Lane line measuring device and measuring method thereof

Abstract

The application provides a lane line measuring device and a measuring method thereof, which comprises a visual camera arranged on a measuring vehicle, a guide block connected with the measuring vehicle through two support frames and arranged on the lower side of the visual camera, a scraper arranged on the bottom of the outer wall of the guide block, a first fixed block and a second fixed block, the first fixed block and the second fixed block are connected with the measuring vehicle and the guide block respectively, and a first spring is arranged between the first fixed block and the second fixed block. The application has the advantages of ingenious design, compact structure, high measuring efficiency of lane lines, operation convenience, and high measuring quality.

Description

Technical Field

[0001] This invention relates to the field of measuring device technology, and in particular to a lane divider measuring device and its measuring method. Background Technology

[0002] Lane markings are lines painted on the road to separate lanes, allowing drivers to distinguish between them. After the lane markings are painted, a measuring device is needed to check if they are straight. The measuring device can also be used to check if the distance between multiple lane markings meets the standards. The measuring device commonly used is a visual camera, which collects data and transmits it to a backend device for recording.

[0003] When measuring lane markings on the road, the presence of gravel and other impurities on the road surface, which requires the road to be kept clean during measurement, coupled with the fact that most traditional measuring devices lack a structure for cleaning these impurities, causes the measuring device to run over gravel and other impurities during movement, resulting in bumps and affecting the accuracy of the measurement. This leads to errors in the data obtained by the measuring device, making it unusable. Chinese patent document CN 103177236 A describes a road zone detection method and device, as well as a lane marking detection method and device. However, this patent cannot stably follow the lane markings while efficiently completing the lane marking detection work, indicating a deficiency in its use and requiring improvement. Summary of the Invention

[0004] This invention provides a lane marking measurement device and method, which solves the problems of low lane marking measurement efficiency, inability to adapt to rapid lane marking movement, and inability to cope with measurement when the road is not clean.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a lane dividing line measuring device and its measuring method, including a visual camera installed on a measuring vehicle, a guide block connected to the measuring vehicle via two support frames, the guide block being located below the visual camera, a scraper being provided at the bottom of the outer side wall of the guide block, the support frame including a first fixing block and a second fixing block, the first fixing block and the second fixing block being connected to the measuring vehicle and the guide block respectively, and a first spring being provided between the first fixing block and the second fixing block.

[0006] In a preferred embodiment, the guide block has an internal cavity, within which a telescopic rod is detachably installed. An L-shaped rod is supported on the telescopic rod. The guide block has a through groove for the movement of the L-shaped rod. The L-shaped rod passes through a drive rod, and the drive rod and guide block are slidably connected. Connecting rods are provided on both sides of the L-shaped rod. Multiple horizontal and vertical supports are provided along the axis on the connecting rods. The horizontal supports are slidably connected to the guide block. Multiple breaker hammers are provided at the bottom of the L-shaped rod and the vertical supports. Multiple protrusions are provided circumferentially on the outer side of the breaker hammers, and the protrusions are provided with spikes. Multiple brushes are also provided on the guide block, and the brushes are located on the lower side of the breaker hammers.

[0007] In a preferred embodiment, a push rod is provided at the lower part of the drive rod, a sliding groove is provided on the lower side of the through groove, the push rod is located in the sliding groove, a water storage box is provided at the top of the guide block, a water supply pipe is provided at the bottom of the water storage box, the water supply pipe is connected to the sliding groove through the water inlet pipe, and a water outlet pipe is provided through the sliding groove on the side near the breaker hammer, the water outlet pipe is located on the lower side of the brush.

[0008] In the preferred embodiment, the interior of the sliding groove is provided with multiple base plates, and two opposite base plates are connected by heating wires. An agitator plate is fixed at the bottom of the lower push rod.

[0009] In the preferred embodiment, the upper part of the drive rod is provided with an upper push rod, the upper side of the through groove is provided with an upper sliding groove, the upper push rod is located in the upper sliding groove, a water guide pipe is fixed in the upper sliding groove, the end of the water guide pipe away from the upper sliding groove is connected to the water supply pipe, a nozzle is provided on the upper side of the water guide pipe, the nozzle is installed through the guide block, and the nozzle is tilted towards the visual camera side.

[0010] In the preferred embodiment, an elastic airbag is fixed at the top of the telescopic rod. The surface of the elastic airbag has multiple constriction holes. An air outlet pipe is connected to the surface of the elastic airbag. The air outlet pipe is installed through the cavity and extends outward. The air outlet pipe is tilted towards the visual camera side. A baffle is provided on the L-shaped rod to support and limit the elastic airbag.

[0011] In a preferred embodiment, buffer pads are symmetrically provided on the inner side of the through groove, and the buffer pads are attached to the outer side of the drive rod.

[0012] In a preferred embodiment, the external protective cover of the vision camera is detachably provided, the measuring vehicle includes a vehicle body and a mounting base, the protective cover is fixed on the mounting base, and the mounting base is also provided with a cleaning component; The cleaning assembly includes a side plate, a dual-axis motor, and a cleaning cloth. The side plate and the dual-axis motor are respectively located on both sides of the protective cover and are connected by screws and mounting brackets. The protective cover has a notch on the side near the side plate and two through holes arranged parallel to each other on the side near the dual-axis motor. There are two symmetrical pull cords on both sides of the cleaning cloth, and the pull cords are connected to the side plate through a second spring. A fixing frame is provided between the protective cover and the dual-axis motor. Fixed pulleys are mounted on both sides of the fixing frame, and the pull cords are connected to the dual-axis motor after passing around the fixed pulleys.

[0013] In a preferred embodiment, the measurement method of the lane divider measuring device includes the following steps: S1. The measuring vehicle is placed on the road surface, and the lane markings on the road surface are detected using the vision camera on the measuring vehicle. S2. Lane candidate point extraction is performed by searching from left to right of the image and using lane detection algorithm to detect the boundary points of the lanes. Based on the points found, the current lane is drawn using interpolation algorithm. For straight lanes, the lane is reconstructed by straight line fitting. For curves after the inflection point, the slope of the found points is used for interpolation extension calculation. S3. Upload the completed measurement data to the cloud for storage and recording, and inspect and retrieve the completed measurement vehicle.

[0014] In the preferred embodiment, the detailed steps of S1 are as follows: S1a: When the measuring vehicle is inspecting the lane markings, it uses a scraper at the bottom of the front section of the guide block to scrape and clean the dirt and impurities adhering to the ground. S1b: By moving the push rod along the agitator, hot water in the slide channel is squeezed and sprayed onto the road surface.

[0015] The beneficial effects of this invention are as follows: 1. By installing a "V"-shaped guide block in front of the vision camera, the guide block is always positioned in front of the measuring vehicle when it inspects lane markings. A scraper at the bottom of the guide block removes dirt and impurities adhering to the ground. When the scraper encounters tightly adhered dirt or other impurities, a sliding block moves the guide block and scraper towards the fixed frame, compressing the first spring. This causes the fixed frame to hold the sliding block in place, providing support for the scraper. This facilitates the scraper's removal of the tightly adhered dirt and other impurities, resulting in a smoother road surface. This allows the measuring vehicle to travel smoothly on the road, reducing the impact of impurities on the vehicle and preventing the vision camera from detecting incorrect data.

[0016] 2. By activating the telescopic rod inside the cavity, the output end of the electric actuator moves along with the fixed block. The L-shaped rod carries the breaker hammer through the brush towards the road surface, causing the fixed ball and the breaker block to impact and break up the tightly adhered dirt and other impurities on the road surface. This makes it easier for the scraper to clean the surface afterward, reducing the problem of the scraper being unable to clean the tightly adhered impurities. When the output end of the electric actuator returns to its original position with the fixed block and fixed ball, the fixed ball and the breaker block will pass through the brush, allowing the brush to clean the breaker hammer and spikes, preventing them from becoming covered with dust and impurities. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 yes Figure 1 A schematic diagram of the guide block structure; Figure 3 yes Figure 1 A schematic diagram of the water storage box structure; Figure 4 yes Figure 1 A schematic diagram of the cavity structure; Figure 5 yes Figure 4 A schematic diagram of the structure at point A; Figure 6 yes Figure 1 A schematic diagram of the telescopic rod structure in the diagram; Figure 7 This is a schematic diagram of the measurement method of the present invention; Figure 8 This is a schematic diagram of the cleaning component at the visual camera of the present invention in working state one; Figure 9 This is a schematic diagram of the working structure of the cleaning component at the visual camera of the present invention, state two; Figure 10 This is a schematic diagram of state one when the cleaning component at the visual camera of the present invention is not working; Figure 11 This is a schematic diagram of state two when the cleaning component at the visual camera of the present invention is not working.

[0018] In the diagram: 1. Measuring vehicle; 101. Vehicle body; 102. Mounting base; 2. Vision camera; 3. Support frame; 301. First fixing block; 302. Second fixing block; 303. First spring; 4. Elastic airbag; 5. Air outlet pipe; 6. Guide block; 7. Scraper; 8. Cavity; 9. Telescopic rod; 10. Through groove; 11. L-shaped rod; 12. Hydraulic breaker; 1201. Protrusion; 1202. Spike; 13. Baffle; 14. Connecting rod; 1401. Horizontal brace; 1402. Vertical brace; 15. Brush; 16. Drive rod; 1601. Upper push rod; 1601. Lower push rod. 1602; Buffer pad 17; Slide groove 18; Water storage box 19; Water supply pipe 20; Inlet pipe 21; Outlet pipe 22; Base plate 23; Heating wire 24; Stirring plate 25; Protective cover 26; Notch 2601; Through hole 2602; Upper slide groove 27; Water guide pipe 28; Nozzle 29; Cleaning assembly 30; Side plate 3001; Dual-axis motor 3002; Dust cleaning cloth 3003; Pull cord 3004; Second spring 3005; Fixing bracket 3006; Fixed pulley 3007; Screw 3008. Detailed Implementation

[0019] like Figure 1-2In the present invention, a lane marking measuring device includes a vision camera 2 mounted on a measuring vehicle 1, a guide block 6 connected to the measuring vehicle 1 via two support frames 3, the guide block 6 being located below the vision camera 2, a scraper 7 being provided at the bottom of the outer side wall of the guide block 6, and the support frame 3 including a first fixing block 301 and a second fixing block 302, the first fixing block 301 and the second fixing block 302 being connected to the measuring vehicle 1 and the guide block 6 respectively, and a first spring 303 being provided between the first fixing block 301 and the second fixing block 302. The second fixing block 302 is inserted into the first fixing block 301. The first spring 303 abuts against the inner sides of the first fixing block 301 and the second fixing block 302 respectively. A processing module is fixedly installed inside the measuring vehicle 1. The processing module is used to analyze and process the image data collected by the visual camera 2. Most traditional measuring devices do not have a structure for cleaning impurities, which causes the measuring device to press on gravel and other impurities when moving and measuring, resulting in bumps and affecting the accuracy of the measuring device. This leads to errors in the data obtained by the measuring device, making it unusable. In the present invention, a "V"-shaped guide block 6 is installed in front of the visual camera 2, so that the measuring vehicle 1 is guided when detecting lane lines. Block 6 will always be in front of the measuring vehicle 1, and the scraper 7 at the bottom of the front section of the guide block 6 will scrape and clean the dirt and impurities adhering to the ground. When the scraper 7 encounters dirt or other impurities that are too tightly adhered, the second fixing block 302 will move the guide block 6 and the scraper 7 toward the first fixing block 301 and compress the first spring 303, so that the first fixing block 301 will hold the second fixing block 302 in place, thereby providing support for the scraper 7. This will make it easier for the scraper 7 to clean away the dirt and other impurities that are too tightly adhered, making the road surface smoother. This will make it easier for the measuring vehicle 1 to drive smoothly on the road, thereby reducing the bumps caused by impurities when the measuring vehicle 1 is driving, which could lead to the visual camera 2 detecting incorrect data.

[0020] like Figure 3-6In the preferred embodiment, the guide block 6 has a cavity 8 inside, and a telescopic rod 9 is detachably installed in the cavity 8. An L-shaped rod 11 is supported on the telescopic rod 9. The guide block 6 has a through groove 10 for the movement of the L-shaped rod 11. The L-shaped rod 11 passes through the drive rod 16, and the drive rod 16 and the guide block 6 are slidably connected. Connecting rods 14 are provided on both sides of the L-shaped rod 11. Multiple horizontal supports 1401 and vertical supports 1402 are provided on the connecting rods 14 along the axis. The horizontal supports 1401 and the guide block 6 are slidably connected. Multiple breaker hammers 12 are provided at the bottom of the L-shaped rod 11 and the vertical supports 1402. Multiple protrusions 1201 are provided on the outer side of the breaker hammers 12 along the circumferential direction. The protrusions 1201 are provided with spikes 1202. Multiple brushes 15 are also provided on the guide block 6. The brushes 15 are located on the lower side of the breaker hammers 12. The telescopic rod 9 is an electric actuator. During operation, by activating the telescopic rod 9 inside the cavity 8, the output end of the telescopic rod 9 moves together with the L-shaped rod 11. The L-shaped rod 11 moves the breaker hammer 12 through the brush 15 towards the road surface, causing the protrusions 1201 on the breaker hammer 12 with the spikes 1202 to strike the tightly adhered dirt and other impurities on the road surface, thereby breaking them up. This makes it easier for the scraper 7 to clean them afterward, reducing the problem of the scraper 7 being unable to clean the tightly adhered impurities. When the output end of the telescopic rod 9 returns to its original position with the L-shaped rod 11 and the breaker hammer 12, the breaker hammer 12 and the protrusions 1201 will pass through the brush 15, allowing the brush 15 to clean the breaker hammer 12 and the protrusions 1201, preventing the breaker hammer 12 and the protrusions 1201 from becoming covered with dust and impurities.

[0021] In a preferred embodiment, a push rod 1602 is provided at the lower part of the drive rod 16, a sliding groove 18 is provided on the lower side of the through groove 10, the push rod 1602 is located in the sliding groove 18, a water storage box 19 is provided at the top of the guide block 6, a water supply pipe 20 is provided at the bottom of the water storage box 19, the water supply pipe 20 is connected to the sliding groove 18 through a water inlet pipe 21, and a water outlet pipe 22 is provided through the sliding groove 18 on the side near the breaker hammer 12, the water outlet pipe 22 is located on the lower side of the brush 15. During operation, water from the storage box 19 is transported to the sliding groove 18 through the water supply pipe 20 and the inlet pipe 21. When the L-shaped rod 11 moves, the push rod 1602 squeezes the water in the sliding groove 18, causing the water in the sliding groove 18 to spray out through the outlet pipe 22. Since a one-way valve is installed in the inlet pipe 21, the water in the sliding groove 18 will not flow back into the storage box 19. After the water is sprayed out of the outlet pipe 22, it will wash the breaker hammer 12 and the brush 15, thereby achieving a self-cleaning effect, which is conducive to the long-term use of the brush 15 and the breaker hammer 12. At the same time, the sprayed water can also play a role in dust suppression, preventing the dust from flying and polluting the environment after the crushing.

[0022] In a preferred embodiment, the sliding trough 18 has multiple base plates 23 inside, with opposite base plates 23 connected by heating wires 24. A stirring plate 25 is fixed to the bottom of the lower push rod 1602. During operation, when measuring lane markings in cold weather, the road surface is prone to icing due to low temperatures. By installing base plates 23 and heating wires 24 inside the sliding trough 18, the water inside can be quickly heated in cold weather. The base plates 23 prevent the heating wires 24 from adhering to the inner wall of the sliding trough 18, thus protecting the inner wall. When the hot water sprays out from the sliding trough 18, it quickly melts the ice on the road surface, facilitating ice breaking by the scraper 7 and reducing slippage of the measuring vehicle 1. When this happens, an agitator plate 25 is installed at the bottom of the sliding plate 17, so that when the push rod 1602 moves, it can drive the agitator plate 25 to agitate the water in the sliding groove 18, thus preventing the water near the heating wire 24 from being heated while the water in other places is not heated. By installing the base plate 23, the agitator plate 25 will not directly contact the heating wire 24 when it moves towards the heating wire 24, but will contact the top of the base plate 23, thereby protecting the heating wire 24 and preventing the heating wire 24 from being damaged by the agitator plate 25.

[0023] In the preferred embodiment, the upper part of the drive rod 16 is provided with an upper push rod 1601, the upper side of the through groove 10 is provided with an upper sliding groove 27, the upper push rod 1601 is located in the upper sliding groove 27, a water guide pipe 28 is fixedly provided in the upper sliding groove 27, one end of the water guide pipe 28 away from the upper sliding groove 27 is connected to the water supply pipe 20, a nozzle 29 is provided on the upper side of the water guide pipe 28, the nozzle 29 is installed through the guide block 6, and the nozzle 29 is tilted towards the visual camera 2. During operation, water in the water storage box 19 flows into the upper push rod 1601 through the water guide pipe 28. When the output end of the telescopic rod 9 moves towards the upper slide groove 27 with the L-shaped rod 11 and the upper push rod 1601, the upper push rod 1601 will continuously squeeze the water in the upper slide groove 27. Since a one-way valve is installed in the water guide pipe 28, the water in the upper slide groove 27 will not flow back into the water guide pipe 28. At this time, the water in the upper slide groove 27 is sprayed onto the vision camera 2 through the nozzle 29, which serves to rinse the vision camera 2, reduce impurities adhering to the vision camera 2, and avoid affecting the normal shooting and measurement of the vision camera 2.

[0024] In the preferred embodiment, an elastic airbag 4 is fixedly mounted on the top of the telescopic rod 9. The surface of the elastic airbag 4 has multiple constriction holes, and an air outlet pipe 5 is connected to the surface of the elastic airbag 4. The air outlet pipe 5 passes through the cavity 8 and extends outwards, tilting towards the visual camera 2. A baffle 13 is provided on the L-shaped rod 11 to support and limit the elastic airbag 4. During operation, when the output end of the telescopic rod 9 slides towards the sliding groove 18 with the L-shaped rod 11, the L-shaped rod 11 compresses the elastic airbag 4 at the top of the telescopic rod 9. Simultaneously, the baffle 13 at the bottom of the L-shaped rod 11 prevents deformation of the elastic airbag 4, thus facilitating better compression of the elastic airbag 4 by the L-shaped rod 11. This allows the gas inside the elastic airbag 4 to be sprayed onto the surface of the visual camera 2 through the air outlet pipe 5, thereby drying and removing residual water droplets from the surface of the visual camera 2, preventing residual water droplets from affecting the normal shooting operation of the visual camera 2.

[0025] In the preferred embodiment, buffer pads 17 are symmetrically arranged on the inner side of the through groove 10, and the buffer pads 17 are attached to the outer side of the drive rod 16. The buffer pads 17 are made of water-absorbing material. During operation, by installing multiple buffer pads 17 in the rectangular groove, the multiple buffer pads 17 are respectively attached to the upper push rod 1601 and the lower push rod 1602. When the L-shaped rod slides up and down, the buffer pads 17 can buffer the L-shaped rod 11, thereby preventing the L-shaped rod 11 from directly impacting the inner wall of the rectangular groove and causing damage. At the same time, the water-absorbing material of the buffer pads 17 squeezes to seal, preventing water from leaking out of the upper sliding groove 27 and the lower sliding groove 18. Since the multiple buffer pads 17 are attached to the upper push rod 1601 and the lower push rod 1602, they can wipe the upper push rod 1601 and the lower push rod 1602, thereby facilitating their sliding.

[0026] like Figure 8-11 In the preferred embodiment, the external protective cover 26 of the visual camera 2 is detachably provided, the measuring vehicle 1 includes a vehicle body 101 and a mounting base 102, the protective cover 26 is fixed on the mounting base 102, and the mounting base 102 is also provided with a cleaning component 30. The cleaning component 30 includes a side plate 3001, a dual-axis motor 3002, and a cleaning cloth 3003. The side plate 3001 and the dual-axis motor 3002 are respectively disposed on both sides of the protective cover 26. The side plate 3001 and the dual-axis motor 3002 are connected to the mounting base 102 by screws 3008. The protective cover 26 has a notch 2601 on the side near the side plate 3001. Two through holes 2602 are arranged parallel to each other on the side of the protective cover 26 near the dual-axis motor 3002. There are two symmetrical pull cords 3004 on both sides of the cleaning cloth 3003. The pull cords 3004 are connected to the side plate 3001 by a second spring 3005. A fixing bracket 3006 is provided between the protective cover 26 and the dual-axis motor 3002. Fixed pulleys 3007 are respectively provided on both sides of the fixing bracket 3006. The pull cords 3004 are connected to the dual-axis motor 3002 after passing around the fixed pulleys 3007.

[0027] The protective cover 26 is an inverted "U" shape and is made of transparent plastic. During operation, the transparent protective cover 26 is installed on the measuring vehicle 1 to cover the vision camera 2, so that the vision camera 2 can still be used normally in windy and sandy environments. The protective cover 26 plays the role of preventing wind and sand from sticking to the vision camera 2, and the transparent material protective cover 26 will not affect the normal shooting and measurement of the vision camera 2. The side plate 3001 serves as a support, providing a limiting base for the second spring 3005. Then, the dual-axis motor 3002 rotates clockwise, which drives the cleaning cloth 3003 through the notch 2601 on the protective cover 26 via the pull cable 3004 to enter the protective cover 26 and wipe the surface of the vision camera 2. The dual-axis motor 3002 rotates counterclockwise to release the pull cable 3004. At this time, the cleaning cloth 3003 returns to its initial state under the pressure of the second spring 3005 and moves out of the protective cover 26. The cleaning cloth 3003 can fully clean the surface of the vision camera 2, and when not in use, it can protect the vision camera 2. It is easy to operate and effective.

[0028] like Figure 7 In the preferred embodiment, the measurement method of the lane divider measuring device includes the following steps: S1. By placing the measuring vehicle 1 on the road surface, and using the vision camera 2 on the measuring vehicle 1 to start detecting the lane markings on the road surface; S2. Lane candidate point extraction is performed by searching from left to right of the image and using lane detection algorithm to detect the boundary points of the lanes. Based on the points found, the current lane is drawn using interpolation algorithm. For straight lanes, the lane is reconstructed by straight line fitting. For curves after the inflection point, the slope of the found points is used for interpolation extension calculation. S3. Upload the completed measurement data to the cloud for storage and recording, and inspect and retrieve the completed measurement vehicle 1.

[0029] In the preferred embodiment, the detailed steps of S1 are as follows: S1a: When the measuring vehicle 1 is inspecting the lane lines, it uses the scraper 7 at the bottom of the front section of the guide block 6 to scrape and clean the dirt and impurities adhering to the ground. S1b: By moving the push rod 1602 along with the agitator 25, hot water in the sliding groove 18 is squeezed and sprayed onto the road surface. When the resolution and accuracy of the visual camera 2 are affected by wind-blown dust, the coordinated operation of all parts ensures accurate measurement. It can also clean impurities, gravel, and mud from the ground, and break up ice in cold weather, demonstrating strong adaptability.

[0030] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A lane marking measuring device, characterized in that: The system includes a vision camera (2) mounted on a measuring vehicle (1), a guide block (6) connected to the measuring vehicle (1) via two support frames (3) on its inner side, the guide block (6) located below the vision camera (2), a scraper (7) provided at the bottom of the outer wall of the guide block (6), and a support frame (3) including a first fixing block (301) and a second fixing block (302). The first fixing block (301) and the second fixing block (302) are respectively connected to the measuring vehicle (1) and the guide block (6), and a first spring (303) is provided between the first fixing block (301) and the second fixing block (302). The guide block (6) has a cavity (8) inside, and a telescopic rod (9) is detachably installed in the cavity (8). An L-shaped rod (11) is supported on the telescopic rod (9). The guide block (6) has a through groove (10) for the movement of the L-shaped rod (11). The L-shaped rod (11) passes through the drive rod (16). The drive rod (16) and the guide block (6) are slidably connected. Connecting rods (14) are provided on both sides of the L-shaped rod (11). The connecting rods (14) are provided along the axis. Multiple horizontal supports (1401) and vertical supports (1402) are provided. The horizontal supports (1401) and guide blocks (6) are slidably connected. Multiple breaker hammers (12) are provided at the bottom of the L-shaped rod (11) and the vertical supports (1402). Multiple protrusions (1201) are provided on the outer side of the breaker hammers (12) along the circumferential direction. Spikes (1202) are provided on the protrusions (1201). Multiple brushes (15) are also provided on the guide blocks (6). The brushes (15) are located on the lower side of the breaker hammers (12). A push rod (1602) is provided at the lower part of the drive rod (16), and a sliding groove (18) is provided on the lower side of the through groove (10). The push rod (1602) is located in the sliding groove (18). A water storage box (19) is provided at the top of the guide block (6), and a water supply pipe (20) is provided at the bottom of the water storage box (19). The water supply pipe (20) is connected to the sliding groove (18) through the water inlet pipe (21). A water outlet pipe (22) is provided through the sliding groove (18) on the side near the breaker hammer (12). The water outlet pipe (22) is located on the lower side of the brush (15). The interior of the sliding groove (18) is provided with multiple base plates (23), and two opposite base plates (23) are connected by heating wires (24). The bottom of the lower push rod (1602) is fixed with a stirring plate (25).

2. The lane marking measuring device according to claim 1, characterized in that: The upper part of the drive rod (16) is provided with an upper push rod (1601), and the upper side of the through groove (10) is provided with an upper sliding groove (27). The upper push rod (1601) is located in the upper sliding groove (27). A water guide pipe (28) is fixed in the upper sliding groove (27). The end of the water guide pipe (28) away from the upper sliding groove (27) is connected to the water supply pipe (20). A nozzle (29) is provided on the upper side of the water guide pipe (28). The nozzle (29) is installed through the guide block (6). The nozzle (29) is tilted towards the visual camera (2).

3. The lane marking measuring device according to claim 1, characterized in that: An elastic airbag (4) is fixed at the top of the telescopic rod (9). The surface of the elastic airbag (4) is provided with multiple shrinkage holes. An air outlet pipe (5) is connected to the surface of the elastic airbag (4). The air outlet pipe (5) is installed through the cavity (8) and extends outward. The air outlet pipe (5) is tilted towards the visual camera (2). A baffle (13) is provided on the L-shaped rod (11) for supporting and limiting the elastic airbag (4).

4. The lane marking measuring device according to claim 1, characterized in that: The inner side of the through groove (10) is symmetrically provided with buffer pads (17), and the buffer pads (17) are attached to the outer side of the drive rod (16).

5. The lane marking measuring device according to claim 1, characterized in that: The external protective cover (26) of the visual camera (2) is detachably provided. The measuring vehicle (1) includes a vehicle body (101) and a mounting base (102). The protective cover (26) is fixed on the mounting base (102). The mounting base (102) is also provided with a cleaning component (30). The cleaning component (30) includes a side plate (3001), a dual-axis motor (3002), and a cleaning cloth (3003). The side plate (3001) and the dual-axis motor (3002) are respectively disposed on both sides of the protective cover (26). The side plate (3001) and the dual-axis motor (3002) are connected by screws (3008) and mounting bases (102), respectively. The protective cover (26) has a notch (2601) on the side near the side plate (3001). The protective cover (26) near the dual-axis motor (3002) has a notch (2601). Two through holes (2602) are arranged parallel to each other on one side. Two pull wires (3004) are symmetrically arranged on both sides of the cleaning cloth (3003). The pull wires (3004) are connected to the side plate (3001) through the second spring (3005). A fixed frame (3006) is provided between the protective cover (26) and the dual-axis motor (3002). Fixed pulleys (3007) are respectively provided on both sides of the fixed frame (3006). The pull wires (3004) are connected to the dual-axis motor (3002) after passing around the fixed pulleys (3007).

6. The measurement method of the lane dividing line measuring device according to any one of claims 1 to 5, characterized in that: Includes the following steps: S1. The lane markings on the road surface are detected by placing the measuring vehicle (1) on the road surface and using the vision camera (2) on the measuring vehicle (1). S2. Lane candidate point extraction is performed by searching from left to right of the image and using lane detection algorithm to detect the boundary points of the lanes. Based on the points found, the current lane is drawn using interpolation algorithm. For straight lanes, the lane is reconstructed by straight line fitting. For curves after the inflection point, the slope of the found points is used for interpolation extension calculation. S3. Upload the completed measurement data to the cloud for storage and recording, and inspect and retrieve the completed measurement vehicle (1).

7. The measurement method of the lane dividing line measuring device according to claim 6, characterized in that: The detailed steps of S1 are as follows: S1a: When the measuring vehicle (1) is inspecting the lane lines, it uses the scraper (7) at the bottom of the front section of the guide block (6) to scrape and clean the dirt and impurities adhering to the ground. S1b: By moving the push rod (1602) with the agitator (25), hot water in the slide groove (18) is squeezed and sprayed onto the road surface.

Images