when the imaging control device generates a trigger signal every time, C is C + 1; when C is equal to a preset number threshold N, the vision imaging device generates one image, and the counter restarts counting when C is 0; the imaging control device 5 is further configured to control the positioning device 3 to obtain current position information of the motion chassis when C is 1. The current position information acquired by the positioning device 3 is sent to the data processing module, and the position information is used as reference information of each image.
In the embodiment of the present application, a preset number of times threshold N of 4096 may be set, which is consistent with the resolution of the visual imaging apparatus, so that a square of 4096 × 4096 is imaged. In the detection process, the imaging control device 5 sends a trigger signal to the visual imaging device 2, each time the visual imaging device 2 receives the trigger signal, a line of images are collected, meanwhile, the imaging control device 5 obtains the number of times of the counter and judges whether the number of times reaches a preset number threshold N, if the number of times of the trigger signal reaches N, the visual imaging device is controlled to output one image, and meanwhile, the counter is triggered to be reset.
Further, in this embodiment of the application, the data acquisition module is configured to acquire data acquired by the visual imaging device 2 and the positioning device 3, store the data, and send the data to the data processing module, and may be connected to the visual imaging device through a gigabit network cable.
In the embodiment of the application, the image acquired by the visual imaging device is bitmap data, the bitmap data is packaged into a bmp format in the data acquisition module, and then the bitmap data is compressed into a jpg format in the data processing module. The file capacity of the bmp format images can be effectively reduced through jpg compression, and the images can be conveniently and quickly transmitted to a background server through a 5G network.
Further, in this embodiment of the application, the data processing module is configured to perform data acquisition on the road surface apparent image acquired by the visual imaging device, store the data, and receive the motion chassis position information sent by the positioning device. Setting the file name and the storage position of the image, and setting the attributes of the line camera, including exposure time, length and width of an output picture and the like. For example, the image name is set to "longitude _ latitude _ height. jpg", the exposure time is set to 50us, and the output frame has a length and width of 4096 × 4096. The data processing module decodes the received GPS data of the positioning device and calculates the position information of the motion chassis by combining with IMU inertial navigation data.
Further, the data processing module is used for detecting an abnormal target of the received road surface apparent image, and when the abnormal target is detected, the area and the position of the abnormal target are determined based on the position information acquired by the positioning device and a corresponding detection result is generated. The anomalous targets may include incomplete identification lines, surface cracks, surface blemishes.
Specifically, the data processing module is specifically configured to perform the following operations:
and S100, performing pixel-level classification and extraction on the abnormal target existing in each received road surface appearance image based on a semantic segmentation algorithm of deep learning to obtain shape information of the abnormal target.
S200, according to the shape information of the abnormal object, a pixel value area Ap of the abnormal object and pixel value coordinates (xp, yp) in the image are obtained by applying an area calculation function and a gravity center calculation function of OpenCV.
S300, acquiring the position information (xL, yL) of the motion chassis corresponding to the abnormal target based on the position information acquired by the positioning device, and calculating the actual area A of the abnormal target as lambda according to the pixel value coordinates (xp, yp) of the abnormal target in the image2Ap and the actual position (x, y) ═ λ (xp, yp) + (xL, yL) + (x Δ, y Δ), where λ is the conversion coefficient between each pixel in the image and the actual size, and (x Δ, y Δ) is the position offset relationship between the pixel reference origin and the motion chassis reference point in the image. In the embodiment of the present application, the acquisition precision of the visual imaging device 2 is 0.5mm, so that the actual size of each pixel point is 0.5mm, that is, λ is 0.5, and the actual area of each pixel point is 0.25mm2I.e. λ2＝0.25。
And S400, generating a corresponding detection result based on the calculated actual area and the actual position of the abnormal target. The detection result can be a file m.txt, and is stored in the same folder as the original image. The m.txt content of the detection result file comprises: the actual position (x, y), the area size and the abnormality type of the abnormality target are determined. The file name of the detection result can be set as: exception type determination + sequence number (start number 0000).
Further, the data processing module is further configured to perform the following operations:
s500, splicing each image acquired by each linear array camera through a RANSAC algorithm to generate a continuous road surface apparent image;
and S600, splicing the continuous road surface apparent images of the two spliced linear array cameras to obtain the road surface apparent image covered by the current path.
Further, in the embodiment of the present application, in order to avoid the accuracy degradation of the positioning device due to the weak GPS signal in some special environments (such as indoor environment), the photoelectric rotary encoder is used to correct the positioning data. When the positioning device receives weak GPS signals at the time t1, the position information of the motion chassis at the time t0 of a normal interval with the GPS signal intensity and pulse signals accumulated and output by the photoelectric rotary encoder in the time period t0-t1 are called, and the corrected position information of the motion chassis is calculated in the data processing module. To reduce the accumulated error, the times t0 and t1 should be as close as possible.
Further, in the embodiment of the application, the system further comprises a data sending device 8, wherein the data sending device 8 is arranged on the motion chassis, is in communication connection with the industrial personal computer 6, and is used for sending the image with the abnormal target, the corresponding detection result and the whole image of the current path, which are obtained by the industrial personal computer 6, to the background server. The data sending device 8 can be a router, a 5G flow card is inserted into a SIM card slot of the router, the detection result file is packaged and sent to the background server through the 5G local area network in real time, and the spliced apparent image of the whole road surface is transmitted to the background server after the routing inspection is finished.
Further, in the embodiment of the present application, a power supply device (not shown) is further included, and is used for supplying power to the imaging control device, the visual imaging device, and the industrial personal computer.
In summary, the system for detecting the airport pavement apparent image based on the linear array camera provided by the embodiment of the application uses the linear array module to perform large-breadth and high-resolution acquisition, is carried on a high-speed motion chassis, can complete high-definition acquisition of the whole pavement apparent image within ten minutes, and has high inspection efficiency and high acquisition precision; the line laser light source with high brightness and low energy consumption is used, the inspection work is not limited by night illumination, and all-weather inspection for 24 hours can be realized; the linear array module has low cost and high popularization degree. The front-end industrial personal computer runs the road surface apparent image recognition algorithm, so that missing detection can be avoided, the precision is improved, and the subjectivity of manual inspection is eliminated; the method can realize real-time algorithm processing, eliminate the apparent abnormal condition of the road surface at the first time and quickly position the road surface, and can effectively improve the safety management level of airport operation.
Although some specific embodiments of the present application have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for purposes of illustration and is not intended to limit the scope of the present application. It will also be appreciated by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present application. The scope of the present application is defined by the appended claims.
Claims (10)
1. An airport pavement appearance image detection system based on a line camera is characterized by comprising: the device comprises a motion chassis, and an imaging control device, a visual imaging device, an industrial personal computer and a positioning device which are fixed on the motion chassis; the industrial personal computer is respectively in communication connection with the imaging control device, the visual imaging device and the positioning device;
the moving chassis is used for driving on an airport pavement to be detected according to a preset driving path based on an instruction of the industrial personal computer;
the imaging control device is fixed at a front wheel axle of the moving chassis and used for recording the rotation angle of a front wheel, generating a corresponding trigger signal based on each recorded rotation angle and sending the trigger signal to the visual imaging device;
the visual imaging device comprises a linear array camera, a linear array scanning imaging device and an industrial personal computer, wherein the linear array camera is used for carrying out linear array scanning imaging on the airport pavement to be detected based on the received trigger signal to obtain a corresponding pavement apparent image and sending the corresponding pavement apparent image to the industrial personal computer;
the positioning device is used for acquiring the position information of the motion chassis and sending the position information to the industrial personal computer;
and the industrial personal computer is used for detecting the abnormal target of the received road surface apparent image, and when the abnormal target is detected, determining the area and the position of the abnormal target based on the position information acquired by the positioning device and generating a corresponding detection result.
2. The system of claim 1, further comprising a counter C, wherein C has an initial value of 0; the counter is in communication connection with the imaging control device and the industrial personal computer, and when the imaging control device generates a trigger signal every time, C is C + 1; when C is equal to a preset time threshold value N, the visual imaging device generates one image, and C is 0;
the imaging control device is further used for controlling the positioning device to acquire the current position information of the motion chassis when C is 1.
3. The system of claim 2,
the industrial personal computer is specifically used for executing the following operations:
performing pixel-level classification and extraction on abnormal targets existing in each received road surface appearance image based on a deep learning semantic segmentation algorithm to obtain shape information of the abnormal targets;
obtaining the pixel value area Ap of the abnormal target and the pixel value coordinates (xp, yp) in the image by applying an area calculation function and a gravity center calculation function of OpenCV according to the shape information of the abnormal target;
based on the position information acquired by the positioning device, acquiring the position information (xL, yL) of the motion chassis corresponding to the abnormal target, and calculating the actual area A of the abnormal target as lambda by combining the pixel value coordinates (xp, yp) of the abnormal target in the image2Ap and an actual position (x, y) ═ λ (xp, yp) + (xL, yL) + (x Δ, y Δ), wherein λ is a conversion coefficient between each pixel in the image and an actual size, and (x Δ, y Δ) is a position offset relationship between a pixel reference original point and a motion chassis reference point in the image;
and generating a corresponding detection result based on the calculated actual area and the actual position of the abnormal target.
4. The system of claim 3, wherein the visual imaging device comprises: the system comprises a first linear array scanning imaging group and a second linear array scanning imaging group, wherein each linear array scanning imaging group comprises 1 linear array camera and 1 linear light source; and the imaging view fields of the two linear array scanning imaging groups have an overlapping region.
5. The system of claim 4, wherein the industrial personal computer is further configured to:
splicing each image acquired by each linear array camera through an RANSAC algorithm to generate a continuous road surface apparent image; and
and splicing the continuous road surface apparent images of the two spliced linear array cameras to obtain the road surface apparent image covered by the current path.
6. The system of claim 4, wherein the length of the overlap region is 400-800 mm.
7. The system of claim 4, wherein the front end of the line camera is provided with a narrow-band filter, the optical axis of the line camera is vertically downward, and the imaging plane is perpendicular to the extension line of the running direction of the moving chassis.
8. The system of claim 4, wherein the wavelengths of the linear light sources of the first linear array scanning imaging group and the linear light sources of the second linear array scanning imaging group are different.
9. The system of claim 4 wherein the line cameras are spaced from the airport pavement by a height of 1500-2000mm and the distance between two line cameras is 1400-1600 mm.
10. The system of any one of claims 1 to 8, wherein the imaging control device is an electro-optical rotary encoder.
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| CN115209136A (en) * | 2022-09-13 | 2022-10-18 | 荣旗工业科技(苏州)股份有限公司 | Time-sharing exposure detection method, system and device for line scanning camera and storage medium |
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