WO2003106924A1 - Dispositif de mesure de profil d'une route - Google Patents

Dispositif de mesure de profil d'une route Download PDF

Info

Publication number
WO2003106924A1
WO2003106924A1 PCT/SE2003/000581 SE0300581W WO03106924A1 WO 2003106924 A1 WO2003106924 A1 WO 2003106924A1 SE 0300581 W SE0300581 W SE 0300581W WO 03106924 A1 WO03106924 A1 WO 03106924A1
Authority
WO
WIPO (PCT)
Prior art keywords
line
roadway
vehicle
laser
reference line
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/SE2003/000581
Other languages
English (en)
Inventor
Hans HEDSTRÖM
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Digatech AB
Original Assignee
Digatech AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Digatech AB filed Critical Digatech AB
Priority to AU2003222555A priority Critical patent/AU2003222555A1/en
Publication of WO2003106924A1 publication Critical patent/WO2003106924A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/02—Tracing profiles of land surfaces
    • G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced

Definitions

  • the present invention relates to an arrangement for measuring the cross-profile of a roadway of the kind defined in the preamble of the accompanying Claim 1.
  • Each measuring device is comprised of a laser unit that directs a narrower laser beam vertically onto the surface of the road, and an optical position sensor spaced horizontally from the laser unit.
  • the position sensor functions to detect a light spot projected by the laser onto the road surface.
  • the vertical distance from the distance measuring device to the laser spot projected onto the road surface can be calculated with the aid of the known direction from the position sensor to the laser projected spot and with knowledge of the distance between the position sensor and said spot.
  • a distance measuring device is required for each measuring position transversely of the driven direction of the vehicle.
  • an inclination sensor for instance a gyroscope, for sensing the slope of the bar, particularly in its longitudinal direction, so that the distances measured by the distance measuring devices can also be combined to provide road profile curves in the longitudinal direction of the road and so that the road camber or lateral slope can also be shown.
  • Another known technique applied in practice is one in which a laser unit is used to project a line of laser light onto the road surface transversely to the direction in which the vehicle is driven, and to image the profile of the line with the aid of a camera that is mounted on the vehicle at a significant distance from said line and to consider the image in a direction that has but a small deviation from the driven direction of the vehicle.
  • One difficulty with this technique resides in the sensitivity of the camera to shakes and vibrations, caused by the long distance of the camera from said line.
  • the road camber or slope of the road can be determined in its transverse direction.
  • the arrangement includes an electronic camera, e.g. a CCD-camera, which is mounted on the vehicle, suitably on its underside, in longitudinally spaced relationship with a vehicle- earned element that extends transversely across the vehicle.
  • an electronic camera e.g. a CCD-camera
  • the element carries one or more laser units that establish a vertical laser light plane which extends along the element and which projects a line of laser light onto the roadway.
  • the element also includes a reference line.
  • the camera views or detects the distance between the reference line and the line projected onto the roadway by the laser unit or units at a selected number of points along the reference line.
  • the reference line may, for instance, consist of an illuminated strip of reflex tape placed on the element, or may include special characteristic features along its length, for example interruptions or locally varying line heights. These characteristic features enable the camera to localise predetermined positions along the reference line. When using several cameras side-by-side, so that each camera will have a correspondingly small viewing angle in the horizontal plane, the characteristic features can be used to define the horizontal viewing angles of the different cameras.
  • the extension of the reference line can be corrected horizontally or vertically, so that the respective cameras will detect a constant vertical angle between the reference line and the line projected onto a horizontal (road) - surface.
  • the reference line and/or the projected line may consist of a series of mutually separated points.
  • the laser unit or units In the vertical plane, the laser unit or units is/are able to project laser light transversely outwards of the vehicle and also outwards of the ends of the element/bar.
  • the reference line may be extrapolated in the calculating equipment of the arrangement, so as to collect roadway measurement values also transversely outwards of the bar.
  • Figure 1 is a schematic longitudinal section view of a vehicle equipped with an arrangement according to the present invention.
  • Figure 2 is a view taken on the line II-II in Fig. 1.
  • Fig. 1 Shown in Fig. 1 is a vehicle frame or vehicle chassis 10 that stably supports a bar 2 and a CCD - camera 3.
  • the bar 2 extends at right angles to the longitudinal axis of the vehicle 10 and supports a pair of laser units 1, 1; V, 1 ' on each side of the bar.
  • Each pair of laser units 1, 1; 1 ', 1 ' emits laser light in a vertical plane, either as a broad laser light plane or as a laser line that sweeps rapidly in the vertical plane.
  • the pairs of laser units illuminate the roadway 4 with overlapping light planes so as to project a line 11 onto the roadway, said line extending along at least the full length of the bar 2 and preferably also beyond each end of the bar.
  • the laser units 1 of respective pairs have a limited fixed angle of laser light, they can, nevertheless, be adjusted angularly in the vertical plane so as to intersect mutually in their main directions and thereby provide a line length 11 that is at least equal to the length of the bar 2.
  • the pairs of laser units 1 ' project light in a vertical plane that is parallel with the plane for the unit 1 and therewith projects a line 11 ' onto the roadway 4 at a distance s in front of the line 11 as seen in the direction of movement of the vehicle 10.
  • the bottom edge of the bar 2 carries a reference line 5, which may consist of light reflecting tape 5 that is illuminated by a light source not shown.
  • the camera 3 is carried on the underside of the vehicle 10 at a relatively long distance t behind the bar 2.
  • the distance t is chosen to ensure that the camera 3 having a factual field angle will be able to observe the line 4, 4' along the whole of its length.
  • the camera 3 can view a multiple of positions along the line 5 and detect in each such position the reference line 5 and the line 11 respectively and is able to determine the local vertical distance between the line 5 and the line 11 subsequent to calibration or measurement.
  • These distances in said chosen positions along the bar 2 can be registered in a register 7 and therewith define the profile of the roadway 4 on each measuring occasion.
  • the camera 3 is able to measure said distance at a large number of points along the bar 2 generally at one and the same time.
  • Measuring can also be effected directly between the lines.
  • the camera 3 may also measure the distance to the line 11 ' at mutually different positions along the bar 2 at one and the same time, so as to enable the slope of the roadway 4 longitudinally between the lines 11, 11 ' to be registered in said selected positions along the bar 2.
  • a still better result can be achieved by mounting accelerometers (not shown) on the bar 2 in a known manner, for instance on the ends of said bar, wherewith the values measured by the accelerometers can be used to calculate the vertical movements of the vehicle, so that said movements can be compensated for when necessary.
  • the measuring result can also be improved with the aid of a gyroscope, by measuring changes in the orientation of the bar 2 in relation to a reference plane, for example the horizontal plane.
  • Figure 2 shows that the reference line 5 of the bar 2 has a contemplated continuation 6 at each end of the bar 2.
  • This continuation line is an extrapolated extension of the line 5 and can be arrived at as a reference line with a starting point from the straight line 5 as discerned by the camera 3.
  • the line 6 can be calculated in the devices 7 connected to the camera 3, including appropriate register means 8 for registering the values concerned.
  • the transverse profile of a roadway can be measured readily at right angles to the direction in which the vehicle is driven with the aid of very simple equipment comprising a CCD-camera 3, a bar 2 that carries a reference line 5 and at least one laser 1, even when the vehicle is driven at high speed.
  • this relatively simple equipment can be used also to register the longitudinal profile of said drive path at a large number of points across the width of said path.
  • a camera that includes a PSD-element may be used instead of a CCD-camera.
  • the reference line can be created with laser light that is projected onto an element.
  • the reference line can be built-up of a series of light points, for instance light emitting diodes, or of small reflectors mounted on the reference element.
  • Another alternative is to use the bottom edge of the reference element/bar as a reference line.
  • the laser line projected onto the road surface may be established by a rapidly sweeping beam from a laser unit, or by fixed beams from one or more laser units.
  • the reference line on a straight reference element /bar can be given a vertical curvature to compensate for variations between the camera and measuring points.
  • the reference line may be curved in the horizontal plane so that the distance to the camera will be generally constant.
  • the arrangement can be readily calibrated by providing a horizontal measuring surface, for instance a reflective free-liquid-surface, beneath the reference line, for instance when the line is straight and horizontal, so that it will be known that the vertical distance between the reference line and the road line 11 is constant along the length of the reference line.
  • the vertical angles read-off by the camera or cameras between the measuring surface and the reference surface can then be corrected with adjustments that ensure that the camera output signal will be uniform in different viewing directions in the horizontal plane after said adjustments.
  • the reference element/bar can be resiliently suspended relative to the chassis when movement of the reference element relative to the chassis is calculated or read off continuously so that the net result of the camera can be corrected with reference to movement of the reference element.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un agencement destiné à mesurer le profil en coupe d'une route. Cet agencement comprend une unité laser (1, 1) portée par un véhicule (10) qui est destiné à être conduit le long de ladite route. Cette unité laser est conçue de façon à illuminer verticalement la route (4), et un capteur (3) porté sur le véhicule est conçu de façon à détecter la distance le séparant de la route illuminée par l'unité laser. Cette unité laser est conçue de façon à illuminer la route le long d'une ligne (11) qui s'étend en travers du véhicule et de la route, la lumière laser étant généralement dirigée dans un plan vertical. Cet agencement comprend aussi une ligne de référence (5) portée par le véhicule s'étendant généralement horizontalement. Le capteur (3) comprend une caméra électronique qui est montée sur le véhicule à une distance longitudinale (t) du plan lumineux laser et qui visionne la ligne laser (11) projetée sur la route (4) et également la ligne de référence (5) au même moment. Cet agencement comprend un organe de registre (8) conçu pour enregistrer l'angle détecté par la caméra entre la ligne laser projetée (11) et la ligne de référence (5) à une pluralité de positions le long de la ligne laser (11) projetée.
PCT/SE2003/000581 2002-04-26 2003-04-10 Dispositif de mesure de profil d'une route Ceased WO2003106924A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003222555A AU2003222555A1 (en) 2002-04-26 2003-04-10 A device for measuring the profile of a roadway

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0201264-9 2002-04-26
SE0201264A SE0201264L (sv) 2002-04-26 2002-04-26 Anordning för profilmätning av en vägbana

Publications (1)

Publication Number Publication Date
WO2003106924A1 true WO2003106924A1 (fr) 2003-12-24

Family

ID=20287694

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2003/000581 Ceased WO2003106924A1 (fr) 2002-04-26 2003-04-10 Dispositif de mesure de profil d'une route

Country Status (3)

Country Link
AU (1) AU2003222555A1 (fr)
SE (1) SE0201264L (fr)
WO (1) WO2003106924A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004048637A1 (de) * 2004-10-04 2006-04-06 Daimlerchrysler Ag 3D-Fahrbahnmessung mit redundanten Messdaten
DE102004048638A1 (de) * 2004-10-04 2006-04-06 Daimlerchrysler Ag 3D-Vermessung ausgedehnter Messflächen
FR2890477A1 (fr) * 2005-09-02 2007-03-09 Imra Europ Sas Soc Par Actions Methode et dispositif d'evaluation de la position d'un vehicule dans son environnement
GB2460892A (en) * 2008-06-17 2009-12-23 Wdm Ltd Apparatus for measuring carriageway surface properties
CN114061747A (zh) * 2021-11-16 2022-02-18 招商局重庆公路工程检测中心有限公司 一种路面亮度自动测量装置及方法
CN115493561A (zh) * 2022-11-16 2022-12-20 山东省鲁南地质工程勘察院(山东省地质矿产勘查开发局第二地质大队) 一种水工环地质剖面测量装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111877108A (zh) * 2020-07-15 2020-11-03 中公高科养护科技股份有限公司 一种基于线激光的路面平整度测量方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4700223A (en) * 1985-06-07 1987-10-13 Kokusai Kogyo Co., Ltd. Vehicle for evaluating properties of road surfaces
US5075772A (en) * 1989-04-27 1991-12-24 Ingenieurburo Dr. Ing. H.-P. Gebel Method and an apparatus for the surveying of road properties as to the length of the axis, the width and the height or the ascent
DE19513116A1 (de) * 1995-04-07 1996-10-10 Misoph Rotraud Verfahren zum berührungsfreien Vermessen von Tunnelprofilen oder Straßenoberflächen

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4700223A (en) * 1985-06-07 1987-10-13 Kokusai Kogyo Co., Ltd. Vehicle for evaluating properties of road surfaces
US5075772A (en) * 1989-04-27 1991-12-24 Ingenieurburo Dr. Ing. H.-P. Gebel Method and an apparatus for the surveying of road properties as to the length of the axis, the width and the height or the ascent
DE19513116A1 (de) * 1995-04-07 1996-10-10 Misoph Rotraud Verfahren zum berührungsfreien Vermessen von Tunnelprofilen oder Straßenoberflächen

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004048637A1 (de) * 2004-10-04 2006-04-06 Daimlerchrysler Ag 3D-Fahrbahnmessung mit redundanten Messdaten
DE102004048638A1 (de) * 2004-10-04 2006-04-06 Daimlerchrysler Ag 3D-Vermessung ausgedehnter Messflächen
DE102004048638B4 (de) * 2004-10-04 2010-08-05 Daimler Ag 3D-Vermessung ausgedehnter Messflächen
FR2890477A1 (fr) * 2005-09-02 2007-03-09 Imra Europ Sas Soc Par Actions Methode et dispositif d'evaluation de la position d'un vehicule dans son environnement
GB2460892A (en) * 2008-06-17 2009-12-23 Wdm Ltd Apparatus for measuring carriageway surface properties
US8159679B2 (en) 2008-06-17 2012-04-17 W.D.M. Limited Apparatus for measuring carriageway surface properties
GB2460892B (en) * 2008-06-17 2012-12-19 Wdm Ltd Apparatus for measuring carriageway surface properties
CN114061747A (zh) * 2021-11-16 2022-02-18 招商局重庆公路工程检测中心有限公司 一种路面亮度自动测量装置及方法
CN114061747B (zh) * 2021-11-16 2024-05-10 招商局重庆公路工程检测中心有限公司 一种路面亮度自动测量装置及方法
CN115493561A (zh) * 2022-11-16 2022-12-20 山东省鲁南地质工程勘察院(山东省地质矿产勘查开发局第二地质大队) 一种水工环地质剖面测量装置
CN115493561B (zh) * 2022-11-16 2023-02-17 山东省鲁南地质工程勘察院(山东省地质矿产勘查开发局第二地质大队) 一种水工环地质剖面测量装置

Also Published As

Publication number Publication date
SE520280C2 (sv) 2003-06-17
AU2003222555A1 (en) 2003-12-31
SE0201264D0 (sv) 2002-04-26
SE0201264L (sv) 2003-06-17

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