CN204178554U - A kind of laser scanning model recognition system freely flowing charge - Google Patents
A kind of laser scanning model recognition system freely flowing charge Download PDFInfo
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- CN204178554U CN204178554U CN201420627481.4U CN201420627481U CN204178554U CN 204178554 U CN204178554 U CN 204178554U CN 201420627481 U CN201420627481 U CN 201420627481U CN 204178554 U CN204178554 U CN 204178554U
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Abstract
The utility model relates to a kind of laser scanning model recognition system freely flowing charge.System described in the utility model comprises laser scanning inspection device and connected vehicle type recognition device, wherein said laser scanning inspection device comprises Laser emission and receiver module one, Laser emission and receiver module two, connected laser scanning module one, laser scanning module two respectively, the data processing be connected with laser scanning module one, laser scanning module two and system control module, model data for performing vehicle classification algorithm, and is uploaded to lane system by described vehicle type recognition device.Adopt system described in the utility model, all vehicles by vehicle that can realize average speed less than 120 kilometers/hour free wagon flows identify automatically.
Description
Technical field
The utility model belongs to Intelligent traffic information acquiring Apparatus and method for technical field, is specifically related to a kind of laser scanning model recognition system freely flowing charge.
Background technology
Current China road traffic pressure is day by day serious, all there is serious jam in whole nation key cities, in this case in order to solve major urban arterial highway congestion-pricing problem, improve the intelligent traffic administration system level of IT application, high speed ETC (electronic charging system without parking) i.e. multilane without toll island freely flows the focus that (Multi-lane Free Flow, MLFF) Fare Collection System has become domestic and international research and development.Freely flow and decrease railing and toll island compared with low speed ETC, improve charge efficiency and vehicle pass-through speed, but need the systems such as multiple stage roadside unit (RSU), vehicle location, automatic vehicle classification, video capture and Car license recognition are installed on the portal frame of road major trunk roads.Wherein automatic vehicle classification technology can automatic acquisition vehicle information, and it mated with the vehicle cab recognition information on board units (OBU), according to matching result, performs and operate accordingly.By the method, the vehicle information that OBU can be avoided corresponding and the not corresponding situation of vehicle, avoid vehicle fee evasion.Relevant list of references is as " ETC multilane freely flows implementation " (Ye Hongyun, Zhang Jian, " Chinese transportation is information-based " [J], 09 phase in 2013) and " electronic fee collection on multilane free flow Discussion on Technology " (Gao Dongfeng, Wang Chunsheng, Tianlin County's rock, Ma Gang, " Chinese transportation is information-based " [J], 01 phase in 2011).
At present, the automatic recognition classification technology of vehicle mainly contains two classes, and a class has the earth induction recognition technology based on earth induction principle, and a class is the recognition technology of the video image based on video flowing.Relevant list of references is as " freely flowing toll collection technique research " (Qiu Liangliang, Guo Xiaochun, " Chinese transportation is information-based " [J], 08 phase in 2012), (Fan great Shuai " is detected and model recognition system " based on the vehicle circumference of multisensor, Zhang Jun, Wang Hanning, Jin Huiyu, 31 Chinese Control Conference collection of thesis D rolls up, and 2012).
Earth coil identification based on earth induction principle needs inductive coil to be embedded in the lane in which the drivers should pay fees, when vehicle passes through above toroidal inductor, the ferromagnetic material of chassis of vehicle body and toroid winding produce eddy effect, toroid winding inductance value is changed, the induced signal of this reflection vehicle characteristics is sorted out and just can realize vehicle classification.Its shortcoming is: the three-dimensional information of vehicle chassis shape is changed into the one-dimension information sensed by earth induction identification, increases the difficulty of signal analysis and identifies the difficulty of vehicle, and when vehicle has a strong impact on the accuracy rate of identification above coil during speed change.
Based on the vehicle cab recognition of the video image of video flowing, image acquisition is carried out to the vehicle entering vehicle detection district, first vehicles segmentation and extraction is carried out to target area, then choose the feature of vehicle, according to vehicle classification device, target vehicle is classified.Its shortcoming is: the segmentation of video flowing vehicle under the scene of environmental background complexity and extraction comparison difficulty, cause identify stability and accuracy poor.Simultaneously when higher by car speed, need data volume to be processed huge, difficulty and the system cost of process are higher.Pertinent literature is see Hussain, K.F. " Automatic vehicleclassification system using range sensor ", Information Technology:Coding and ComputingITCC 2005.International Conference on (Volume:2), 2005; And Stroffek, J. " Highway TollEnforcement ", Vehicular Technology Magazine, IEEE (Volume:5, Issue:4), Dec.2010.
The patent No. is CN201210202048.1, name is called that the Chinese patent application of " automatic Vehicle Recognition System and method based on high-speed pulse laser scanning " (day for announcing is on 07 09th, 2014) discloses a kind of automatic Vehicle Recognition System based on high-speed pulse laser scanning and method, this automatic Vehicle Recognition System comprises high frequency lasers range finder module, vehicle ' s contour drafting module and vehicle cab recognition module, and high frequency lasers range finder module and vehicle ' s contour drafting module are vertically installed in above track.Method disclosed in this invention is carried out real-time pulse laser ranging by high frequency lasers range finder module and sends distance value to vehicle ' s contour drafting module; Vehicle ' s contour drafting module real-time rendering distance parameter scintigram also sends it to vehicle cab recognition module; Vehicle cab recognition module is according to the vehicle ' s contour information realization vehicle cab recognition on distance parameter scintigram, thus effectively overcome defect of the prior art, provide a kind of setting and safeguard simple, with low cost, vehicle cab recognition rate is higher, the automatic Vehicle Recognition System had wide range of applications and method.But there is following problem in this technical scheme:
1, the program adopts single-point laser range finding, accurately cannot obtain the length data of vehicle, and Vehicle length needs to calculate according to the speed of a motor vehicle with by the time, and when the speed of a motor vehicle is very fast, measuring accuracy can reduce.
2, the program cannot detect the width data of vehicle.Namely the vehicle cab recognition disappearance vehicle width data of the program, may cause system to judge by accident in actual application.
The patent No. is CN201210384872.3, name is called that the Chinese patent application of " a kind of vehicle type recognition detection method based on laser instrument and system " (day for announcing is on 04 16th, 2014) discloses a kind of vehicle type recognition detection method based on laser instrument and system, comprise the following steps: S1, laser instrument is measured and is calculated the maximum height value of vehicle; S2, the limit for height height value set in the maximum height value of described vehicle and described laser instrument contrasts by described laser instrument; S3, described laser instrument is measured and is calculated the extreme length value of described vehicle and the car frame rate of change of described vehicle, and the extreme length value of described vehicle and the car frame rate of change of described vehicle and radial pattern normal data are compared respectively, and comparison result is sent to described main control system; S4, described main control system judges whether according to the comparison result of described vehicle the image storing the described vehicle that described collecting device gathers.But there is following problem in this technical scheme:
1, vehicle high-speed (120km/s) by time cannot the width of Measurement accuracy vehicle and length information.
2, laser measurement direction and road surface out of plumb, wagon flow by time exist measure blind area, be unfavorable for the Vehicles separation carrying out front truck and rear car.
Utility model content
For the defect existed in prior art, the purpose of this utility model is to provide a kind of laser scanning model recognition system freely flowing charge.All vehicles by vehicle that this system can realize average speed less than 120 kilometers/hour free wagon flows identify automatically.
For reaching above object, the technical solution adopted in the utility model is: a kind of laser scanning model recognition system freely flowing charge, comprises with lower device:
Laser scanning inspection device and connected vehicle type recognition device, wherein said laser scanning inspection device comprises Laser emission and receiver module one, Laser emission and receiver module two, connected laser scanning module one, laser scanning module two respectively, the data processing be connected with laser scanning module one, laser scanning module two and system control module, model data for performing vehicle classification algorithm, and is uploaded to lane system by described vehicle type recognition device.
Further, described Laser emission and receiver module one, Laser emission and receiver module two comprise pulse laser emission circuit, return laser beam receiving circuit, laser alignment optics, laser pick-off optics and semiconductor laser diode.
Further, described laser scanning module one, laser scanning module two are made up of electric machine controller, DC brushless motor, individual pen absolute value code-disc, described electric machine controller controls DC brushless motor by pulse width modulating signal and at the uniform velocity rotates, and drives laser mirror to rotate the plane of scanning motion forming two dimension.
Further, described data processing and system control module comprise data acquisition and procession unit and system control unit, and wherein said data acquisition and procession unit comprises sample quantization module and real-time distance calculation module; Described system control unit comprises rotating speed for controlling motor and the control module in pulse laser emission moment, angle information and range information is carried out the matching module mated, and uploads to the upper transmission module of vehicle type recognition device by Ethernet interface.
Further, described vehicle type recognition device is arranged on the host computer of backstage.
Further, vehicle type recognition device on described backstage host computer adopts industrial computer and front end laser scanning inspection device communication, the distance of vehicle section each point to measuring system is obtained by communication interface, thus determine height, width, the length situation along each section of vehicle lengthwise direction, the overall profile information of vehicle is obtained by the data fusion of two scanning planes, and carry out characteristic matching with all types of vehicles, obtain type of vehicle, upload to lane system by 3G or Ethernet.
Further again, described acquisition vehicle section each point is network interface or RS485 to the communication interface of the distance of measuring system.The type of vehicle of acquisition is uploaded to lane system by 3G or Ethernet by the vehicle type recognition device (12) on described backstage host computer.
Further, described vehicle type recognition device is directly embedded in laser scanning inspection device.
Effect of the present utility model is, adopts system described in the utility model, and all vehicles by vehicle that can realize average speed less than 120 kilometers/hour free wagon flows identify automatically, specifically:
1, laser profile is based on the three-D profile of the direct measuring vehicle of laser distance measuring principle, and method is reliable and stable, by background environment and climatic influences less;
2, equipment is for freely flowing Fare Collection System application, realize 120km/h at a high speed by the accurate identification of vehicle, two cover scanning laser sensor are adopted to generate vertical road surface, two laser scanning faces and the scan mode of sweeping, obtain the distance measurement data on two scanning planes, width and the height of vehicle is obtained according to the measurement result of one of them scanning plane, the length of vehicle is obtained according to the measurement result of another scanning plane, like this can the length of simultaneously measuring vehicle, wide, three high dimensions, then complete vehicle three-dimensional outline can be obtained by data reconstruction, ensure that the recognition accuracy of hot-short, still higher measuring accuracy can be ensured when car speed is very fast, meet the application scenarios freely flowing charge,
3, in order to improve measuring speed and precision, the echo detecting method of digital full-wave type is applied in laser scanning vehicle cab recognition equipment;
4, equipment adopts coupling fiber, fiber optic collimator, optical fibre light splitting technology, realizes the reception of single circuit board to Emission Lasers and return laser beam, improve device integration, reduce system cost by the method for fiber delay time.
Accompanying drawing explanation
Fig. 1 is the principle schematic of system described in the utility model embodiment;
Fig. 2 is the structured flowchart of system described in the utility model embodiment;
Fig. 3 is the process flow diagram of system works method described in the utility model embodiment;
Fig. 4 is the circuit diagram of pulse laser emission circuit described in the utility model embodiment;
Fig. 5 is the circuit diagram of return laser beam receiving circuit described in the utility model embodiment;
Fig. 6 is the process flow diagram of the echo detecting method of digital full-wave type described in the utility model embodiment;
In figure: 1 road surface support, 2 target vehicles, 3 road planes, 5 first scanning planes, 6 second scanning planes, 11 laser scanning inspection devices, 12 vehicle type recognition devices, 13 Laser emission and receiver module one, 14 Laser emission and receiver module two, 15 laser scanning module one, 16 laser scanning module two, 17 system control modules, eighteen data Acquire and process unit, 19 system control units.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is further described.
As shown in Figure 2, a kind of laser scanning model recognition system freely flowing charge, comprise vehicle type recognition device 12 two parts in laser scanning inspection device 11 and connected backstage host computer, wherein said laser scanning inspection device 11 comprises Laser emission and receiver module 1, Laser emission and receiver module 2 14, connected laser scanning module 1, laser scanning module 2 16, the data processing be connected with laser scanning module 1, laser scanning module 2 16 and system control module 17 respectively.Described laser scanning inspection device 11 can realize the laser profile of two two dimensional surfaces, detects the vehicle section on the both direction vector of road surface simultaneously, measures the vehicle information by vehicle directly, fast.
In the present embodiment, described Laser emission and receiver module 1, Laser emission and receiver module 2 14 comprise pulse laser emission circuit as shown in Figure 4, return laser beam receiving circuit, laser alignment optics, laser pick-off optics and semiconductor laser diode etc. as shown in Figure 5.
The 905nm pulsed infrared laser that wherein pulse laser emission drives semiconductor laser diode produces 10ns pulsewidth, peak power is about 30W, laser penetrates with the angle of divergence being less than 5mrad through collimation optics.The pulsewidth of described 905nm pulsed infrared laser other values that can also to be scope be in 5-20ns, it is other values in 20W-50W that peak power may also be scope; After running into object, return laser beam arrives return laser beam receiving circuit through receiving optics.In order to improve integrated level and stability, transmitting and receiving opticator adopts optical fiber to export the technology such as coupling, optical fibre light splitting, fiber optic collimator.
Described laser scanning module 1, laser scanning module 2 16 are made up of electric machine controller, DC brushless motor, individual pen absolute value code-disc.Electric machine controller controls DC brushless motor by pulse-length modulation (PWM) signal and at the uniform velocity rotates, and drives laser mirror to rotate the plane of scanning motion forming two dimension, 3000 turns per minute of sweep velocity.The rotation angle information that individual pen absolute value code-disc obtains is for controlling the x time of laser, and to realize the Uniform Scanning of specific angle resolution (as 0.5 degree), sweep limit is greater than 120 degree.Wherein, described sweep velocity other values that also can be scope be in 1200-3000 rev/min; Described angular resolution other values that also can be scope be in 0.15-0.5 degree.
Data processing and system control module 17 are cores of whole pick-up unit, comprise data acquisition and procession unit 18 and system control unit 19 two parts.Wherein said data acquisition and procession unit 18 comprises sample quantization module and real-time distance calculation module; Described system control unit 19 comprises rotating speed for controlling motor and the control module in pulse laser emission moment, angle information and range information is carried out the matching module mated, and uploads to the upper transmission module of vehicle type recognition device 12 by Ethernet interface.Data acquisition and procession unit 18 can carry out sample quantization, in real time distance and calculate, the laser ranging point cloud that can realize 50K per second.In order to realize high-acruracy survey fast, adopt the echo detecting method of digital full-wave type, as shown in Figure 6.The echo detecting method of numeral full-wave type refers to directly samples to laser echo signal (needing pre-service) with High Speed Analog digital quantizer (ADC), the moment judgement of return laser beam and the measurement of time all adopt the method for digital signal processing, comprise the following steps:
S21, adopts High Speed Analog digital quantizer (ADC) that the simulating signal of return laser beam is converted into digital signal;
S22, extracts the pulse waveform of laser echo signal;
S23, carries out characteristic matching by laser echo signal and laser firing signals;
S24, judges the echo moment according to matching result, calculates echo time delay and obtains range measurement.
System control unit 19 controls rotating speed and the pulse laser emission moment of motor, angle information and range information is mated, and uploads to backstage host computer vehicle type recognition device 12 by Ethernet interface.Backstage host computer performs vehicle classification algorithm as the carrier of vehicle type recognition device 12, and model data is uploaded to lane system.Adopt industrial computer and front end laser scanning measurement system (2 overlap) communication, by communication interface as network interface or RS485 obtain the distance of vehicle section each point to measuring system, thus determine height, width, the length situation along each section of vehicle lengthwise direction, the overall profile information of vehicle is obtained by the data fusion of two scanning planes, and carry out characteristic matching with all types of vehicles, obtain type of vehicle, upload to lane system by 3G or Ethernet.
Also apply for the free stream Fare Collection System of highway or major urban arterial highway in the utility model embodiment, propose a kind of vehicle automatic identifying method based on laser profile.
As shown in Figure 1, Figure 3, a kind of laser scanning model recognizing method freely flowing charge, comprises the following steps:
S11, by being arranged on two cross sections of the laser scanning inspection device 11 parallel scan driving vehicle on road surface support 1, obtain the angle and distance data measured, wherein the first scanning plane 5 is parallel to road bearing of trend, road centre position is positioned at perpendicular to road plane 3, scan through the profile information of the vehicle longitudinal section of vehicle, second scanning plane 6 and first scanning plane 5 have angle, cover whole road width perpendicular to road plane 3, scan through the vehicle cross-sectional profiles information of vehicle;
S12, described laser scanning inspection device 11 by network interface by measure angle and distance data upload to the vehicle type recognition device 12 on the host computer of backstage;
S13, first the measurement data of scanister is converted to by the polar coordinates taking measuring equipment as reference with road surface by described vehicle type recognition device 12 is the rectangular coordinate of reference, then the measurement data of the first scanning plane 5, second scanning plane 6 is merged, calculate the length of vehicle and the profile information of whole vehicle, and the Vehicles separation realized under many vehicle condition judges;
S14, mates the profile information of the vehicle obtained with vehicle classification feature database, and realizes the automatic identification function of vehicle.
In practical application, it also can be other angle between the first described scanning plane 5 and the second scanning plane 6, as long as two scanning planes all can realize same utility model object at an angle perpendicular to road plane 3, in the present embodiment, the first scanning plane 5 and the second scanning plane 6 are in 75 degree of angles.In order to be that the scanning plane of adjacent two identification equipments when avoiding multilane overlaps the signal cross-talk problem caused, out of plumb between the first scanning plane 5 and the second scanning plane 6.
Described laser scanning inspection device 11 is installed on the high road surface support 1 of 5.5m, and the main control board of laser scanning inspection device 11 adopts the solution of ARM+FPGA.
In addition, described vehicle classification algorithm also can be directly embedded in laser scanning inspection device 11, just can complete the whole goal of the invention of scheme described in the present embodiment like this with an equipment.
As shown in Figure 6, in order to realize high-acruracy survey fast, adopting the echo detecting method of digital full-wave type when obtaining by laser scanning inspection device the angle and distance data measured in the present embodiment, comprising the following steps:
S21, adopts High Speed Analog digital quantizer (ADC) that the simulating signal of return laser beam is converted into digital signal;
S22, extracts the pulse waveform of laser echo signal;
S23, carries out characteristic matching by laser echo signal and laser firing signals;
S24, judges the echo moment according to matching result, calculates echo time delay and obtains range measurement.
Can be found out by above-described embodiment, adopt the system described in the utility model embodiment, all vehicles by vehicle that can realize average speed less than 120 kilometers/hour free wagon flows identify automatically.
It will be understood by those skilled in the art that system described in the utility model is not limited to the embodiment described in embodiment, specific descriptions above, just in order to explain the purpose of this utility model, are not for limiting the utility model.Those skilled in the art draw other embodiment according to the technical solution of the utility model, and belong to technological innovation scope of the present utility model equally, protection domain of the present utility model is by claim and equivalents thereof.
Claims (10)
1. one kind is freely flowed the laser scanning model recognition system of charge, comprise laser scanning inspection device (11) and connected vehicle type recognition device (12), wherein said laser scanning inspection device (11) comprises Laser emission and receiver module one (13), Laser emission and receiver module two (14), connected laser scanning module one (15) respectively, laser scanning module two (16), with laser scanning module one (15), the data processing that laser scanning module two (16) connects and system control module (17), described vehicle type recognition device (12) is for performing vehicle classification algorithm, and model data is uploaded to lane system.
2. a kind of laser scanning model recognition system freely flowing charge as claimed in claim 1, is characterized in that: described Laser emission and receiver module one (13), Laser emission and receiver module two (14) comprise pulse laser emission circuit, return laser beam receiving circuit, laser alignment optics, laser pick-off optics and semiconductor laser diode.
3. a kind of laser scanning model recognition system freely flowing charge as claimed in claim 1, it is characterized in that: described laser scanning module one (15), laser scanning module two (16) are made up of electric machine controller, DC brushless motor, individual pen absolute value code-disc, described electric machine controller controls DC brushless motor by pulse width modulating signal and at the uniform velocity rotates, and drives laser mirror to rotate the plane of scanning motion forming two dimension.
4. a kind of laser scanning model recognition system freely flowing charge as claimed in claim 1, is characterized in that: described data processing and system control module (17) comprise data acquisition and procession unit (18) and system control unit (19).
5. a kind of laser scanning model recognition system freely flowing charge as claimed in claim 4, is characterized in that: described data acquisition and procession unit (18) comprises sample quantization module and real-time distance calculation module; Described system control unit (19) comprises rotating speed for controlling motor and the control module in pulse laser emission moment, angle information and range information are carried out the matching module mated, and uploaded to the upper transmission module of vehicle type recognition device (12) by Ethernet interface.
6. a kind of laser scanning model recognition system freely flowing charge as described in any one of claim 1 to 5, is characterized in that: described vehicle type recognition device (12) is arranged on the host computer of backstage.
7. a kind of laser scanning model recognition system freely flowing charge as claimed in claim 6, it is characterized in that: the vehicle type recognition device (12) on described backstage host computer adopts industrial computer and front end laser scanning inspection device (11) communication, the distance of vehicle section each point to measuring system is obtained by communication interface, thus determine the height along each section of vehicle lengthwise direction, width, length situation, the overall profile information of vehicle is obtained by the data fusion of two scanning planes, and carry out characteristic matching with all types of vehicles, obtain type of vehicle, lane system is uploaded to by 3G or Ethernet.
8. a kind of laser scanning model recognition system freely flowing charge as claimed in claim 7, is characterized in that: described acquisition vehicle section each point is network interface or RS485 to the communication interface of the distance of measuring system.
9. a kind of laser scanning model recognition system freely flowing charge as claimed in claim 8, is characterized in that: the type of vehicle of acquisition is uploaded to lane system by 3G or Ethernet by the vehicle type recognition device (12) on described backstage host computer.
10. a kind of laser scanning model recognition system freely flowing charge as described in any one of claim 1 to 5, is characterized in that: described vehicle type recognition device (12) is directly embedded in laser scanning inspection device (11).
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104361751A (en) * | 2014-10-27 | 2015-02-18 | 北京握奇智能科技有限公司 | Laser scanning based vehicle type recognition system for free flow charging |
| CN106324611A (en) * | 2016-07-29 | 2017-01-11 | 成都希德电子信息技术有限公司 | Two-dimensional laser radar scanning system and device thereof |
| CN107121076A (en) * | 2017-04-25 | 2017-09-01 | 中国计量大学 | A kind of highway card access device and method based on laser radar and industrial robot |
| CN107576964A (en) * | 2017-08-25 | 2018-01-12 | 西安理工大学 | The echo time measuring method of linear frequency variation signal |
| CN107978151A (en) * | 2017-11-22 | 2018-05-01 | 武汉万集信息技术有限公司 | A kind of vehicle checking method and system |
-
2014
- 2014-10-27 CN CN201420627481.4U patent/CN204178554U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104361751A (en) * | 2014-10-27 | 2015-02-18 | 北京握奇智能科技有限公司 | Laser scanning based vehicle type recognition system for free flow charging |
| CN106324611A (en) * | 2016-07-29 | 2017-01-11 | 成都希德电子信息技术有限公司 | Two-dimensional laser radar scanning system and device thereof |
| CN107121076A (en) * | 2017-04-25 | 2017-09-01 | 中国计量大学 | A kind of highway card access device and method based on laser radar and industrial robot |
| CN107576964A (en) * | 2017-08-25 | 2018-01-12 | 西安理工大学 | The echo time measuring method of linear frequency variation signal |
| CN107978151A (en) * | 2017-11-22 | 2018-05-01 | 武汉万集信息技术有限公司 | A kind of vehicle checking method and system |
| CN107978151B (en) * | 2017-11-22 | 2019-12-10 | 武汉万集信息技术有限公司 | vehicle detection method and system |
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