Angle Adjustment Method and Device for On-vehicle Marking Measuring Instrument

Abstract

The invention discloses an angle adjustment method and device for a vehicle-mounted road marking measuring instrument, which belong to the field of rapid detection of road traffic markings. The device includes a multi-dimensional posture monitor, a loading shell, a high-speed computing module, a vertical posture telemeter, and a high-speed dual-angle adjuster. The loading shell allows the device to be mounted on the existing vehicle-mounted road marking measuring instrument. The vertical posture telemeter measures the initial state value of the vehicle-mounted road marking measuring instrument, the multi-dimensional posture monitor measures the real-time elevation matrix of the road surface and calculates the real-time state value of the vehicle-mounted road marking measuring instrument, and the high-speed computing module processes the data to obtain the real-time state correction value and then adjusts the angle of the light beam emitted from the vehicle-mounted road marking measuring instrument and the angle of the light beam entering the vehicle-mounted road marking measuring instrument. The present invention utilizes a multi-dimensional posture monitor and a vertical posture telemeter to monitor the change of the incident angle during the dynamic measurement process of the vehicle-mounted road marking measuring instrument, and uses a high-speed dual-angle adjuster to perform rapid angle adjustment. The angle adjustment process does not affect the operation of the vehicle-mounted road marking measuring instrument itself.

Description

Technical Field

[0001] The present invention belongs to the field of rapid detection of road traffic markings. Background Art

[0002] Vehicle-mounted marking measuring instrument: A vehicle-mounted device that applies a light source to emit light to irradiate the marking to be measured and a photosensitive detector to collect the retroreflected light to calculate the retroreflection brightness coefficient of the marking. Its incident angle is 88.76°, the observation angle is 1.05°, and the measurement area is generally 6 meters in front of the instrument.

[0003] Incident angle: The supplementary angle between the light ray of the light source of the vehicle-mounted marking measuring instrument and the ground, which is divided into a longitudinal incident angle β1 and a transverse incident angle β2.

[0004] Observation angle: The angle between the axis of the illumination light source and the axis of the receiver of the vehicle-mounted marking measuring instrument. The designed value α is generally 1.05°.

[0005] The rapid detection of road traffic markings is a "milestone" sign in the development process of road detection technology, and a series of research works have been carried out globally.

[0006] In 2010, C Holzschuher et al. from the Florida Department of Transportation randomly selected six sections to evaluate the accuracy of the vehicle-mounted marking measuring instrument in terms of the repeatability of the retroreflectivity of road markings in order to continuously and reliably evaluate road traffic markings using the vehicle-mounted marking measuring instrument at traffic speed. In 2014, Darko Babic et al. from the Zagreb Institute of Transport Sciences in Croatia introduced a dynamic method for testing the retroreflection (night visibility) of road traffic markings. It uses a vehicle-mounted marking measuring instrument installed on vehicle measurement, so it can continuously measure the night visibility of road traffic markings while driving a vehicle.

[0007] ROADVISTA has successfully developed a vehicle-mounted marking measuring instrument of model Laserlux G7, which can record 400 measurement results per second to ensure the continuity of road data; DELTA has developed a vehicle-mounted marking measuring instrument of model LTL-M, with a nominal accuracy of ±5% and a repeatability better than 3%; RetroTek has also launched a vehicle-mounted marking measuring instrument of model RetroTek-M for measuring the photometric performance of road traffic markings.

[0008] However, due to factors such as road unevenness and vehicle-road vibration, the incident angle of the vehicle-mounted marking measuring instrument cannot always be maintained at the specified 88.76°, and the accuracy of the measurement results needs to be improved.

[0009] In order to solve the problem of incident angle accuracy, existing vehicle-mounted road marking measuring instruments often use two front and rear laser points to measure the distance between the two ends of the vehicle-mounted road marking measuring instrument and the ground in a stationary state, and adjust the height difference of the vehicle-mounted road marking measuring instrument manually or with an automatic motor to achieve incident angle adjustment.

[0010] (1) It needs to be adjusted when the vehicle is stationary and cannot be adjusted when the vehicle is moving.

[0011] (2) It only ensures that the incident angle between the ground and the light source at the bottom of the vehicle-mounted road marking measuring instrument is 88.76°. However, since the actual measurement area is 6 meters in front of the instrument, it is impossible to ensure that the light emitted by the vehicle-mounted road marking measuring instrument is 88.76°.

[0012] The angle formed by the ground at 6 meters is a supplementary angle of 88.76°.

[0013] The vehicle-mounted road marking measuring instrument is installed on a testing vehicle for on-site testing.

[0014] Because the retroreflective performance of road traffic markings measured by the vehicle-mounted marking measuring instrument is not isotropic, the retroreflective performance of the same road traffic marking will also change significantly when the incident angle and observation angle change.

[0015] Taking our actual measured data as an example, when the maximum gap h is used to represent the road flatness, and the maximum gap between the location of the vehicle-mounted marking measuring instrument and the measurement area is 15mm, the incident angle deviation is at least ±0.13°, so the deviation of the retroreflective performance of the measured road traffic markings can reach 52.04mcd / m 2 / Lx, while the retroreflective performance of road traffic markings is generally only 100mcd / m 2 / Lx to 200mcd / m 2 / Lx.

[0016] However, the current transportation industry requires the evaluation of the retroreflective performance of road traffic markings at an incident angle of 1.24° and an observation angle of 1.05°. Therefore, it is very important to adjust the incident angle and observation angle of the vehicle-mounted marking measuring instrument in real time, which will directly affect the accuracy of the measurement results.

[0017] Using a galvanometer to control the angle solves the problem that the angle change cannot match the measurement speed during dynamic measurement. That is, when the vehicle speed is relatively fast (100km / h, etc.), the angle adjustment is too slow. After the angle adjustment is completed, the measurement area of ​​the vehicle-mounted road marking measuring instrument has changed a lot, and the angle needs to be adjusted again.

[0018] The multi-dimensional pose monitor is used to measure the road inclination state at the measurement area of the vehicle-mounted marking measuring instrument, so that the angle adjustment of the vehicle-mounted marking measuring instrument conforms to the inclination state of the measurement area. It is very difficult to achieve the overall matching of the road inclination state recognition and angle adjustment at the measurement area. When the matching is poor, after the angle adjustment is completed, the measurement area of the vehicle-mounted marking measuring instrument has changed a lot, and the angle needs to be adjusted again.

[0019] This method can reduce the error of the measurement result by 25% to 80%. Summary of the Invention

[0020] This patent mainly consists of a multi-dimensional pose monitor, a loading housing, a high-speed calculation module, a vertical pose telemeter, a high-speed dual-angle regulator, etc. The hardware connection diagram is as Figure 1 shown.

[0021] Among them, the high-speed dual-angle regulator is a galvanometer system, and the adjustment speed is not less than 40 kHz. It consists of 2 galvanometers. The upper galvanometer is the observation angle adjustment galvanometer, and the lower galvanometer is the incident angle adjustment galvanometer. The angles of the light beam emitted from the vehicle-mounted marking measuring instrument (incident angle) and the light beam entering the vehicle-mounted marking measuring instrument (observation angle) are adjusted at a frequency not less than 40 kHz, and the angle positioning accuracy is better than 0.01°.

[0022] The light exit hole of the observation angle adjustment galvanometer is at the lower end of the observation lens of the observation angle adjustment galvanometer, and the light entrance hole of the incident angle adjustment galvanometer is at the lower end of the observation lens of the incident angle adjustment galvanometer. The first lens of the observation angle adjustment galvanometer and the second lens of the observation angle adjustment galvanometer are on the right side of the observation lens of the observation angle adjustment galvanometer, and the first lens of the incident angle adjustment galvanometer and the second lens of the incident angle adjustment galvanometer are on the right side of the observation lens of the incident angle adjustment galvanometer.

[0023] The initial positions of the first lens of the observation angle adjustment galvanometer and the second lens of the observation angle adjustment galvanometer are in a parallel relationship, and the initial positions of the first lens of the incident angle adjustment galvanometer and the second lens of the incident angle adjustment galvanometer are in a parallel relationship. When in the initial position, the directions of the illumination light beam and the external incident light beam do not change. The first lens of the observation angle adjustment galvanometer is in the upper left of the second lens of the observation angle adjustment galvanometer, and the first lens of the incident angle adjustment galvanometer is in the upper left of the second lens of the incident angle adjustment galvanometer.

[0024] When the angle is adjusted, twice the included angle between the first lens of the observation angle adjustment galvanometer and the second lens of the observation angle adjustment galvanometer is the external incident light beam angle adjustment value pg, and twice the included angle between the first lens of the incident angle adjustment galvanometer and the second lens of the incident angle adjustment galvanometer is the illumination light beam angle adjustment value pr. The illumination light beam angle adjustment value pr is the incident angle adjustment value, and the illumination light beam angle adjustment value pr minus the external incident light beam angle adjustment value pg is the observation angle adjustment value.

[0025] When the housing is loaded so that the device is externally mounted on an existing vehicle-mounted marking measuring instrument, the positions of the incident angle adjustment galvanometer and the observation angle adjustment galvanometer in the high-speed double-angle adjuster can be adjusted so that the incident angle adjustment galvanometer is aligned with the illumination lens of the vehicle-mounted marking measuring instrument, and the observation angle adjustment galvanometer is aligned with the receiving lens of the vehicle-mounted marking measuring instrument.

[0026] The specific implementation details are as follows: The illumination beam passes through the receiving lens connecting diaphragm from the illumination lens of the vehicle-mounted marking measuring instrument. Control the second motor of the observation angle adjustment galvanometer to deflect the second lens of the observation angle adjustment galvanometer, so that the illumination beam is incident on the second lens of the observation angle adjustment galvanometer. Control the first motor of the observation angle adjustment galvanometer to deflect the first lens of the observation angle adjustment galvanometer, so that the illumination beam reflected from the second lens of the observation angle adjustment galvanometer can be incident on the first lens of the observation angle adjustment galvanometer and is reflected through the light exit hole of the observation lens of the observation angle adjustment galvanometer. The external incident beam passes through the light entrance hole of the incident angle adjustment galvanometer on the observation lens of the incident angle adjustment galvanometer. Control the first motor of the incident angle adjustment galvanometer to make the beam incident on the first lens of the incident angle adjustment galvanometer and then be reflected to the second lens of the incident angle adjustment galvanometer. Control the second motor of the incident angle adjustment galvanometer to make the second lens of the incident angle adjustment galvanometer reflect the beam to the illumination lens connecting diaphragm.

[0027] The multi-dimensional pose telemeter can be a multi-dimensional laser ranging matrix. The inclination angle of the multi-dimensional pose telemeter with respect to the longitudinal horizontal plane of the vehicle-mounted marking measuring instrument is θ (90° < θ < 180°), and the inclination angle of the multi-dimensional pose telemeter with respect to the transverse horizontal plane of the vehicle-mounted marking measuring instrument is 0°. The number of measurement matrix points is not less than 2×2. The laser is an infrared laser with a power of not less than 1 mw and a light spot of not more than 5 mm. The laser is projected on the ground within a range of 5 to 7 meters in front to form a rectangle whose shape is similar to the measurement area of the vehicle-mounted marking measuring instrument. The vertical pose telemeter can be a surface laser module, or two crossed line laser modules, or a four-camera module distributed in a cross shape, and one of its axes is in the same plane as the measurement direction of the vehicle-mounted marking measuring instrument, and the other axis is perpendicular to the plane where the measurement direction of the vehicle-mounted marking measuring instrument is located. The high-speed calculation module can select a single-board computer, a computer, etc., which is embedded with an acceleration sensor. It can sense its own motion speed, direction and other states through the acceleration sensor, and can synchronously control the multi-dimensional pose telemeter, the vertical pose telemeter and the high-speed double-angle adjuster. The calculation speed of the high-speed calculation module is not less than 5 billion floating-point operations per second.

[0028] There is a linkage relationship among several components. The acceleration sensor built in the high-speed calculation module senses its own motion speed, direction and other states. When the acceleration sensor data is a dynamic sequence, the vertical pose telemeter and the multi-dimensional pose monitor are automatically started. When the vertical pose telemeter measures that the vertical pose has changed, the multi-dimensional pose monitor will work automatically. If the vertical pose has not changed, the multi-dimensional pose monitor needs to be manually started, that is, it is judged that the acceleration sensor data is incorrect by the high-speed calculation module, and at this time, the vehicle-mounted marking measuring instrument has not been started. The effectiveness and reliability of the device measurement are ensured through 2 feedback loops. Description of the Drawings

[0029] Figure 1 Schematic Diagram of Hardware Connection

[0030] Figure 1 In the figure, 1 is the multi-dimensional pose telemeter, 2 is the loading housing, 3 is the high-speed calculation module, 4 is the vertical pose telemeter, 5 is the high-speed double-angle regulator, 5-3-1 is the observation angle adjustment galvanometer observation lens, and 5-6-1 is the incident angle adjustment galvanometer observation lens.

[0031] Figure 2 High-Speed Double-Angle Regulator

[0032] GC is the receiving lens connecting diaphragm, and RS is the illumination lens connecting diaphragm. 5-1-1 is the first motor of the observation angle adjustment galvanometer, 5-1-2 is the first lens of the observation angle adjustment galvanometer, 5-2-1 is the second lens of the observation angle adjustment galvanometer, 5-2-2 is the second motor of the observation angle adjustment galvanometer, 5-3-1 is the observation angle adjustment galvanometer observation lens, 5-3-2 is the light outlet hole of the observation angle adjustment galvanometer, 5-4-1 is the first motor of the incident angle adjustment galvanometer, 5-4-2 is the first lens of the incident angle adjustment galvanometer, 5-5-1 is the second lens of the incident angle adjustment galvanometer, 5-5-2 is the second motor of the incident angle adjustment galvanometer, 5-6-1 is the incident angle adjustment galvanometer observation lens, and 5-6-2 is the light inlet hole of the incident angle adjustment galvanometer.

[0033] Figure 3 Flow Chart of the Technical Solution Detailed Implementation Manner

[0034] This patent consists of parts such as a multi-dimensional pose monitor, a loading housing, a high-speed calculation module, a vertical pose telemeter, and a high-speed double-angle regulator.

[0035] The overall technical solution implementation process is as follows:

[0036] (1) Mount the device described in this patent on the vehicle-mounted marking measuring instrument.

[0037] (2) Start the vehicle-mounted marking measuring instrument, and perform initialization according to the requirements of the manufacturer of the vehicle-mounted marking measuring instrument, including initializing the observation angle, the incident angle, the lateral swing angle, the road surface measurement threshold, the measurement coefficient value of the retroreflective performance of the road traffic marking, the measurement type and quantity of the road traffic marking, and the positioning information. Adjust the observation angle and incident angle of the vehicle-mounted marking measuring instrument for self-calibration.

[0038] (3) Start the device and perform initialization to clear the data of the multi-dimensional pose monitor and the vertical pose telemeter. Keep the high-speed dual-angle regulator at the initial position so as not to affect the light emission and incidence of the vehicle-mounted marking measuring instrument.

[0039] (4) The vertical pose telemeter works. Measure 1 high-order sequence CH in the measurement direction of the vehicle-mounted marking measuring instrument. Calculate the elevation difference p0 between the front and rear positions and the elevation difference q0 between the left and right positions in the high-order sequence CH to obtain the initial longitudinal tilt angle a0 = arctan(p0 / w) and the initial lateral tilt angle b0 = arctan(q0 / w) of the vehicle-mounted marking measuring instrument, where w is the horizontal distance between two measurement points in the vertical pose telemeter. Divide the sum of the elevation differences (p0 + q0) by 4 to obtain the initial value LCH0 of the theoretical vertical height.

[0040] (5) When the vertical pose telemeter measures that the vertical pose changes, the multi-dimensional pose monitor automatically works. If the vertical pose does not change, the multi-dimensional pose monitor needs to be manually started.

[0041] (6) The multi-dimensional pose monitor works. Input the measurement distance and measurement range corresponding to the vehicle-mounted marking measuring instrument into the high-speed calculation module. The high-speed calculation module controls the laser of the multi-dimensional pose monitor to project on the ground in front to form a rectangle with the measurement distance of the vehicle-mounted marking measuring instrument as the center line and the measurement range as the side length. The number of laser points can be 2×2 to obtain a road surface elevation matrix FH at a front position. Calculate the elevation data longitudinally distributed in the road surface elevation matrix FH to obtain the elevation difference Z0, and obtain the initial longitudinal tilt angle βs10 = arctan(k / Z0), where k is the horizontal distance between different measurement points used to calculate the elevation difference Z0. Calculate the elevation data laterally distributed in the road surface elevation matrix FH to obtain the elevation difference H, and obtain the initial lateral tilt angle βs20 = arctan(j / H0), where j is the horizontal distance between different measurement points used to calculate the elevation difference H0.

[0042] (7) Calculate the initial longitudinal tilt angle difference dβ10 = βs10 - a0 and the initial lateral tilt angle difference dβ20 = βs20 - b0.

[0043] (8) Start the vehicle-mounted marking measuring instrument for dynamic measurement. The device determines that the vehicle-mounted marking measuring instrument is in the dynamic measurement state according to the dynamic sequence of the built-in acceleration sensor and automatically enters the working state.

[0044] (9) The vertical pose telemeter works. One high-order sequence CHi is measured in the measurement direction of the vehicle-mounted marking measuring instrument. Calculate the elevation difference pi between the front and rear positions and the elevation difference qi between the left and right positions in the high-order sequence CHi to obtain the longitudinal inclination dynamic value ai = arctan(pi / w) and the transverse inclination dynamic value bi = arctan(qi / w) of the vehicle-mounted marking measuring instrument. Divide the sum of the elevation differences (pi + qi) by 4 to obtain the vertical height dynamic value LCHi.

[0045] (10) When the vertical pose telemeter measures that the vertical pose changes, the multi-dimensional pose monitor also automatically works at the same time. The multi-dimensional pose monitor works and measures the real-time elevation matrix FHi of the road surface. Calculate the elevation data longitudinally distributed in the road surface elevation matrix FHi to obtain the real-time elevation difference Zi and the longitudinal real-time inclination βs1i = arctan(k / Zi). Calculate the elevation data transversely distributed in the road surface elevation matrix FHi to obtain the elevation difference Hi and the transverse real-time inclination βs2i = arctan(j / Hi).

[0046] (11) If the vertical pose does not change and the high-speed calculation module determines that the data of the acceleration sensor is incorrect, and at this time the vehicle-mounted marking measuring instrument has not been started, then the multi-dimensional pose monitor does not start, and the device waits for the vehicle-mounted marking measuring instrument to start. At this time, it is judged whether the vehicle-mounted marking measuring instrument starts by the dynamic sequence of the acceleration sensor and whether the vertical pose changes measured by the vertical pose telemeter.

[0047] (12) Calculate the longitudinal real-time inclination difference dβ1i = βs1i - ai and the transverse real-time inclination difference dβ2i = βs2i - bi.

[0048] (13) Calculate the longitudinal real-time inclination correction value x1 = dβ1i - dβ10 and the transverse real-time inclination correction value x2 = dβ2i - dβ20.

[0049] (14) The high-speed calculation module processes the data of x1 and x2, controls the observation angle adjusting galvanometer in the high-speed double-angle regulator to generate angle deviations x1 and x2 longitudinally and transversely, controls the incident angle adjusting galvanometer to generate angle deviations x1 and x2 longitudinally and transversely, and adjusts the beam angle (incident angle) emitted from the vehicle-mounted marking measuring instrument and the beam angle (observation angle) entering the vehicle-mounted marking measuring instrument, so that the included angle formed by the emitted beam and the measurement area plane is 1.24°, and the included angle between the emitted beam and the beam entering the vehicle-mounted marking measuring instrument is 1.05°.

[0050] (15) If the vehicle-mounted marking measuring instrument continues to measure, repeat steps (8) to (12).

[0051] (16) If the vehicle-mounted marking measuring instrument stops measuring, the device stops working.

[0052] This patent can be used in vehicle-mounted marking measuring instruments such as roadvista LaserLux G7.

[0053] (1) Mount the device described in this patent on the vehicle-mounted marking measuring instrument.

[0054] (2) Start the vehicle-mounted marking measuring instrument, initialize it according to the requirements of the vehicle-mounted marking measuring instrument manufacturer, adjust the observation angle and incident angle of the vehicle-mounted marking measuring instrument, and perform self-calibration.

[0055] (3) Start the device and perform initialization to clear the data of the multi-dimensional pose monitor and the vertical pose telemeter. Keep the high-speed double-angle regulator in the initial position so as not to affect the light emission and incidence of the vehicle-mounted marking measuring instrument.

[0056] (4) The vertical pose telemeter works. Measure 1 high-order sequence CH in the measurement direction of the vehicle-mounted marking measuring instrument. Calculate the elevation difference p0 between the front and rear positions and the elevation difference q0 between the left and right positions in the high-order sequence CH to obtain the initial longitudinal tilt angle a0 = arctan(p0 / w) and the initial transverse tilt angle b0 = arctan(q0 / w) of the vehicle-mounted marking measuring instrument, where w is the horizontal distance between two measurement points in the vertical pose telemeter. Divide the sum of the elevation differences (p0 + q0) by 4 to obtain the initial theoretical vertical height LCH0.

[0057] (5) When the vertical pose telemeter measures that the vertical pose has changed, the multi-dimensional pose monitor automatically works. If the vertical pose has not changed, the multi-dimensional pose monitor needs to be manually started.

[0058] (6) The multi-dimensional pose monitor works. Input the measurement distance and measurement range of the corresponding vehicle-mounted marking measuring instrument into the high-speed calculation module. The high-speed calculation module controls the laser of the multi-dimensional pose monitor to project on the ground in front to form a rectangle with the measurement distance of the vehicle-mounted marking measuring instrument as the center line and the measurement range as the side length. The number of laser points can be 2×2 to obtain a road surface elevation matrix FH at a front position. Calculate the elevation data longitudinally distributed in the road surface elevation matrix FH to obtain the elevation difference Z0, and obtain the initial longitudinal tilt angle βs10 = arctan(k / Z0), where k is the horizontal distance between different measurement points used to calculate the elevation difference Z0. Calculate the elevation data transversely distributed in the road surface elevation matrix FH to obtain the elevation difference H, and obtain the initial transverse tilt angle βs20 = arctan(j / H0), where j is the horizontal distance between different measurement points used to calculate the elevation difference H0.

[0059] (7) Calculate the longitudinal initial inclination difference dβ10 = βs10 - a0 and the transverse initial inclination difference dβ20 = βs20 - b0.

[0060] (8) Start the vehicle-mounted marking measuring instrument for dynamic measurement. The device determines that the vehicle-mounted marking measuring instrument is in the dynamic measurement state according to the dynamic sequence of the built-in acceleration sensor and automatically enters the working state.

[0061] (9) The vertical pose telemeter works. One high-order sequence CHi is measured in the measurement direction of the vehicle-mounted marking measuring instrument. Calculate the elevation difference pi between the front and rear positions and the elevation difference qi between the left and right positions in the high-order sequence CHi to obtain the longitudinal inclination dynamic value ai = arctan(pi / w) and the transverse inclination dynamic value bi = arctan(qi / w) of the vehicle-mounted marking measuring instrument. Divide the sum of the elevation differences (pi + qi) by 4 to obtain the vertical height dynamic value LCHi.

[0062] (10) When the vertical pose telemeter measures that the vertical pose has changed, the multi-dimensional pose monitor also automatically works at the same time. The multi-dimensional pose monitor works and measures the real-time road surface elevation matrix FHi. Calculate the elevation data longitudinally distributed in the road surface elevation matrix FHi to obtain the real-time elevation difference Zi and the longitudinal real-time inclination βs1i = arctan(k / Zi). Calculate the elevation data transversely distributed in the road surface elevation matrix FHi to obtain the elevation difference Hi and the transverse real-time inclination βs2i = arctan(j / Hi).

[0063] (11) If the vertical pose has not changed and the high-speed calculation module determines that the data of the acceleration sensor is incorrect, and at this time the vehicle-mounted marking measuring instrument has not been started, the multi-dimensional pose monitor does not start, and the device waits for the vehicle-mounted marking measuring instrument to start. At this time, it is judged whether the vehicle-mounted marking measuring instrument has started by the dynamic sequence of the acceleration sensor and whether the vertical pose has changed measured by the vertical pose telemeter.

[0064] (12) Calculate the longitudinal real-time inclination difference dβ1i = βs1i - ai and the transverse real-time inclination difference dβ2i = βs2i - bi.

[0065] (13) Calculate the longitudinal real-time inclination correction value x1 = dβ1i - dβ10 and the transverse real-time inclination correction value x2 = dβ2i - dβ20.

[0066] (14) The high-speed computing module processes the x1 and x2 data, controls the observation angle adjustment galvanometer in the high-speed double-angle regulator to generate angular deviations x1 and x2 longitudinally and transversely, controls the incident angle adjustment galvanometer to generate angular deviations x1 and x2 longitudinally and transversely, and adjusts the beam angle (incident angle) emitted from the vehicle-mounted marking measurer and the beam angle (observation angle) entering the vehicle-mounted marking measurer, so that the included angle formed by the emitted beam and the measurement area plane is 1.24°, and the included angle between the emitted beam and the beam entering the vehicle-mounted marking measurer is 1.05°.

[0067] (15) If the vehicle-mounted marking measurer continues to measure, repeat steps (8) to (12).

[0068] (16) If the vehicle-mounted marking measurer stops measuring, the device stops working.

[0069] This patent realizes that during the dynamic measurement of the vehicle-mounted marking measurer, the incident angle remains at 88.76° and the observation angle remains at 1.05°. That is, the included angle between the beam emitted by the vehicle-mounted marking measurer and the ground horizontal plane of the measured area is 88.76°.

[0070] This patent has excellent applicability. It belongs to an external-mounted device, and the angle adjustment process does not affect the operation of the vehicle-mounted marking measurer itself.

[0071] This patent uses a multi-dimensional pose monitor and a vertical pose telemeter to monitor the change of the incident angle during the dynamic measurement of the vehicle-mounted marking measurer, and uses a high-speed double-angle regulator for rapid angle adjustment.

[0072] The angle adjustment speed of this patent can meet the measurement requirements. Since the adjustment frequencies of the observation angle adjustment galvanometer and the incident angle adjustment galvanometer in the high-speed double-angle regulator are not less than 40 kHz, after each time the device measures that there is a deviation in the incident angle of the vehicle-mounted marking measurer, the angle adjustment can be completed within 1 / 40000 seconds. Calculated at the fastest working speed of the vehicle-mounted marking measurer of 100 km / h, that is, the angle adjustment can be completed within 0.7 mm of the movement of the vehicle-mounted marking measurer. If the measurement and response speeds of the multi-dimensional pose monitor and the vertical pose telemeter are in the worst case, the time required for each group of pose measurement and angle adjustment is 20 milliseconds, and the angle adjustment can be completed within 0.56 m of the movement of the vehicle-mounted marking measurer. The minimum length of general markings in China is 3 m, so when the angle is adjusted, the vehicle-mounted marking measurer only moves 1 / 6 of the shortest marking, which does not affect the calculation of the final measurement result.

[0073] Several components in this patent are in a linkage relationship. The acceleration sensor built into the high-speed computing module senses its own motion speed, direction and other states. When the acceleration sensor data is a dynamic sequence, the vertical pose telemeter and the multi-dimensional pose monitor are automatically started. When the vertical pose telemeter measures that the vertical pose has changed, the multi-dimensional pose monitor will automatically work. If the vertical pose has not changed, the multi-dimensional pose monitor needs to be manually started, that is, to make the high-speed computing module judge that the acceleration sensor data is incorrect. At this time, the vehicle-mounted marking measuring instrument has not been started. The effectiveness and reliability of the device measurement are ensured through two feedback loops.

Claims

1. Angle adjustment device for vehicle-mounted marking measuring instrument, Characterized in that: It includes a multi-dimensional pose monitor, a loading housing, a vertical pose telemeter, and a high-speed dual-angle regulator; The loading housing enables the device to be externally mounted on an existing vehicle-mounted marking measuring instrument; inside the loading housing, there are a multi-dimensional pose monitor, a vertical pose telemeter, and a high-speed dual-angle regulator; the multi-dimensional pose telemeter is a multi-dimensional laser ranging matrix; Among them, the high-speed dual-angle regulator is a galvanometer system, with an adjustment speed not lower than 40 kHz, consisting of 2 galvanometers. The upper galvanometer is the observation angle adjustment galvanometer, and the lower galvanometer is the incident angle adjustment galvanometer. The high-speed dual-angle regulator adjusts the angles of the light beam emitted from the vehicle-mounted marking measuring instrument and the light beam entering the vehicle-mounted marking measuring instrument at a frequency not lower than 40 kHz, and the angle positioning accuracy is better than 0.01°; The light outlet hole of the observation angle adjustment galvanometer is at the lower end of the observation lens of the observation angle adjustment galvanometer, and the light inlet hole of the incident angle adjustment galvanometer is at the lower end of the observation lens of the incident angle adjustment galvanometer; the first lens and the second lens of the observation angle adjustment galvanometer are on the right side of the observation lens of the observation angle adjustment galvanometer, and the first lens and the second lens of the incident angle adjustment galvanometer are on the right side of the observation lens of the incident angle adjustment galvanometer; The initial positions of the first lens and the second lens of the observation angle adjustment galvanometer are in a parallel relationship, and the initial positions of the first lens and the second lens of the incident angle adjustment galvanometer are in a parallel relationship; when in the initial position, the directions of the illumination light beam and the external incident light beam do not change; the first lens of the observation angle adjustment galvanometer is in the upper left of the second lens of the observation angle adjustment galvanometer, and the first lens of the incident angle adjustment galvanometer is in the upper left of the second lens of the incident angle adjustment galvanometer.

2. Method of applying the device as described in claim 1, Characterized in that: When performing angle adjustment, twice the included angle between the first lens and the second lens of the observation angle adjustment galvanometer is the external incident light beam angle adjustment value pg, and twice the included angle between the first lens and the second lens of the incident angle adjustment galvanometer is the illumination light beam angle adjustment value pr; the illumination light beam angle adjustment value pr is the incident angle adjustment value, and the illumination light beam angle adjustment value pr minus the external incident light beam angle adjustment value pg is the observation angle adjustment value.

3. Method of applying the angle adjustment device for the vehicle-mounted marking measuring instrument as described in claim 1, Characterized in that: The illumination beam passes through the receiving lens connecting diaphragm from the illumination lens of the vehicle-mounted marking measuring instrument. The second motor of the observation angle adjustment galvanometer is controlled to deflect the second lens of the observation angle adjustment galvanometer, so that the illumination beam is incident on the second lens of the observation angle adjustment galvanometer; the first motor of the observation angle adjustment galvanometer is controlled to deflect the first lens of the observation angle adjustment galvanometer, so that the illumination beam reflected from the second lens of the observation angle adjustment galvanometer is incident on the first lens of the observation angle adjustment galvanometer and is reflected through the light exit hole of the observation angle adjustment galvanometer on the observation lens of the observation angle adjustment galvanometer; the external incident beam passes through the light incident hole of the incident angle adjustment galvanometer on the observation lens of the incident angle adjustment galvanometer. The first motor of the incident angle adjustment galvanometer is controlled to make the beam incident on the first lens of the incident angle adjustment galvanometer and then reflected to the second lens of the incident angle adjustment galvanometer. The second motor of the incident angle adjustment galvanometer is controlled to make the second lens of the incident angle adjustment galvanometer reflect the beam to the illumination lens connecting diaphragm.

4. A method for applying the angle adjustment device of the vehicle-mounted marking measuring instrument according to claim 1, characterized in that: (1) Mount the angle adjustment device on the vehicle-mounted marking measuring instrument; (2) Start the vehicle-mounted marking measuring instrument, perform initialization according to the requirements of the vehicle-mounted marking measuring instrument manufacturer, initialize the observation angle, incident angle, lateral swing angle, road surface measurement threshold, measurement coefficient value of the retroreflective performance of the road traffic marking, measurement type and quantity of the road traffic marking, positioning information; adjust the observation angle and incident angle of the vehicle-mounted marking measuring instrument for self-calibration; (3) Start the device, perform initialization, clear the data of the multi-dimensional pose monitor and the vertical pose telemeter, and the high-speed double angle regulator maintains the initial position, so that the light emission and incidence of the vehicle-mounted marking measuring instrument are not affected; (4) The vertical pose telemeter works; one high-order sequence CH is measured in the measurement direction of the vehicle-mounted marking measuring instrument; calculate the elevation difference p0 between the front and rear positions and the elevation difference q0 between the left and right positions in the high-order sequence CH to obtain the initial longitudinal tilt angle a0 = arctan(p0 / w) and the initial lateral tilt angle b0 = arctan(q0 / w) of the vehicle-mounted marking measuring instrument, where w is the horizontal distance between two measuring points in the vertical pose telemeter; divide the sum of the elevation differences p0 + q0 by 4 to obtain the initial theoretical vertical height LCH0; (5) When the vertical pose telemeter measures that the vertical pose changes, the multi-dimensional pose monitor automatically works; if the vertical pose does not change, the multi-dimensional pose monitor is manually started. (6) The multi-dimensional pose monitor works; the measured distance and measurement range of the vehicle-mounted marking measuring instrument are input into the high-speed calculation module. The high-speed calculation module controls the laser of the multi-dimensional pose monitor to project on the ground ahead to form a rectangle with the measured distance of the vehicle-mounted marking measuring instrument as the center line and the measurement range as the side length. The number of laser points is 2×2, and a road surface elevation matrix FH at the front position is obtained; the elevation data longitudinally distributed in the road surface elevation matrix FH is calculated to obtain the elevation difference Z0, and the longitudinal initial inclination angle βs10 = arctan(k / Z0) is obtained, where k is the horizontal distance between different measurement points used to calculate the elevation difference Z0; the elevation data transversely distributed in the road surface elevation matrix FH is calculated to obtain the elevation difference H, and the transverse initial inclination angle βs20 = arctan(j / H0) is obtained, where j is the horizontal distance between different measurement points used to calculate the elevation difference H0; (7) Calculate the longitudinal initial inclination angle difference dβ10 = βs10 - a0, and the transverse initial inclination angle difference dβ20 = βs20 - b0; (8) Start the vehicle-mounted marking measuring instrument for dynamic measurement. The angle adjustment device determines that the vehicle-mounted marking measuring instrument is in the dynamic measurement state according to the dynamic sequence of the built-in acceleration sensor and automatically enters the working state; (9) The vertical pose telemeter works; one high-order sequence CHi is measured in the measurement direction of the vehicle-mounted marking measuring instrument; calculate the elevation difference pi between the front and rear positions and the elevation difference qi between the left and right positions in the high-order sequence CHi to obtain the longitudinal inclination dynamic value ai = arctan(pi / w) of the vehicle-mounted marking measuring instrument, and the transverse inclination dynamic value bi = arctan(qi / w); divide the sum of the elevation differences pi + qi by 4 to obtain the vertical height dynamic value LCHi; (10) When the vertical pose telemeter measures that the vertical pose changes, the multi-dimensional pose monitor also automatically works at the same time; the multi-dimensional pose monitor works and measures the real-time road surface elevation matrix FHi; the elevation data longitudinally distributed in the road surface elevation matrix FHi is calculated to obtain the real-time elevation difference Zi, and the longitudinal real-time inclination angle βs1i = arctan(k / Zi) is obtained; the elevation data transversely distributed in the road surface elevation matrix FHi is calculated to obtain the elevation difference Hi, and the transverse real-time inclination angle βs2i = arctan(j / Hi) is obtained; (11) If the vertical pose does not change and the high-speed calculation module determines that the acceleration sensor data is incorrect, and at this time the vehicle-mounted marking measuring instrument has not been started, then the multi-dimensional pose monitor does not start, and the angle adjustment device waits for the vehicle-mounted marking measuring instrument to start. At this time, it is judged whether the vehicle-mounted marking measuring instrument starts by the dynamic sequence of the acceleration sensor and whether the vertical pose changes measured by the vertical pose telemeter; (12) Calculate the longitudinal real-time inclination angle difference dβ1i = βs1i - ai, and the transverse real-time inclination angle difference dβ2i = βs2i - bi; (13) Calculate the longitudinal real-time inclination correction value x1 = dβ1i - dβ10, and the transverse real-time inclination correction value x2 = dβ2i - dβ20; (14) The high-speed calculation module processes the x1 and x2 data, controls the observation angle adjustment galvanometer in the high-speed double-angle regulator to generate angular deviations x1 and x2 longitudinally and transversely, controls the incident angle adjustment galvanometer to generate angular deviations x1 and x2 longitudinally and transversely, and adjusts the beam angle exiting the vehicle-mounted marking measurer, i.e., the incident angle, and the beam angle entering the vehicle-mounted marking measurer, i.e., the observation angle, so that the included angle formed by the exiting beam and the measurement area plane is 1.24°, and the included angle between the exiting beam and the beam entering the vehicle-mounted marking measurer is 1.05°; (15) If the vehicle-mounted marking measurer continues to measure, repeat steps (8) to (12); (16) If the vehicle-mounted marking measurer stops measuring, stop working.

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