WO2023056768A1 - 一种公路用雷视一体机的辅助安装装置和角度校准方法 - Google Patents

一种公路用雷视一体机的辅助安装装置和角度校准方法 Download PDF

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Publication number
WO2023056768A1
WO2023056768A1 PCT/CN2022/106190 CN2022106190W WO2023056768A1 WO 2023056768 A1 WO2023056768 A1 WO 2023056768A1 CN 2022106190 W CN2022106190 W CN 2022106190W WO 2023056768 A1 WO2023056768 A1 WO 2023056768A1
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Prior art keywords
machine
angle
installation
point
adjustment
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PCT/CN2022/106190
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English (en)
French (fr)
Inventor
刘建蓓
马小龙
吴明先
赵斌
王佐
马媛媛
骆中斌
宋浩杰
贺桂锡
Original Assignee
中交第一公路勘察设计研究院有限公司
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Publication of WO2023056768A1 publication Critical patent/WO2023056768A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • E01F9/696—Overhead structures, e.g. gantries; Foundation means specially adapted therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/004—Reference lines, planes or sectors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details

Definitions

  • the invention belongs to the technical field of installation of a Levvision all-in-one machine, and in particular relates to an auxiliary installation device and an angle calibration method of a Levvision all-in-one machine for road use.
  • the top of the tunnel is usually installed with a LeTV all-in-one machine, which detects the traffic running status of the expressway 24 hours a day, such as traffic flow, driving speed and other parameters.
  • a certain number of detectors will be deployed along the expressway. If the layout position or installation angle is not suitable, there may be detection blind spots, resulting in discontinuous detection data.
  • the installer when installing the LeTV all-in-one machine for road use, the installer presets an initial installation angle based on experience with the help of the construction vehicle, and then makes corresponding adjustments according to the upper computer screen of the LeVide all-in-one machine, which requires repeated adjustments Multiple times to avoid detection blind spots. Finally, the relevant technical personnel will judge whether the installation meets the requirements. When the installation angle is satisfied, the installation and fixation of the all-in-one machine will be carried out. After that, the position of the all-in-one machine will not change.
  • the above-mentioned process has a long debugging cycle, troublesome installation process, high requirements for the tacit cooperation between the installation workers and technicians, and cannot quantitatively evaluate the installation effect, making it difficult to meet the requirements of installation efficiency and installation accuracy at the same time.
  • the installation of the LeTV all-in-one machine requires temporary road closure construction, especially the tunnel road closure construction. It is necessary to apply to the relevant traffic management department in advance. After the approval is passed, it is necessary to make an advance announcement to the passing vehicles , the time is long, and the scope of influence of the construction is large, which may even cause serious traffic congestion.
  • the present invention proposes an auxiliary installation device for a road-use LeVideo all-in-one machine.
  • An auxiliary installation device for a road-use LeTV all-in-one machine comprising: a connecting piece, an installation angle adjustment device, and a laser emitting device.
  • the bottom of the connecting piece is connected to the All-in-one machine, and the top of the connecting piece is connected to the installation angle adjustment device.
  • the connecting piece is specifically a plug-in, and the bottom of the plug-in is inserted into the installation hole of the All-in-one machine.
  • An installation angle adjustment device is fixed on the top of the plug-in, and a laser emitting device is fixed on the top of the installation angle adjustment device.
  • the installation angle adjustment device can adjust the angle of the laser emission device in a vertical plane.
  • An auxiliary installation device for a road-use Levision all-in-one machine is applied to the auxiliary installation of a road-use Levision all-in-one machine by utilizing the linear characteristics of the laser beam emitted by the laser emitting device. Specifically, according to the laser beam Whether the position of the laser point formed on the ground falls on the marked position is used to adjust the installation angle of the LeVideo all-in-one machine. Compared with the traditional method of adjusting according to the setting parameters, it can achieve fast and precise installation and prevent multiple There is a fault in the data collected when the Lesione all-in-one unit is connected to the network; after testing, the early debugging process is shortened to less than 2 minutes.
  • the vertical plane where the laser beam emitted by the laser emitting device is located is perpendicular to the front plane of the All-in-one machine.
  • the bottom surface of the installation angle adjustment device is perpendicular to the all-in-one machine.
  • the installation hole is a heat dissipation hole of the All-in-one machine
  • the top of the all-in-one machine has a plurality of heat dissipation holes for cooling the internal electronic components, and inserts are inserted in the heat dissipation holes.
  • the plug-in includes interconnected flat plates and pins, and the pins are adapted to the mounting holes.
  • the flat plates and pins can be integrally formed or detachably connected.
  • the above-mentioned plug-in is specifically made of photosensitive resin material, but other plastic and flexible materials can also be used.
  • the all-in-one machine for road use includes a front plane, a side plane, a mounting hole, and a bottom support frame, a camera is installed on the front plane of the all-in-one machine, and the two ends of the bottom support frame are hinged on the all-in-one machine
  • a flange is arranged at the bottom center of the bottom support frame, and the flange is rotatably and fixedly connected with the installation base.
  • the installation base is provided with a pitch angle adjustment screw and a second fixing screw, the second fixing screw is used to fix the position of each component of the installation base, and the pitch angle adjustment screw is used to adjust the pitch angle after the all-in-one machine meets the installation requirements. , use the pitch angle adjustment screw to fix the pitch position of the All-in-One machine.
  • the installation angle adjustment device is specifically an adjustment bracket
  • the adjustment bracket includes an upper adjustment bracket and a lower adjustment bracket, both of the upper adjustment bracket and the lower adjustment bracket have a U-shaped structure, and the upper adjustment bracket and the lower adjustment bracket
  • the bracket is hinged by the first fixing screw, and an arc-shaped groove is opened on one side of the lower adjusting bracket, and a locking screw for fixing the upper adjusting bracket passes through the arc-shaped groove, through which the first fixing screw and the locking screw can
  • the position of the installation angle adjustment device after rotation is fixed, the lower adjustment bracket is fixed on the flat plate, and a spirit level is arranged on the flat plate, and the level instrument is used to detect the levelness of the plane on the flat plate, that is, to detect the level of the LeTV all-in-one machine. Whether the roll angle is 0°, and then determine whether the installation of the LeTV all-in-one is horizontal.
  • the installation angle adjustment device can also use a steering gear, the upper part of the steering gear is connected to the laser emitting device, and the lower part of the steering gear is connected to the plate, and the electronically controlled rotation of the laser emitting device can be realized by using the steering gear.
  • the spirit level uses a vial to determine whether the plate is level according to the air bubbles in the center of the vial.
  • the advantage of using the vial is that it is cheap and the level can meet the adjustment accuracy of the pitch angle of the installation base.
  • One or both sides of the upper adjustment bracket are also provided with arc-shaped scales, and the lower adjustment bracket is provided with pointers corresponding to the scales, and the scales are used to indicate the pitch angle of the installation base.
  • the laser emitting device includes an alignment device body, a laser source and wiring.
  • the front part of the alignment device body is connected to the laser source, and the rear part of the alignment device body is connected to wiring, and the wiring is connected to an external power supply.
  • the installation base includes an upper U-shaped piece, a saddle-shaped connector, and a lower U-shaped piece.
  • the upper U-shaped piece and the saddle-shaped connector are fixed by a plurality of pitch angle adjustment screws and second fixing screws.
  • the lower U-shaped The shaped piece and the saddle-shaped connector are fixed by a plurality of roll angle adjustment screws and second fixing screws, and the left and right sides of the saddle-shaped connector are provided with first arc-shaped grooves, which are used for inserting Set the roll angle adjustment screw, the front and rear sides of the saddle-shaped connector are provided with a second arc-shaped groove, and the pitch angle adjustment screw is inserted in the second arc-shaped groove, and the top surface of the upper U-shaped piece
  • a plurality of third arc-shaped slots are formed, and the third arc-shaped slots are used for connecting yaw angle adjustment screws.
  • the present invention proposes a method for calibrating the installation angle of the LED-TV all-in-one machine for road use.
  • the installation and adjustment of the LeTV all-in-one machine has a sequence. First, adjust the roll angle. After the roll angle position adjustment is completed, fix its position by tightening the roll angle adjustment screw, and then adjust the yaw angle. After the yaw angle adjustment is completed , fixing the adjusted yaw position by tightening the yaw angle adjustment screw; finally adjusting the pitch angle, after the adjustment of the pitch angle is completed, fixing the adjusted pitch position by tightening the pitch angle adjustment screw.
  • the roll angle is the rotation angle of the All-in-one machine on the YZ plane (tangential vertical plane)
  • the pitch angle is the rotation angle of the all-in-one machine on the XZ plane (horizontal and vertical planes).
  • the rotation angle of the facade), and the yaw angle is the rotation angle of the LeTV all-in-one machine on the XY plane (horizontal plane).
  • the present invention also includes a method for calibrating the installation angle of the LeTV all-in-one machine, which is used for the auxiliary installation device of the LeVideo all-in-one machine for roads.
  • the method includes the following steps:
  • Step SS1 In the pre-calibration stage, the mechanical arm of the installation trolley lifts the installer up to the location where the All-in-one machine is to be installed. The installer inserts the auxiliary installation device into the cooling hole of the All-in-one machine, and at the same time, it is on the ground
  • the commander Based on the projection point B and the installation height H of the all-in-one machine, the commander uses the geometric relationship between the characteristic angle of the all-in-one machine 1 and the installation height H to test the shortest distance L1 from the radar on the center line of the road. Mark the points E, D, and C at the distance L2, the farthest distance L3, and the projection point B directly below the LeVideo all-in-one machine;
  • Step SS2 Adjust the roll angle, turn the LeTV all-in-one machine, when the spirit level indicates the horizontal state, it means that the installation base is also level, and the installer tightens the roll angle adjustment screw;
  • Step SS3 Adjust the yaw angle and pitch angle, turn the adjustment bracket or steering gear up and down, make the laser beam perpendicular to the front plane of the Levision all-in-one machine, turn the Levision all-in-one machine left and right, so that the laser beam emitted by the laser emitting device falls on the road Point D on the center line, the yaw angle and pitch angle are both adjusted, tighten the yaw angle adjustment screw and the pitch angle adjustment screw;
  • Step SS4 Pull out the auxiliary installation device from the heat dissipation hole of the All-in-one machine, move the installation trolley to the front of the construction, calibrate the installation angle of the next All-in-one machine, and repeat steps SS1-SS3.
  • the adjustment angle includes yaw angle and pitch angle, and the central controller according to the input yaw angle
  • the yaw angle controls the steering gear to turn up and down, and at the same time, according to the input yaw angle, the Levision all-in-one machine is turned left and right, and then the laser ray can scan the centerline of the road.
  • the method for calibrating the installation angle of the All-in-one machine further includes step SS5: pull out the auxiliary installation device from the installation hole of the All-in-one machine, and install the trolley to the construction site. Move forward, calibrate the installation angle of the next LeTV all-in-one machine, and repeat steps SS1-SS4.
  • the auxiliary installation device and angle calibration method of an all-in-one camera for road use according to the present invention have the following advantages:
  • the present invention utilizes the linear characteristics of the laser beam, and adjusts the installation angle of the Rayvision all-in-one machine according to whether the position of the laser point formed by the laser beam on the ground falls on the marked position, compared with the traditional method of adjusting according to the setting parameters , can realize rapid and precise installation, and prevent the detection blind spot of the adjacent LeTV all-in-one machine due to improper installation angle;
  • the heat dissipation hole belongs to the inherent structure of the All-in-one machine, it is set perpendicular to the top plane of the All-in-one machine, and the plug-in is inserted in the cooling hole of the All-in-one machine, which can take advantage of the structural characteristics of the All-in-one machine itself. Fix the position of the auxiliary installation device, without the need for additional separate fixing devices;
  • the plug-in of the present invention is formed by hot-melt injection molding of polymer materials, which can realize quick plug-in and recycle, and use an auxiliary installation device to install all the same type of LeTV all-in-one machines for roads;
  • the present invention uses an installation trolley to install the All-in-One machine for road use, and two personnel (i.e., the installer and the commander) cooperate to operate, and the installer adjusts the All-in-one machine and the auxiliary
  • the commander marks the projection point on the center line of the road, and directs the installer to calibrate the angle according to the position of the laser point on the ground, so as to improve the installation angle and installation accuracy of the road-use Levision all-in-one machine;
  • Fig. 1 is a front view of the location of the auxiliary installation device for the road-use LED-TV all-in-one machine of the present invention.
  • Fig. 2 is a side view of the position of the auxiliary installation device of the all-in-one camera for road use according to the present invention.
  • Fig. 3 is a side view of the structure of the auxiliary installation device according to an embodiment of the present invention.
  • Fig. 4 is a front view of the structure of an auxiliary installation device according to an embodiment of the present invention.
  • Fig. 5 is a side view of the adjustment of the laser emitting device according to another embodiment of the present invention.
  • Fig. 6 is a front view of the structure of an auxiliary installation device according to another embodiment of the present invention.
  • Fig. 7 is a schematic diagram of the three-dimensional structure of the mounting base of the LeTV all-in-one machine of the present invention.
  • FIG. 8 is a schematic perspective view of the angle calibration method of the all-in-one camera for road use according to the present invention.
  • FIG. 9 is a schematic plan view of the angle calibration method of the LeVideo all-in-one machine for road use according to the present invention.
  • Fig. 10 is a schematic diagram of angle calibration of the LeVideo all-in-one camera for road use according to the present invention.
  • FIG. 11 is a schematic diagram of the circuit connection of the steering gear of the LeTV all-in-one machine for road use according to the present invention.
  • Fig. 12 is a flow chart of the steering gear control installation of the LeTV all-in-one machine for road use according to the present invention.
  • 10-1-Alignment device body 10-2-Laser source; 10-3-Wiring; 10-4-Vertical plane;
  • an auxiliary installation device for a road-use LeVideo all-in-one machine including: a connector, an installation angle adjustment device, and a laser emitting device 10 .
  • the connector adopts a plug-in 7, and the bottom of the plug-in 7 is inserted into the heat dissipation hole of the LeTV all-in-one machine 1.
  • the top of the plug-in 7 is fixed with an installation angle adjustment device, and the top of the installation angle adjustment device is fixed with a laser emitter.
  • the device 10 is equipped with an angle adjusting device to make the laser emitting device 10 rotate in the vertical plane 10-4.
  • the all-in-one machine 1 for roads includes the front plane 1-1 of the all-in-one machine 1, the side plane 1-2 of the all-in-one machine 1, cooling holes and the bottom support frame 3, and the front plane 1-1 of the all-in-one machine 1.
  • the camera 2 is installed on the 1, the two ends of the bottom support frame 3 are hinged on the side plane 1-2 of the LeTV 1, and the bottom center of the bottom support frame 3 is provided with a flange, which is rotationally and fixedly connected with the installation base 4 , the top of the LeTV all-in-one machine 1 has a plurality of cooling holes for cooling the internal electronic components, and a plug-in 7 is inserted in the cooling holes.
  • the insert 7 includes a flat plate 7-1 and a plurality of pins 7-2, and the plurality of pins 7-2 are vertically connected to the flat plate 7-1.
  • the flat plate 7-1 and the pins 7-2 can be integrated
  • the plug-in 7 is specifically a photosensitive resin material, but other plastic and flexible materials can also be used.
  • the installation base 4 is provided with a pitch angle adjustment screw 5 and a second fixing screw 6, the second fixing screw 6 is used to fix the position of each component of the installation base 4, and the pitch angle adjustment screw 5 is used to meet the installation requirements of the LeTV all-in-one machine 1 Finally, use the pitch angle adjustment screw 5 to fix the pitch position of the LeTV all-in-one machine 1 .
  • the installation angle adjustment device is specifically the adjustment bracket 9, the adjustment bracket 9 includes an upper adjustment bracket 9-1, a lower adjustment bracket 9-2, the upper adjustment bracket 9-1 and the lower adjustment bracket 9-2 are in a U-shaped structure, and the lower adjustment bracket Both sides of 9-2 are hinged with the upper adjustment bracket 9-1 through the first fixing screw 9-4, and the lower adjustment bracket 9-2 is provided with an arc-shaped groove 9-3 on one side, and the locking screw 9-5 is inserted in the arc-shaped In the slot 9-3, it is used to fix the position of the installation angle adjustment device after it is rotated, the bottom surface of the lower adjustment bracket 9-2 is fixed on the flat plate 7-1, and the spirit level 8 is horizontally arranged on the flat plate 7-1 for Detect the levelness of the lower adjustment bracket 9-2, and then determine the levelness of the installation of the LeTV all-in-one machine 1.
  • the spirit level 8 can also be changed into a vial, and the levelness of the plane 7-3 on the flat board can be judged by the bubble in the vial.
  • One or both sides of the upper adjusting bracket 9-1 are also provided with arc-shaped scales 9-6, and one side of the lower adjusting bracket 9-2 is provided with pointers corresponding to the scales 9-6.
  • the adjustment bracket 9 is rotated so that the laser beam emitted by the laser emitting device 10 is perpendicular to the front plane 1-1 of the Levision all-in-one machine 1, tighten the locking screw 9-5, and when judging whether it is vertical, pass the scale indicated by the pointer 9-6 to judge, when the scale 9-6 indicated by the pointer reaches 90°, it means that the laser beam is perpendicular to the front plane 1-1, and then locks the position of the laser emitting device 10 relative to the front plane 1-1; However, when the laser emitting device 10 rotates around the first fixing screw 9-4, generally the laser beam does not need to be perpendicular to the front plane 1-1, and the position is not locked at this time.
  • the laser emitting device 10 comprises an alignment device body 10-1, a laser source 10-2 and a wiring 10-3, the front of the alignment device body 10-1 is connected to the laser source 10-2, and the rear of the alignment device body 10-1 Connect the wiring 10-3 to the outside, and connect the wiring 10-3 to the external power supply.
  • the side of the laser emitting device 10 is parallel to the side of the upper adjustment bracket 9-1/lower adjustment bracket 9-2, and the laser beam emitted by the laser source 10-2 is
  • the vertical plane 10-4 where it is located should always be perpendicular to the front plane 1-1 of the All-in-one machine 1, and at the same time, the bottom surface of the installation angle adjustment device is perpendicular to the front plane 1-1 of the All-in-one machine 1.
  • the mounting base 4 includes an upper U-shaped piece 12, a saddle-shaped connector 13, and a lower U-shaped piece 14.
  • the upper U-shaped piece 12 and the saddle-shaped connector 13 are connected by the pitch angle adjustment screw 5 and the second fixing screw 6.
  • the profile 14 and the saddle connector 13 are connected by the roll angle adjustment screw 16 and the second fixing screw 6, and the left and right sides of the saddle connector 13 are provided with first arc-shaped grooves, which are used for installing Rolling angle adjustment screw 16, after the rolling angle is determined, the rolling position after tightening the rolling angle adjusting screw 16 is fixed and adjusted; the front and rear sides of the saddle connector 13 are provided with a second arc-shaped groove, and in the second arc-shaped groove It is used to install the pitch angle adjustment screw 5.
  • the adjusted pitch position is fixed by tightening the pitch angle adjustment screw 5;
  • the top surface of the upper U-shaped piece 12 has a plurality of third arc-shaped grooves for connecting Yaw angle adjustment screw 15, after the yaw angle is determined, the adjusted heading position is fixed by tightening the yaw angle adjustment screw 15.
  • the pitch angle adjustment screw 5 on the installation base 4, the yaw angle adjustment screw 15, and the roll angle adjustment screw 16 can be provided with multiple, and a plurality of adjustment screws of the same type are connected, so that the relative connection relationship of each part of the installation base 4 can be improved. stable.
  • Embodiment 1 The difference between this embodiment and Embodiment 1 is that the structure of the installation angle adjustment device is different. Please refer to Figures 5-6.
  • the installation angle adjustment device in this embodiment uses a steering gear 11, and the upper part of the steering gear 11 is connected to a laser emitting device. 10. The lower part of the steering gear 11 is connected with the flat panel 7-1.
  • the steering gear 11 includes a steering gear body 11-1, an upper door shape 11-2, a lower door shape 11-3 and a power supply, wherein the upper door shape 11-2 is hinged on the top of the steering gear body 11-1, The lower door-shaped part 11-3 is hinged at the bottom of the steering gear body 11-1, and the lower door-shaped part 11-3 is connected with the flat plate 7-1.
  • the present invention also includes a steering gear adjustment control system, the steering gear 11 is electrically connected to the central controller, the central controller is connected to the laser emitting device 10, the central controller is arranged on the flat panel 7-1, and the central controller A single-chip microcomputer can be used, and the central controller is also connected to the key input unit and the display unit respectively.
  • the power supply circuit is used to supply power to the central controller, steering gear 11 and laser emitting device 10.
  • the display unit is specifically an OLED display unit.
  • the key input unit is used for the installer to input and adjust the angle.
  • the OLED display unit is used to display the input Adjust the size of the angle.
  • the present invention also includes a method for calibrating the installation angle of the Levision all-in-one machine.
  • the front plane 1 of the Levision all-in-one machine 1 is selected by using the characteristic that the laser itself is a ray. -1 is the reference plane, use the laser beam to construct a vertical plane 10-4 perpendicular to the reference plane, and ensure that the vertical plane 10-4 always intersects with the road centerline 17-3, so as to ensure the center of the radiation beam of the All-in-One Machine 1 The plane is on the road ahead.
  • H AB (among them, point A is the beam emission position point of the All-in-one machine 1, which is located directly above point B, and AB is perpendicular to the horizontal plane), which can be measured with a tape measure.
  • the furthest distance (that is, the distance between the Lesions All-in-One Machine 1 and the detected target) L3 is the projection point B of the Lesions All-in-One Machine 1 (the distance between the Lesions All-in-One Machine 1 The projected point directly below) and the farthest point C of the radiation wave (the farthest position that the All-in-One Machine 1 can monitor)
  • the test distance L2 is the straight-line distance between point B and point D
  • the center point of the radiation wave (the intersection of the centerline of the main lobe of the radiation beam and the centerline of the road 17-3)
  • L1, L2 and L3 can all be measured by a tape measure
  • AD is the centerline of the main lobe of the radiation beam of the All-in-one machine 1
  • the radiation characteristic angle includes the half radiation angle ⁇ 1, the radiation angle ⁇ 2 and the maximum pitch angle ⁇ 3, all of which are It is determined
  • ⁇ 4 is the first pitch angle
  • ⁇ 4 is the angle between the shortest detection distance L1 and the front plane 1-1 of the LeVideo all-in-one machine 1
  • ⁇ 5 is the second pitch angle
  • ⁇ 5 is the furthest The angle between the detection distance L3 and the front plane 1 - 1 of the All-in-one machine 1 .
  • the adjustment bracket 9 (or steering gear 11) drives the laser emitting device 10 to rotate synchronously. Since point D is the intersection of the centerline of the main lobe of the radiation beam and the road centerline 17-3, and point A is the beam emission point of the Rayvision all-in-one machine 1, and the positions of points A and D are fixed, when the laser beam is perpendicular to the Rayvision integrated When the front plane 1-1 of the machine 1 is projected to point D, it means that the yaw angle and pitch angle of the all-in-one machine 1 have been adjusted. At this time, tighten the yaw angle adjustment screw 15 and the pitch angle adjustment screw 5 , complete the calibration of yaw angle and pitch angle.
  • Step SS1 In the pre-calibration stage, the mechanical arm of the installation trolley lifts the installer to the position to be installed on the All-in-One Machine 1, and the installer inserts the auxiliary installation device into the cooling hole of the All-in-One Machine 1, and at the same time,
  • the commander on the ground takes the projection point B directly below the Lesione All-in-One Machine 1 and the installation height H as a benchmark, and uses the geometric relationship between the characteristic angle of the Lesione All-in-One Machine 1 and the installation height H to calculate the distance on the road center line 17-3 Mark the points E, D, and C of the shortest distance L1, the test distance L2, and the farthest distance L3 of the All-in-one machine 1 and the projection point B directly below the All-in-one machine 1;
  • Step SS2 Adjust the roll angle, turn the LeVideo all-in-one machine 1, when the spirit level 8 indicates the horizontal state, it means that the installation base 4 is also level, and the installer tightens the roll angle adjustment screw 16;
  • Step SS3 Adjust the yaw angle and pitch angle, turn the adjustment bracket 9 or the steering gear 11 up and down to make the laser beam perpendicular to the front plane 1-1 of the LeVideo all-in-one machine 1, and turn the LeVeco all-in-one machine 1 left and right to make the laser emitting device 10.
  • the laser beam emitted falls on point D on 17-3 on the center line of the road, then the adjustment of the yaw angle and the pitch angle is completed, and the yaw angle adjustment screw 15 and the pitch angle adjustment screw 5 are tightened;
  • Step SS4 Pull out the auxiliary installation device from the heat dissipation hole of the All-in-one machine 1, move the installation trolley to the front of the construction, calibrate the installation angle of the next All-in-one machine 1, and repeat steps SS1-SS3.
  • Embodiment 3 is essentially a one-point positioning method.
  • the purpose of adjusting the yaw angle and pitch angle is to finally find the point D.
  • the yaw angle and pitch angle of the All-in-One Machine 1 meet the set requirements.
  • Figures 8-9 when point D is determined, the plane where ABC is located coincides with the vertical plane 10-4, and thus the positional relationship between the yaw angle and the pitch angle is also determined.
  • the method of calibrating the installation angle of the All-in-One machine can also be determined by three points: mark the point on the road centerline 17-3, and directly below the All-in-one machine 1 Projection point B and points E, C, and D are marked, and the roll angle is adjusted through the level 8, and the Lesion All-in-one machine 1 is turned in the XZ plane.
  • the level 8 indicates level, it means that the roll angle has been calibrated, and the roll is tightened.
  • Angle adjustment screw 16 on the basis of the adjustment of the roll angle, adjust the pitch angle of the all-in-one machine 1, as shown in Figure 10, the line connecting the actual laser scanning point is E'C', E'C' and BC The included angle between them is ⁇ (actual yaw angle).
  • the all-in-one machine 1 can only rotate in the YZ plane, adjust the installation angle adjustment device, and read the scale value indicated by the pointer, so that the angle between the laser beam and the front plane 1-1 of the all-in-one machine 1 is ⁇ 5 , the laser point falls on point C (that is, C' coincides with point C); adjust the installation angle adjustment device again, or make the laser point Fall at point E (that is, E' coincides with E point), on the basis that C' coincides with C point or E' coincides
  • Step SS1 In the pre-calibration stage, the mechanical arm of the installation trolley lifts the installer to the position to be installed on the All-in-One Machine 1, and the installer inserts the auxiliary installation device into the cooling hole of the All-in-One Machine 1, and at the same time,
  • the commander on the ground takes the projection point B and the installation height H of the all-in-one machine 1 as the benchmark, and uses the geometric relationship between the characteristic angle of the all-in-one machine 1 and the installation height H to determine the height of the all-in-one machine 1 Directly below the projected point B, point E, the farthest point of the radiation wave of the Levision all-in-one machine 1, point C, the closest point of the radiation wave of the Levision all-in-one machine 1, point D of the intersection of the centerline of the main lobe of the radiation wave and the straight line BC, respectively Carry out point marking;
  • Step SS2 Adjust the roll angle, turn the LeVideo all-in-one machine 1, when the spirit level 8 indicates the horizontal state, it means that the installation base 4 is also level, and the installer tightens the roll angle adjustment screw 16;
  • Step SS3 Adjust the yaw angle, turn the Levision all-in-one machine 1 left and right, and at the same time quickly turn the laser emitting device 10 up and down, so that the laser beam emitted by the laser emitting device 10 falls on the center line 17-3 of the road.
  • the laser beam is on the ground
  • the projection E'C' on the screen intersects with the straight line BC, adjust it with the straight line BC as the reference, turn the LeTV all-in-one machine 1 left and right again, and turn the adjustment bracket 9 or the steering gear 11 up and down until the laser beam is on the ground.
  • the projection E'C' coincides with the straight line BC, tighten the yaw angle adjustment screw 15;
  • Step SS4 Adjust the pitch angle of the All-in-one machine 1, rotate the adjustment bracket 9 or the steering gear 11 until the laser beam is perpendicular to the front plane 1-1 of the All-in-one 1, adjust the pitch angle of the All-in-one machine 1, and adjust Install the angle adjustment device, and read the value of the scale 9-6 indicated by the pointer, so that when the angle between the laser beam and the front plane 1-1 of the Levision all-in-one machine 1 is ⁇ 5, the laser point C' coincides with point C ;Adjust the installation angle adjustment device again, or make when the angle between the laser beam and the front plane 1-1 of the All-in-one machine 1 is ⁇ 4, make the laser point E' coincide with point E, and coincide with point C' or point E 'On the basis of coincidence with point E, turn the all-in-one machine 1 up and down according to the angle ⁇ 1+ ⁇ 5, so that the laser beam falls on point D, and the adjustment of the pitch angle is completed. Tighten the pitch angle adjustment screw 5 on the installation base 4;
  • Step SS5 Pull out the auxiliary installation device from the heat dissipation hole of the All-in-one machine 1, move the installation trolley to the front of the construction, calibrate the installation angle of the next All-in-one machine 1, and repeat steps SS1-SS4.
  • the above-mentioned point C' is the intersection point of the laser beam and the straight line BC when the laser beam rotates according to the first pitch angle ⁇ 4 before the installation angle calibration of the LeVideo all-in-one machine 1
  • the point D is the intersection point of the main lobe centerline of the radiation wave and the straight line BC
  • point E' is the intersection point of the laser beam and the straight line BC when the laser beam is rotated according to the second pitch angle ⁇ 5 before the installation angle calibration of the LeVideo all-in-one machine 1 .
  • Step SS21 the central controller performs system initialization
  • Step SS22 The installer enters the adjustment angle of the All-in-one machine 1 through the key input unit, and enters step SS23;
  • Step SS23 The display unit displays the input adjustment angle, and the installer judges whether the input adjustment angle is correct, and enters step SS24 if the input is correct, and returns to step SS22 if not.
  • the display unit adopts an OLED display unit
  • the adjustment angle includes a yaw angle and a pitch angle
  • both the yaw angle and the pitch angle can use a high-speed rotating gyroscope to measure the position in the three-dimensional space, and the yaw angle
  • the angle can also be measured with an electronic compass, that is, the yaw angle of the vertical plane 10-4 where the current laser ray is located relative to the road centerline 17-3, and the north pole of the geomagnetic field is used as a reference orientation; according to the measured yaw angle and pitch angle , the installer inputs these two angles into the key input unit, which can be used as an adjustment angle for adjusting the installation angle of the LeTV all-in-one machine 1 .
  • Step SS24 The central controller uses pulse width modulation (ie PWM) to control the steering gear 11 to pitch and rotate according to the adjustment angle. After the installer inputs the installation angle, the central controller controls the steering gear 11 to rotate up and down according to the input yaw angle , and then drive the laser emitting device 10 to rotate up and down in the vertical plane 10-4; at the same time, according to the input yaw angle, the LeTV all-in-one machine 1 is rotated left and right.
  • PWM pulse width modulation
  • the technical solution of the present invention on the basis of improving the existing installation method, can carry out quick debugging and precise installation, and the debugging time in the early stage is reduced to within 2 minutes, which saves a lot of time and improves the accuracy at the same time. It has improved and also reduced the adverse impact on traffic caused by temporary road closures during the installation process.

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Abstract

本发明的一种公路用雷视一体机的辅助安装装置，包括：插件、安装角调节装置、激光发射装置，与现有技术相比，其优点在于：1)通过将插件的底部插设在雷视一体机的散热孔中，可以利用雷视一体机本身的结构，对辅助安装装置进行位置固定，而不需要额外单独设置固定装置；2)插件为高分子材料热熔注塑成型，可实现快速插拔和循环利用；3)采用安装台车对公路用雷视一体机进行安装，由安装员和指挥员协同操作，安装员在安装台车机械臂的一端调整雷视一体机和辅助安装装置，指挥员在道路中心线上进行投影点标记，并根据激光点射在地面上的位置，指挥安装员进行角度校准，进而可以提高公路用雷视一体机的安装效率和安装精度。

Description

一种公路用雷视一体机的辅助安装装置和角度校准方法 技术领域
本发明属于雷视一体机安装技术领域，具体涉及一种公路用雷视一体机的辅助安装装置和角度校准方法。
背景技术
高速公路的上部(如交通监控器安装立杆)或者隧道顶部通常安装有雷视一体机，对高速公路交通运行状态进行全天候24小时检测，例如车流量、行车速度等参数。为了获取车辆连续运行状态，在高速公路沿线将布设一定数量的检测器，如果布设位置或者安装角度不合适，则可能会出现检测盲区，导致检测数据不连续。现有技术中，对公路用雷视一体机进行安装时，借助施工举车，安装员根据经验预先设置一个初始安装角度，然后根据雷视一体机的上位机画面进行相应的调整，需要反复调节多次，才能避免出现检测盲区。最后由相关技术人员判断安装是否满足要求，在满足安装角度，进行雷视一体机的安装固定，之后雷视一体机的位置将不再改变。上述过程调试周期长，安装过程麻烦，对安装工人和技术员配合默契度要求高，不能定量化评估安装效果，难以同时满足安装效率和安装精度的需求。
现有技术中，对雷视一体机的安装，需要进行临时道路封闭施工，尤其是隧道封路施工，需要预先向相关的交通管理部门进行申请，审批通过后还需要向过往社会车辆进行提前公告，时间较长，且施工影响范围大，甚至可能造成严重的交通拥堵。
因此，如何提高公路用雷视一体机的安装效率和安装精度，如何定量化评估安装参数和安装效果，降低安装过程中临时封路对交通造成的不利影响，成为本领域技术人员亟待解决的技术难题。
发明内容
为了解决现有技术中存在的上述问题，本发明提出了一种公路用雷视一体机的辅助安装装置。
一种公路用雷视一体机的辅助安装装置，包括：连接件、安装角调节装置、激光发射装置。其中，所述连接件的底部连接在雷视一体机上，所述连接件的顶部连接安装角调节装置，所述连接件具体采用插件，插件的底部插设在雷视一体机的安装孔中，所述插件的顶部固定有安装角调节装置，所述安装角调节装置的顶部固定有激光发射装置，所述安装角调节装置可使激光发射装置在竖向平面内的角度。
本发明所述的一种公路用雷视一体机的辅助安装装置，通过利用激光发射装置发射激光束的线性特点，将其应用在公路用雷视一体机的辅助安装，具体的，根据激光束在地面上形成的激光点位置是否落在标记的位置上，来调节雷视一体机的安装角，相较于传统的根据设置参数调节的方法，可以实现快速化、精准化安装，防止多个雷视一体机组网时采集的数据出现断层；经过测试，前期的调试过程缩短到2分钟以内，对于一段长约10km的公路，需要安装30个雷视一体机，总安装时间可以缩短至少9小时以上，能够在一定程度上减少安装过程中临时封路对交通造成的不利影响。
所述激光发射装置发出的激光束所在的竖向平面与雷视一体机的前平面垂直，在雷视一体机安装角俯仰角调节过程中，所述安装角调节装置的底面垂直于雷视一体机前平面和所述激光束所在的竖向平面。
优选地，所述安装孔为雷视一体机的散热孔，所述雷视一体机的顶部具有多个对其内部电子元器件进行散热的散热孔，所述散热孔内插设有插件。
所述插件包括相互连接的平板和插脚，所述插脚与所述安装孔适配，在插件的制造过程中，所述平板和插脚可以为一体成型结构，也可以是可拆式连接结构，所述插件具体采用光敏树脂材料，但也可以采用其他可塑性的柔性材料。
所述公路用雷视一体机包括前平面、侧平面、安装孔以及底部支撑架，所述雷视一体机的前平面上安装有摄像头，所述底部支撑架的两端铰接在雷视一体机的侧平面上，所述底部支撑架的底部中央设置有法兰，所述法兰与安装底座转动固定连接。
所述安装底座上设置有俯仰角调节螺钉和第二固定螺钉，所述第二固定螺钉用于固定安装底座各个部件的位置，所述俯仰角调节螺钉用于在雷视一体机达到安装要求后，用所述俯仰角调节螺钉对雷视一体机的俯仰位置进行固定。
优选地，所述安装角调节装置具体为调节支架，所述调节支架包括上部调节支架和下部调节支架，所述上部调节支架与下部调节支架均呈U型结构，所述上部调节支架与下部调节支架通过第一固定螺钉铰接，所述下部调节支架一侧开设有弧形槽，所述弧形槽内穿过有用于固定上部调节支架的锁定螺钉，通过所述第一固定螺钉和锁定螺钉可以对安装角调节装置转动后的位置进行固定，所述下部调节支架固定在平板上，所述平板上设置有水平仪，所述水平仪用于检测平板上平面的水平度，即检测雷视一体机的翻滚角是否为0°，进而确定雷视一体机安装是否水平。
优选地，所述安装角调节装置还可以采用舵机，所述舵机的上部连接激光发射装置，所述舵机的下部连接平板，采用所述舵机可以实现激光发射装置的电控转动。
优选地，所述水平仪采用水准泡，根据水准泡中间的气泡判断平板是否水平，采用水准泡的优点在于其价格低廉，而且水准度能够满足安装底座俯仰角的调节精度。
所述上部调节支架的一侧或两侧还设置有弧形分布的刻度，所述下部调节支架上设置有与刻度对应设置的指针，所述刻度用于指示安装底座的俯仰角。
所述激光发射装置包括对准装置本体、激光源和接线，所述对准装置本体的前部连接激光源，所述对准装置本体的后部连接接线，所述接线与外部电源进行连接。
所述安装底座包括上部U型件、鞍型连接件、下部U型件，所述上部U型件与鞍型连接件通过多个俯仰角调节螺钉、第二固定螺钉进行固定，所述下部U型件与鞍型连接件通过多个翻滚角调节螺钉、第二固定螺钉进行固定，所述鞍型连接件的左右两侧设置有第一弧形槽，所述第一弧形槽用于插设翻滚角调节螺钉，所述鞍型连接件的前后两侧设置有第二弧形槽，所述第二弧形槽内用于插设俯仰角调节螺钉，所述上部U型件的顶面开有多个第三弧形槽，所述第三弧形槽用于连接偏航角调节螺钉。
为了进一步解决现有技术中存在的上述问题，基于上述公路用雷视一体机的辅助安装装置，本发明提出了一种公路用雷视一体机安装角度校准方法。
雷视一体机的安装调节有先后顺序，首先调整翻滚角，翻滚角位置调节完成后，通过拧紧所述翻滚角调节螺钉对其位置进行固定，其次调节偏航角，在偏航角调节完成后，通 过拧紧所述偏航角调节螺钉固定调节后的偏航位置；最后调节俯仰角，在俯仰角调节完成后，通过拧紧所述俯仰角调节螺钉固定调节后的俯仰位置。以三维直角坐标系XYZ轴系统为例，所述翻滚角为雷视一体机在YZ平面(切向纵立面)的转动角度，所述俯仰角为雷视一体机在在XZ平面(横向纵立面)的转动角度，所述偏航角为雷视一体机在XY平面(水平面)的转动角度。
本发明还包括一种雷视一体机安装角度校准方法，用于所述公路用雷视一体机的辅助安装装置，所述方法包括如下步骤：
步骤SS1：校准前阶段，安装台车的机械臂将安装员举起，到达雷视一体机的待安装位置，安装员将辅助安装装置插入雷视一体机的散热孔中，同时，位于地面上的指挥员以雷视一体机正下方投影点B点和和安装高度H为基准，利用雷视一体机1的特性角和安装高度H的几何关系，对道路中线上距离雷达最近距离L1、测试距离L2、最远距离L3的E、D、C点和雷视一体机正下方投影点B进行标记；
步骤SS2：调整翻滚角，转动雷视一体机，当水平仪指示水平状态时，则说明安装底座也水平，安装员紧固翻滚角调节螺钉；
步骤SS3：调整偏航角和俯仰角，上下转动调节支架或舵机，使激光束垂直于雷视一体机前平面，左右转动雷视一体机，使激光发射装置发射的激光束落点于道路中线上的D点，则偏航角和俯仰角均调整完成，紧固偏航角调节螺钉和俯仰角调节螺钉；
步骤SS4：从雷视一体机的散热孔中拔出辅助安装装置，安装台车向施工前方移动，对下一台雷视一体机的安装角度进行校准，并重复执行步骤SS1-SS3。
优选地，若采用所述舵机调节安装角度时，在完成步骤SS2并进入步骤SS3之前，需要安装员输入调节角度，所述调节角度包括偏航角和俯仰角，中央控制器根据输入的偏航角控制舵机上下转动，同时，根据输入的偏航角左右转动雷视一体机，进而，可使激光射线扫描道路中心线。
在安装员和指挥员协同操作下，利用激光的线性特性进行雷视一体机的角度校准，可以提高雷视一体机的安装精度和安装效率，安装精度相对于现有技术更高，且可以将前期10分钟的安装调试阶段缩短到2分钟内，而对于一段公路或者隧道，其节约的时间成本是很可观的，例如，对于一段10km的公路来说，安装调试时间可以节约至少3个小时。
进一步优先地，所述一种雷视一体机安装角度校准方法在执行完步骤SS1-SS4之后，还包括步骤SS5：从雷视一体机的安装孔中拔出辅助安装装置，安装台车向施工前方移动，对下一台雷视一体机的安装角度进行校准，并重复执行步骤SS1-SS4。
综上所述，本发明的一种公路用雷视一体机的辅助安装装置和角度校准方法，与现有技术相比，其优点在于：
1)本发明利用激光束的线性特点，根据激光束在地面上形成的激光点位置是否落在标记的位置上，调节雷视一体机的安装角，相较于传统的根据设置参数调节的方法，可以实现快速化、精准化安装，防止相邻的雷视一体机由于安装角度不当而出现检测盲区；
2)由于散热孔属于雷视一体机的固有结构，其垂直于雷视一体机的顶平面设置，插件插设在雷视一体机的散热孔中，可以利用雷视一体机本身的结构特性，对辅助安装装置进行位置固定，而不需要额外单独设置固定装置；
3)本发明的插件为高分子材料热熔注塑成型，可以实现快速插拔和循环利用，采 用一个辅助安装装置，便可安装所有同类型的公路用雷视一体机；
4)本发明采用安装台车对公路用雷视一体机进行安装，由两名人员(即安装员和指挥员)协同操作，安装员在安装台车机械臂的一端调整雷视一体机和辅助安装装置，指挥员在道路中心线上进行投影点标记，并根据激光点射在地面上的位置，指挥安装员进行角度校准，进而可以提高公路用雷视一体机的安装角度和安装精度；
5)对于单个雷视一体机的安装过程来说，通过对现有技术进行改进，将公路用雷视一体机前期10分钟的安装调试阶段缩短到2分钟内，当公路里程较长时，采用本发明的技术方案所节约的安装调试时间也是很可观的，这在一定程度上缓解了临时封路对交通造成的不利影响。
附图说明
图1为本发明的公路用雷视一体机辅助安装装置位置正视图。
图2为本发明的公路用雷视一体机辅助安装装置位置侧视图。
图3为本发明一实施例的辅助安装装置结构侧视图。
图4为本发明一实施例的辅助安装装置结构正视图。
图5为本发明另一实施例的激光发射装置调节侧视图。
图6为本发明另一实施例的辅助安装装置结构正视图。
图7为本发明的雷视一体机的安装底座立体结构示意图。
图8为本发明的公路用雷视一体机的角度校准方法立体示意图。
图9为本发明的公路用雷视一体机的角度校准方法平面示意图。
图10为本发明的公路用雷视一体机的角度校准示意图。
图11为本发明的公路用雷视一体机的舵机的电路连接示意图。
图12为本发明的公路用雷视一体机的舵机控制安装流程图。
图中，1-雷视一体机；2-摄像头；3-底部支撑架；4-安装底座；5-俯仰角调节螺钉；6-第二固定螺钉；7-插件；8-水平仪；9-调节支架；10-激光发射装置；11-舵机；12-上部U型件；13-鞍型连接件；14-下部U型件；15-偏航角调节螺钉；16-翻滚角调节螺钉；
1-1-前平面；1-2-侧平面；
7-1-平板；7-2-插脚；7-3-平板上平面
9-1-上部调节支架；9-2-下部调节支架；9-3-弧形槽；9-4-第一固定螺钉；9-5-锁定螺钉；9-6-刻度；
10-1-对准装置本体；10-2-激光源；10-3-接线；10-4-竖向平面；
11-1-舵机本体；11-2-上部门型件；11-3-下部门型件；
17-1-路基；17-2-路面；17-3-道路中线。
具体实施方式
为使本发明具体实施方式的目的、技术方案和优点更加清楚，下面将结合本发明具体实施方式中的附图，对本发明具体实施方式中的技术方案进行清楚、完整地描述，显然，所描述的具体实施方式是本发明一部分实施方式，而不是全部的实施方式。基于本发明中的具体实施方式，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他 实施例，都属于本发明保护的范围。
实施例1
请参照图1-图4以及图7-图8，一种公路用雷视一体机的辅助安装装置，包括：连接件、安装角调节装置、激光发射装置10。在本实施例中，连接件采用插件7，插件7的底部插设在雷视一体机1的散热孔中，插件7的顶部固定有安装角调节装置，安装角调节装置的顶部固定有激光发射装置10，安装角调节装置使激光发射装置10在竖向平面10-4内转动。
公路用雷视一体机1包括雷视一体机1的前平面1-1、雷视一体机1的侧平面1-2、散热孔以及底部支撑架3，雷视一体机1的前平面1-1上安装有摄像头2，底部支撑架3的两端铰接在雷视机1的侧平面1-2上，底部支撑架3的底部中央设置有法兰，该法兰与安装底座4转动固定连接，雷视一体机1的顶部具有多个对其内部电子元器件进行散热的散热孔，散热孔内插设有插件7。
所述插件7包括平板7-1和多个插脚7-2，多个插脚7-2与平板7-1垂直连接，在插7的制造过程中，平板7-1和插脚7-2可以一体注塑成型，插件7具体为光敏树脂材料，但也可以采用其他可塑性的柔性材料。
安装底座4上设置有俯仰角调节螺钉5和第二固定螺钉6，第二固定螺钉6用于固定安装底座4各个部件的位置，俯仰角调节螺钉5用于在雷视一体机1达到安装要求后，用俯仰角调节螺钉5对雷视一体机1的俯仰位置进行固定。
安装角调节装置具体为调节支架9，调节支架9包括上部调节支架9-1、下部调节支架9-2，上部调节支架9-1与下部调节支架9-2均呈U型结构，下部调节支架9-2两侧与上部调节支架9-1通过第一固定螺钉9-4铰接，下部调节支架9-2一侧面上开设有弧形槽9-3，锁定螺钉9-5插设在弧形槽9-3中，用于在安装角调节装置转动后对其位置进行固定，下部调节支架9-2的底面固定在平板7-1上，水平仪8水平设置在平板7-1上，用于检测下部调节支架9-2的水平度，进而确定雷视一体机1的安装的水平程度。
水平仪8也可以换为水准泡，利用水准泡中的气泡判断平板上平面7-3的水平度。
上部调节支架9-1的一侧或两侧还设置有弧形分布的刻度9-6，下部调节支架9-2的一侧上部设置有指针，该指针与刻度9-6相对应。当调节支架9转动到使激光发射装置10发射的激光束与雷视一体机1的前平面1-1垂直时，紧固锁定螺钉9-5，在判断是否垂直时，通过指针所指示的刻度9-6来判断，当指针指示的刻度9-6数值达到90°时，则说明激光束与前平面1-1垂直，进而对激光发射装置10相对于前平面1-1的位置进行锁定；而在激光发射装置10绕第一固定螺钉9-4转动时，一般不需要激光束与前平面1-1垂直，此时不进行位置锁定。
激光发射装置10包括对准装置本体10-1、激光源10-2和接线10-3，对准装置本体10-1的前部连接激光源10-2，对准装置本体10-1的后部连接接线10-3，接线10-3与外部电源进行连接。
激光发射装置10的侧面与上部调节支架9-1/下部调节支架9-2的侧面平行，在雷视一体机1的安装底座4的俯仰角调节过程中，激光源10-2发出的激光束所在的竖向平面10-4要始终与雷视一体机1的前平面1-1垂直，同时，安装角调节装置的底面垂直于雷视一体机1的前平面1-1。
安装底座4包括上部U型件12、鞍型连接件13、下部U型件14，上部U型件12与鞍型连 接件13通过俯仰角调节螺钉5、第二固定螺钉6进行连接，下部U型件14与鞍型连接件13通过翻滚角调节螺钉16、第二固定螺钉6进行连接，鞍型连接件13的左右两侧开设有第一弧形槽，该第一弧形槽用于安装翻滚角调节螺钉16，在翻滚角确定后，通过拧紧翻滚角调节螺钉16固定调节后的翻滚位置；鞍型连接件13的前后两侧开设有第二弧形槽，该第二弧形槽内用于安装俯仰角调节螺钉5，在俯仰角确定后，通过拧紧俯仰角调节螺钉5固定调节后的俯仰位置；上部U型件12的顶面开有多个第三弧形槽，用于连接偏航角调节螺钉15，在偏航角确定后，通过拧紧偏航角调节螺钉15固定调节后的航向位置。
安装底座4上的俯仰角调节螺钉5、偏航角调节螺钉15、翻滚角调节螺钉16可以设置多个，多个同类型的调节螺钉进行连接，可以使安装底座4各部件的相对连接关系更稳固。
实施例2
本实施例与实施例1不同之处仅在于安装角调节装置结构不同，请参照图5-图6，本实施例中的安装角调节装置采用舵机11，舵机11的上部连接激光发射装置10，舵机11的下部与平板7-1连接。
舵机11包括舵机本体11-1、上部门型件11-2、下部门型件11-3以及供电电源，其中，上部门型件11-2铰接在舵机本体11-1的上部，下部门型件11-3铰接在舵机本体11-1的下部，下部门型件11-3与平板7-1连接。
考察图11，本发明还包括一种舵机调节控制系统，舵机11与中央控制器电连接，中央控制器与激光发射装置10连接，中央控制器设置在平板7-1上，中央控制器可以采用单片机，中央控制器还分别与按键输入单元、显示单元连接，供电电路用于对中央控制器、舵机11以及激光发射装置10进行供电，显示单元具体采用OLED显示单元。
按键输入单元用于安装员进行输入调节角度，通过输入调节角度以控制舵机11的转动，即输入雷视一体机1的安装角度(俯仰角或偏航角)，OLED显示单元用于显示输入调节角度的大小。
实施例3
本发明还包括一种雷视一体机安装角度校准方法，请参考图8-图10，基于实施例1或实施例2，利用激光本身为射线的特点，选取雷视一体机1的前平面1-1为参考平面，利用激光束构筑垂直于该参考平面的竖向平面10-4，保证竖向平面10-4与道路中线17-3始终相交，即可确保雷视一体机1辐射波束中心平面在前方路段上。
根据雷视一体机1的性质，∠CAE＝辐照角θ2为恒定值，属于雷视一体机1可视范围的固有属性，∠CAD＝半辐照角θ1＝θ2/2，雷视一体机1的安装高度H＝AB(其中，A点为雷视一体机1的波束发射位置点，位于B点的正上方，AB与水平面垂直)，可使用卷尺进行测量。进一步参照图8，在地面上进行点位标记时，最远距离(即雷视一体机1与探测到目标的距离)L3为雷视一体机1的投影点B点(雷视一体机1的正下方的投影点)和辐射波最远点C点(雷视一体机1所能监测的最远位置)之间的直线距离，最近距离L1为B点和辐射波最近点E点(雷视一体机1所能监测的最近位置)之间的直线距离，测试距离L2为B点和辐射波中心点D点(辐射波束主瓣中心线与道路中线17-3的交点)之间的直线距离，L1、L2和L3均可以通过卷尺进行测量，AD为雷视一体机1的辐射波束主瓣中心线，辐照特性角包括半辐照角θ1、辐照角θ2和最大俯仰角θ3，均由雷视一体机1本身的特性决定，因此，θ1、θ2和θ3均为恒定值，L1、L2、 L3、θ4和θ5可由θ1、θ2、θ3以及高度H计算得出，具体计算方法如式(1)～(5)所示：
Figure PCTCN2022106190-appb-000001
式(4)～(5)中，θ4为第一俯仰角，θ4为最近探测距离L1与雷视一体机1的前平面1-1的夹角，θ5为第二俯仰角，θ5为最远探测距离L3与雷视一体机1的前平面1-1的夹角。
请参照图7-图9，在雷视一体机1实际角度校准时，分别在道路中线17-3上距离雷视一体机1盲区距离L1、L2、L3的E、D、C点和雷视一体机1的正下方投影点B进行标记，通过水平仪8调整翻滚角，在XZ平面内转动雷视一体机1，当水平仪8指示水平时，说明翻滚角已校准完成，紧固翻滚角调节螺钉16；在翻滚角调节完成的基础上，再调整雷视一体机1的的偏航角和俯仰角，由于雷视一体机1和调节支架9(或舵机11)固定连接，雷视一体机1转动时，调节支架9(或舵机11)带动激光发射装置10同步转动。由于D点为辐射波束主瓣中心线与道路中线17-3的交点，A点为雷视一体机1的的波束发射位置点，A点和D点位置固定，当激光束垂直于雷视一体机1的前平面1-1，且投射到D点时，说明雷视一体机1的偏航角和俯仰角均已调节完成，此时紧固偏航角调节螺钉15和俯仰角调节螺钉5，完成偏航角和俯仰角的校准。
上述雷视一体机安装角度校准方法具体步骤如下：
步骤SS1：校准前阶段，安装台车的机械臂将安装员举起，到达雷视一体机1的待安装位置，安装员将辅助安装装置插入雷视一体机1的散热孔中，同时，位于地面上的指挥员以雷视一体机1正下方投影点B点和和安装高度H为基准，利用雷视一体机1的特性角和安装高度H的几何关系，对道路中线17-3上距离雷视一体机1最近距离L1、测试距离L2、最远距离L3的E、D、C点和雷视一体机1的正下方投影点B进行标记；
步骤SS2：调整翻滚角，转动雷视一体机1，当水平仪8指示水平状态时，则说明安装底座4也水平，安装员紧固翻滚角调节螺钉16；
步骤SS3：调整偏航角和俯仰角，上下转动调节支架9或舵机11，使激光束垂直于雷视一体机1的前平面1-1，左右转动雷视一体机1，使激光发射装置10发射的激光束落点于道路中线上17-3上的D点，则偏航角和俯仰角均调整完成，紧固偏航角调节螺钉15和俯仰角调节螺钉5；
步骤SS4：从雷视一体机1的散热孔中拔出辅助安装装置，安装台车向施工前方移动，对下一台雷视一体机1的安装角度进行校准，并重复执行步骤SS1-SS3。
实施例3实质属于一点定位的方式，偏航角和俯仰角调节的目的是为了最终寻找D点，当D点确定后，此时雷视一体机1的偏航角和俯仰角符合设定要求，如图8-图9所示，当D点确定后，ABC所在的平面与竖向平面10-4重合，因而，偏航角和俯仰角的位置关系也随之确定。
实施例4
请参照图8-图10，与实施例3不同地，雷视一体机安装角度校准方法还可以是三点确定：在道路中线17-3上进行点位标记，对雷视一体机1正下方投影点B以及E、C、D点进行点位标记，通过水平仪8调整翻滚角，在XZ平面内转动雷视一体机1，当水平仪8指示水平时，说明翻滚角已校准完成，紧固翻滚角调节螺钉16；在翻滚角调节完成的基础上，再调整雷视一体机1的俯仰角，如图10所示，激光实际扫射点的连线为E’C’，E’C’与BC之间的夹角为α(实际偏航角)，在XY平面内继续转动雷视一体机1，同时带动辅助安装装置在YZ平面内转动，判断E’C’与BC之间的夹角α是否减小，当α＝0时，说明偏航角已校准完成，紧固偏航角调节螺钉15；在偏航角调节完成的基础上，调整俯仰角，在翻滚角和偏航角位置固定后，雷视一体机1仅能在YZ平面内转动，调整安装角调节装置，并读取指针所指示的刻度数值，使得当激光束与雷视一体机1前平面1-1夹角为θ5时，激光点落于C点(即C’与C点重合)；再次调整安装角调节装置，或使得当激光束与雷视一体机1的前平面1-1夹角为θ4时，激光点落于E点(即E’与E点重合)，在C’与C点重合或E’与E点重合的基础上，按角度θ1+θ5上下转动雷视一体机1，使激光束落于D点，此时说明俯仰角已校准完成，紧固俯仰角调节螺钉5，在此基础上，完成安装底座4的安装角的校准。
上述雷视一体机安装角度校准方法具体步骤如：
步骤SS1：校准前阶段，安装台车的机械臂将安装员举起，到达雷视一体机1的待安装位置，安装员将辅助安装装置插入雷视一体机1的散热孔中，同时，位于地面上的指挥员以雷视一体机1的正下方投影点B点和和安装高度H为基准，利用雷视一体机1的特性角和安装高度H的几何关系，对雷视一体机1的正下方投影点B点、雷视一体机1的辐射波的最远点E点和雷视一体机1的辐射波最近点C点、辐射波的主瓣中心线与直线BC的交点D点分别进行点位标记；
步骤SS2：调整翻滚角，转动雷视一体机1，当水平仪8指示水平状态时，则说明安装底座4也水平，安装员紧固翻滚角调节螺钉16；
步骤SS3：调整偏航角，左右转动雷视一体机1，同时上下快速转动激光发射装置10，使激光发射装置10发射的激光束的落点于道路中线17-3上，当激光束在地面上的投影E’C’与直线BC相交时，以直线BC为基准进行调整，再次左右转动雷视一体机1，并上下转动所述调节支架9或舵机11，直至激光束在地面上的投影E’C’与直线BC重合时，紧固偏航角调节螺钉15；
步骤SS4：调整雷视一体机1的俯仰角，转动所述调节支架9或舵机11至激光束垂直于雷视一体1的前平面1-1，调整雷视一体机1的俯仰角，调整安装角调节装置，并读取指针所指示的刻度9-6的数值，使得当激光束与雷视一体机1的前平面1-1夹角为θ5时，使激光点C’与C点重合；再次调整安装角调节装置，或使得当激光束与雷视一体机1的前平面1-1夹角为θ4时，使激光点E’与E点重合，在C’与C点重合或E’与E点重合的基础上，按角度θ1+θ5上下转动雷视一体机1，使激光束落于D点，俯仰角调整完成，紧固安装底座4上的俯仰角调节螺钉5；
步骤SS5：从雷视一体机1的散热孔中拔出辅助安装装置，安装台车向施工前方移动，对下一台雷视一体机1的安装角度进行校准，并重复执行步骤SS1-SS4。
其中，上述C’点是在雷视一体机1的安装角校准前，按照第一俯仰角θ4转动时激光束与直线BC的交点，D点是辐射波的主瓣中心线与直线BC的交点，E’点是在雷视一体机1的 安装角校准前，按照第二俯仰角θ5转动时激光束与直线BC的交点。
实施例5
请参照图11-图12所示，在一种雷视一体机安装角度校准方法中，若采用舵机进行控制，控制方法不同于调节支架的手动控制方法，因此，在完成步骤SS2并进入步骤SS3之前，校准方法还包括如下步骤：
步骤SS21：中央控制器进行系统初始化；
步骤SS22：安装员通过按键输入单元输入雷视一体机1的调节角度，进入步骤SS23；
步骤SS23：显示单元显示输入的调节角度，安装员判断调节角度是否输入正确，输入正确进入步骤SS24，若否，则返回步骤SS22。
其中，所述显示单元采用OLED显示单元，所述调节角度包括偏航角和俯仰角，所述偏航角和俯仰角均可以利用高速旋转的陀螺仪进行三维空间内的位置的测定，偏航角也可以用电子罗盘来测定，即当前激光射线所在的竖向平面10-4相对于道路中线17-3的偏航角度，地磁场北极作为参考定向；根据测得的偏航角和俯仰角，安装员将这两个角度输入按键输入单元，可作为调整雷视一体机1的安装角的调节角度。
步骤SS24：中央控制器采用脉宽调制(即PWM)的方式控制舵机11按照调节角度进行俯仰旋转，当安装员输入安装角度后，中央控制器根据输入的偏航角控制舵机11上下转动，进而带动激光发射装置10在竖向平面10-4内上下转动；同时，根据输入的偏航角左右转动雷视一体机1。
通过自动测角，人工输入调节角度，进而利用舵机11调节校准雷视一体机1的安装角度，属于一种电动调节的方式，其相对于采用调节支架9调节的方式，电动调节更加快速，而调节支架9在调节过程中，在激光扫射到一个标记点上以后，还需要采用锁定螺钉9-5对激光发射装置10的位置进行锁定，效率比舵机11的调节效率低。
综上所述，本发明的技术方案，在对现有安装方式方法改进的基础上，能够进行快速调试和精准安装，前期的调试时间减少到2分钟内，节约了不少时间，同时精度也提高了，也减少安装过程中临时封路对交通造成的不利影响。
以上描述仅为本公开的较佳实施例以及对所运用技术原理的说明。本领域开发人应
当理解，本发明中所涉及的技术范围，并不限于上述技术特征的特定组合而成的技术方案，
同时也应涵盖在不脱离所述发明构思的情况下，由上述技术特征或其等同特征进行任意组合
而形成的其它技术方案。例如上述特征与本公开中公开的(但不限于)具有类似功能的技术特
征进行互相替换而形成的技术方案。

Claims (22)

  1. 一种公路用雷视一体机的辅助安装装置，其特征在于：包括连接件、安装角调节装置、激光发射装置(10)，所述连接件的底部可拆卸式连接在雷视一体机(1)上，所述连接件的顶部连接安装角调节装置，所述安装角调节装置的顶部连接一个激光发射装置(10)，所述安装角调节装置用于调节激光发射装置(10)在竖向平面(10-4)内的角度；
    所述激光发射装置(10)发出的激光束所在的竖向平面(10-4)与雷视一体机(1)的前平面(1-1)垂直；
    所述雷视一体机安装在安装底座(4)上，所述辅助安装装置用于调节校准安装底座(4)的安装角度，所述安装角度包括翻滚角、偏航角和俯仰角；
    所述连接件上设置有水平仪(8)，所述水平仪(8)用于调节校准安装底座(4)的翻滚角；
    所述安装角调节装置为调节支架(9)或舵机(11)，所述调节支架(9)或舵机(11)带动激光发射装置(10)转动，以调节校准安装底座(4)的偏航角和俯仰角。
  2. 根据权利要求1所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述雷视一体机(1)上具有安装孔，所述连接件为插件(7)，所述插件(7)插入所述安装孔内，所述安装角调节装置的底面垂直于雷视一体机(1)的前平面(1-1)和所述激光束所在的竖向平面(10-4)。
  3. 根据权利要求2所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述安装孔为设置在所述雷视一体机(1)上的散热孔。
  4. 根据权利要求2所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述插件(7)采用光敏树脂材料。
  5. 根据权利要求2-4任一项所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述插件(7)包括相互连接的平板(7-1)和插脚(7-2)，所述插脚(7-2)与所述安装孔适配。
  6. 根据权利要求5所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述平板(7-1)和插脚(7-2)为一体成型结构或可拆式连接结构。
  7. 根据权利要求5所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述调节支架(9)包括上部调节支架(9-1)、下部调节支架(9-2)，所述下部调节支架(9-2)的底面连接在平板(7-1)上，所述下部调节支架(9-2)两侧与上部调节支架(9-1)通过第一固定螺钉(9-4)铰接，所述下部调节支架(9-2)一侧开设有弧形槽(9-3)，所述弧形槽(9-3)内穿过有用于固定上部调节支架(9-1)的锁定螺钉(9-5)。
  8. 根据权利要求7所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述上部调节支架(9-1)的一侧或两侧设置有刻度(9-6)，所述下部调节支架(9-2)上设置有与刻度(9-6)对应设置的指针。
  9. 根据权利要求1-4任一项所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述安装底座(4)包括上部U型件(12)、鞍型连接件(13)、下部U型件(14)，所述上部U型件(12)与鞍型连接件(13)通过俯仰角调节螺钉(5)和第二固定螺钉(6)连接，所述下部U型件(14)与鞍型连接件(13)通过翻滚角调节螺钉(16)和第二固定螺钉(6)连接，所述鞍型连接件(13)的左右两侧设置有第一弧形槽，所述第一弧形槽用于安装翻滚角调节螺钉(16)，所述鞍型连接件(13)的前后两侧开设有第二弧形槽，所述第二弧形槽内用于安装俯仰角调节螺钉(5)，所述上部U型件(12)的顶部上开设有多个第三弧形槽，所述第三弧形槽用于安 装偏航角调节螺钉(15)。
  10. 根据权利要求2-4任一项所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述舵机(11)的上部连接激光发射装置(10)，所述舵机(11)与插件(7)连接，所述插件(7)包括相互连接的平板(7-1)和插脚(7-2)，所述插脚(7-2)与所述安装孔适配，所述舵机(11)的下部与平板(7-1)连接，所述平板(7-1)上设置有水平仪(8)。
  11. 根据权利要求10所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述舵机(11)包括舵机本体(11-1)、上部门型件(11-2)、下部门型件(11-3)，所述上部门型件(11-2)铰接在舵机本体(11-1)的上部，所述下部门型件(11-3)铰接在舵机本体(11-1)的下部，所述下部门型件(11-3)与平板(7-1)连接。
  12. 根据权利要求11所述的一种公路用雷视一体机的辅助安装装置，其特征在于：所述舵机(11)与中央控制器电连接，所述中央控制器分别与按键输入单元、显示单元电连接，所述按键输入单元用于输入调节角度以控制舵机(11)的转动，所述显示单元用于显示所述调节角度。
  13. 一种雷视一体机安装角度校准方法，用于如权利要求1-11任一项所述公路用雷视一体机的辅助安装装置，其特征在于：
    所述安装底座(4)包括上部U型件(12)、鞍型连接件(13)、下部U型件(14)，所述上部U型件(12)与鞍型连接件(13)通过俯仰角调节螺钉(5)和第二固定螺钉(6)连接，所述下部U型件(14)与鞍型连接件(13)通过翻滚角调节螺钉(16)和第二固定螺钉(6)连接，所述鞍型连接件(13)的左右两侧设置有第一弧形槽，所述第一弧形槽用于安装翻滚角调节螺钉(16)，所述鞍型连接件(13)的前后两侧开设有第二弧形槽，所述第二弧形槽内用于安装俯仰角调节螺钉(5)，所述上部U型件(12)的顶部上开设有多个第三弧形槽，所述第三弧形槽用于安装偏航角调节螺钉(15)；
    所述方法包括如下步骤：
    步骤SS1：安装前阶段，以雷视一体机(1)正下方投影点B点和安装高度H为基准，利用雷视一体机(1)的辐照特性角和安装高度H的几何关系，对雷视一体机(1)前方的道路中线(17-3)进行地面点位标记，点位包括雷视一体机辐射波中心点D点，D点为辐射波束主瓣中心线与道路中线(17-3)的交点；
    步骤SS2：安装台车将辅助安装装置安装在雷视一体机(1)上，调整雷视一体机(1)的翻滚角，转动雷视一体机(1)，当水平仪(8)指示水平状态时，紧固翻滚角调节螺钉(16)；
    步骤SS3：调整雷视一体机(1)的偏航角和俯仰角，上下转动调节支架(9)或舵机(11)，使激光束垂直于雷视一体机表面，左右转动雷视一体机(1)，使激光发射装置(10)发射的激光束落点于道路中线上的D点，则偏航角和俯仰角均调整完成，紧固偏航角调节螺钉(15)和俯仰角调节螺钉(5)。
  14. 根据权利要求13所述的一种雷视一体机安装角度校准方法，其特征在于：在步骤SS1中，所述辐照特性角包括辐照角θ2和最大俯仰角θ3，D点的位置由下式进行确定：
    D点位置确定：BD＝H*tan(θ3-θ2/2)。
  15. 根据权利要求13所述的一种雷视一体机安装角度校准方法，其特征在于：在完成步骤SS3的基础上，还包括步骤SS4：
    步骤SS4：从雷视一体机的安装孔中拔出辅助安装装置，安装台车向施工前方移动，对 下一台雷视一体机(1)的安装角度进行校准，并重复执行步骤SS1-SS3。
  16. 一种雷视一体机安装角度校准方法，用于如权利要求12所述公路用雷视一体机的辅助安装装置，其特征在于：
    所述安装底座(4)包括上部U型件(12)、鞍型连接件(13)、下部U型件(14)，所述上部U型件(12)与鞍型连接件(13)通过俯仰角调节螺钉(5)和第二固定螺钉(6)连接，所述下部U型件(14)与鞍型连接件(13)通过翻滚角调节螺钉(16)和第二固定螺钉(6)连接，所述鞍型连接件(13)的左右两侧设置有第一弧形槽，所述第一弧形槽用于安装翻滚角调节螺钉(16)，所述鞍型连接件(13)的前后两侧开设有第二弧形槽，所述第二弧形槽内用于安装俯仰角调节螺钉(5)，所述上部U型件(12)的顶部上开设有多个第三弧形槽，所述第三弧形槽用于安装偏航角调节螺钉(15)；
    所述方法包括如下步骤：
    步骤SS1：安装前阶段，以雷视一体机(1)正下方投影点B点和安装高度H为基准，利用雷视一体机(1)的辐照特性角和安装高度H的几何关系，对雷视一体机(1)前方的道路中线(17-3)进行地面点位标记，点位包括雷视一体机辐射波中心点D点，D点为辐射波束主瓣中心线与道路中线(17-3)的交点；
    步骤SS2：安装台车将辅助安装装置安装在雷视一体机(1)上，调整雷视一体机(1)的翻滚角，转动雷视一体机(1)，当水平仪(8)指示水平状态时，紧固翻滚角调节螺钉(16)；
    步骤SS3：调整雷视一体机(1)的偏航角和俯仰角，上下转动调节支架(9)或舵机(11)，使激光束垂直于雷视一体机表面，左右转动雷视一体机(1)，使激光发射装置(10)发射的激光束落点于道路中线上的D点，则偏航角和俯仰角均调整完成，紧固偏航角调节螺钉(15)和俯仰角调节螺钉(5)。
  17. 根据权利要求16所述的一种雷视一体机安装角度校准方法，其特征在于：在步骤SS1中，所述辐照特性角包括辐照角θ2和最大俯仰角θ3，D点的位置由下式进行确定：
    D点位置确定：BD＝H*tan(θ3-θ2/2)。
  18. 根据权利要求16所述的一种雷视一体机安装角度校准方法，其特征在于：在完成步骤SS3的基础上，还包括步骤SS4：
    步骤SS4：从雷视一体机的安装孔中拔出辅助安装装置，安装台车向施工前方移动，对下一台雷视一体机(1)的安装角度进行校准，并重复执行步骤SS1-SS3。
  19. 根据权利要求16-18任一项所述的一种雷视一体机安装角度校准方法，其特征在于：若采用舵机(11)调节安装角度时，在完成步骤SS2并进入步骤SS3之前，校准方法包括：
    步骤SS21：中央控制器进行系统初始化；
    步骤SS22：通过按键输入单元输入雷视一体机(1)的调节角度，其中，所述调节角
    度包括偏航角和俯仰角，进入步骤SS23；
    步骤SS23：所述显示单元显示输入的调节角度，判断调节角度是否输入正确，若输入
    正确进入步骤SS24，若否，则返回步骤SS22；
    步骤SS24：中央控制器控制所述舵机(11)按照所述调节角度进行俯仰旋转，当输入
    偏航角后，中央控制器根据输入的偏航角控制舵机(11)上下转动，进而带动激光发射装置(10)在竖向平面内(10-4)上下转动；同时，根据输入的偏航角左右转动雷视一体机(1)。
  20. 一种雷视一体机安装角度校准方法，用于如权利要求1-11任一项所述公路用雷视一体机的辅助安装装置，其特征在于：
    所述安装底座(4)包括上部U型件(12)、鞍型连接件(13)、下部U型件(14)，所述上部U型件(12)与鞍型连接件(13)通过俯仰角调节螺钉(5)和第二固定螺钉(6)连接，所述下部U型件(14)与鞍型连接件(13)通过翻滚角调节螺钉(16)和第二固定螺钉(6)连接，所述鞍型连接件(13)的左右两侧设置有第一弧形槽，所述第一弧形槽用于安装翻滚角调节螺钉(16)，所述鞍型连接件(13)的前后两侧开设有第二弧形槽，所述第二弧形槽内用于安装俯仰角调节螺钉(5)，所述上部U型件(12)的顶部上开设有多个第三弧形槽，所述第三弧形槽用于安装偏航角调节螺钉(15)；
    所述方法包括如下步骤：
    步骤SS1：安装前阶段，以雷视一体机(1)正下方投影点B点和安装高度H为基准，利用雷视一体机(1)的辐照特性角和安装高度H的几何关系，对雷视一体机(1)前方的道路中线(17-3)进行地面点位标记，点位包括正下方投影点B点、雷视一体机辐射波的最近点E点、雷视一体机辐射波最远点C点和雷视一体机辐射波中心点D点，D点为辐射波束主瓣中心线与道路中线(17-3)的交点；
    步骤SS2：安装台车将辅助安装装置安装在雷视一体机(1)上，调整雷视一体机(1)的翻滚角，当水平仪(8)指示水平状态时，紧固翻滚角调节螺钉(16)；
    步骤SS3：调整雷视一体机(1)的偏航角，左右转动雷视一体机(1)，同时上下快速转动激光发射装置(10)，使激光发射装置(10)发射的激光束的落点于道路中线(17-3)上，当激光束在地面上的投影E’C’与直线BC相交时，以直线BC为基准进行调整，再次左右转动雷视一体机(1)，并上下转动所述调节支架(9)或舵机(11)，直至激光束在地面上的投影E’C’与直线BC重合时，紧固偏航角调节螺钉(15)；
    步骤SS4：调整雷视一体机(1)的俯仰角，转动所述调节支架(9)或舵机(11)至激光束垂直于雷视一体机(1)的前平面(1-1)，调整雷视一体机(1)的俯仰角，调整安装角调节装置，并读取指针所指示的刻度数值，使得当激光束与雷视一体机(1)的前平面(1-1)夹角为第二俯仰角θ5时，激光点C’与C点重合；或使得当激光束与雷视一体机(1)的前平面(1-1)夹角为第一俯仰角θ4时，激光点E’与E点重合，在C’与C点重合或E’与E点重合的基础上，按角度θ1+θ5上下转动雷视一体机(1)，使激光束落于D点，俯仰角调整完成，紧固安装底座俯仰角调节螺钉(5)，
    其中，θ4＝π/2+θ1，θ5＝π/2-θ1，θ1＝θ2/2，上述C’点是在雷视一体机1的安装角校准前，按照第一俯仰角θ4转动时激光束与直线BC的交点，D点是辐射波的主瓣中心线与直线BC的交点，E’点是在雷视一体机1的安装角校准前，按照第二俯仰角θ5转动时激光束与直线BC的交点，θ1为半辐照角。
  21. 根据权利要求20所述的一种雷视一体机安装角度校准方法，其特征在于：在步骤SS1中，所述辐照特性角包括辐照角θ2和最大俯仰角θ3，E、C、D三点的位置分别由下式进行确定：
    E点位置确定：BE＝H*tan(θ3-θ2)
    C点位置确定：BC＝H*tan(θ3)
    D点位置确定：BD＝Htan(θ3-θ2/2)。
  22. 根据权利要求20所述的一种雷视一体机安装角度校准方法，其特征在于：在完成步骤SS4的基础上，还包括步骤SS5：
    步骤SS5：从雷视一体机(1)的安装孔中拔出辅助安装装置，安装台车向施工前方移动，对下一台雷视一体机(1)的安装角度进行校准，并重复执行步骤SS1-SS4。
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