Vehicle-mounted road spectrum testing system based on surface structured light

Abstract

The invention relates to a vehicle-mounted road spectrum testing system based on surface structured light, comprising a camera, a projector, a vehicle body, data acquisition and processing equipment, an inertial navigation system, a GPS antenna and a clock triggering synchronization board. The system is characterized in that a plurality of three-dimensional point clouds capable of covering the whole road surface can be obtained by repeating the shooting process by a mobile projector and camera system, then coordinate conversion is carried out on the obtained three-dimensional point clouds in combination with the data acquired by the inertial navigation system, the data are converted to a uniform coordinate system, as the adjacent images overlap, denser and more reliable point cloud data can be obtained by correspondingly interpolating and filtering the redundant information; and the complete three-dimensional elevation data of the road surface to be tested can be obtained after splicing the point clouds obtained by scanning a plurality of images. The system provides a perfect scheme for road surface testing and can reduce the acquisition frequency while restoring the road surface elevation more veritably and lower hardware cost.

Description

technical field [0001] The invention belongs to a road surface detection system, in particular to a vehicle-mounted road spectrum test system based on surface structured light. Background technique [0002] In road surface inspection projects, multiple point laser range finders or line structured light triangulation systems are generally installed on the inspection vehicle to obtain road elevation change information. The point laser range finder has a limited measurement range and few sampling points, so it can only give a rough longitudinal profile of the road surface, and it is difficult to obtain accurate three-dimensional data of the road surface. [0003] Compared with the point laser range finder, the line structured light triangulation system solves the problem of collecting the cross section of the road surface. The detection results of adjacent laser lines are arranged in spatial order, so that more comprehensive three-dimensional data of road surface elevation can...

AI Technical Summary

Problems solved by technology

However, occlusion is unavoidable in the acquisition process. If only a single laser line is used, detection blind spots may occur

Moreover, due to the influence of sampling frequency or some external factors, data discontinuity or jumps will occur during 3D reconstruction.

[0004] The vehicle dynamic performance test is generally carried out on a typical road surface of the proving ground. The dynamic data of the vehicle is combined with the known road conditions to obtain the performance parameters of the tested vehicle. However, the proving ground is expensive and subject to objective conditions. Conditions

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