CN207780051U - Velocity measuring system and vehicle - Google Patents
Velocity measuring system and vehicle Download PDFInfo
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- CN207780051U CN207780051U CN201721129680.2U CN201721129680U CN207780051U CN 207780051 U CN207780051 U CN 207780051U CN 201721129680 U CN201721129680 U CN 201721129680U CN 207780051 U CN207780051 U CN 207780051U
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Abstract
The utility model provides a kind of velocity measuring system and vehicle, wherein system includes：Image acquisition device and image processor, described image collector are fixed on object under test, and the viewfinder of described image collector is towards ground, for acquiring ground image；Described image processor is connected with image acquisition device, described image processor is used to be calculated the movement speed of the object under test according to the collected continuous two width ground image of described image collector, includes identical ground texture in the continuous two images.Velocity measuring system and vehicle provided by the utility model can reduce tachometric survey cost and improve measuring accuracy.
Description
Technical field
The utility model is related to speed measurement techniques more particularly to a kind of velocity measuring systems and vehicle.
Background technology
It is basic measurement project more important in transportation industry to measure the displacement of vehicle and speed.For automobile,
The performance that can be used for evaluating automobile, condition of road surface, traffic rules formulation, accident identification, racing car etc. are measured to speed
There is important meaning.
Existing vehicle speed measurement mode includes following several：
First, be arranged on wheel using photo-electric sensing equipment or electromagnetic induction device, by measure the rotating speed of wheel come
Obtain speed.But the inflated condition of wheel, state of wear and vehicle-mounted state can all influence the rotating speed of wheel, thus it is obtained
Speed accuracy is not high.
Second, speed is measured using global positioning system, but this method can be by the signal quality of global positioning system
It influences, and there is the delay of data in practical applications so that the speed accuracy measured is not high.
Third, using Doppler effect principle, speed is measured using radar.Usually the test equipments such as radar are pacified
Mounted in road both sides or the top of the passed through road of vehicle to be measured, which is easy to be travelled by radar transmitting wave and vehicle
The influence of variable angle between direction causes accuracy not high.
Fourth, filter the measuring methods such as velocimetry using laser Doppler velocimetry (LDV), grating, although measurement accuracy compared with
Height, but the precision optics price used is costly so that vehicle speed measurement cost is higher.
There are some defects in above-mentioned four kinds common vehicle speed measurement modes, therefore, be badly in need of a kind of with compared with high measurement essence
Degree and the lower vehicle speed measurement mode of measurement cost.
Utility model content
A kind of velocity measuring system of the utility model offer and vehicle for reducing tachometric survey cost and improve measurement essence
Exactness.
The utility model first aspect provides a kind of velocity measuring system, including：Image acquisition device and image processor, institute
It states image acquisition device to be fixed on object under test, the viewfinder of described image collector is towards ground, for acquiring ground
Image；Described image processor is connected with image acquisition device, and described image processor is used to be acquired according to described image collector
To continuous two width ground image the movement speed of the object under test is calculated, the continuous two images include
There is identical ground texture.
Velocity measuring system as described above further includes：Lighting apparatus；The lighting apparatus is fixed at object under test
On, for illuminating ground.
Velocity measuring system as described above, described image collector are shot perpendicular to ground.
Velocity measuring system as described above, described image collector are high speed camera.
Velocity measuring system as described above, the lighting apparatus include：LED drive and with the hair
At least two connected light emitting diodes of optical diode driver.
Velocity measuring system as described above, the lighting apparatus is perpendicular to ground.
Velocity measuring system as described above, described image collector are fixed to by mounting bracket on object under test.
Velocity measuring system as described above is provided with bolt hole in the mounting bracket, with by bolt by the figure
As collector is fixed on object under test.
Velocity measuring system as described above, the mounting bracket are welded on the object under test.
The utility model second aspect provides a kind of automobile, including：Velocity measuring system as described above.
Technical solution provided by the utility model obtains ground image, using image procossing by using image acquisition device
Device obtains the two width ground images that arrive of continuous acquisition, and there are identical ground textures in two width ground images, according to ground texture
The movement speed of object under test is calculated in position in two width ground images.Technical solution provided in this embodiment, will not
It is influenced by wheel condition, vehicle-mounted state, it will not be by factors such as external communication signals, environment temperature, measurement angles
It influences, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is provided upper
The cost for stating scheme is relatively low, it is easy to accomplish.
Description of the drawings
Fig. 1 is the structural schematic diagram for the velocity measuring system that the utility model embodiment one provides；
Fig. 2 is the flow chart for the speed measurement method that the utility model embodiment four provides；
Fig. 3 is the actual range that object under test movement is calculated in the speed measurement method that the utility model embodiment five provides
Flow chart；
Fig. 4 is the structural schematic diagram for the velocity measuring device that the utility model embodiment six provides.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Embodiment one
Fig. 1 is the structural schematic diagram for the velocity measuring system that the utility model embodiment one provides.As shown in Figure 1, this reality
It applies example and a kind of velocity measuring system is provided, including：Image acquisition device 11 and image processor (not shown), image acquisition device
11 be fixed at object under test (such as：Vehicle 12) on, the viewfinder of image acquisition device 11 (or：Camera lens) towards ground
13, for acquiring ground image.Image processor is connected with image acquisition device 11, and image processor is used for according to image acquisition device
The movement speed of object under test is calculated in 11 collected continuous two width ground images, includes in continuous two images
Identical ground texture.
Specifically, image acquisition device 11 is fixed on object under test, and the camera lens direction ground of image acquisition device 11
Face, to shoot ground image during object under test moves.In the present embodiment, using vehicle 12 as object under test for,
Speed measurement method system is described in detail.Except of course that except vehicle 12, people or other moveable objects can be made
For object under test, the technical solution that the present embodiment is provided may be used to measure the movement speed of object under test.
Image processor obtains collected ground image from image acquisition device 11, and extracts wherein continuous acquisition and arrive
Two width ground images, certain parts on ground can appear in the two images arrived by image acquisition device continuous acquisition simultaneously
In.Further, high speed camera commonly used in the prior art can be used in image acquisition device, and shooting speed is hundreds of frame per second
To thousands of frames.
Such as：According to ground textural characteristics are different or ground on there are particle objects, then be presented in ground image and be
Then different gray values carries out analysis of texture, it may be determined that go out two for existing simultaneously and being arrived in continuous acquisition to ground image
Ground texture in width image.Position of the ground texture in continuous two width ground image is different, and ground texture is on ground
The speed moved in image is identical as the speed that object under test moves.
Mode commonly used in the prior art can be used in the mode that texture analysis is carried out to ground image, and the present embodiment does not limit
It is fixed.
The speed that ground texture moves in ground image is identical as the movement speed of object under test, then according to ground image
The movement speed of object under test can be both calculated in dimension scale relationship between corresponding actual ground.The present embodiment is simultaneously
Specific calculation is not limited.
Technical solution provided in this embodiment obtains ground image, using image processor by using image acquisition device
It obtains the two width ground images that arrive of continuous acquisition, there are identical ground texture in two width ground images, is existed according to ground texture
The movement speed of object under test is calculated in position in two width ground images.Technical solution provided in this embodiment, Bu Huishou
It, will not be by the shadow of the factors such as external communication signals, environment temperature, measurement angle to the influence of wheel condition, vehicle-mounted state
It rings, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is provided above-mentioned
The cost of scheme is relatively low, it is easy to accomplish.
Embodiment two
The present embodiment is on the basis of the above embodiments, further to be optimized to velocity measuring system.
Can also include lighting apparatus 14 in above-mentioned velocity measuring system, lighting apparatus 14 is fixed at object under test
On (vehicle 12), for sending out the bright ground of intense light irradiation, to improve the brightness on ground, ensure that image acquisition device 11 can collect clearly
Clear image.
Lighting apparatus 14 can be continuous illumination, can also just shine when the shutter of image acquisition device 11 is opened.Illumination
The present embodiment does not limit for the specific illumination mode of equipment 14.
The higher light source of brightness in the prior art can be used in lighting apparatus 14, such as：Fluorescent lamp, light emitting diode etc..This
In embodiment, lighting apparatus 14 can be used light emitting diode and be made, specifically, lighting apparatus 14 includes：Light emitting diode drives
Device and at least two light emitting diodes being connected with LED drive.
Further, above-mentioned image acquisition device 11 can be shot perpendicular to ground 13, can also be in set angle with ground 13
Degree shooting.Image acquisition device 11 may be provided at the head, tail portion, side of vehicle 12.
It is corresponding, the position of lighting apparatus 14 can be set according to the position of image acquisition device 11, lighting apparatus 14 can be with
It is irradiated perpendicular to ground 13, can also be in set angle with ground 13.
As for the mounting means of image acquisition device 11 and lighting apparatus 14, the modes such as welding can be used, be spirally connected, rivet.Example
Such as：Mounting bracket can be used image acquisition device 11 is fixed on object under test, bolt hole is opened up in mounting bracket, passes through bolt
To fix image acquisition device 11.
The mounting means of lighting apparatus 14 can refer to image acquisition device 11 to be arranged.
The technical solution that the present embodiment is provided obtains ground image, using image procossing by using image acquisition device
Device obtains the two width ground images that arrive of continuous acquisition, and there are identical ground textures in two width ground images, according to ground texture
The movement speed of object under test is calculated in position in two width ground images.Technical solution provided in this embodiment, will not
It is influenced by wheel condition, vehicle-mounted state, it will not be by factors such as external communication signals, environment temperature, measurement angles
It influences, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is provided upper
The cost for stating scheme is relatively low, it is easy to accomplish.
Embodiment three
The present embodiment provides a kind of automobiles, including：The velocity measuring system provided such as above-described embodiment.By using figure
As collector acquisition ground image, the two width ground images that continuous acquisition arrives, two width ground images are obtained using image processor
In there are identical ground textures, the movement of object under test is calculated according to position of the ground texture in two width ground images
Speed.Technical solution provided in this embodiment will not be influenced by wheel condition, vehicle-mounted state, will not be logical by outside
Believe the influence of the factors such as signal, environment temperature, measurement angle, and then measurement accuracy can be improved.And compared to expensive
Precision optics, the cost for the said program that the present embodiment is provided is relatively low, it is easy to accomplish.
Example IV
The present embodiment provides a kind of speed measurement method, this method can by the image processor in velocity measuring system Lai
It executes.Fig. 2 is the flow chart for the speed measurement method that the utility model embodiment four provides, as shown in Fig. 2, the present embodiment provides
Speed measurement method include the following steps：
Step 201, image processor obtain the two width ground images that image acquisition device continuous acquisition arrives, two width ground images
In include identical ground texture.
Image acquisition device is fixed on object under test, and the camera lens of image acquisition device is towards ground, with to be measured
Object shoots ground image during moving.In the present embodiment, using vehicle as object under test for, to speed measurement method
It is described in detail.Except of course that except vehicle, people or other moveable objects all can serve as object under test,
The movement speed of object under test is measured in the method provided using the present embodiment.
Image processor obtains collected ground image from image acquisition device, and extracts what wherein continuous acquisition arrived
Two width ground images.
Image acquisition device can be used high speed camera commonly used in the prior art, and shooting speed is hundreds of frame per second to several
Thousand frames.Therefore, certain parts on ground can appear in simultaneously by image acquisition device continuous acquisition to two images in.Example
Such as：According to ground textural characteristics are different or ground on there are particle objects, then it is different gray scale to be presented in ground image
Value, then to ground image carry out analysis of texture, it may be determined that go out exist simultaneously in continuous acquisition to two images in
Ground texture.Position of the ground texture in continuous two width ground image is different, and ground texture moves in ground image
Speed it is identical as the speed that object under test moves.
Mode commonly used in the prior art can be used in the mode that texture analysis is carried out to ground image, and the present embodiment does not limit
It is fixed.
Position, ground image size and the figure of step 202, image processor according to ground texture in two width ground images
The movement speed of object under test is calculated in height as collector apart from ground.
The speed that ground texture moves in ground image is identical as the movement speed of object under test, then according to ground image
The movement speed of object under test can be both calculated in dimension scale relationship between corresponding actual ground.
The present embodiment provides a kind of specific calculations：By position of the ground texture in two width ground images,
Face picture size can obtain the distance that ground texture moves in two width ground images.
Since the speed that ground texture moves in ground image is identical as the movement speed of object under test, then according to acquisition
Ratio between the ground image size and the size of corresponding actual ground that arrive, and then by ground texture in two width surface maps
The distance that object under test moves on actual ground is calculated in the distance moved as in.
Further according to the time difference of continuous two width ground image acquisition, the speed of object under test movement can be calculated.
Height according to image acquisition device apart from ground is different, and the ground actual size in view-finder coverage area is not
With.Image acquisition device is fixed on object under test (such as vehicle) so that height of the image acquisition device apart from ground is fixed,
Then the ground actual size in view-finder coverage area is fixed.
Technical solution provided in this embodiment, the two width ground images arrived by obtaining image acquisition device continuous acquisition, two
There are identical ground texture in width ground image, according to position of the ground texture in two width ground images, ground image ruler
The movement speed of object under test is calculated in height of the very little and image acquisition device apart from ground.Technical side provided in this embodiment
Case will not be influenced by wheel condition, vehicle-mounted state, will not be by external communication signals, environment temperature, measurement angle etc.
The influence of factor, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is carried
The cost of the said program of confession is relatively low, it is easy to accomplish.
Embodiment five
The present embodiment is on the basis of the above embodiments, further to be optimized to speed measurement method.
Fig. 3 is the actual range that object under test movement is calculated in the speed measurement method that the utility model embodiment five provides
Flow chart.As shown in figure 3, in above-described embodiment, according to position of the ground texture in two width ground images, ground image ruler
Height of the very little and image acquisition device apart from ground be calculated object under test ground moving actual range, specifically can be used as
Under type is realized：
The shooting angle of the height and image acquisition device of step 301, image processor according to image acquisition device apart from ground
The size for the actual ground that image acquisition device viewfinder can absorb is calculated.
Height of the image acquisition device apart from ground just secures after image acquisition device installs, which specifically may be used
It is obtained, such as can be measured by laser ranging instrument by operating personnel's measurement, then be input and stored in image processor.
Height of the image processor in combination with the shooting angle and image acquisition device of image acquisition device apart from ground calculates
The size for the actual ground that can be absorbed to the viewfinder of image acquisition device.
Alternatively, after image acquisition device installs, height and shooting angle apart from ground just secure, because
This, the size of acquired actual ground may be after image acquisition device installs, by manually shooting in step 301
Ground image and correspondence, which measure, obtains the size of actual ground, then is previously provided to image processor.
Ground texture is calculated according to position of the ground texture in two width ground images in step 302, image processor
The length moved in two width ground images.
Such as：Coordinate system can be established in two width ground images, coordinate origin is identical, calculates separately ground in two images
The coordinate of texture.Then, the difference in two images between ground texture coordinate is calculated, you can obtain ground texture in two width
The length moved in the image of face.
The length that step 303, image processor are moved according to the size of actual ground, ground texture in two width ground images
Degree and ground image size be calculated object under test ground moving actual range.
The ground texture that size, the step 302 for the actual ground being calculated according to above-mentioned steps 301 are calculated is two
The size of the length and ground image that are moved in width ground image be calculated object under test ground moving it is practical away from
From.
Specifically, establishing identical coordinate system in two width ground images respectively, ground texture is in two width ground images
Coordinate be respectively (x1, y1) and (x2, y2).
First aspect, it is assumed that object under test, which only moves horizontally, not to be rotated (i.e.：Y1 is equal with y2), because of measurement interval
It is very short, even if very little if having rotation rotational angle, can be ignored, so this hypothesis is to set up.The directions x are vehicles
The direction of advance.Can following formula come calculate object under test ground moving actual range：
Wherein, X is physical length of the object under test in ground moving, and W is the length of actual ground, and w is that ground image is long
Degree, Δ x are the length that ground texture moves in two width ground images.
The time difference shot in the physical length X of ground moving and two width ground images further according to object under test is calculated
The speed of object under test movement, specifically uses following formula：
Wherein, V is the speed of object under test movement, and Δ t is the time difference of two width ground images shooting.
It is similar with said program, the displacement distance and speed in the directions y (transverse direction) can be measured, details are not described herein again.
Calculate the quotient between actual range and the time difference of two width ground images shooting, you can obtain object under test movement
Speed.
It is understood that the distance that ground texture moves in two width ground images is：Mobile pixel quantity and list
The product of position length in pixels.
In summary scheme, set the areas of two width ground images as：W*d consolidates timed shooting in image acquisition device height
To ground real area be：W*D.It is continuously shot ground image at t1 the and t2 moment respectively, ground texture is in two width surface maps
As in coordinate be respectively：(x1, y1) and (x2, y2), the then distance that ground texture passes through the movement of time Δ t=t2-t1 are
(x2-x1, y2-y1).Assuming that the practical distance moved of object under test is (X, Y), then can be calculated according to following two formula
To above-mentioned component X and component Y：
Pythagorean theorem calculating is carried out according to above-mentioned component X and component Y, you can the practical distance moved of object under test is obtained,
I.e.：The practical distance moved of vehicle.
Embodiment six
Fig. 4 is the structural schematic diagram for the velocity measuring device that the utility model embodiment six provides.As shown in figure 4, this reality
It applies example and a kind of velocity measuring device is provided, including：Ground image acquisition module 41 and speed calculation module 42.
Wherein, ground image acquisition module 41 is for obtaining the two width ground images that image acquisition device continuous acquisition arrives, and two
It include identical ground texture in width ground image；Image acquisition device is fixed on object under test.Speed calculation module
42 for the height of position, ground image size and image acquisition device apart from ground according to ground texture in two width ground images
The movement speed of object under test is calculated in degree.
Technical solution provided in this embodiment, the two width ground images arrived by obtaining image acquisition device continuous acquisition, two
There are identical ground texture in width ground image, according to position of the ground texture in two width ground images, ground image ruler
The movement speed of object under test is calculated in height of the very little and image acquisition device apart from ground.Technical side provided in this embodiment
Case will not be influenced by wheel condition, vehicle-mounted state, will not be by external communication signals, environment temperature, measurement angle etc.
The influence of factor, and then measurement accuracy can be improved.And compared to expensive precision optics, the present embodiment is carried
The cost of the said program of confession is relatively low, it is easy to accomplish.
Further, above-mentioned speed calculation module 42 specifically includes：Actual distance calculation unit and speed computing unit.Its
In, actual distance calculation unit is for position, ground image size and the image according to ground texture in two width ground images
The actual range of object under test movement is calculated in height of the collector apart from ground.Speed computing unit is used for according to determinand
The movement speed of object under test is calculated in the actual range of body movement and the time difference of two width ground images shooting.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer read/write memory medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
In the description of the present invention, it should be understood that term "center", " longitudinal direction ", " transverse direction ", " length ", " width
The fingers such as degree ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside"
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the utility model and
Simplify description, does not indicate or imply the indicated device or element must have a particular orientation, with specific azimuth configuration
And operation, therefore should not be understood as limiting the present invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be
Mechanical connection can also be electrical connection or can communicate with one another；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, can be the interaction relationship of the connection or two elements inside two elements.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
Finally it should be noted that：The above various embodiments is only to illustrate the technical solution of the utility model, rather than limits it
System；Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should
Understand：It still can be with technical scheme described in the above embodiments is modified, either to which part or whole
Technical characteristic carries out equivalent replacement；And these modifications or replacements, this practicality that it does not separate the essence of the corresponding technical solution are new
The range of each embodiment technical solution of type.
Claims (7)
1. a kind of velocity measuring system, which is characterized in that including：Image acquisition device and image processor, described image collector
It is fixed on object under test, the viewfinder of described image collector is towards ground, for acquiring ground image；Described image
Processor is connected with image acquisition device, and described image processor is used for according to collected continuous two width of described image collector
The movement speed of the object under test is calculated in ground image, includes identical ground line in the continuous two images
Reason；
Further include：Lighting apparatus；The lighting apparatus is fixed on object under test, for illuminating ground；
Described image collector is shot perpendicular to ground；
Described image collector is high speed camera.
2. velocity measuring system according to claim 1, which is characterized in that the lighting apparatus includes：Light emitting diode
Driver and at least two light emitting diodes being connected with the LED drive.
3. velocity measuring system according to claim 2, which is characterized in that the lighting apparatus is perpendicular to ground.
4. velocity measuring system according to claim 1, which is characterized in that described image collector is solid by mounting bracket
Determine to object under test.
5. velocity measuring system according to claim 4, which is characterized in that it is provided with bolt hole in the mounting bracket,
Described image collector to be fixed on object under test by bolt.
6. velocity measuring system according to claim 4, which is characterized in that the mounting bracket is welded on the determinand
On body.
7. a kind of automobile, which is characterized in that including：Velocity measuring system as claimed in any one of claims 1 to 6.
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| CN201721129680.2U CN207780051U (en) | 2017-09-05 | 2017-09-05 | Velocity measuring system and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945293A (en) * | 2019-12-11 | 2021-06-11 | 摩巴自动控制股份有限公司 | Measuring system for construction machinery |
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2017
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112945293A (en) * | 2019-12-11 | 2021-06-11 | 摩巴自动控制股份有限公司 | Measuring system for construction machinery |
| CN112945293B (en) * | 2019-12-11 | 2024-04-12 | 摩巴自动控制股份有限公司 | Measuring system for a construction machine |
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