CN106679575A - System and method for detecting overheight and overwidth of vehicle based on laser calibration - Google Patents

System and method for detecting overheight and overwidth of vehicle based on laser calibration Download PDF

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Publication number
CN106679575A
CN106679575A CN201611246954.6A CN201611246954A CN106679575A CN 106679575 A CN106679575 A CN 106679575A CN 201611246954 A CN201611246954 A CN 201611246954A CN 106679575 A CN106679575 A CN 106679575A
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China
Prior art keywords
laser
vehicle
level road
road track
band
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CN106679575B (en
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蓝章礼
李战
黄涛
匡恒
姚进强
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Chongqing Jiaotong University
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Chongqing Jiaotong University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/043—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring length
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G01B11/046—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving for measuring width
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention provides a system and method for detecting overheight and overwidth of a vehicle based on laser calibration. The method includes the following steps: using the projection angles of a light band type laser emitter and a light beam type laser emitter in a system and the geometrical position relation of the light band type laser emitter and the light beam type laser emitter with the photographing direction of an image acquisition apparatus, a detection control processing apparatus identifying by imaging processing the horizontal displacement conditions and the length condition of a laser line segment from video and image data constituted by a plane laser band projecting to a vehicle which passes by a horizontal road lane, Then using a pre-calibrated vehicle height and width measuring function model to measure the value of the maximum height and the value of the maximum width of the vehicle, thus realizing the detection of the overheight and overwidth of the vehicle. The system has simple structure, strong practicality, and high measuring precision. The system can reach a detection rate at milliiseonds. The system can long time operate and implement automatic online continuous detection and overheight/overwidth alert to multiple vehicles with no pulling over is required, so that the system can avoid traffic congestion and has excellent marketing potential.

Description

A kind of vehicle super-high ultra-wide detecting system and method based on laser calibration
Technical field
The present invention relates to traffic safety detection technique field, more particularly to a kind of vehicle super-high based on laser calibration Ultra-wide detecting system and method.
Background technology
With developing rapidly for national economy, China's expressway construction and highway transportation scale are obtained for unprecedented Development, the vehicle overload overloading for thus bringing is also increasingly serious.On the one hand overload transport can shorten highway and bridge Service life, on the other hand can cause the change of body shapes and the decline of vehicle performance, form the hidden trouble of traffic safety. Therefore, vehicle overload is detected for guaranteeing that highway is unimpeded, safeguards road property right, ensureing that transportation safety and the health of transport market are sent out Exhibition all will play an important role.
At present, vehicle super-high ultra-wide improvement is the important component part of overload remediation work, mostly also in the artificial stage, mainly It is to intercept by law enfrocement official, Jing manual detections transfinite really, reboots to parking lot, receives the process transfinited to it.But this Kind test mode there is a problem of as follows：One is to need more law enfrocement official's executive cost high；Two is easily to injure law enforcement The personal safety of personnel；Three is to be difficult to accomplish uninterrupted inspections in 24 hours truly.
The detection method for being used for Intelligent Measurement vehicle super-high ultra-wide for this is studied, such as：Vehicle ultra-wide superelevation is quantitatively examined Survey device (201120232493.3) and disclose a kind of vehicle ultra-wide superelevation quantitative testing device, when vehicle passing detection passage When, the height to vehicle and width detection can be automatically performed；A kind of automatic Overheight Vehicles detecting system of city tunnel (201320097314.9) disclose a kind of use radar emission probe and realize the system that superelevation is detected；One kind is based on laser ranging Vehicle super-high ultra-wide monitoring method (201410684562.2) disclose a kind of vehicle super-high ultra-wide based on laser ranging and supervise Prosecutor method, using LMS two-dimensional laser distance measuring sensors, realizes the wide high detection to traveling vehicle and the sound and light alarm that transfinites；It is a kind of Disclose a kind of left by laser range sensor by the high method (201410684812.2) of laser automatic measuring amount object width The method that right motion and the analysis that moves up and down draw the width and height of object.These inventions are mostly using laser or ultrasound Ripple is detected to the height and width of vehicle, but these detection methods are primarily present three problems：
One is, when vehicle-mounted cargo Present site (such as reinforcing bar, support) is stretched out outside car, the little object of these volumes may By test leakage measurement result can be caused to there is larger error；
Two are, complex structure, need the polytype multiple sensors of laying to synchronize Real-time Collection；
Three are, need vehicle to stop in detection zone in detection process, it is difficult to not parking continuous detecting to be realized, so as to easy Cause traffic jam.
The content of the invention
For above-mentioned deficiency present in prior art, present invention aim at provide a kind of simple structure, it is practical, The higher vehicle super-high ultra-wide detecting system based on laser calibration of certainty of measurement, and it can keep longtime running to perform automatically Online not parking continuous detecting, it is to avoid cause the problem of traffic jam.
To solve above-mentioned technical problem, goal of the invention is realized, the technical solution used in the present invention is as follows：
A kind of vehicle super-high ultra-wide detecting system based on laser calibration, including the light being erected above level road track Banding pattern generating laser, beam type generating laser and image collecting device, and detection control process device and police instruction Device；
The light band type generating laser is used to launch one planar laser band, the planar laser launched diagonally downward Band is α, 0 ° of 90 ° of ＜ α ＜ with the angle of horizontal plane so as to rear on level road track is projected can form one along track Laser vertical element of the width across level road track；
The beam type generating laser is used to launch two beam laser rays vertically downward so that the two beams laser rays and light Planar laser band that banding pattern generating laser is launched intersects, and two beam laser line projections formed on level road track two The laser vertical element that the line of individual LASER SPECKLE is formed after projecting on level road track with planar laser band is parallel；
Described image harvester is adjacent to be arranged at beam type generating laser position, and image collecting device Lens axis are arranged vertically downward, downward planar laser band are projected from after the injection of light band type generating laser for overlooking The projection in level road track carries out video image acquisition through region；
The image data acquiring end of the detection control process device is entered with the view data outfan of image collecting device Row communication connection, the signal communication end for detecting control process device is communicatively coupled with the signal receiving end of warning indicator, And detect in control process device and be stored with the high wide measuring and calculating function model of vehicle beforehand through demarcation：
Wherein, hviRepresent the maximum height measuring and calculating value of vehicle, wviRepresent the Breadth Maximum measuring and calculating value of vehicle；KiRepresent to car Image pixel equivalent when being detected, andS0Represent two beam laser rays of beam type laser transmitter projects Project the actual range of two LASER SPECKLEs formed on level road track, si,maxRepresent in vedio data by light beam Two LASER SPECKLEs that two beam laser line projections of type laser transmitter projects are formed on the vehicle through level road track Maximum spacing pixel value；H0The two beam laser rays and light band type generating laser for representing beam type laser transmitter projects are sent out Actual height of the planar laser penetrated with intersection location point to level road track, L0Represent beam type laser transmitter projects The line of two LASER SPECKLEs that two beam laser line projections are formed on level road track is relative to light band type generating laser The planar laser band launched projects the practical level spacing of the laser vertical element formed on level road track；Li0Represent figure As two laser spots that two beam laser line projections of beam type laser transmitter projects in data are formed on level road track Point line relative to the planar laser band that light band type generating laser is launched project on level road track formed swash The level interval pixel value of light vertical element, Li,maxRepresent and projected through level road track by planar laser band in view data Vehicle on formed laser straightway relative to planar laser band project on level road track formed laser vertical element Maximum horizontal spacing pixel value, wi,maxRepresent the car projected by planar laser band in view data through level road track The greatest length pixel value of the laser straightway formed on；
Detection control process device is used to receiving the vedio data that image collecting device is gathered, and by image at Reason identify two LASER SPECKLEs being formed by two beam laser line projections to level road track in vedio data and its Project on the vehicle in level road track formed two LASER SPECKLEs, level road car is projected by planar laser band The laser vertical element formed on road and its laser straightway for projecting the formation on the vehicle in level road track, by image The line of two LASER SPECKLEs formed by two beam laser line projections to level road track in data is relative to planar laser Band project on level road track formed laser vertical element level interval pixel value, by two beam laser line projections to process On the vehicle in level road track formed two LASER SPECKLEs maximum spacing pixel value, by planar laser band project through On the vehicle in level road track formed laser straightway greatest length pixel value and its relative to planar laser band projection The maximum horizontal spacing pixel value of the laser vertical element formed on level road track is substituting to the high wide measuring and calculating Function Modules of vehicle In type, conversion obtains the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle, respectively with default height of car limit value and Vehicle width limit value is compared and judges vehicle whether superelevation or ultra-wide, and notifies that warning refers to when vehicle super-high or ultra-wide is judged Show that device performs corresponding superelevation and indicates or ultra-wide instruction operation.
In the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration, preferably, the light band type laser Emitter across the detection door frame being arranged on level road track by being erected at the top in level road track；The inspection Survey door frame and include erectting for two and be arranged on the column of level road track both sides, and along lane width direction across being arranged on two Crossbeam on root post, light band type generating laser sets up and is arranged on the crossbeam of detection door frame.
In the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration, as further improvement project, the light belt First angle sensor is installed, for sensing the pitching windup-degree of light band type generating laser on type generating laser；Institute Second angle sensor is installed on the column for stating detection door frame, for the pitching windup-degree of the column of sensing detection door frame； The angle-data collection terminal of the detection control process device also respectively with first angle sensor and second angle sensor Angle-data outfan is electrically connected, for obtaining the angle number of first angle sensor and the output of second angle sensor According to calculating the pitching windup-degree of the column of pitching windup-degree because detecting light band type generating laser and detection door frame Change and cause to be projected the displacement error value of the laser vertical element formed on level road track by planar laser band, so as to root Error compensation amendment is carried out according to measuring and calculating of the displacement error value to the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle.
In the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration, as improvement project, with level road track On the region that covered by the image-capture field of image collecting device as lane detection region, in the lane detection region Vehicle sail at position and vehicle is rolled away from position and is equipped with deceleration strip, and the vehicle in lane detection region sail at position and It is respectively equipped with the deceleration strip that vehicle is rolled away from position and sails side pressure electric transducer into and roll side pressure electric transducer away from；The detection control The piezoelectric signal collection terminal of processing meanss processed respectively with sail side pressure electric transducer into and roll the piezoelectric signal of side pressure electric transducer away from Outfan is electrically connected, and detect control process device control signal output respectively with light band type generating laser, light The control end that opens/stop of beamforming generating laser and image collecting device is electrically connected, for receiving from sailing side pressure into Light band type generating laser, beam type generating laser and image collecting device are controlled during the piezoelectric signal of electric transducer and starts work Make, light band type generating laser, beam type laser are controlled when receiving from the piezoelectric signal for rolling side pressure electric transducer away from and is sent out Emitter and image collecting device quit work.
Correspondingly, present invention also offers using the vehicle of the above-mentioned vehicle super-high ultra-wide detecting system based on laser calibration Superelevation ultra-wide detection method；For this purpose, present invention employs following technical scheme：
A kind of vehicle super-high ultra-wide detection method based on laser calibration, using the above-mentioned vehicle super-high based on laser calibration Ultra-wide detecting system is detected that the method comprises the steps：
A the light band type generating laser and beam type generating laser in vehicle super-high ultra-wide detecting system) is pre-actuated Work operation, measures two that two beam laser line projections of beam type laser transmitter projects are formed on level road track The actual range S of LASER SPECKLE0, beam type laser transmitter projects two beam laser rays and light band type generating laser launched Actual height H of the planar laser with intersection location point to level road track0And the two of beam type laser transmitter projects The line of two LASER SPECKLEs that beam laser line projection is formed on level road track is relative to light band type generating laser institute The planar laser band of transmitting projects practical level spacing L of the laser vertical element formed on level road track0, as known In the high wide measuring and calculating function model of vehicle of amount input to detection control process device storage, wide measuring and calculating Function Modules high to vehicle are completed The demarcation of type；
B) region covered by the image-capture field of image collecting device using on level road track is examined as track Region is surveyed, in vehicle during the lane detection region, the light band type in vehicle super-high ultra-wide detecting system is controlled Generating laser, beam type generating laser and image collecting device keep working, by image collecting device to car Process through lane detection region carries out video image acquisition, and by detection control process device image collecting device institute is received The vedio data of collection, and identified in vedio data by two beam laser line projections to horizontal road by image procossing Two LASER SPECKLEs formed on the track of face and its two laser spots for projecting the formation on the vehicle in level road track Point, the laser vertical element that formed on level road track is projected by planar laser band and its is projected through level road track Vehicle on formed laser straightway, two for being formed by two beam laser line projections to level road track in view data The line of individual LASER SPECKLE is projected between the level of the laser vertical element formed on level road track relative to planar laser band The maximum spacing of two LASER SPECKLEs formed on pixel value, two beam laser line projections to the vehicle through level road track Pixel value, the greatest length picture that the laser straightway formed on the vehicle in level road track is projected by planar laser band Plain value and its project the maximum horizontal spacing picture of the laser vertical element of formation on level road track relative to planar laser band Plain value is substituting in the high wide measuring and calculating function model of vehicle, and conversion obtains the maximum height measuring and calculating value and Breadth Maximum measuring and calculating of vehicle Value；
C) the detection control process device of vehicle super-high ultra-wide detecting system will calculate the maximum height measuring and calculating of gained vehicle Value and Breadth Maximum measuring and calculating value are compared respectively with default height of car limit value and vehicle width limit value, whether judge vehicle Superelevation or ultra-wide, and corresponding superelevation is indicated or ultra-wide is indicated to notify warning indicator to perform when vehicle super-high or ultra-wide is judged Operation.
In the above-mentioned vehicle super-high ultra-wide detection method based on laser calibration, as improvement project, the light band type laser Emitter across the detection door frame being arranged on level road track by being erected at the top in level road track；The inspection Survey door frame and include erectting for two and be arranged on the column of level road track both sides, and along lane width direction across being arranged on two Crossbeam on root post, light band type generating laser sets up and is arranged on the crossbeam of detection door frame；The light band type Laser emission First angle sensor is installed, for sensing the pitching windup-degree of light band type generating laser on device；The detection door frame Column on second angle sensor is installed, for sensing detection door frame column pitching windup-degree；The detection control The angle-data collection terminal of processing meanss processed is also defeated with the angle-data of first angle sensor and second angle sensor respectively Go out end to be electrically connected, for obtain first angle sensor and second angle sensor output angle-data, calculate because Detect the change of the pitching windup-degree of the pitching windup-degree of light band type generating laser and the column of detection door frame and cause The displacement error value of the laser vertical element formed on level road track is projected by planar laser band, so as to according to the displacement Measuring and calculating of the error amount to the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle carries out error compensation amendment, its error compensation Correcting mode is：
The pitching for calculating the column of the pitching windup-degree because detecting light band type generating laser and detection door frame is reversed The change of angle and cause to be projected the displacement error value of the laser vertical element formed on level road track by planar laser band ΔD：
Wherein, LpTo detect the strut length of door frame, α is by putting down that light band type generating laser is launched in original state The angle of face laser band and horizontal plane, β be detect the column of door frame in original state with the angle of horizontal plane, Δ α is light belt The pitching windup-degree that type generating laser is launched, Δ β is the pitching windup-degree of the column for detecting door frame；So as to, according to Planar laser band projects the displacement error value Δ D of the laser vertical element formed on level road track to beam type Laser emission The line of two LASER SPECKLEs that two beam laser line projections of device transmitting are formed on level road track swashs relative to light band type The planar laser band that optical transmitting set is launched projects the practical level spacing of the laser vertical element formed on level road track L0Value be modified, and in view data is calculated is formed by two beam laser line projections to level road track two it is sharp The line of light speckle projects the level interval picture of the laser vertical element formed on level road track relative to planar laser band Plain value and the laser straightway formed on the vehicle in level road track is projected by planar laser band relative to plane When laser band projects the maximum horizontal spacing pixel value of the laser vertical element formed on level road track, by planar laser band The displacement error value Δ D for projecting the laser vertical element formed on level road track is counted, and carries out error compensation amendment.
Compared to prior art, the invention has the advantages that：
1st, vehicle super-high ultra-wide monitoring system of the present invention based on laser calibration, using light band type Laser emission in system Device, the crevice projection angle of beam type generating laser and the two the geometry site in orientation is shot with image collecting device, by examining Observing and controlling processing meanss are identified in vedio data by image procossing and projected through level road by planar laser band The horizontal displacement situation and length situation of the laser straightway formed on the vehicle in track, recycles the vehicle demarcated in advance high wide Measuring and calculating function model calculates the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle, so as to realize contactless vehicle Superelevation ultra-wide is detected.
2nd, vehicle super-high ultra-wide monitoring system of the invention, its system structure is simple, it is easy to installed in the inspection of any environment Scene is surveyed, it is practical, and because the high wide measuring and calculating function model of vehicle is based on light band type generating laser, beam type laser Definite value parameter is demarcated determined by the position of emitter and crevice projection angle, is being carried out using the high wide measuring and calculating function model of vehicle During measuring and calculating, image pixel equivalent when detecting to vehicle is combined, the transillumination because of shooting image can be corrected just And the measuring and calculating error for producing, certainty of measurement is higher.
3rd, vehicle super-high ultra-wide monitoring system of the invention and its detection method, due to mainly by laser and image bat Take the photograph, identifying processing and detected, its detection frequency matches with the frame speed of image taking, and the detection that can reach Millisecond is fast Rate, detection efficiency is high, and detection process is without the need for artificial on duty, therefore, it is possible to realize keeping longtime running to perform many of automatic on-line The not parking continuous detecting of vehicle and superelevation/ultra-wide police instruction, it is to avoid cause the problem of traffic jam.
4th, each track is can also be in vehicle super-high ultra-wide monitoring system of the invention and one group of light band type laser is set Emitter, beam type generating laser and image collecting device, carry out superelevation ultra-wide inspection to the road Jing vehicles in each track respectively Survey, so as to the vehicle super-high ultra-wide automatic on-line for realizing multilane is detected and warning function.
5th, vehicle super-high ultra-wide monitoring system of the invention and its detection method are provided for the superelevation ultra-wide detection of vehicle New solution, with good popularizing application prospect.
Description of the drawings
Fig. 1 is a kind of side-looking that be embodied as structure of the present invention based on the vehicle super-high ultra-wide detecting system of laser calibration Structural representation.
Fig. 2 is side-looking view when vehicle super-high ultra-wide detecting system of the present invention carries out oversize vehicle detection.
Fig. 3 be vehicle super-high ultra-wide detecting system of the present invention carry out dilly detect when side-looking view.
Fig. 4 is Cleaning Principle schematic diagram of the present invention based on the vehicle super-high ultra-wide detecting system of laser calibration.
Fig. 5 is that the torsional error of vehicle super-high ultra-wide detecting system of the present invention calculates schematic diagram.
Specific embodiment
The invention provides a kind of vehicle super-high ultra-wide detecting system based on laser calibration, as shown in Figure 1 to 4, should System includes that the light band type generating laser 2, beam type generating laser 3 and the image that are erected at the top of level road track 1 are adopted Acquisition means 4, and detection control process device 5 and warning indicator 6.Wherein, light band type generating laser 2 is used for diagonally downward Launch one planar laser band, the planar laser band launched is α, 0 ° of 90 ° of ＜ α ＜ so as to can with the angle of horizontal plane On level road track is projected after formed one along lane width direction across level road track laser vertical element. Beam type generating laser 3 is used to launch two beam laser rays vertically downward so that the two beams laser rays are sent out with light band type laser The planar laser band that emitter 2 is launched intersects, and two laser spots that two beam laser line projections are formed on level road track The laser vertical element that the line of point is formed after projecting on level road track with planar laser band is parallel.Wherein, light band type The planar laser band that generating laser is launched is used to carry out vehicle width, the measurement of high size, and beam type generating laser institute Two beam laser rays of transmitting are then used to realize demarcating in combination with planar laser band.Can be seen by Fig. 1 and Fig. 2, light band type After the installation site and crevice projection angle of generating laser 2 and beam type generating laser 3 are once fix, beam type Laser emission The actual range S of two LASER SPECKLEs that two beam laser line projections of device transmitting are formed on level road track0, beam type swash The planar laser band intersection location point that two beam laser rays of optical transmitting set transmitting are launched with light band type generating laser is to level Actual height H in road surface track0And two beam laser line projections of beam type laser transmitter projects are on level road track The line of two LASER SPECKLEs for being formed projects horizontal road relative to the planar laser band that light band type generating laser is launched Practical level spacing L of the laser vertical element formed on the track of face0Just have determined that, these parameters are to high to vehicle wide The parameter that measuring and calculating function model is demarcated；Meanwhile, if it can be observed from fig. 2 that the stop without vehicle 7, planar laser band The laser vertical element formed on level road track can be projected, i.e. the vertical element formed after AD connections in Fig. 2；But due to There is the stop of vehicle 7, planar laser band projects the laser vertical element formed on level road track and separated for AB, CD two Section, and planar laser band projects the laser straightway EF defined on the vehicle in level road track；Pass through Fig. 3 simultaneously Can see with Fig. 4, because the angle of planar laser band and horizontal plane is α, 0 ° of 90 ° of ＜ α ＜, therefore planar laser band is projected The laser straightway defined on the vehicle in level road track projects shape on level road track with planar laser band Into laser vertical element between there is certain horizontal displacement 8, the displacement can be because of different and different, the vehicle of height of car The more big then displacement of height is bigger, and the more little then displacement of height of car is less, and height of car it is larger when, planar laser Band projects the laser straightway formed on vehicle and is possible to fall within two laser that two beam laser line projections are formed on vehicle The rear (as shown in figure 3, with the direction of advance of vehicle as front in figure) of speckle, and height of car it is less when, planar laser band Project the laser straightway formed on vehicle to be possible to fall within two laser spots that two beam laser line projections are formed on vehicle The front (as shown in figure 4, with the direction of advance of vehicle as front in figure) of point；That is, projecting Jing by planar laser band Cross the laser straightway formed on the vehicle in level road track and project shape on level road track relative to planar laser band Into laser vertical element level interval, there is corresponding relation between vehicle actual height；Meanwhile, from Fig. 2 it can also be seen that The length that the laser straightway formed on vehicle is projected by planar laser band also intuitively reflects the width situation of vehicle；Cause This, these image informations can will be acquired by image collecting device and be obtained, to the survey for carrying out vehicle width, high size Amount.Image collecting device 4 is adjacent to be arranged at beam type generating laser position, and the lens axis of image collecting device Arrange vertically downward, then downward horizontal road is projected from after the injection of light band type generating laser to planar laser band for overlooking The projection in face track carries out video image acquisition through region so as to can collect planar laser band and project level road car The laser vertical element formed on road and the laser straightway for projecting the formation on the vehicle in level road track, so as to reality Now to the collection of above- mentioned information.The image data acquiring end of detection control process device 5 and the view data of image collecting device 4 Outfan is communicatively coupled, and detects the signal communication end of control process device 5 and carries out with the signal receiving end of warning indicator 6 Communication connection, and detect in control process device 5 and be stored with the high wide measuring and calculating function model of vehicle beforehand through demarcation：
Wherein, hviRepresent the maximum height measuring and calculating value of vehicle, wviRepresent the Breadth Maximum measuring and calculating value of vehicle；KiRepresent to car Image pixel equivalent when being detected, andS0Represent two beam laser rays of beam type laser transmitter projects Project the actual range of two LASER SPECKLEs formed on level road track, si,maxRepresent in vedio data by light beam Two LASER SPECKLEs that two beam laser line projections of type laser transmitter projects are formed on the vehicle through level road track Maximum spacing pixel value；H0The two beam laser rays and light band type generating laser for representing beam type laser transmitter projects are sent out Actual height of the planar laser penetrated with intersection location point to level road track, L0Represent beam type laser transmitter projects The line of two LASER SPECKLEs that two beam laser line projections are formed on level road track is relative to light band type generating laser The planar laser band launched projects the practical level spacing of the laser vertical element formed on level road track；Li0Represent figure As two laser spots that two beam laser line projections of beam type laser transmitter projects in data are formed on level road track Point line relative to the planar laser band that light band type generating laser is launched project on level road track formed swash The level interval pixel value of light vertical element, Li,maxRepresent and projected through level road track by planar laser band in view data Vehicle on formed laser straightway relative to planar laser band project on level road track formed laser vertical element Maximum horizontal spacing pixel value, wi,maxRepresent the car projected by planar laser band in view data through level road track The greatest length pixel value of the laser straightway formed on.Can see, the high wide measuring and calculating function model of the vehicle have recorded figure The maximum of two LASER SPECKLEs formed by two beam laser line projections to the vehicle through level road track in picture data The greatest length of the laser straightway formed on the vehicle in level road track is projected away from pixel value, by planar laser band Pixel value and its relative to planar laser band project on level road track formed laser vertical element maximum horizontal spacing Corresponding conversion relation between pixel value and the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle, the correspondence conversion relation It is according to light band type generating laser, the crevice projection angle of beam type generating laser and the two and image collecting device bat in system Take the photograph determined by the geometry site in orientation.Thus, detect that control process device 5 is then adopted for receiving image collecting device The vedio data of collection, and identified in vedio data by two beam laser line projections to level road by image procossing On track formed two LASER SPECKLEs and its project on the vehicle in level road track formed two LASER SPECKLEs, The laser vertical element that formed on level road track is projected by planar laser band and its is projected through level road track The laser straightway formed on vehicle, two for being formed by two beam laser line projections to level road track in view data The line of LASER SPECKLE projects the level interval of the laser vertical element formed on level road track relative to planar laser band The maximum spacing of pixel value, two LASER SPECKLEs formed by two beam laser line projections to the vehicle through level road track Pixel value, the greatest length picture that the laser straightway formed on the vehicle in level road track is projected by planar laser band Plain value and its project the maximum horizontal spacing picture of the laser vertical element of formation on level road track relative to planar laser band Plain value is substituting in the high wide measuring and calculating function model of vehicle, and conversion obtains the maximum height measuring and calculating value and Breadth Maximum measuring and calculating of vehicle Value, is compared with default height of car limit value and vehicle width limit value judges vehicle whether superelevation or ultra-wide respectively, and Judge to notify that warning indicator performs corresponding superelevation and indicates or ultra-wide instruction operation when vehicle super-high or ultra-wide.
Vehicle super-high ultra-wide detection is carried out based on the vehicle super-high ultra-wide detecting system of laser calibration using the present invention, mainly Include demarcation in advance, measurement, three steps of superelevation ultra-wide comparison and detection, its method is as follows：
A the light band type generating laser and beam type generating laser in vehicle super-high ultra-wide detecting system) is pre-actuated Work operation, measures two that two beam laser line projections of beam type laser transmitter projects are formed on level road track The actual range S of LASER SPECKLE0, beam type laser transmitter projects two beam laser rays and light band type generating laser launched Actual height H of the planar laser with intersection location point to level road track0And the two of beam type laser transmitter projects The line of two LASER SPECKLEs that beam laser line projection is formed on level road track is relative to light band type generating laser institute The planar laser band of transmitting projects practical level spacing L of the laser vertical element formed on level road track0, as known In the high wide measuring and calculating function model of vehicle of amount input to detection control process device storage, wide measuring and calculating Function Modules high to vehicle are completed The demarcation of type.
The step is to complete the advance demarcation of wide measuring and calculating function model high to vehicle, it is generally the case that the demarcating steps are only Initially need to perform once in system operation, or perform once at interval of time of several weeks, the high wide measuring and calculating of the calibrated vehicles of Jing Function model then can life-time service detected.
B) region covered by the image-capture field of image collecting device using on level road track is examined as track Region is surveyed, in vehicle during the lane detection region, the light band type in vehicle super-high ultra-wide detecting system is controlled Generating laser, beam type generating laser and image collecting device keep working, by image collecting device to car Process through lane detection region carries out video image acquisition, and by detection control process device image collecting device institute is received The vedio data of collection, and identified in vedio data by two beam laser line projections to horizontal road by image procossing Two LASER SPECKLEs formed on the track of face and its two laser spots for projecting the formation on the vehicle in level road track Point, the laser vertical element that formed on level road track is projected by planar laser band and its is projected through level road track Vehicle on formed laser straightway, two for being formed by two beam laser line projections to level road track in view data The line of individual LASER SPECKLE is projected between the level of the laser vertical element formed on level road track relative to planar laser band Away from pixel value, the maximum of two LASER SPECKLEs formed by two beam laser line projections to the vehicle through level road track The greatest length of the laser straightway formed on the vehicle in level road track is projected away from pixel value, by planar laser band Pixel value and its relative to planar laser band project on level road track formed laser vertical element maximum horizontal spacing Pixel value is substituting in the high wide measuring and calculating function model of vehicle, and conversion obtains the maximum height measuring and calculating value and Breadth Maximum measuring and calculating of vehicle Value.
The step is that maximum height measuring and calculating value and Breadth Maximum measuring and calculating are carried out to the vehicle through the lane detection region The measurement operation of value.When passing through lane detection region due to vehicle, the vehicle body of vehicle to light band type generating laser diagonally downward The planar laser band launched is formed and blocked, and then projection forms one laser straightway on vehicle, and is swashed relative to plane Light belt to be projected and there is certain displacement, the more big then position of height of car for the laser vertical element formed on level road track Shifting amount is bigger, and the length of the laser straightway also intuitively reflects the width situation of vehicle；Therefore, by image acquisition Process of the device to vehicle through lane detection region carries out video image acquisition, and using detection control process device image is passed through Process identify two LASER SPECKLEs being formed by two beam laser line projections to level road track in vedio data and Its project on the vehicle in level road track formed two LASER SPECKLEs, level road is projected by planar laser band The laser vertical element formed on track and its laser straightway for projecting the formation on the vehicle in level road track, calculate Go out the line of two LASER SPECKLEs formed by two beam laser line projections to level road track in view data relative to flat Face laser band project on level road track formed laser vertical element level interval pixel value, by two beam laser line projections To on the vehicle through level road track formed two LASER SPECKLEs maximum spacing pixel value, projected by planar laser band To on the vehicle through level road track formed laser straightway greatest length pixel value and its relative to planar laser Band projects the maximum horizontal spacing pixel value of the laser vertical element formed on level road track and is substituting to the high wide measuring and calculating of vehicle In function model, conversion obtains the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle.
In detection process, two laser formed by two beam laser line projections to level road track in view data The line of speckle projects the level interval pixel of the laser vertical element formed on level road track relative to planar laser band Value is relatively-stationary value, but the height due to vehicle body various location, width may be not quite similar, therefore vehicle is being carried out During detection, the position of the laser straightway projected on vehicle identified from the different images frame of vedio data Putting may be not quite similar with length, and due near big and far smaller transillumination, it is (vertical by two beam laser rays being parallel to each other In horizontal plane) camera lens that projects on vehicle the two LASER SPECKLE range image harvesters formed at more high position can be more Closely, therefore the spacing pixel value of two LASER SPECKLEs can be bigger in view data.For example, from the m frame figures of picture frame t1~tm The length pixel value that the laser straightway on vehicle is projected by planar laser band identified as in is respectively wi,t1, wi,t2,…,wi,tm, its each relative to planar laser band project on level road track formed laser vertical element level Maximum spacing pixel value is respectively Li,t1,Li,t2,…,Li,tm, by two beam laser line projections to the vehicle through level road track The spacing pixel value of two LASER SPECKLEs of upper formation is respectively si,t1,si,t2,…,si,tm, from wherein filtering out in view data The greatest length pixel value of the laser straightway formed on the vehicle in level road track is projected by planar laser band wI, max=max (wI, t1, wI, t2..., wI, tm) and its laser formed on level road track is projected relative to planar laser band The maximum horizontal spacing pixel value L of vertical elementI, max=max (LI, t1, LI, t2..., Li,tm), and filter out in view data by The maximum spacing pixel value of two LASER SPECKLEs that two beam laser line projections are formed on the vehicle through level road track sI, max=max (sI, t1, sI, t2..., sI, tm), and be substituting in the high wide measuring and calculating function model of vehicle；Wherein, maximum spacing pixel Value si,maxFor calculating image pixel equivalent K when detecting to vehiclei, si,maxThe more big then corresponding image pixel of value work as Amount KiValue it is less, otherwise then KiValue it is bigger, meanwhile, image pixel equivalent K when detecting to vehicleiIt is used in car again Maximum horizontal spacing pixel value L is respectively cooperating with high wide measuring and calculating function modeli,max, greatest length pixel value wi,maxTo calculate The maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle, therefore image pixel equivalent K when detecting to vehicleiValue Just the measuring and calculating error produced because of the transillumination of shooting image can be corrected, and then ensures the maximum height measuring and calculating value of vehicle There is higher precision with the results of measuring of Breadth Maximum measuring and calculating value.
C) the detection control process device of vehicle super-high ultra-wide detecting system will calculate the maximum height measuring and calculating of gained vehicle Value and Breadth Maximum measuring and calculating value are compared respectively with default height of car limit value and vehicle width limit value, whether judge vehicle Superelevation or ultra-wide, and corresponding superelevation is indicated or ultra-wide is indicated to notify warning indicator to perform when vehicle super-high or ultra-wide is judged Operation.
Vehicle super-high of the present invention based on laser calibration is can be seen that by above-mentioned vehicle super-high ultra-wide testing process to surpass The Cleaning Principle of wide monitoring system is, using the crevice projection angle of light band type generating laser, beam type generating laser in system And the two shoots the geometry site in orientation with image collecting device, recognized by image procossing by detection control process device Go out in vedio data to be projected by planar laser band the laser straightway that formed on the vehicle in level road track Horizontal displacement situation and length situation, the maximum for recycling the high wide measuring and calculating function model of the vehicle demarcated in advance to calculate vehicle is high Degree measuring and calculating value and Breadth Maximum measuring and calculating value, so as to realize contactless vehicle super-high ultra-wide detection, its system structure is simple, easily It is practical in the detection scene installed in any environment, and because the high wide measuring and calculating function model of vehicle is based on light band type Generating laser, the position of beam type generating laser and definite value parameter is demarcated determined by crevice projection angle, are utilizing car When high wide measuring and calculating function model is calculated, image pixel equivalent K when detecting to vehicle is combinedi, just can The measuring and calculating error that correction is produced because of the transillumination of shooting image, certainty of measurement is higher, if further combined with image collector The lens distortion calibration algorithm put, it might even be possible to so that the measuring and calculating of the maximum height measuring and calculating value of vehicle and Breadth Maximum measuring and calculating value is missed Difference control is in grade；Simultaneously as it is main by laser and image taking, identifying processing and detected, its detection frequency Rate matches with the frame speed of image taking, can reach the detection rates of Millisecond, and detection efficiency is high, and detection process is without the need for people Work is on duty, therefore, it is possible to realize the not parking continuous detecting of many vehicles and superelevation that keep longtime running to perform automatic on-line/super Wide police instruction, it is to avoid cause the problem of traffic jam；Additionally, being directed to the situation of multilane, the vehicle super-high of the present invention surpasses Each track is can also be in wide detecting system one group of light band type generating laser, beam type generating laser and image are set Harvester, carries out superelevation ultra-wide detection to the road Jing vehicles in each track respectively, so as to the vehicle super-high for realizing multilane surpasses Wide automatic on-line detection and warning function.
For vehicle super-high ultra-wide detecting system of the present invention based on laser calibration, on technology is realized, light band type laser Emitter, beam type generating laser are the products of technology maturation, can by city available from；Image collecting device can be adopted Video camera is achieved；Detection control process device then can be adopted possesses signal control, data acquisition and data-handling capacity Computing device coordinate software program and be achieved, can for example adopt the meter for possessing corresponding detection control process software program The equipment such as calculation machine, intelligent mobile terminal realize, or adopt designed, designed with single-chip microcomputer, PLD, ARM chips Special detection control is constituted by the integrated circuit of core etc. the logic chip for possessing certain data storage and data-handling capacity Processing equipment processed is realizing；Warning indicator can be then alarm lamp, alarm bell, to carry out sound and light alarm, or alarm signal Breath display, operates to the display for carrying out superelevation/ultra-wide warning message, or is with vehicle super-high ultra-wide alarm indicator The intelligent mobile terminal equipment of function, to the word/data display and voice broadcast that carry out superelevation/ultra-wide warning message, etc. Deng.And between the image collecting device in system and detection control process device and detect that control process device refers to warning Show the communication connection between device, then can be according to the difference of practical situations, using wire communication connection or radio communication The mode of connection is being achieved.
In vehicle super-high ultra-wide detecting system of the present invention based on laser calibration, light band type generating laser and image are adopted Acquisition means assume that the erection embodiment above level road track can be according to the condition of construction of actually detected track environment It is determined.But certain impact may be brought on accuracy of detection in view of the installation situation of light band type generating laser, therefore is made For a kind of preferred version, light band type generating laser can be by across the detection door frame being arranged on level road track and frame The top in level road track is located at, the detection door frame includes that two are erect the column for being arranged on level road track both sides, with And along lane width direction across the crossbeam being arranged in two root posts, light band type generating laser sets up and is arranged on detection door frame Crossbeam on.Since so, not only can ensure that the vehicle on level road track can be passed through and detected, Er Qiejian The structure for surveying door frame it also avoid the swing on light band type generating laser generation lane width direction and cause measurement error Situation.Certainly, in the environment of system long-play work, the detection door frame and light band type generating laser be possible to because There is pitching and reverse and bring detection error in the effect such as wind-force, external force；This situation is directed to, as further improvement project, Can design to increase on light band type generating laser and first angle sensor is installed, for sensing light band type generating laser Pitching windup-degree；Increase on the column of detection door frame and second angle sensor is installed, for the column of sensing detection door frame Pitching windup-degree；And detect control process device angle-data collection terminal also respectively with first angle sensor and second The angle-data outfan of angular transducer is electrically connected, defeated for obtaining first angle sensor and second angle sensor The angle-data for going out, calculates the pitching windup-degree because detecting light band type generating laser and detects the pitching of the column of door frame The change of windup-degree and causing is projected the displacement of the laser vertical element formed on level road track by planar laser band and is missed Difference, so as to the measuring and calculating according to the displacement error value to the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle is missed Compensating approach is differed from, its error compensation correcting mode is：
If as shown in figure 5, LpTo detect the strut length (i.e. the length of Fig. 3 middle conductors AB, AB') of door frame, α is light band type Planar laser band and the angle of horizontal plane that generating laser is launched in original state, β is the column for detecting door frame first With the angle of horizontal plane during beginning state, the pitching windup-degree that Δ α is launched by light band type generating laser, Δ β is detection door The pitching windup-degree of the column of frame, then according to geometrical relationship, may be calculated as out because detecting light band type generating laser Pitching windup-degree and detection door frame column pitching windup-degree change and cause to project water by planar laser band The displacement error value Δ D (i.e. the length of Fig. 3 middle conductors CC') of the laser vertical element formed on flat road surface track：
So as to project the displacement error value Δ of the laser vertical element formed on level road track according to planar laser band The company of two LASER SPECKLEs that D is formed to two beam laser line projections of beam type laser transmitter projects on level road track Line projects the laser straight line formed on level road track relative to the planar laser band that light band type generating laser is launched Practical level spacing L of bar0Value be modified, and calculate view data in by two beam laser line projections to level road car The line of two LASER SPECKLEs formed on road projects the laser straight formed on level road track relative to planar laser band The level interval pixel value of lines and the laser formed on the vehicle in level road track is projected by planar laser band Straightway projects the maximum horizontal spacing pixel of the laser vertical element formed on level road track relative to planar laser band During value, the displacement error value Δ D that planar laser band projects the laser vertical element formed on level road track is counted, Carry out error compensation amendment.Thus, by further error compensation amendment, the vehicle super-high ultra-wide detecting system of the present invention is just Higher accuracy of detection can be preferably kept during actually detected use.
In addition, it is contemplated that the vehicle super-high ultra-wide detecting system of the present invention is likely to be at the state that work online for a long time, in order to Save system energy consumption, as a kind of preferred embodiment, in system with level road track by the image of image collecting device The region that acquisition range is covered as lane detection region, can sail at position in the vehicle in the lane detection region and Vehicle is rolled away from position increases setting deceleration strip, and the vehicle in lane detection region is sailed at position and vehicle is rolled away from position Deceleration strip in be respectively equipped with to sail into and side pressure electric transducer and roll side pressure electric transducer away from；And detect the piezoelectricity of control process device Signal acquisition terminal is electrically connected respectively with sailing side pressure electric transducer into and rolling the piezoelectric signal outfan of side pressure electric transducer away from, And detect control process device control signal output respectively with light band type generating laser, beam type generating laser and figure As the control end that opens/stop of harvester is electrically connected, for receiving from the piezoelectric signal for sailing side pressure electric transducer into When control light band type generating laser, beam type generating laser and image collecting device startup work, receiving from sailing Control light band type generating laser, beam type generating laser and image collecting device when going out the piezoelectric signal of side pressure electric transducer Quit work.Thus, vehicle super-high ultra-wide detecting system just can be swashed by automatically controlling light band type generating laser, beam type Optical transmitting set and image collecting device start work, roll lane detection area away from vehicle when there is vehicle to sail lane detection region into Quit work during domain, reach the opening automatically of detection process/stop effect, to save system energy consumption.
Said structure and its detection method by the present invention based on the vehicle super-high ultra-wide detecting system of laser calibration Operation principle can see that the vehicle super-high ultra-wide detecting system can realize contactless vehicle super-high ultra-wide detection, and System structure is simple, it is easy to which, installed in the detection scene of any environment, practical, certainty of measurement is higher, while it can reach To the detection rates of Millisecond, detection efficiency height, multilane, many cars for keeping longtime running to perform automatic on-line can be realized Not parking continuous detecting and superelevation/ultra-wide police instruction, the superelevation ultra-wide detection for vehicle provides new solution, tool There is good popularizing application prospect.
Finally illustrate, above example is only unrestricted to illustrate technical scheme, although with reference to compared with Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to the skill of the present invention Art scheme is modified or equivalent, and without deviating from the objective and scope of technical solution of the present invention, it all should cover at this In the middle of the right of invention.

Claims (6)

1. a kind of vehicle super-high ultra-wide detecting system based on laser calibration, it is characterised in that including being erected at level road car Light band type generating laser, beam type generating laser and image collecting device above road, and detection control process device And warning indicator；
The light band type generating laser be used for launch one planar laser band diagonally downward, the planar laser band launched with The angle of horizontal plane is α, 0 ° of 90 ° of ＜ α ＜ so as to rear on level road track is projected can form one along lane width Laser vertical element of the direction across level road track；
The beam type generating laser is used to launch two beam laser rays vertically downward so that the two beams laser rays and light band type Planar laser band that generating laser is launched intersects, and is formed on level road track two of two beam laser line projections are sharp The laser vertical element that the line of light speckle is formed after projecting on level road track with planar laser band is parallel；
Described image harvester is adjacent to be arranged at beam type generating laser position, and the camera lens of image collecting device Axis is arranged vertically downward, and downward level is projected from after the injection of light band type generating laser to planar laser band for overlooking The projection in road surface track carries out video image acquisition through region；
The image data acquiring end of the detection control process device is led to the view data outfan of image collecting device Letter connection, the signal communication end for detecting control process device is communicatively coupled with the signal receiving end of warning indicator, and examines It is stored with the high wide measuring and calculating function model of vehicle beforehand through demarcation in observing and controlling processing meanss：
h v i = H 0 + H 0 × K i × ( L i , m a x - L i 0 ) L 0 w v i = K i × w i , m a x ;
Wherein, hviRepresent the maximum height measuring and calculating value of vehicle, wviRepresent the Breadth Maximum measuring and calculating value of vehicle；KiExpression is entered to vehicle Image pixel equivalent during row detection, andS0Represent two beam laser line projections of beam type laser transmitter projects The actual range of two LASER SPECKLEs formed on level road track, si,maxRepresent and swashed by beam type in vedio data Two LASER SPECKLEs that two beam laser line projections of optical transmitting set transmitting are formed on the vehicle through level road track are most Big spacing pixel value；H0What the two beam laser rays and light band type generating laser for representing beam type laser transmitter projects were launched Actual height of the planar laser with intersection location point to level road track, L0Represent two beams of beam type laser transmitter projects The line of two LASER SPECKLEs that laser line projection is formed on level road track is sent out relative to light band type generating laser The planar laser band penetrated projects the practical level spacing of the laser vertical element formed on level road track；Li0Represent picture number Two LASER SPECKLEs formed on level road track according to two beam laser line projections of middle beam type laser transmitter projects Line projects the laser straight formed on level road track relative to the planar laser band that light band type generating laser is launched The level interval pixel value of lines, Li,maxRepresent the car projected by planar laser band in view data through level road track The laser straightway formed on projects the laser vertical element formed on level road track relative to planar laser band most Big level interval pixel value, wi,maxRepresent and projected on the vehicle in level road track by planar laser band in view data The greatest length pixel value of the laser straightway of formation；
Detection control process device is used to receive the vedio data that image collecting device is gathered, and is known by image procossing Do not go out two LASER SPECKLEs and its projection formed by two beam laser line projections to level road track in vedio data To on the vehicle through level road track formed two LASER SPECKLEs, projected on level road track by planar laser band The laser vertical element of formation and its project on the vehicle in level road track formed laser straightway, by view data In the line of two LASER SPECKLEs that formed by two beam laser line projections to level road track throw relative to planar laser band Be mapped on level road track formed laser vertical element level interval pixel value, by two beam laser line projections to through level On the vehicle in road surface track formed two LASER SPECKLEs maximum spacing pixel value, projected through level by planar laser band On the vehicle in road surface track formed laser straightway greatest length pixel value and its project water relative to planar laser band The maximum horizontal spacing pixel value of the laser vertical element formed on flat road surface track is substituting in the high wide measuring and calculating function model of vehicle, Conversion obtains the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle, respectively with default height of car limit value and vehicle width Degree limit value is compared and judges vehicle whether superelevation or ultra-wide, and notice warning indicator is held when vehicle super-high or ultra-wide is judged The corresponding superelevation of row is indicated or ultra-wide indicates operation.
2. the vehicle super-high ultra-wide detecting system of laser calibration is based on according to claim 1, it is characterised in that the light belt Type generating laser across the detection door frame being arranged on level road track by being erected at the top in level road track； The detection door frame includes erectting for two and is arranged on the column of level road track both sides, and along lane width direction across setting The crossbeam in two root posts is put, light band type generating laser sets up and is arranged on the crossbeam of detection door frame.
3. the vehicle super-high ultra-wide detecting system of laser calibration is based on according to claim 2, it is characterised in that the light belt First angle sensor is installed, for sensing the pitching windup-degree of light band type generating laser on type generating laser；Institute Second angle sensor is installed on the column for stating detection door frame, for the pitching windup-degree of the column of sensing detection door frame；
The angle-data collection terminal of the detection control process device is also sensed with first angle sensor and second angle respectively The angle-data outfan of device is electrically connected, for obtaining the angle of first angle sensor and the output of second angle sensor Data, calculate the pitching windup-degree because detecting light band type generating laser and detect the pitching windup-degree of the column of door frame Change and cause to be projected the displacement error value of the laser vertical element formed on level road track by planar laser band, so as to According to the displacement error value maximum height measuring and calculating value of vehicle and the measuring and calculating of Breadth Maximum measuring and calculating value are carried out by error compensation and repaiied Just.
4. the vehicle super-high ultra-wide detecting system of laser calibration is based on according to claim 1, it is characterised in that with horizontal road Examine in the track as lane detection region in the region covered by the image-capture field of image collecting device on the track of face The vehicle in survey region is sailed at position and vehicle is rolled away from position and is equipped with deceleration strip, and the vehicle in lane detection region sails position into It is respectively equipped with the deceleration strip that the place of putting and vehicle are rolled away from position and sails side pressure electric transducer into and roll side pressure electric transducer away from；
It is described detection control process device piezoelectric signal collection terminal respectively with sail side pressure electric transducer into and roll side pressure fax away from The piezoelectric signal outfan of sensor is electrically connected, and detect control process device control signal output respectively with light band type The control end that opens/stop of generating laser, beam type generating laser and image collecting device is electrically connected, for receiving From the piezoelectric signal for sailing side pressure electric transducer into when control light band type generating laser, beam type generating laser and image adopt Acquisition means startup work, when receiving from the piezoelectric signal for rolling side pressure electric transducer away from control light band type generating laser, Beam type generating laser and image collecting device quit work.
5. a kind of vehicle super-high ultra-wide detection method based on laser calibration, it is characterised in that using base as claimed in claim 1 Detected that the method comprises the steps in the vehicle super-high ultra-wide detecting system of laser calibration：
A the light band type generating laser and beam type generating laser work in vehicle super-high ultra-wide detecting system) is pre-actuated Operation, measures two laser that two beam laser line projections of beam type laser transmitter projects are formed on level road track The actual range S of speckle0, beam type laser transmitter projects two beam laser rays and light band type generating laser launched it is flat Actual height H of the face laser with intersection location point to level road track0And two beams of beam type laser transmitter projects swash Light projects the line of two LASER SPECKLEs formed on level road track and is launched relative to light band type generating laser Planar laser band project on level road track formed laser vertical element practical level spacing L0, it is defeated as known quantity Enter into the high wide measuring and calculating function model of vehicle of detection control process device storage, complete wide measuring and calculating function model high to vehicle Demarcate；
B) region covered by the image-capture field of image collecting device using on level road track is used as lane detection area Domain, in vehicle during the lane detection region, controls the light band type laser in vehicle super-high ultra-wide detecting system Emitter, beam type generating laser and image collecting device keep working, by image collecting device to vehicle Jing Crossing the process in lane detection region carries out video image acquisition, receives image collecting device by detection control process device and is gathered Vedio data, and identified in vedio data by two beam laser line projections to level road car by image procossing On road formed two LASER SPECKLEs and its project on the vehicle in level road track formed two LASER SPECKLEs, by Planar laser band projects the laser vertical element that formed on level road track and its projects car through level road track The laser straightway formed on, two formed by two beam laser line projections to level road track in view data are swashed The line of light speckle projects the level interval picture of the laser vertical element formed on level road track relative to planar laser band The maximum spacing pixel of two LASER SPECKLEs formed on element value, two beam laser line projections to the vehicle through level road track Value, the greatest length pixel value that the laser straightway formed on the vehicle in level road track is projected by planar laser band And its project the maximum horizontal spacing pixel value of the laser vertical element formed on level road track relative to planar laser band In being substituting to the high wide measuring and calculating function model of vehicle, conversion obtains the maximum height measuring and calculating value and Breadth Maximum measuring and calculating value of vehicle；
C) the detection control process device of vehicle super-high ultra-wide detecting system will calculate gained vehicle maximum height measuring and calculating value and Breadth Maximum measuring and calculating value is compared respectively with default height of car limit value and vehicle width limit value, judges vehicle whether superelevation Or ultra-wide, and corresponding superelevation is indicated or ultra-wide indicates behaviour to notify warning indicator to perform when vehicle super-high or ultra-wide is judged Make.
6. the vehicle super-high ultra-wide detection method of laser calibration is based on according to claim 5, it is characterised in that the light belt Type generating laser across the detection door frame being arranged on level road track by being erected at the top in level road track； The detection door frame includes erectting for two and is arranged on the column of level road track both sides, and along lane width direction across setting The crossbeam in two root posts is put, light band type generating laser sets up and is arranged on the crossbeam of detection door frame；The light band type swashs First angle sensor is installed, for sensing the pitching windup-degree of light band type generating laser on optical transmitting set；The inspection Second angle sensor is installed on the column for surveying door frame, for the pitching windup-degree of the column of sensing detection door frame；
The angle-data collection terminal of the detection control process device is also sensed with first angle sensor and second angle respectively The angle-data outfan of device is electrically connected, for obtaining the angle of first angle sensor and the output of second angle sensor Data, calculate the pitching windup-degree because detecting light band type generating laser and detect the pitching windup-degree of the column of door frame Change and cause to be projected the displacement error value of the laser vertical element formed on level road track by planar laser band, so as to According to the displacement error value maximum height measuring and calculating value of vehicle and the measuring and calculating of Breadth Maximum measuring and calculating value are carried out by error compensation and repaiied Just, its error compensation correcting mode is：
Calculate the pitching windup-degree because detecting light band type generating laser and detect the pitching windup-degree of the column of door frame Change and cause to be projected the displacement error value Δ D of the laser vertical element formed on level road track by planar laser band：
Δ D = sin α L p sin ( π - α - β ) - sin ( α - Δ α ) L p sin ( π - α - β + Δ α + Δ β ) ;
Wherein, LpTo detect the strut length of door frame, α is swashed by the plane that light band type generating laser is launched in original state The angle of light belt and horizontal plane, β be detect the column of door frame in original state with the angle of horizontal plane, Δ α swashs for light band type The pitching windup-degree that optical transmitting set is launched, Δ β is the pitching windup-degree of the column for detecting door frame；So as to according to plane Laser band projects the displacement error value Δ D of the laser vertical element formed on level road track and beam type generating laser is sent out The line of two LASER SPECKLEs that the two beam laser line projections penetrated are formed on level road track is sent out relative to light band type laser The planar laser band that emitter is launched projects practical level spacing L of the laser vertical element formed on level road track0's Value is modified, and two laser spots formed by two beam laser line projections to level road track in view data is calculated The line of point projects the level interval pixel value of the laser vertical element formed on level road track relative to planar laser band And the laser straightway formed on the vehicle in level road track is projected by planar laser band relative to planar laser When band projects the maximum horizontal spacing pixel value of the laser vertical element formed on level road track, by the projection of planar laser band The displacement error value Δ D of the laser vertical element formed on level road track is counted, and carries out error compensation amendment.
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CN113781797A (en) * 2021-11-11 2021-12-10 成都古河云科技有限公司 Automatic optical recognition system for vehicle outline
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