GB2258041A - Dimensional measurement system - Google Patents
Dimensional measurement system Download PDFInfo
- Publication number
- GB2258041A GB2258041A GB9215238A GB9215238A GB2258041A GB 2258041 A GB2258041 A GB 2258041A GB 9215238 A GB9215238 A GB 9215238A GB 9215238 A GB9215238 A GB 9215238A GB 2258041 A GB2258041 A GB 2258041A
- Authority
- GB
- United Kingdom
- Prior art keywords
- light
- line
- illumination
- plane
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A plane of light (BFG) is directed from a source (2) towards a surface (5) over which an object (8) is moving such that a line of illumination (7) is formed at the surface (5). The line of illumination (7) extends transversely to the direction of movement of the object (8) such that apparent variation in the configuration of the line of illumination (7) as the object (8) intersects the plane of light (BFG), enables a value for at least one dimension of the object (8) to be obtained. Typically the plane of light is produced by a laser source, and photoresponsive detectors (3) used to produce an electrical output signal dependent on the apparent variation of the configuration of the line of illumination. The detectors (3) may be in the form of a CCD array. One or more planes of light may be used for speed measurement as well as dimensions. The system may be arranged to operate from a single housing. <IMAGE>
Description
Method and Apparatus for Dimensional Measurement
This invention relates to an apparatus and method for measuring the dimensions of a moving object, and in particular to an apparatus and method capable of measuring at least one dimension of a moving vehicle.
Traffic routes particularly in complicated urban transport networks are becoming increasingly congested. In order to cope with this problem, traffic management systems have been proposed in which vehicles may be directed along alternative routes where traffic congestion is a problem in a particular location. In order for such traffic management systems to be effective, data is needed enabling an assessment of the structure of the traffic (in terms of size of vehicle and speed of flow) to be made.
We have now devised an improved method of providing such data continuously.
According to a first aspect of the invention, there is provided a method of determining at least one dimension of an object which is moving over a surface, which comprises causing at least one effective plane of light to impinge on said surface such that an effective line of illumination is formed at said surface extending substantially transversely to the direction of movement of said object, and sensing apparent variation in the configuration of said line of illumination caused by said object passing through said plane of light.
The effective plane of light may be an actual plane of light, for example produced by optical lenses positioned appropriately relative to a light source. Alternatively, the effective plane of light may be produced by a rapidly scanning light beam such as that produced by a laser beam impinging on the facets of a rotating multifaceted mirror or prism.
It is preferred that the at least one plane of light intersects the surface at an acute angle thereto. This angle of intersection will be referred to as the "attitude" of the plane of light.
Preferably the plane of light is arranged to impinge on the surface such that the illuminated line formed on the surface is at an acute angle relative to an axis perpendicular to the direction of travel of the object. This acute angle will be referred to as the "skew" of the plane of light or line of illumination.
Typically the body will be a vehicle, and the surface on which it moves will be a road surface.
Advantageously the plane of light emanates from a light source located above the surface on which the object is moving. Advantageously the light source is displaced transversely relative to the axis of travel of said body. Where the object is a vehicle, and the surface is a road surface, the light source is advantageously positioned towards the side of the road.
Typically a second plane of light is caused to intersect the surface and form a second line of illumination on the surface at a position on the surface displaced in the longitudinal direction of movement of the object. Advantageously the line of illumination formed by the intersection of the second plane of light with the surface extends substantially transversely to the direction of movement of the object. Preferably said second plane of light intersects the surface at an acute angle thereto. Advantageously the acute angle (attitude) at which the second plane of light intersects the surface is different to the attitude of the first plane of light. The angle of "skew" of the second line of illumination may be identical to, or different from, the angle of "skew" of the first line.
It is preferred that the dimension measured in the method according to the invention is the height above the surface of the object. Alternatively, or in addition to the height, the width and/or length of the object may be measured. Here, height is taken to mean the distance between the surface and the uppermost extent of the object. Length is taken to mean the extent of the object in the direction of movement thereof, and width is taken to mean the extent of the object in a direction perpendicular to the direction of movement of the object.
It is particularly preferred that the speed of the object should also be measured.
Advantageously this is done where two planes of light are provided, with the time taken for a point on the object to intersect the two planes being determined, and hence the speed, because the relevant distance between the two planes is fixed.
Typically the variation of the apparent configuration of the line of illumination caused by the object passing through the plane of light is sensed by means of photosensitive detector means such as a Charge Coupled Device (CCD) array camera or the like.
Advantageously the photosensitive detector means is arranged to produce an output signal dependent on the apparent change in configuration of the line of illumination. Typically this output signal is processed to produce a value for the particular dimension(s) under investigation.
It is preferred that the plane of light is of coherent light, such as from a laser source.
According to a second aspect of the invention, there is provided apparatus for obtaining a value for at least one dimension of an object moving on a surface which apparatus comprises: a) source means arranged to direct an effective plane of light towards said surface such
that a line of illumination may be caused at said surface; b) detector means arranged to detect the image of said line of illumination and produce
an output signal dependent on variation in configuration of said line of illumination;
and c) signal processing means arranged to process said output signal such that a value for
said dimension is obtainable.
It is preferred that the source means is arranged to emit a plane of laser light, advantageously from a laser diode via an optical arrangement arranged to produce planar light. Typically, cylinder lenses may be used for this purpose.
Preferably, the detector means are arranged to detect light from the image of the line of illumination, the detector means being preferably provided with image focussing means for this purpose. Advantageously, the detector means is a CCD array arranged to produce the output signal. The source means may be positioned above, or more preferably below, the detector means, and in a preferred embodiment the source means and detector means are provided in a single common housing.
In a preferred embodiment of the apparatus, where the object is a moving vehicle, and the surface is a road surface, the source and detector means are provided in mounting means at the side of the road. In this embodiment the signal processing means may include means for recording and storage of measurement data which may be retrieved subsequently. Alternatively, the signal processing means may be remote from the detector means and the output signal from the detector means relayed thereto by electrical circuitry or by radiofrequency transmission or the like.
The invention will now be further described in a specific embodiment, by way of example only, with reference to the accompanying drawings, in which:
Figure 1 is a schematic view of apparatus according to the invention arranged
for use in the method according to the invention;
Figure 2 is an explanatory view of the apparatus of Figure 1 in use in the
method;
Figure 3 is an explanatory side view of the apparatus of Figures 1 and 2 in use
in the method;
Figure 4 is an explanatory plan view of the apparatus of Figures 1 to 3 in use
in the method;
Figures Sa to d show stages in the measurement of an object in accordance with the method; and
Figures 6a to c show the image detected in the stages shown in Figures 5a to
Sc in accordance with the method.
Referring to the drawings, and initially to Figure 1 in particular, the apparatus, generally designated 1, comprises a laser light emitter 2 and an image detector 3 mounted in a housing at the upper end of a mounting post 18 positioned at the side of a road 5. The laser light emitter 2 is not shown in detail but comprises a laser diode source and an optical arrangement including two cylinder lenses each arranged to produce a respective plane of laser light. The respective planes of laser light impinge on the road surface 5, to each form a respective line of illumination 6,7 at the road surface 5. The planes of laser light in Figure
1 are defined respectively by the triangles BDE and BGF.It is important to note that the planes of light impinge on the road surface at acute angles (attitudes) to the road surface marked on Figure 1 as angles oe and ss respectively. It should also be noted that the lines of illumination 6 and 7 (extending between DE and GF respectively) are inclined at an acute angle to the normal (line HF) of the direction of motion along the road surface (arrow A).
This angle of skew of the planes of light and lines of illumination 6,7 is shown in Figure 1 as angle 0.
The image detector 3 comprises an optical image focussing arrangement coupled with a Charge Coupled Device (CCD) array. When the planes of light are not intersected by a moving object, the CCD array has an image of the lines of illumination 6,7 as an unbroken straight line. In order to best understand the invention it is convenient to consider the effect of a moving object, in this case a vehicle 8, breaking the first plane of light BGF. When the vehicle 8 first intersects the plane of light BGF, the line of illumination 7 on the road surface 5 will be "broken" when the plane of light illuminates the vehicle surface. Looking at Figures 2 and 3 the point of intersection X of the light plane with the vehicle is longitudinally displaced from the point of intersection y of the light plane on the road surface.The line of illumination 7 image configuration seen by the CCD detector array 3 thus has a portion displaced by the parallax effect of the vehicle 8 intersecting the light beam. In Figure 2, for explanation purposes, the line of illumination 7 is not skewed, and the image trace 10 seen by the detector array 3 can be seen to have a "stepped" portion 11 of depth h corresponding to the displacement of the line of illumination caused by this parallax effect of the vehicle intersecting the beam. It can be shown by geometric analysis that the displacement depth h corresponds directly to the height above road surface 5 of intersection of the light plane with the vehicle 8. The width w of the stepped portion corresponds to the width of the vehicle although a component related to the height of the vehicle also accounts for the dimension w due to a "shadow" cast by the vehicle.
In practice the image trace seen by the detector array is subject to significant distortions. These distortions result either from abberations in the optical components of the unit or from the geometry of the position and orientation of the unit relative to the vehicle.
The image must therefore be corrected to remove the distortions resulting from projecting a three dimensional object onto a two dimensional surface (the image plane in the CCD array) which requires a non-linear correction to scale, orientation and origin shift to each point together with any errors caused by the optics.
Since the image may be formed by 104 to 106 individual points and typically 50 images must be processed each second in order to measure quickly moving vehicles, the transformation processing needed to remove the distortions required 0.5 to 50 million complex calculations per second. Since this is not feasible with existing micro-processor technology, a workable method of transformation processing comprises the following steps: 1. The signal is received from the CCD camera as an analogue signal of continuously
varying voltages which change for each pixel in the CCD array according to the
intensity of light images by it. Logic circuits detect or initiate the start of a frame
and provide a clock counter to keep track of the line number and position on the line
of the pixel being processed.The voltage signal is extracted, compared against a
threshold level and a resultant ON or OFF value, along with the line and pixel
number sent to the processing circuitry.
2. The line and pixel number are used as an address to extract from a transformation
matrix in an EPROM the address where the signal should be stored. The image can
be considered as a two dimensional matrix where each location within it corresponds
to a pixel. The required un-distorted image can also be considered as a two
dimensional matrix. For any location on the Image matrix there will be a location
on the un-distorted matrix, the relationship between these two locations being the
complex transformation.
3. The transformation to correct all distortions other than those arising from site position
can be computed after manufacture and stored in the processing unit. When the unit
is installed on site the corrections due to it's orientation and position can be
computed, combined with the previous corrections and stored. The transformation
which is stored consists of the relationship between all locations on the image matrix
and their corresponding locations on the un-distorted matrix. The transformation
values are stored in a transformation matrix such that this matrix is exactly the same
as the image one in terms of size and shape, however at each location instead of
storing whether a pixel is ON or OFF it contains the corresponding address on the
un-distorted matrix.
4. By using the line and pixel number as an address to the transformation matrix to then
extract a storage address on the un-distorted matrix and repeating this for all points
in a frame an un-distorted image can be produced.
5. The above process will transform an image in the CCD camera of the line of the
plane of light and the road surface which will appear skewed and bent into a straight
horizontal line. The transformed image of a vehicle will consist of this line but
shifted vertically downwards in the location of the vehicle. It is necessary to extract
from this image the components directly attributable to the vehicle and ignore the
remainder.
6. This is done in conjunction with the transformation process. The transformation
matrix stores in addition to the corresponding address on the un-distorted matrix, a
"flag" to denote whether the image of the line on the road surface falls on this pixel.
The processing circuitry then uses this flag in a logic comparator together with the
pixel lit or not signal from the CCD camera to subtract the line and leave only the
image resulting from the effect of the vehicle(s).
7. This is then stored in the un-distorted matrix when all the pixels in a frame have been
processed provides an image of the vehicle which is distortion free.
8. To reduce processing instead of storing the data in a two dimensional matrix, the
results are stored in an accumulator register, one for each column of the matrix. The
value in the register directly provides height, the number of registers with values
allows the width to be calculated. Since the result of the subtraction is signed
(positive if the image pixel is lit but it would not be for the line alone, or negative
where an image pixel is not lit but it would be for the line alone - vehicle casts a
shadow) the presences of negative values in the register denotes the extremity of a
vehicle and allows for differentiation between side by side vehicles.
Since the light planes and the lines of illumination 6 and 7 are skewed as defined above (see Figures 3 to 6) the vehicle initially intersects the plane at the situation shown in Figure 5a, with the front offside edge 16 of the vehicle being first to intersect the plane. This causes a rectangular "blip" 12 to appear on the trace (Figure 6a) on the CCD array, the depth h of the blip corresponding to the height of intersection of the line of illumination with the vehicle. The vehicle proceeds to cross the "skewed" line of illumination 7 such that eventually the "displaced" portion of the "skewed" line of illumination on the surface of the vehicle 8 extends across the foll width of the vehicle 8 (see
Figure Sb).The trace on the image detector array will at this stage be as shown in Figure 6b with an elongate rectangular stepped portion 14 defining the change in configuration of the image of the line of illumination.
Edge 13 of the elongate rectangle 14 corresponds to the side 15 of the vehicle 8 nearest the laser light emitter 2 and detector array 3. This edge will remain fixed on the trace throughout the remainder of the measurement of the dimensions of a particular vehicle 8. As the vehicle continues to move across the line of illumination 7 through the light plane, (Figure 5c) the depth of the trace may increase in direct relationship to an increase in height of the vehicle, and the width w of the trace may increase in relationship with a combination of increase in width and height of the vehicle (see Figure 6c).
In this way the trace recorded by the CCD array gives a direct reading of the vehicle height and also a reading of the vehicle height/width relationship from which a value for the width may be obtained. The output signal from the CCD is for this reason coupled to a conventional digital microprocessor and other standard signal conditioning and processing apparatus (not shown) capable of manipu]ating the signal data and computing the necessary algorithms to enable, for example, average or maximum height and width values to be obtained.
Since two light planes (BDE and BGF) are provided creating two spaced lines of illumination, a value for the speed of the vehicle can be obtained simply by recording the time taken for the respective planes to be initially intersected by the vehicle (corresponding to the situation shown in Figure Sa for each light plane) and dividing this value into the distance between the respective planes at the relevant height of intersection. An average speed of the vehicle can be ascertained if a corresponding velocity measurement is taken using the time taken for the trailing edge of the vehicle 17 to pass through the two planes.
Using the apparatus, it is also possible to measure the length of the vehicle passing through the two planes by simply recording the elapsed time from the nearside front edge of the vehicle intersecting the first light plane (the situation shown in Figure Sb and recorded on the trace in Figure 6b) to the nearside rear edge 17 of the vehicle leaving the first light plane (corresponding to the situation shown in Figure 5d characterised by the configuration of the trace returning to a straight line as shown in Figure 6d).
It is therefore possible using the apparatus of the present invention to conveniently measure width, height, length and speed of the vehicle. It is envisaged that the invention will hence be useftil in the conduction of traffic surveys, and also invaluable as a means of ascertaining vehicle flow characteristics when used as a part of a traffic control system. To this end it is envisaged that a multiplicity of apparatus according to the invention could be used in conjunction with a central data processing centre to collate and interpret output signal from a number of such apparatus located at various locations along traffic routes in a traffic management system.
Claims (24)
1. A method of determining at least one dimension of an object which is moving over
a surface, which method comprises causing at least one effective plane of light to
impinge on said surface such that a line of illumination is formed at said surface
extending substantially transversely to the direction of movement of said object, and
sensing apparent variation in the configuration of said line of illumination caused by
said object passing through said plane of light.
2. A method according to claim 1, in which the at least one plane of light intersects the
surface at an acute angle thereto.
3. A method according to claim 1 or claim 2, in which the at least one plane of light
intersects the surface such that the illuminated line formed on the surface is at an
acute angle relative to an axis perpendicular to the direction of travel of the body.
4. A method according to any preceding claim, further comprising causing a second
plane of light to intersect the surface thereby forming a second line of illumination
on the surface at a position on the surface spaced from the first line of illumination
in the longitudinal direction of movement of the object.
5. A method according to claim 4, wherein the second line of illumination extends
substantially transversely to the direction of movement of the object.
6. A method according to claim 4 or S, wherein the speed of the object is determined
by using the time elapsing between the object intersecting the first and second planes
of illumination.
7. A method according to any of claims 1 to 5, wherein the speed of the body is also
determined.
8. A method according to any preceding claim, wherein at least two of the dimensions
height, width and length of the object are determined
9. A method according to any preceding claim, wherein photosensitive detector means
is used to sense the apparent variation of the configuration of the line of illumination
caused by the object passing through the plane of light.
10. A method according to claim 9, wherein the photosensitive detector means is arranged
to produce an electrical output signal dependent on the apparent change in
configuration of the line of illumination, the output signal being processed to produce
a value for the dimension being determined.
11. A method according to claim 9 or claim 10, wherein the photosensitive detector
means comprises a CCD array.
12. A method according to any preceding claim, wherein the plane of light is of coherent
light produced by a laser source.
13. A method according to any preceding claim, which is used to determine at least one
dimension of a vehicle travelling over a road surface.
14. Apparatus for obtaining a value for at least one dimension of an object moving on a
surface which apparatus comprises: a) source means arranged to direct at least one effective plane of light towards said
surface such that a line of illumination may be caused at said surface; b) detector means arranged to detect the image of said line of illumination and produce
an output signal dependent on variation in configuration of said line of illumination;
and c) signal processing means arranged to process said output signal such that a value for
said dimension is obtainable.
15. Apparatus according to claim 14, wherein the detector means is provided with image
focussing means to aid in detecting reflected light from the image of the line of
illumination on the surface.
16. Apparatus according to claim 14 or claim 15, wherein the detector means is a CCD
array arranged to produce the output signal.
17. Apparatus according to any of claims 14 to 16, wherein the source means is arranged
to direct a plane of laser light towards the surface.
18. Apparatus according to claim 17, wherein the source means is a laser diode.
19. Apparatus according to any of claims 14 to 18, which is provided with mounting
means for mounting the apparatus above the surface.
20. Apparatus according to any of claims 14 to 19, wherein the source means and
detector means comprise an integral unit provided in a common housing.
21. Apparatus according to any of claims 14 to 20, wherein the source means is arranged
to direct two effective light planes at said surface such that the two effective light
planes are angularly spaced from one another.
22. Apparatus according to any of claims 14 to 20, wherein the signal processing means
includes means for storage of measurement data which data may be retrieved
subsequently.
23. Apparatus substantially as herein described with reference to the accompanying
drawings.
24. A method substantially as herein described with reference to the accompanying
drawings.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB919115745A GB9115745D0 (en) | 1991-07-20 | 1991-07-20 | Method and apparatus for dimensional measurement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB9215238D0 GB9215238D0 (en) | 1992-09-02 |
| GB2258041A true GB2258041A (en) | 1993-01-27 |
Family
ID=10698730
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB919115745A Pending GB9115745D0 (en) | 1991-07-20 | 1991-07-20 | Method and apparatus for dimensional measurement |
| GB9215238A Withdrawn GB2258041A (en) | 1991-07-20 | 1992-07-17 | Dimensional measurement system |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB919115745A Pending GB9115745D0 (en) | 1991-07-20 | 1991-07-20 | Method and apparatus for dimensional measurement |
Country Status (1)
| Country | Link |
|---|---|
| GB (2) | GB9115745D0 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10012138A1 (en) * | 2000-03-13 | 2001-09-20 | Sick Ag | Method and device for detecting edge areas of objects |
| EP2009390A1 (en) * | 2007-06-25 | 2008-12-31 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | Measuring system |
| CN103954234A (en) * | 2014-04-29 | 2014-07-30 | 南京理工大学 | Self-calibration measuring algorithm for vehicle outline and wheel base automatic measuring system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1517571A (en) * | 1974-07-02 | 1978-07-12 | Centre Rech Metallurgique | Determining the profile of a surface of an object |
| GB1573188A (en) * | 1977-09-23 | 1980-08-20 | British Railways Board | Measuring systems |
| US4842411A (en) * | 1986-02-06 | 1989-06-27 | Vectron, Inc. | Method of automatically measuring the shape of a continuous surface |
| US4929843A (en) * | 1989-06-28 | 1990-05-29 | General Electric Company | Apparatus and method for determining a dimension of an object |
| US4961155A (en) * | 1987-09-19 | 1990-10-02 | Kabushiki Kaisha Toyota Chuo Kenkyusho | XYZ coordinates measuring system |
-
1991
- 1991-07-20 GB GB919115745A patent/GB9115745D0/en active Pending
-
1992
- 1992-07-17 GB GB9215238A patent/GB2258041A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1517571A (en) * | 1974-07-02 | 1978-07-12 | Centre Rech Metallurgique | Determining the profile of a surface of an object |
| GB1573188A (en) * | 1977-09-23 | 1980-08-20 | British Railways Board | Measuring systems |
| US4842411A (en) * | 1986-02-06 | 1989-06-27 | Vectron, Inc. | Method of automatically measuring the shape of a continuous surface |
| US4961155A (en) * | 1987-09-19 | 1990-10-02 | Kabushiki Kaisha Toyota Chuo Kenkyusho | XYZ coordinates measuring system |
| US4929843A (en) * | 1989-06-28 | 1990-05-29 | General Electric Company | Apparatus and method for determining a dimension of an object |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10012138A1 (en) * | 2000-03-13 | 2001-09-20 | Sick Ag | Method and device for detecting edge areas of objects |
| DE10012138B4 (en) * | 2000-03-13 | 2010-02-25 | Sick Ag | Method and device for detecting edge regions of objects |
| EP1134594B1 (en) * | 2000-03-13 | 2013-11-20 | Sick Ag | Method and device for detecting object edge areas |
| EP2009390A1 (en) * | 2007-06-25 | 2008-12-31 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk onderzoek TNO | Measuring system |
| WO2009002172A1 (en) * | 2007-06-25 | 2008-12-31 | Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno | Measuring system |
| CN103954234A (en) * | 2014-04-29 | 2014-07-30 | 南京理工大学 | Self-calibration measuring algorithm for vehicle outline and wheel base automatic measuring system |
Also Published As
| Publication number | Publication date |
|---|---|
| GB9115745D0 (en) | 1991-09-04 |
| GB9215238D0 (en) | 1992-09-02 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |