A road surface three-dimensional detection device based on bidirectional line structured light

Abstract

The utility model relates to a kind of road surface three-dimensional detection devices based on bidirectional line structure light, device includes three-dimensional camera module and module shell, the inside one side of module shell is equipped with three-dimensional camera light inlet;Three-dimensional camera light inlet is built-in optical filter, and the plane where three-dimensional camera light inlet is and ground is preset angle, the bottom of three-dimensional camera light inlet is connected by three-dimensional camera module fixing device and three-dimensional camera module, the three-dimensional camera module fixing device is slide rail, and the bottom of slide rail connection three-dimensional camera module;The shaft of slide rail and the plane where three-dimensional camera light inlet is vertical;Device further includes line laser module and line laser module fixing device.Compared with prior art, the utility model has the advantages of solving noise light interference problem and low reflection light capture efficiency problem.

Description

Technical Field

[0001] This utility model relates to the technical field of road surface detection, and in particular to a three-dimensional road surface detection device based on bidirectional line structured light. Background Technology

[0002] In existing technologies, the design of traditional 3D camera light inlets generally suffers from two major drawbacks: weak filtering capabilities and fixed light inlet angles. The former often uses general-purpose transparent lenses or basic filter components, failing to design dedicated narrowband filters for the specific wavelengths of line laser modules (such as common 650nm and 980nm line lasers). This results in filters that can only filter a small amount of visible light clutter and cannot accurately shield against infrared interference from sunlight or noise signals from scattered light sources from surrounding equipment. The latter, in order to simplify the structure and reduce costs, often uses a design perpendicular to the ground or at a single fixed angle, without adapting to the dynamic characteristics of road surface reflection light in actual vehicle road detection applications. In actual use, road undulations and vehicle movement alter the line laser's illumination angle, and different road materials also result in different reflection angles of the laser. A fixed angle cannot be adjusted to follow the propagation path of the reflected light.

[0003] These design flaws have led to two major problems for existing technologies: First, noise light indiscriminately enters the light inlet and superimposes with the effective linear laser signal, causing a significant drop in the signal-to-noise ratio. This makes 3D cameras prone to problems such as blurred images and unable to output pure raw data. Second, a fixed light inlet angle makes it difficult to capture dynamically changing reflected light. A large amount of effective signal is lost due to angle misalignment. Especially in complex road environments, this directly leads to insufficient detection accuracy of 3D cameras for road features, failing to meet the requirements of high-precision imaging. Utility Model Content

[0004] The purpose of this invention is to provide a three-dimensional road surface detection device based on bidirectional structured light to solve the problems of noise light interference and low reflected light capture efficiency.

[0005] The objective of this utility model can be achieved through the following technical solutions:

[0006] A three-dimensional road surface detection device based on bidirectional line structured light, the device includes a three-dimensional camera module and a module housing, and a three-dimensional camera light inlet is provided on one side inside the module housing;

[0007] The 3D camera has a built-in filter in its light inlet, and the plane where the 3D camera light inlet is located is at a preset angle to the ground. The bottom of the 3D camera light inlet is connected to the 3D camera module through a 3D camera module fixing device, which is a slide rail connected to the bottom of the 3D camera module.

[0008] The direction of movement of the slide rail is parallel to the axis and perpendicular to the plane where the light inlet of the three-dimensional camera is located;

[0009] The device also includes a line laser module and a line laser module fixing device.

[0010] Furthermore, the line laser module fixing device includes bolts and mounting slots.

[0011] Furthermore, the line laser module is fixed in the mounting slot by bolts.

[0012] Furthermore, the outer surface of the module housing is provided with a protrusion, which is a rainproof device.

[0013] Furthermore, the device also includes a heat dissipation device on the module housing, which is a fan.

[0014] Furthermore, the module housing is provided with multiple external fixing devices inside, which are recesses that are recessed into the module housing, and the recesses are provided with threads.

[0015] Furthermore, the device also includes an external interface module inside the module housing.

[0016] Furthermore, the device also includes a power supply module inside the module housing, which is connected to the 3D camera module and the line laser module;

[0017] The line laser module emits a laser beam.

[0018] Furthermore, the device also includes a data acquisition card module inside the module housing.

[0019] Furthermore, the device also includes a speed sensor module inside the module housing.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The built-in filter design of this invention specifically addresses the problem of stray light interfering with laser signals in the external environment. By filtering out noisy light, the 3D camera can more accurately identify the effective signal emitted by the line laser module, avoiding image blurring or misjudgment caused by stray light, and providing higher quality raw data for subsequent data processing.

[0022] Furthermore, the design of the light inlet at a preset angle to the ground is a targeted optimization based on actual application scenarios. The preset angle allows the light inlet to more accurately align with the main propagation direction of reflected light, reducing the loss or deviation of reflected light, thereby solving the problem of incomplete signal capture and low accuracy of traditional fixed-angle light inlets in complex road surface scenarios.

[0023] Signal acquisition by the 3D camera is the core component of the entire device, and signal quality directly determines the effectiveness of subsequent data processing and analysis. This design addresses both interference filtering and optimized capture angle, solving both the problem of noise interference and the low efficiency of reflected light capture. Ultimately, it ensures that the 3D camera can operate stably and accurately in complex environments, providing crucial support for the overall performance of the device. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the present invention;

[0025] Figure 2 This is a three-dimensional structural diagram of the present invention;

[0026] The components include: heat dissipation device 1, external fixing device 2, rainproof device 3, line laser module fixing device 4, 3D camera module 5, module housing 6, speed sensor module 7, acquisition card module 8, line laser module 9, 3D camera module fixing device 10, 3D camera light inlet 11, power supply module 12, and external interface module 13. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. This embodiment is based on the technical solution of the present invention and provides detailed implementation methods and specific operating procedures; however, the scope of protection of the present invention is not limited to the following embodiments.

[0028] A three-dimensional road surface detection device based on bidirectional line structured light, the device includes a three-dimensional camera module 5 and a module housing 6, and a three-dimensional camera light inlet 11 is provided on one side inside the module housing 6.

[0029] The 3D camera light inlet 11 has a built-in filter, and the plane where the 3D camera light inlet 11 is located is at a preset angle to the ground. The bottom of the 3D camera light inlet 11 is connected to the 3D camera module 5 through the 3D camera module fixing device 10. The 3D camera module fixing device 10 is a slide rail, and the slide rail is connected to the bottom of the 3D camera module 5.

[0030] The axis of the slide rail is perpendicular to the plane containing the light inlet 11 of the 3D camera;

[0031] The device also includes a line laser module 9 and a line laser module fixing device 4.

[0032] Lateral line structured light emitting module: Installed on the top of the rear end of the vehicle body, about 1.5 to 2.0m above the ground, its internal line laser module is used to emit laser lines perpendicular to the driving direction onto the road surface to continuously acquire road cross-sectional elevation data.

[0033] Longitudinal line structured light emission module: Installed at the bottom of the rear end of the vehicle body, about 200-500mm above the ground. Its internal line laser module is used to emit laser lines parallel to the driving direction onto the road surface and continuously analyze the vertical movement distance between each adjacent section.

[0034] The horizontal and vertical structured light emission modules are connected to a synchronous triggering device to ensure that the data acquisition of the two modules is synchronized.

[0035] The line laser module fixing device 4 includes bolts and mounting slots. Figure 1 This is a schematic diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention.

[0036] The line laser module 9 is fixed in the mounting slot by bolts.

[0037] The outer shell 6 of the module has a protrusion, which is a rainproof device 3.

[0038] The device also includes a heat dissipation device 1 on the module housing 6, wherein the heat dissipation device 1 is a fan.

[0039] The module housing 6 has multiple external fixing devices 2 inside. The external fixing device 16 is a groove recessed into the module housing 6, and the groove is threaded.

[0040] The device also includes an external interface module 13 inside the module housing 6.

[0041] The device also includes a power supply module 12 inside the module housing 6, which is connected to the 3D camera module 5 and the line laser module 9;

[0042] The line laser module 9 emits a laser beam.

[0043] The device also includes a data acquisition card module 8 inside the module housing 6.

[0044] The device also includes a speed sensor module 7 inside the module housing 6.

[0045] The 3D camera module 5 is installed on the bottom left side of the online structured light emission module. It is used to capture the reflected light from the laser line emitted by the line structured light and convert the optical signal into an electrical signal for processing.

[0046] The module housing 6 provides physical protection for the line structured light emitting module, encapsulates internal components, and provides functions such as heat dissipation and dust protection to ensure stable operation of the system in different environments.

[0047] Speed ​​sensor module 7 is used to detect vehicle speed and distance traveled.

[0048] The acquisition card module 8 is connected to the 3D camera module and is responsible for acquiring, converting, and performing preliminary processing on the electrical signals captured by the 3D camera module for further analysis.

[0049] The line laser module 9 is installed on the bottom right side of the online structured light emission module, providing a precise and stable laser beam for the 3D camera to collect reflected light, thus providing a foundation for subsequent detection work.

[0050] The 3D camera module fixing device 10 adopts a sliding rail structure and is fixed by screws. Its core function is to fine-tune the height of the 3D camera to ensure that the 3D camera can be accurately focused and meet the imaging requirements.

[0051] The 3D camera's light inlet 11 has a built-in filter that can effectively filter out noisy light signals, enabling the 3D camera to capture purer laser signals emitted by the line laser module. At the same time, the light inlet is designed at a preset angle to the ground, which optimizes the capture effect of reflected line laser light from the road surface and improves the accuracy of signal acquisition.

[0052] The power supply module 12 is installed in the middle of the bidirectional line structured light emitting module. As the power core of the entire device, it is responsible for providing stable current to the 3D camera module, line laser module and other functional modules, ensuring that all modules continue to operate normally.

[0053] The external interface module 13 integrates three functional interfaces: a power interface, a data transmission interface, and a distance sensor interface. One end of the power interface connects to the internal power supply module, while the other end connects to an external power source, forming a stable power supply circuit to ensure reliable power supply for the entire device. One end of the data transmission interface connects to the internal 3D camera module, while the other end interfaces with the data processing module, transmitting the processing results from the 3D camera module to the data processing module for subsequent depth analysis. One end of the distance sensor interface connects to the internal speed sensor, while the other end connects to the photoelectric encoder installed at the wheel, enabling precise measurement of vehicle speed and distance through their collaboration. The data processing module receives and processes 3D camera signals, analyzes the 3D cross-sectional data of the road surface and the vertical displacement of adjacent cross-sections, performs data correction, and outputs a high-quality 3D road surface image.

[0054] The line laser module fixing device 4 securely fixes the line laser module in the designated position with bolts, which can effectively limit the displacement of the line laser module and reduce the impact of vibration generated during device operation on the module, thus ensuring the stability of line laser emission.

[0055] As a protective component, the rainproof device 3 can prevent rainwater and other liquid impurities from entering the bidirectional linear structured light module, creating a dry and clean operating environment for the module, avoiding module failure due to moisture, and extending the service life of the device.

[0056] The external fixing device 2 has a pre-set threaded interface, which is connected to the relevant parts of the vehicle by screws, and finally the entire device is fixed at the rear of the vehicle to ensure that the device remains stable during the vehicle's movement and does not shift in position.

[0057] The heat dissipation device 1 consists of a fan assembly. During the operation of the device, the active heat dissipation of the fan dissipates the heat generated inside the module to the outside, maintaining the internal temperature of the module within a reasonable range and preventing overheating from affecting the module's performance and operational stability.

[0058] The preset angle can be 15° to 30°.

[0059] The working principle of this utility model is as follows:

[0060] Line laser module 9 emits a laser beam, which is then collected by a 3D camera. 3D camera module 5 acquires a 3D road surface image through 3D camera inlet 11. The road surface image is used to detect vehicles or other road surface features.

[0061] The 3D camera module can slide on the 3D camera module fixing device 10, that is, the slide rail, so that the height of the 3D camera changes.

[0062] The 3D camera module 5 can be a Mech-Eye 3D camera, an RVC-X series camera, etc. The line laser module 9 can be an MDL-L series, LM9IR780S5L, HSFGD22110, LS80-LL6A2, etc.

[0063] The acquisition card module 8 can be NET8092, FCFR-USB9984, CPCI2007, etc.

[0064] The speed sensor module 7 can be SC9641TS, SC9642TS, SC9682TS, etc., or VF401, VF526DT, E12A, E12S, E16A, E16A25 speed sensors, etc.

[0065] The power supply module 12 can be SCT61240QFJCR, ASIP00111601-15A, Indipro Tools 12V power supply module, etc.

[0066] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A three-dimensional road surface detection device based on bidirectional line structured light, characterized in that, The device includes a horizontal line structured light emitting module and a vertical line structured light emitting module. The line structured light emitting module includes a three-dimensional camera module (5) and a module housing (6). A three-dimensional camera light inlet (11) is provided on one side inside the module housing (6). The three-dimensional camera light inlet (11) has a built-in filter, and the plane where the three-dimensional camera light inlet (11) is located is at a preset angle to the ground. The bottom of the three-dimensional camera light inlet (11) is connected to the three-dimensional camera module (5) through the three-dimensional camera module fixing device (10). The three-dimensional camera module fixing device (10) is a slide rail, which is connected to the bottom of the three-dimensional camera module (5). The axis of the slide rail is perpendicular to the plane of the light inlet (11) of the three-dimensional camera; The device also includes a line laser module (9) and a line laser module fixing device (4).

2. The road surface three-dimensional detection device based on bidirectional line structured light according to claim 1, characterized in that, The line laser module fixing device (4) includes bolts and mounting slots.

3. The road surface three-dimensional detection device based on bidirectional line structured light according to claim 2, characterized in that, The line laser module (9) is fixed in the mounting slot by bolts.

4. The road surface three-dimensional detection device based on bidirectional line structured light according to claim 1, characterized in that, The outer surface of the module housing (6) is provided with a protrusion, which is a rainproof device (3).

5. A road surface three-dimensional detection device based on bidirectional line structured light according to claim 1, characterized in that, The device also includes a heat dissipation device (1) on the module housing (6), the heat dissipation device (1) being a fan.

6. The road surface three-dimensional detection device based on bidirectional line structured light according to claim 1, characterized in that, The module housing (6) is provided with multiple external fixing devices (2) inside. The external fixing devices (2) are recesses that are recessed into the module housing (6) and are threaded inside.

7. A road surface three-dimensional detection device based on bidirectional line structured light according to claim 1, characterized in that, The device also includes an external interface module (13) inside the module housing (6).

8. A three-dimensional road surface detection device based on bidirectional line structured light according to claim 1, characterized in that, The device also includes a power supply module (12) inside the module housing (6), which is connected to the three-dimensional camera module (5) and the line laser module (9); The line laser module (9) emits a laser beam, and the laser beam in the transverse line structured light emitting module is perpendicular to the driving direction; In the longitudinal line structured light emitting module, the laser beam is parallel to the direction of travel.

9. A road surface three-dimensional detection device based on bidirectional line structured light according to claim 1, characterized in that, The device also includes a data acquisition card module (8) inside the module housing (6).

10. A three-dimensional road surface detection device based on bidirectional line structured light according to claim 1, characterized in that, The device also includes a speed sensor module (7) inside the module housing (6).

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