CN106679575B - A kind of vehicle super-high ultra-wide detecting system and method based on laser calibration - Google Patents

Abstract

The present invention provides a vehicle ultra-high and ultra-wide detection system and method based on laser calibration, which utilizes the projection angles of the optical belt type laser transmitter and the beam type laser transmitter in the system and the geometric positional relationship between the two and the shooting orientation of the image acquisition device , the detection control processing device recognizes the horizontal displacement and length of the laser straight line segment formed by projecting the plane laser band onto the vehicle passing through the horizontal road lane in the video image data through image processing, and then uses the pre-calibrated vehicle height and width to measure and calculate The function model calculates the maximum height and maximum width of the vehicle, so as to realize the non-contact vehicle super height and super width detection. The system has simple structure, strong practicability, high measurement accuracy, and can reach the detection rate of milliseconds. It can realize continuous detection of multiple vehicles without stopping and super-high/ultra-wide alarm indication for long-term operation and automatic online execution, avoiding the problem of traffic jams, and has a good prospect for promotion and application.

Description

A system and method for detecting ultra-high and ultra-wide vehicles based on laser calibration

technical field

The invention relates to the technical field of transportation safety detection, in particular to a laser calibration-based vehicle ultra-height and ultra-width detection system and method.

Background technique

With the rapid development of the national economy, my country's expressway construction and road transport scale have achieved unprecedented development, resulting in the phenomenon of overloaded vehicles is becoming more and more serious. On the one hand, over-limit transportation will shorten the service life of roads and bridges, on the other hand, it will cause changes in the shape of the vehicle body and a decrease in vehicle performance, forming a serious hidden danger to traffic safety. Therefore, vehicle overrun detection will play an important role in ensuring the smooth flow of roads, maintaining road property rights, ensuring transportation safety and the healthy development of the transportation market.

At present, the super-height and ultra-wide control of vehicles is an important part of the over-limit work, and most of them are still in the manual stage, mainly relying on law enforcement officers to intercept them. After manual inspection, they are indeed over-limited, and then guided to the parking lot to accept their over-limit treatment. However, there are the following problems in this inspection method: first, it requires more law enforcement officers and the cost of law enforcement is high; second, it is easy to endanger the personal safety of law enforcement officers;

For this reason, the detection method for intelligently detecting the ultra-high and ultra-wide of vehicles has been studied. Automatically complete the height and width detection of vehicles; an automatic super-elevation vehicle detection system in urban tunnels (201320097314.9) discloses a system that uses radar emitting probes to achieve super-height detection; a vehicle super-height and super-width detection system based on laser ranging The monitoring method (201410684562.2) discloses a super-height and super-wide vehicle monitoring method based on laser ranging, using LMS two-dimensional laser ranging sensor to realize the detection of the width and height of the traveling vehicle and the sound and light alarm for exceeding the limit; The method for measuring the width and height of an object (201410684812.2) discloses a method for obtaining the width and height of an object by analyzing the left and right and up and down movements of a laser ranging sensor. Most of these inventions use laser or ultrasonic waves to detect the height and width of vehicles, but there are three main problems in these detection methods:

First, when the parts of the on-board cargo (such as steel bars and brackets) protrude out of the vehicle, these small objects may be missed, resulting in large errors in the measurement results;

The second is that the structure is complex, and multiple sensors of various types need to be deployed for synchronous real-time acquisition;

The third is that the vehicle needs to stay in the detection area during the detection process, and it is difficult to realize continuous detection without stopping, thus easily causing traffic jams.

Contents of the invention

In view of the above-mentioned deficiencies existing in the prior art, the purpose of the present invention is to provide a vehicle super-height and super-width detection system based on laser calibration with simple structure, strong practicability and high measurement accuracy, and it can maintain long-term operation and execute automatic online Continuous detection without stopping to avoid traffic jams.

In order to solve the problems of the technologies described above, realize the purpose of the invention, the technical scheme adopted in the present invention is as follows:

A vehicle ultra-high and ultra-wide detection system based on laser calibration, including a light-strip laser emitter, a beam-type laser emitter, an image acquisition device, a detection control processing device, and an alarm indicator installed above the horizontal road lane;

The light strip type laser emitter is used to emit a flat laser strip obliquely downward, the angle between the emitted flat laser strip and the horizontal plane is α, 0°<α<90°, so that it can be projected onto the horizontal road lane After going up, a laser straight line is formed across the horizontal roadway along the width of the lane;

The beam-type laser transmitter is used to emit two laser lines vertically downward, so that the two laser lines intersect with the plane laser belt emitted by the light-strip laser transmitter, and the two laser lines are projected onto the horizontal roadway The line connecting the two laser spots formed is parallel to the laser straight line formed after the plane laser strip is projected onto the horizontal roadway;

The image acquisition device is arranged next to the position of the beam-type laser transmitter, and the lens axis of the image acquisition device is vertically arranged downwards, and is used for projecting the downward-looking parallel laser band from the beam-type laser transmitter The projection to the horizontal road lane passes through the area for video image acquisition;

The image data acquisition end of the detection control processing device communicates with the image data output end of the image acquisition device, the signal communication end of the detection control processing device communicates with the signal receiving end of the alarm indicator, and the detection control processing device The vehicle height and width measurement function model is stored in advance through calibration:

Among them, h _vi represents the maximum height value of the vehicle, w _vi represents the maximum width value of the vehicle; K _i represents the image pixel equivalent when the vehicle is detected, and S ₀ represents the actual distance between the two laser lines emitted by the beam-type laser transmitter and the two laser spots formed on the horizontal roadway, and s _i,max represents the two laser beams emitted by the beam-type laser transmitter in the video image data The maximum spacing pixel value of the two laser spots formed by the line projected onto the vehicle passing through the horizontal road lane; H ₀ means that the two laser lines emitted by the beam type laser emitter intersect with the plane laser strip emitted by the light strip type laser emitter The actual height from the position point to the horizontal road lane, L ₀ means that the line between the two laser spots formed by the two laser lines emitted by the beam-type laser emitter projected onto the horizontal road lane is relative to the line emitted by the light-strip laser emitter. The actual horizontal spacing of the laser line formed by the projection of _the plane laser strip onto the horizontal roadway; The line is relative to the horizontal distance pixel value of the laser line formed by the plane laser band emitted by the light band laser transmitter projected onto the horizontal road lane, L _i,max represents the image data projected from the plane laser band to the horizontal road lane The maximum horizontal spacing pixel value of the laser straight line segment formed on the vehicle relative to the plane laser band projected onto the horizontal road lane, w _i,max represents the distance between the plane laser band projected to the horizontal road lane in the image data The maximum length pixel value of the laser line segment formed on the vehicle;

The detection control processing device is used to receive the video image data collected by the image acquisition device, and through image processing to identify the two laser spots formed by the projection of two laser lines on the horizontal road lane in the video image data and their projection to the passing level. The two laser spots formed on the vehicle on the road lane, the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane and the laser straight line segment formed by projecting on the vehicle passing through the horizontal road lane, the image data consists of two The line between the two laser spots formed by projecting the beam laser lines onto the horizontal road lane is compared to the horizontal spacing pixel value of the laser straight line formed by the projection of the plane laser belt onto the horizontal road lane, and the horizontal distance pixel value is projected by the two laser lines onto the horizontal road surface The pixel value of the maximum distance between two laser spots formed on the vehicle in the lane, the pixel value of the maximum length of the laser straight line segment formed by the projection of the plane laser strip on the vehicle passing the horizontal road lane, and its relative to the projection of the plane laser strip onto the horizontal road surface The pixel value of the maximum horizontal spacing of the laser line formed on the lane is substituted into the vehicle height and width calculation function model, and the maximum height and maximum width calculation values of the vehicle are converted, which are respectively in accordance with the preset vehicle height limit and vehicle width limit. Values are compared to determine whether the vehicle is over-height or over-width, and when it is determined that the vehicle is over-height or over-width, the alarm indicator is notified to perform the corresponding over-height or over-width indication operation.

In the above-mentioned ultra-high and ultra-wide vehicle detection system based on laser calibration, as a preferred solution, the light-strip laser transmitter is erected above the horizontal road lane by straddling the detection gantry arranged on the horizontal road lane; the detection The gantry consists of two upright columns arranged on both sides of the horizontal roadway, and a crossbeam arranged across the two uprights along the width direction of the lane.

In the above-mentioned ultra-high and ultra-wide vehicle detection system based on laser calibration, as a further improvement, a first angle sensor is installed on the optical band laser transmitter for sensing the pitch and torsion angle of the optical band laser transmitter; The column of the detection door frame is equipped with a second angle sensor, which is used to sense the pitch torsion angle of the column of the detection door frame; the angle data acquisition end of the detection control processing device is also connected with the first angle sensor and the second angle sensor respectively. The angle data output end of the sensor is electrically connected to obtain the angle data output by the first angle sensor and the second angle sensor, and calculate the pitch torsion angle due to the detection of the light belt type laser transmitter and the pitch torsion of the vertical column of the detection gantry The change of the angle leads to the displacement error value of the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane, so that the error compensation and correction of the maximum height and maximum width measurement values of the vehicle can be performed according to the displacement error value .

In the above-mentioned ultra-high and ultra-wide vehicle detection system based on laser calibration, as an improved solution, the area covered by the image acquisition range of the image acquisition device on the horizontal road lane is used as the lane detection area, and the vehicle entry position in the lane detection area There are deceleration belts at the vehicle entry position and the vehicle exit position, and the entry-side piezoelectric sensor and the exit-side piezoelectric sensor are respectively provided in the deceleration belt at the vehicle entry position and the vehicle exit position in the lane detection area; The piezoelectric signal acquisition end of the detection control processing device is electrically connected to the piezoelectric signal output ends of the driving-in side piezoelectric sensor and the driving-out side piezoelectric sensor respectively, and the control signal output end of the detection control processing device is respectively connected to the light The belt-type laser transmitter, the beam-type laser transmitter and the start/stop control terminal of the image acquisition device are electrically connected to control the light-band laser transmitter, beam-type laser transmitter, The beam type laser emitter and the image acquisition device start to work, and when receiving the piezoelectric signal from the piezoelectric sensor on the exit side, the light strip type laser emitter, the beam type laser emitter and the image acquisition device are controlled to stop working.

Correspondingly, the present invention also provides a vehicle super-height and super-width detection method using the above-mentioned laser calibration-based vehicle super-height and super-width detection system; for this reason, the present invention adopts the following technical solutions:

A laser calibration-based vehicle ultra-height and ultra-width detection method, using the above-mentioned laser calibration-based vehicle ultra-height and ultra-width detection system for detection, the method includes the following steps:

A) Pre-start the operation of the light strip laser transmitter and the beam laser transmitter in the vehicle ultra-high and ultra-wide detection system, and measure the two laser lines emitted by the beam laser transmitter projected onto the horizontal roadway. The actual distance S ₀ of the laser spot, the actual height H 0 from the intersection point of the two laser lines emitted by the beam-type laser emitter and the plane laser band emitted by the light-strip laser emitter to the horizontal road lane, and the actual height H ₀ of the beam-type laser emitter The actual horizontal distance between the two laser spots formed by the emitted two laser beams projected on the horizontal roadway and the laser line formed by the projection of the plane laser strip emitted by the light strip laser emitter on the horizontal roadway L ₀ is input as a known quantity into the vehicle height and width measurement function model stored in the detection control processing device to complete the calibration of the vehicle height and width measurement function model;

B) Take the area covered by the image acquisition range of the image acquisition device on the horizontal roadway as the lane detection area, and control the light-strip laser emission in the vehicle's ultra-high and ultra-wide detection system when the vehicle passes through the lane detection area The detector, the beam type laser emitter and the image acquisition device keep working and running, and the image acquisition device collects the video image of the process of the vehicle passing through the lane detection area, and the detection control processing device receives the video image data collected by the image acquisition device, and Through image processing, the two laser spots formed by the projection of two laser lines onto the horizontal road lane in the video image data and the two laser spots formed by the projection on the vehicles passing through the horizontal road lane are identified, and the two laser spots formed by the projection of the plane laser belt onto the horizontal road lane are identified. The laser straight line formed on the horizontal road lane and the laser straight line segment formed by projecting it on the vehicle passing the horizontal road lane, the connection line of the two laser spots formed by the two laser lines projected on the horizontal road lane in the image data Relative to the horizontal distance pixel value of the laser line formed by the projection of the plane laser strip on the horizontal road lane, and the maximum distance pixel value of the two laser spots formed by the projection of two laser lines on the vehicle passing the horizontal road lane, the planar laser The pixel value of the maximum length of the laser line segment formed by projecting the belt on the vehicle passing through the horizontal road lane and the maximum horizontal spacing pixel value of the laser line formed by projecting the laser belt on the horizontal road lane relative to the plane laser belt are substituted into the vehicle height and width calculation In the function model, the calculated maximum height and maximum width of the vehicle are obtained through conversion;

C) The detection control processing device of the vehicle super-height and super-width detection system compares the calculated maximum height and maximum width of the vehicle with the preset vehicle height limit and vehicle width limit respectively to determine whether the vehicle is super high or not Over-width, and notify the alarm indicator to perform the corresponding over-height indication or over-width indication operation when it is judged that the vehicle is over-height or over-width.

In the above-mentioned ultra-high and ultra-wide vehicle detection method based on laser calibration, as an improvement, the light-strip laser transmitter is erected above the horizontal road lane by straddling the detection gantry arranged on the horizontal road lane; the detection The gantry includes two upright columns arranged on both sides of the horizontal roadway, and a crossbeam arranged across the two uprights along the width direction of the lane. A first angle sensor is installed on the optical belt type laser transmitter for sensing the pitch torsion angle of the optical belt type laser transmitter; a second angle sensor is installed on the column of the detection door frame for sensing the detection door The pitch torsion angle of the column of the rack; the angle data acquisition end of the detection control processing device is also electrically connected with the angle data output ends of the first angle sensor and the second angle sensor, for obtaining the first angle sensor and the second angle sensor The angle data output by the angle sensor is used to calculate the laser straight line formed by the projection of the flat laser strip onto the horizontal roadway due to the change of the pitch torsion angle of the detection light strip laser emitter and the pitch torsion angle of the vertical column of the detection mast The displacement error value, thereby according to the displacement error value, error compensation correction is performed on the calculation of the maximum height measurement value and the maximum width measurement value of the vehicle, and the error compensation correction method is:

Calculate the displacement error value ΔD of the laser straight line formed by the plane laser strip projected onto the horizontal road lane due to the change of the pitch torsion angle of the detection light strip laser emitter and the pitch torsion angle of the column of the detection mast:

Among them, L _p is the length of the column of the detection gantry, α is the angle between the plane laser strip emitted by the light band laser transmitter in the initial state and the horizontal plane, and β is the angle between the vertical column of the detection gantry in the initial state and the horizontal plane The included angle, Δα is the pitch torsion angle emitted by the light strip laser transmitter, and Δβ is the pitch torsion angle of the column of the detection mast; thus, according to the displacement error of the laser straight line formed by projecting the plane laser strip onto the horizontal road lane The value ΔD is for the projection of the two laser lines emitted by the beam-type laser transmitter onto the horizontal road lane, and the connection line of the two laser spots is formed relative to the projection of the plane laser band emitted by the light-strip laser transmitter onto the horizontal road lane. The value of the actual horizontal spacing L ₀ of the laser straight line is corrected, and in the calculation image data, the line of the two laser spots formed by the projection of the two laser lines onto the horizontal road lane is projected onto the horizontal road relative to the plane laser band The horizontal spacing pixel value of the laser line formed on the lane and the maximum level of the laser line segment formed by the plane laser band projected onto the vehicle passing the horizontal road lane relative to the laser line formed by the plane laser band projected onto the horizontal road lane When the pitch pixel value is calculated, the displacement error value ΔD of the laser straight line formed by projecting the plane laser strip onto the horizontal road lane is included in the calculation, and the error compensation is corrected.

Compared with the prior art, the present invention has the following advantages:

1. The ultra-high and ultra-wide vehicle monitoring system based on laser calibration in the present invention utilizes the projection angles of the optical belt type laser emitter and the beam type laser emitter in the system and the geometric positional relationship between the two and the shooting orientation of the image acquisition device, and is controlled by detection The processing device recognizes the horizontal displacement and length of the laser line segment formed by projecting the plane laser band onto the vehicle passing through the horizontal road lane in the video image data through image processing, and then uses the pre-calibrated vehicle height and width measurement function model to calculate The calculated maximum height and maximum width of the vehicle, so as to realize non-contact vehicle ultra-high and ultra-wide detection.

2. The vehicle super-height and super-width monitoring system of the present invention has a simple system structure, is easy to install on the detection site in any environment, and has strong practicability, and because the vehicle height and width measurement function model is based on a light-strip laser transmitter, a beam-type laser The fixed value parameters determined by the position of the transmitter and the projection angle are calibrated. When the vehicle height and width measurement function model is used for calculation, combined with the image pixel equivalent when the vehicle is detected, it can just correct the distortion caused by the perspective of the captured image. The calculation error generated, the measurement accuracy is high.

3. The vehicle ultra-high and ultra-wide monitoring system and its detection method of the present invention are mainly detected by means of laser, image shooting, and recognition processing, and its detection frequency matches the frame rate of image shooting, which can reach a detection rate of milliseconds. The detection efficiency is high, and the detection process does not require manual guarding, so it can maintain long-term operation and perform automatic online continuous detection of multiple vehicles without parking and super-high/ultra-wide alarm indications to avoid traffic jams.

4. In the vehicle ultra-high and ultra-wide monitoring system of the present invention, a group of optical band laser emitters, beam-type laser emitters and image acquisition devices can also be set for each lane, and the super height and ultra-wide monitoring of passing vehicles in each lane can be carried out respectively. Width detection, so as to realize the multi-lane vehicle ultra-high and ultra-wide automatic online detection and alarm function.

5. The vehicle ultra-height and ultra-width monitoring system and its detection method of the present invention provide a new solution for the ultra-height and ultra-width detection of vehicles, and have good prospects for popularization and application.

Description of drawings

Fig. 1 is a side view structural schematic diagram of a specific implementation structure of the laser calibration-based vehicle super-height and super-width detection system of the present invention.

Fig. 2 is a schematic side view of a large vehicle detected by the vehicle super-height and super-width detection system of the present invention.

Fig. 3 is a schematic side view of a small vehicle detected by the vehicle super-height and super-width detection system of the present invention.

Fig. 4 is a schematic diagram of the detection principle of the vehicle super-height and super-width detection system based on laser calibration according to the present invention.

Fig. 5 is a schematic diagram of calculation of torsion error of the vehicle super-height and super-width detection system of the present invention.

Detailed ways

The present invention provides a vehicle ultra-high and ultra-wide detection system based on laser calibration. As shown in Figures 1 to 4, the system includes a light-strip laser transmitter 2 and a beam-type laser transmitter erected above the horizontal road lane 1. 3 and image acquisition device 4, as well as detection control processing device 5 and alarm indicator 6. Among them, the light strip type laser transmitter 2 is used to emit a flat laser strip obliquely downward, and the angle between the emitted flat laser strip and the horizontal plane is α, 0°<α<90°, so that it can be projected to the horizontal plane. After the pavement lane is on, a laser straight line is formed across the horizontal pavement lane along the width direction of the lane. The beam-type laser transmitter 3 is used to emit two laser lines vertically downward, so that the two laser lines intersect with the plane laser belt emitted by the light-strip laser transmitter 2, and the two laser lines are projected onto the horizontal road lane The line connecting the two laser spots formed on the surface is parallel to the laser straight line formed after the plane laser strip is projected onto the horizontal roadway. Among them, the flat laser strip emitted by the optical strip laser transmitter is used to measure the width and height of the vehicle, while the two laser lines emitted by the beam type laser transmitter are used to achieve calibration in combination with the flat laser strip. It can be seen from Figures 1 and 2 that once the installation positions and projection angles of the light-strip laser transmitter 2 and the beam-type laser transmitter 3 are fixed, the two laser lines emitted by the beam-type laser transmitter are projected onto the horizontal roadway. The actual distance S ₀ of the two laser spots formed on the surface, the actual height H ₀ from the intersection point of the two laser lines emitted by the beam-type laser emitter and the plane laser band emitted by the light-strip laser emitter to the horizontal road lane, and The line between the two laser spots formed by the projection of the two laser lines emitted by the beam-type laser transmitter onto the horizontal roadway is compared to the laser line formed by the projection of the plane laser band emitted by the light-strip laser transmitter onto the horizontal roadway. The actual horizontal spacing _L0 of the bars has been determined, and these parameters are used to calibrate the vehicle height and width measurement function model; at the same time, it can be seen from Figure 2 that if there is no vehicle 7 blocking, the plane laser band can project The laser straight line formed on the horizontal road lane, that is, the straight line formed after AD is connected in Figure 2; but due to the obstruction of the vehicle 7, the laser straight line formed by the plane laser band projected on the horizontal road lane is cut off as AB , CD two segments, and the laser line segment EF formed by projecting the plane laser band on the vehicle passing through the horizontal road lane; at the same time, it can be seen from Figure 3 and Figure 4 that since the angle between the plane laser band and the horizontal plane is α, 0 °<α<90°, so there is a certain amount of horizontal displacement between the laser straight line segment formed by the plane laser band projected on the vehicle passing the horizontal road lane and the laser straight line formed by the plane laser band projected on the horizontal road lane8 , the displacement will vary with the vehicle height, the greater the vehicle height, the greater the displacement, the smaller the vehicle height, the smaller the displacement, and when the vehicle height is large, the plane laser band is projected onto the vehicle to form a The straight line segment of the laser may fall behind the two laser spots formed by the two laser lines projected onto the vehicle (as shown in Figure 3, the forward direction of the vehicle is taken as the front in the figure), and when the height of the vehicle is small, the plane laser The laser line segment formed by projecting the belt on the vehicle may fall in front of the two laser spots formed by the two laser lines projected on the vehicle (as shown in Figure 4, the forward direction of the vehicle is taken as the front in the figure); that is Said that there is a corresponding relationship between the horizontal spacing of the laser line segment formed by the plane laser band projected onto the vehicle passing through the horizontal road lane relative to the laser straight line formed by the plane laser band projected onto the horizontal road lane, and the actual height of the vehicle; At the same time, it can also be seen from Figure 2 that the length of the laser line segment formed by the projection of the plane laser strip onto the vehicle also intuitively reflects the width of the vehicle; therefore, these image information can be collected by the image acquisition device. , to measure the width and height of the vehicle. The image acquisition device 4 is arranged next to the position of the beam type laser emitter, and the lens axis of the image acquisition device is arranged vertically downward, so that the horizontal laser band for looking down is projected after being emitted from the light band type laser emitter. The projection to the horizontal road lane passes through the area for video image acquisition, so that it can collect the laser straight line formed by the projection of the plane laser belt on the horizontal road lane and the laser straight line segment formed by projecting on the vehicle passing through the horizontal road lane, so as to realize Collection of the above information. The image data acquisition end of the detection control processing device 5 communicates with the image data output end of the image acquisition device 4, and the signal communication end of the detection control processing device 5 communicates with the signal receiving end of the alarm indicator 6, and the detection control processing The vehicle height and width measurement function model is stored in the device 5 in advance through calibration:

Among them, h _vi represents the maximum height value of the vehicle, w _vi represents the maximum width value of the vehicle; K _i represents the image pixel equivalent when the vehicle is detected, and S ₀ represents the actual distance between the two laser lines emitted by the beam-type laser transmitter and the two laser spots formed on the horizontal roadway, and s _i,max represents the two laser beams emitted by the beam-type laser transmitter in the video image data The maximum spacing pixel value of the two laser spots formed by the line projected onto the vehicle passing through the horizontal road lane; H ₀ means that the two laser lines emitted by the beam type laser emitter intersect with the plane laser strip emitted by the light strip type laser emitter The actual height from the position point to the horizontal road lane, L ₀ means that the line between the two laser spots formed by the two laser lines emitted by the beam-type laser emitter projected onto the horizontal road lane is relative to the line emitted by the light-strip laser emitter. The actual horizontal spacing of the laser line formed by the projection of _the plane laser strip onto the horizontal roadway; The line is relative to the horizontal distance pixel value of the laser line formed by the plane laser band emitted by the light band laser transmitter projected onto the horizontal road lane, L _i,max represents the image data projected from the plane laser band to the horizontal road lane The maximum horizontal spacing pixel value of the laser straight line segment formed on the vehicle relative to the plane laser band projected onto the horizontal road lane, w _i,max represents the distance between the plane laser band projected to the horizontal road lane in the image data The maximum length pixel value of the laser line segment formed on the vehicle. It can be seen that the vehicle height and width measurement function model records the maximum distance pixel value of the two laser spots formed by the two laser lines projected on the vehicle passing the horizontal road lane in the image data, and the maximum distance pixel value of the two laser spots formed by the plane laser strip projected to the passing level. The pixel value of the maximum length of the laser straight line segment formed on the vehicle on the road lane and its maximum horizontal spacing pixel value and the maximum height and maximum width of the vehicle when projected onto the horizontal road lane. The corresponding conversion relationship between the values is determined according to the projection angle of the light strip laser transmitter and the beam laser transmitter in the system and the geometric position relationship between the two and the shooting orientation of the image acquisition device. Thus, the detection control processing device 5 is used to receive the video image data collected by the image acquisition device, and identify the two laser spots and the two laser spots formed in the video image data by two beams of laser lines projected onto the horizontal road lane in the video image data through image processing. The two laser spots formed by projecting on vehicles passing through the horizontal road lane, the laser straight line formed by projecting the flat laser band on the horizontal road lane and the laser straight line segment formed by projecting on the vehicles passing through the horizontal road lane, will In the image data, the connection line of the two laser spots formed by the projection of two laser lines onto the horizontal road lane is compared to the horizontal spacing pixel value of the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane, and the horizontal spacing pixel value of the laser line formed by the two laser lines The pixel value of the maximum distance between two laser spots formed by projecting onto a vehicle passing through a horizontal road lane, the maximum length pixel value of a laser line segment formed by projecting a plane laser strip onto a vehicle passing through a horizontal road lane, and its relative to the plane laser The maximum horizontal spacing pixel value of the laser line formed by projecting onto the horizontal road lane is substituted into the vehicle height and width calculation function model, and the maximum height and maximum width calculation values of the vehicle are converted, which are respectively compared with the preset vehicle height limit. The value is compared with the vehicle width limit to determine whether the vehicle is super high or super wide, and when it is judged that the vehicle is super high or super wide, the alarm indicator is notified to perform the corresponding super high or super wide indication operation.

Using the laser calibration-based vehicle super-height and super-width detection system of the present invention to detect vehicle super-height and super-width mainly includes three steps of pre-calibration, measurement, and super-height and super-width contrast detection, and the method is as follows:

A) Pre-start the operation of the light strip laser transmitter and the beam laser transmitter in the vehicle ultra-high and ultra-wide detection system, and measure the two laser lines emitted by the beam laser transmitter projected onto the horizontal roadway. The actual distance S ₀ of the laser spot, the actual height H 0 from the intersection point of the two laser lines emitted by the beam-type laser emitter and the plane laser band emitted by the light-strip laser emitter to the horizontal road lane, and the actual height H ₀ of the beam-type laser emitter The actual horizontal distance between the two laser spots formed by the emitted two laser beams projected on the horizontal roadway and the laser line formed by the projection of the plane laser strip emitted by the light strip laser emitter on the horizontal roadway L ₀ is input as a known quantity into the vehicle height and width measurement function model stored in the detection control processing device, and the calibration of the vehicle height and width measurement function model is completed.

This step is to complete the pre-calibration of the vehicle height and width measurement function model. Usually, this calibration step only needs to be performed once at the beginning of the system operation, or once every few weeks. The calibrated vehicle height and width measurement function The model can then be used for long-term testing.

B) Take the area covered by the image acquisition range of the image acquisition device on the horizontal roadway as the lane detection area, and control the light-strip laser emission in the vehicle's ultra-high and ultra-wide detection system when the vehicle passes through the lane detection area The detector, the beam type laser emitter and the image acquisition device keep working and running, and the image acquisition device collects the video image of the process of the vehicle passing through the lane detection area, and the detection control processing device receives the video image data collected by the image acquisition device, and Through image processing, the two laser spots formed by the projection of two laser lines onto the horizontal road lane in the video image data and the two laser spots formed by the projection on the vehicles passing through the horizontal road lane are identified, and the two laser spots formed by the projection of the plane laser belt onto the horizontal road lane are identified. The laser straight line formed on the horizontal road lane and the laser straight line segment formed by projecting it on the vehicle passing the horizontal road lane, the connection line of the two laser spots formed by the two laser lines projected on the horizontal road lane in the image data Relative to the horizontal spacing pixel value of the laser line formed by the projection of the plane laser strip on the horizontal road lane, the maximum spacing pixel value of the two laser spots formed by the projection of two laser lines on the vehicle passing through the horizontal road lane, the plane The pixel value of the maximum length of the laser line segment formed by projecting the laser band onto the vehicle passing through the horizontal road lane and the maximum horizontal spacing pixel value of the laser line formed by projecting the laser band onto the horizontal road lane are substituted into the height and width of the vehicle In the calculation function model, the maximum height calculation value and the maximum width measurement value of the vehicle are converted.

This step is to measure the maximum calculated height and maximum width of the vehicles passing through the lane detection area. When the vehicle passes through the lane detection area, the body of the vehicle blocks the plane laser band emitted obliquely downward by the light band laser emitter, and then projects a laser line segment on the vehicle, which is projected to the horizontal plane relative to the plane laser band. There is a certain displacement for the laser straight line formed on the road lane, the greater the vehicle height, the greater the displacement, and the length of the laser straight line also intuitively reflects the width of the vehicle; therefore, through the image acquisition device Carry out video image acquisition during the process of the vehicle passing through the lane detection area, and use the detection control processing device to identify the two laser spots formed by the two laser lines projected on the horizontal road lane in the video image data and the two laser spots projected on the horizontal road surface through image processing. The two laser spots formed on the vehicle in the lane, the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane and the laser straight line segment formed by the projection on the vehicle passing through the horizontal road lane, calculate the two laser spots in the image data The line between the two laser spots formed by projecting the beam laser lines onto the horizontal road lane is compared to the horizontal spacing pixel value of the laser straight line formed by the projection of the plane laser belt onto the horizontal road lane, and the horizontal distance pixel value is projected by the two laser lines onto the horizontal road surface The pixel value of the maximum distance between two laser spots formed on the vehicle in the lane, the pixel value of the maximum length of the laser straight line segment formed by the projection of the plane laser strip on the vehicle passing the horizontal road lane, and its relative to the projection of the plane laser strip onto the horizontal road surface The pixel value of the maximum horizontal spacing of the laser straight lines formed on the lane is substituted into the vehicle height and width calculation function model, and converted to obtain the maximum height and maximum width calculation values of the vehicle.

During the detection process, the pixel value of the horizontal spacing of the line between the two laser spots formed by projecting two laser lines onto the horizontal road lane in the image data relative to the laser straight line formed by the plane laser strip projected onto the horizontal road lane Relatively fixed value, but because the height and width at different positions of the vehicle body may be different, so in the process of vehicle detection, the laser line segment projected onto the vehicle identified from different image frames of video image data The position and length of the vehicle may be different, and due to the perspective of the near-large and far-small perspective, the distance between the two laser spots formed at the higher position on the vehicle by two parallel laser lines (both perpendicular to the horizontal plane) is the distance from the image acquisition device The closer the lens will be, the larger the pixel value of the distance between the two laser spots will be in the image data. For example, the length pixel values of the laser line segment projected onto the vehicle by the planar laser strip identified from the m frames of image frames t1~tm are w _i,t1 ,w _i,t2 ,...,w _i,tm , and the horizontal maximum spacing pixel values of the laser straight lines formed by projecting the plane laser strips onto the horizontal roadway are respectively L _i,t1 ,L _i,t2 ,...,L _i,tm , which are projected by two laser lines The pixel values of the distance between the two laser spots formed on the vehicles passing through the horizontal road lane are s _i,t1 , s _i,t2 ,…,s _i,tm , from which the image data is filtered out by the plane laser band projected to The maximum length pixel value of the laser line segment formed on the vehicle passing through the horizontal road lane w _{i, max} = max(wi _{, t1} , wi _{, t2} , ..., wi _{, tm} ) and its relative plane laser band projected to The maximum horizontal spacing pixel value L _{i of the laser straight lines formed on the horizontal roadway, max} = max(L _{i, t1} , L _{i, t2} ,..., L _{i, tm} ), and filter out the image data by the two laser beams The maximum spacing pixel value si _,max of the two laser spots formed on the _vehicle passing the horizontal road lane by projecting _the line into _the vehicle In the height and width measurement function model; among them, the maximum spacing pixel value s _i,max is used to calculate the image pixel equivalent K i when detecting the vehicle, the larger the value of s _{i ,max is,} the corresponding value of the image pixel equivalent K _i On the contrary, the value of K _i is larger. At the same time, the image pixel equivalent K _i when detecting the vehicle is used to cooperate with the maximum horizontal distance pixel value L _i,max and the maximum length The pixel value w _i,max is used to calculate the maximum height and maximum width of the vehicle, so the value of the image pixel equivalent K _i when detecting the vehicle can just correct the calculation error caused by the perspective of the captured image, and then It is ensured that the calculation results of the maximum height measurement value and the maximum width measurement value of the vehicle have high accuracy.

C) The detection control processing device of the vehicle super-height and super-width detection system compares the calculated maximum height and maximum width of the vehicle with the preset vehicle height limit and vehicle width limit respectively to determine whether the vehicle is super high or not Over-width, and notify the alarm indicator to perform the corresponding over-height indication or over-width indication operation when it is judged that the vehicle is over-height or over-width.

It can be seen from the above-mentioned vehicle ultra-high and ultra-wide detection process that the detection principle of the vehicle ultra-high and ultra-wide monitoring system based on laser calibration in the present invention is to use the projection angle of the optical band laser transmitter and beam laser transmitter in the system and the two The geometric position relationship between the person and the shooting position of the image acquisition device, the detection control processing device recognizes the horizontal displacement and length of the laser line segment formed by the plane laser band projected on the vehicle passing the horizontal road lane in the video image data through image processing Then use the pre-calibrated vehicle height and width measurement function model to calculate the maximum height and maximum width of the vehicle, so as to realize non-contact vehicle super height and super width detection. The system has a simple structure and is easy to install in any environment. The detection site has strong practicability, and since the vehicle height and width measurement function model is calibrated based on the fixed value parameters determined by the position and projection angle of the light strip laser transmitter and beam laser transmitter, when using the vehicle height and width measurement function When the model is calculated, it combines the image pixel equivalent K _i when the vehicle is detected, which can just correct the calculation error caused by the perspective of the captured image, and the measurement accuracy is high. If it is further combined with the lens distortion correction algorithm of the image acquisition device , it can even control the calculation errors of the maximum height and maximum width of the vehicle at the millimeter level; at the same time, since the detection is mainly carried out by means of laser, image capture, and recognition processing, its detection frequency matches the frame rate of image capture , can achieve a millisecond-level detection rate, high detection efficiency, and the detection process does not require manual on-duty, so it can maintain long-term operation and perform automatic online continuous detection of multiple vehicles without stopping and super-high/ultra-wide alarm indications to avoid traffic jams problem; in addition, for the situation of multiple lanes, in the vehicle ultra-high and ultra-wide detection system of the present invention, a group of optical band type laser emitters, beam type laser emitters and image acquisition devices can also be set for each lane, respectively. Passing vehicles in each lane are detected for ultra-height and ultra-width, so as to realize the automatic online detection and alarm function of ultra-height and ultra-width of multi-lane vehicles.

For the vehicle ultra-high and ultra-wide detection system based on laser calibration in the present invention, in terms of technical realization, the light-strip type laser emitter and the beam type laser emitter are products with mature technology, which can be obtained through commercial purchase; the image acquisition device can be obtained by using a camera The detection control processing device can be realized by using computing equipment with signal control, data acquisition and data processing capabilities in conjunction with software programs, for example, it can be realized by using computers, intelligent mobile terminals and other equipment with corresponding detection control processing software programs, or It is realized by the self-designed integrated circuit composed of a self-designed single-chip microcomputer, programmable logic device, ARM chip and other logic chips with certain data storage and data processing capabilities as the core; the alarm indicator can be an alarm light , alarm bell, used for sound and light alarm, or alarm information display, used for display operation of super-high/ultra-wide alarm information, or intelligent mobile terminal equipment with vehicle super-high and super-wide alarm display function, used to Text/data display and voice broadcast of super-high/ultra-wide alarm information, etc. The communication connection between the image acquisition device and the detection control processing device in the system, as well as between the detection control processing device and the alarm indicator, can be connected by wired communication connection or wireless communication connection according to different actual application conditions. be realized.

In the laser calibration-based vehicle ultra-high and ultra-wide detection system of the present invention, the implementation of the optical band laser emitter and image acquisition device assuming that it is erected above the horizontal road lane can be determined according to the construction conditions of the actual detection lane environment. However, considering that the installation of the light-strip laser transmitter may have a certain impact on the detection accuracy, as a preferred solution, the light-strip laser transmitter can be erected across the detection gantry set on the horizontal road lane Above the horizontal pavement lane, the detection gantry includes two upright columns arranged on both sides of the horizontal pavement lane, and a cross beam arranged on the two upright columns along the width direction of the lane. Detect on the crossbeam of the mast. In this way, it can not only ensure that the vehicles on the horizontal roadway can pass through smoothly for detection, but also the structure of the detection gantry avoids the measurement error caused by the swing of the light belt laser transmitter in the direction of the width of the lane. Of course, in the environment where the system runs for a long time, the detection gantry and the light-strip laser transmitter may be tilted and twisted due to wind force, external force, etc., which will cause detection errors; in view of this situation, as a further improvement plan , it can be designed to install the first angle sensor on the light strip laser transmitter to sense the pitch and torsion angle of the light strip laser transmitter; to install the second angle sensor on the column of the detection mast for sensing The angle data acquisition end of the detection control processing device is also electrically connected with the angle data output ends of the first angle sensor and the second angle sensor respectively, for obtaining the first angle sensor and the angle data output end of the second angle sensor. The angle data output by the second angle sensor is used to calculate the laser beam formed by projecting the plane laser strip onto the horizontal roadway due to the change of the pitch torsion angle of the detection light strip laser transmitter and the detection of the change of the pitch torsion angle of the column of the mast. The displacement error value of the straight line, thus according to the displacement error value, error compensation correction is carried out for the calculation of the maximum height measurement value and maximum width measurement value of the vehicle, and the error compensation correction method is:

As shown in Figure 5, if L _p is the length of the column of the detection gantry (that is, the length of the line segments AB and AB' in Figure 3), α is the plane laser band emitted by the light band laser transmitter in the initial state and the horizontal plane , β is the angle between the column of the detection gantry and the horizontal plane in the initial state, Δα is the pitch torsion angle emitted by the light strip laser transmitter, and Δβ is the pitch torsion angle of the column of the detection gantry, then according to The geometric relationship can be calculated by the following formula to calculate the laser straight line formed by the projection of the plane laser strip onto the horizontal roadway due to the change of the pitch torsion angle of the detection light strip laser transmitter and the pitch torsion angle of the column of the detection mast The displacement error value ΔD (that is, the length of the line segment CC' in Figure 3):

Therefore, according to the displacement error value ΔD of the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane, the line between the two laser spots formed by the projection of the two laser lines emitted by the beam-type laser emitter onto the horizontal road lane is relatively The value of the actual horizontal distance _L0 of the laser line formed by the projection of the plane laser strip emitted by the light-strip laser transmitter onto the horizontal road lane is corrected, and is projected onto the horizontal road surface by two laser lines in the calculation image data The connection line of two laser spots formed on the lane is relative to the horizontal spacing pixel value of the laser line formed by the plane laser band projected onto the horizontal road lane and the laser line formed by the plane laser band projected onto the vehicle passing the horizontal road lane When the segment is relative to the maximum horizontal spacing pixel value of the laser straight line formed by projecting the plane laser band onto the horizontal road lane, the displacement error value ΔD of the laser straight line formed by projecting the plane laser band onto the horizontal road lane is included in the calculation. Error compensation correction. Therefore, through further error compensation and correction, the vehicle super-height and super-width detection system of the present invention can better maintain a relatively high detection accuracy during actual detection and use.

In addition, considering that the vehicle ultra-high and ultra-wide detection system of the present invention may be in a long-term online working state, in order to save system energy consumption, as a preferred implementation, the system is covered by the image acquisition range of the image acquisition device on the horizontal road lane As the lane detection area, deceleration belts can be added at the vehicle entry position and the vehicle exit position of the lane detection area, and the deceleration belts at the vehicle entry position and the vehicle exit position of the lane detection area The piezoelectric sensor on the entry side and the piezoelectric sensor on the exit side are respectively arranged in the belt; the piezoelectric signal acquisition end of the detection control processing device is connected with the piezoelectric signal output of the piezoelectric sensor on the entry side and the piezoelectric sensor on the exit side respectively. The terminal is electrically connected, and the control signal output terminal of the detection control processing device is respectively electrically connected to the start/stop control terminal of the optical band laser transmitter, the beam laser transmitter and the image acquisition device. When the piezoelectric signal from the piezoelectric sensor on the entry side is used to control the light-strip laser emitter, the beam-type laser emitter and the image acquisition device to start working, when the piezoelectric signal from the exit-side piezoelectric sensor is received, the light-strip laser is controlled. Transmitters, beam-type laser emitters and image capture devices stop working. As a result, the vehicle ultra-high and ultra-wide detection system can automatically control the light strip type laser emitter, beam type laser emitter and image acquisition device to start working when a vehicle enters the lane detection area, and when the vehicle exits the lane detection area Stop working to achieve the automatic start/stop effect of the detection process to save system energy consumption.

Through the above-mentioned structure and working principle of the detection method of the laser calibration-based vehicle ultra-height and ultra-width detection system of the present invention, it can be seen that the vehicle ultra-height and ultra-width detection system can realize non-contact vehicle ultra-height and ultra-width detection, and the system structure is simple , easy to install on the detection site in any environment, with strong practicability and high measurement accuracy. At the same time, it can reach the detection rate of millisecond level and high detection efficiency. It can maintain long-term operation and execute automatic online multi-lane, multi-vehicle non-stop Continuous detection and ultra-high/ultra-wide alarm indication provide a new solution for the ultra-high and ultra-wide detection of vehicles, and have a good prospect for promotion and application.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (6)

1. A vehicle ultra-high and ultra-wide detection system based on laser calibration, characterized in that it includes a light-band type laser emitter, a beam type laser emitter and an image acquisition device erected above the horizontal road lane, as well as a detection control processing device and alarm indicator; The light strip type laser emitter is used to emit a flat laser strip obliquely downward, the angle between the emitted flat laser strip and the horizontal plane is α, 0°<α<90°, so that it can be projected onto the horizontal road lane After going up, a laser straight line is formed across the horizontal roadway along the width of the lane; The beam-type laser transmitter is used to emit two laser lines vertically downward, so that the two laser lines intersect with the plane laser belt emitted by the light-strip laser transmitter, and the two laser lines are projected onto the horizontal roadway The line connecting the two laser spots formed is parallel to the laser straight line formed after the plane laser strip is projected onto the horizontal roadway; The image acquisition device is arranged next to the position of the beam-type laser transmitter, and the lens axis of the image acquisition device is vertically arranged downwards, and is used for projecting the downward-looking parallel laser band from the beam-type laser transmitter The projection to the horizontal road lane passes through the area for video image acquisition; The image data acquisition end of the detection control processing device communicates with the image data output end of the image acquisition device, the signal communication end of the detection control processing device communicates with the signal receiving end of the alarm indicator, and the detection control processing device The vehicle height and width measurement function model is stored in advance through calibration: Among them, h _vi represents the maximum height value of the vehicle, w _vi represents the maximum width value of the vehicle; K _i represents the image pixel equivalent when the vehicle is detected, and S ₀ represents the actual distance between the two laser lines emitted by the beam-type laser transmitter and the two laser spots formed on the horizontal roadway, and s _i,max represents the two laser beams emitted by the beam-type laser transmitter in the video image data The maximum spacing pixel value of the two laser spots formed by the line projected onto the vehicle passing through the horizontal road lane; H ₀ means that the two laser lines emitted by the beam type laser emitter intersect with the plane laser strip emitted by the light strip type laser emitter The actual height from the position point to the horizontal road lane, L ₀ means that the line between the two laser spots formed by the two laser lines emitted by the beam-type laser emitter projected onto the horizontal road lane is relative to the line emitted by the light-strip laser emitter. The actual horizontal spacing of the laser line formed by the projection of _the plane laser strip onto the horizontal roadway; The line is relative to the horizontal distance pixel value of the laser line formed by the plane laser band emitted by the light band laser transmitter projected onto the horizontal road lane, L _i,max represents the image data projected from the plane laser band to the horizontal road lane The maximum horizontal spacing pixel value of the laser straight line segment formed on the vehicle relative to the plane laser band projected onto the horizontal road lane, w _i,max represents the distance between the plane laser band projected to the horizontal road lane in the image data The maximum length pixel value of the laser line segment formed on the vehicle; The detection control processing device is used to receive the video image data collected by the image acquisition device, and through image processing to identify the two laser spots formed by the projection of two laser lines on the horizontal road lane in the video image data and their projection to the passing level. The two laser spots formed on the vehicle on the road lane, the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane and the laser straight line segment formed by projecting on the vehicle passing through the horizontal road lane, the image data consists of two The line between the two laser spots formed by projecting the beam laser lines onto the horizontal road lane is compared to the horizontal spacing pixel value of the laser straight line formed by the projection of the plane laser belt onto the horizontal road lane, and the horizontal distance pixel value is projected by the two laser lines onto the horizontal road surface The pixel value of the maximum distance between two laser spots formed on the vehicle in the lane, the pixel value of the maximum length of the laser straight line segment formed by the projection of the plane laser strip on the vehicle passing the horizontal road lane, and its relative to the projection of the plane laser strip onto the horizontal road surface The pixel value of the maximum horizontal spacing of the laser line formed on the lane is substituted into the vehicle height and width calculation function model, and the maximum height and maximum width calculation values of the vehicle are converted, which are respectively in accordance with the preset vehicle height limit and vehicle width limit. Values are compared to determine whether the vehicle is over-height or over-width, and when it is determined that the vehicle is over-height or over-width, the alarm indicator is notified to perform the corresponding over-height or over-width indication operation. 2. The ultra-high and ultra-wide vehicle detection system based on laser calibration according to claim 1, characterized in that, the light strip laser transmitter is erected on the horizontal road lane by straddling the detection gantry arranged on the horizontal road lane above; the detection gantry includes two upright columns arranged on both sides of the horizontal roadway, and a cross beam arranged on the two uprights along the width direction of the lane. on the beam. 3. The vehicle ultra-high and ultra-wide detection system based on laser calibration according to claim 2, wherein a first angle sensor is installed on the optical band laser transmitter for sensing the position of the optical band laser transmitter. Pitch torsion angle; a second angle sensor is installed on the column of the detection gantry for sensing the pitch torsion angle of the column of the detection gantry; The angle data acquisition end of the detection control processing device is also electrically connected to the angle data output ends of the first angle sensor and the second angle sensor, for obtaining the angle data output by the first angle sensor and the second angle sensor, and calculating The displacement error value of the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane due to the change of the pitch torsion angle of the detection light strip laser transmitter and the detection of the pitch torsion angle of the column of the mast is obtained, so that according to the The displacement error value is used to perform error compensation correction on the calculation of the maximum height and maximum width of the vehicle. 4. The vehicle ultra-high and ultra-wide detection system based on laser calibration according to claim 1, characterized in that, the area covered by the image acquisition range of the image acquisition device on the horizontal roadway is used as the lane detection area, and in the lane detection There are deceleration belts at the vehicle entry position and the vehicle exit position in the lane detection area, and the entry side piezoelectric sensor and the drive Piezoelectric sensor on the output side; The piezoelectric signal acquisition end of the detection control processing device is electrically connected to the piezoelectric signal output ends of the driving-in side piezoelectric sensor and the driving-out side piezoelectric sensor respectively, and the control signal output end of the detection control processing device is respectively connected to the light The belt-type laser transmitter, the beam-type laser transmitter and the start/stop control terminal of the image acquisition device are electrically connected to control the light-band laser transmitter, beam-type laser transmitter, The beam type laser emitter and the image acquisition device start to work, and when receiving the piezoelectric signal from the piezoelectric sensor on the exit side, the light strip type laser emitter, the beam type laser emitter and the image acquisition device are controlled to stop working. 5. A vehicle ultra-high and ultra-wide detection method based on laser calibration, characterized in that, the vehicle ultra-high and ultra-wide detection system based on laser calibration as claimed in claim 1 is used to detect, the method may further comprise the steps: A) Pre-start the operation of the light strip laser transmitter and the beam laser transmitter in the vehicle ultra-high and ultra-wide detection system, and measure the two laser lines emitted by the beam laser transmitter projected onto the horizontal roadway. The actual distance S ₀ of the laser spot, the actual height H 0 from the intersection point of the two laser lines emitted by the beam-type laser emitter and the plane laser band emitted by the light-strip laser emitter to the horizontal road lane, and the actual height H ₀ of the beam-type laser emitter The actual horizontal distance between the two laser spots formed by the emitted two laser beams projected on the horizontal roadway and the laser line formed by the projection of the plane laser strip emitted by the light strip laser emitter on the horizontal roadway L ₀ is input as a known quantity into the vehicle height and width measurement function model stored in the detection control processing device to complete the calibration of the vehicle height and width measurement function model; B) Take the area covered by the image acquisition range of the image acquisition device on the horizontal roadway as the lane detection area, and control the light-strip laser emission in the vehicle's ultra-high and ultra-wide detection system when the vehicle passes through the lane detection area The detector, the beam type laser emitter and the image acquisition device keep working and running, and the image acquisition device collects the video image of the process of the vehicle passing through the lane detection area, and the detection control processing device receives the video image data collected by the image acquisition device, and Through image processing, the two laser spots formed by the projection of two laser lines onto the horizontal road lane in the video image data and the two laser spots formed by the projection on the vehicles passing through the horizontal road lane are identified, and the two laser spots formed by the projection of the plane laser belt onto the horizontal road lane are identified. The laser straight line formed on the horizontal road lane and the laser straight line segment formed by projecting it on the vehicle passing the horizontal road lane, the connection line of the two laser spots formed by the two laser lines projected on the horizontal road lane in the image data Relative to the horizontal distance pixel value of the laser line formed by the projection of the plane laser strip on the horizontal road lane, and the maximum distance pixel value of the two laser spots formed by the projection of two laser lines on the vehicle passing the horizontal road lane, the planar laser The pixel value of the maximum length of the laser line segment formed by projecting the belt on the vehicle passing through the horizontal road lane and the maximum horizontal spacing pixel value of the laser line formed by projecting the laser belt on the horizontal road lane relative to the plane laser belt are substituted into the vehicle height and width calculation In the function model, the calculated maximum height and maximum width of the vehicle are obtained through conversion; C) The detection control processing device of the vehicle super-height and super-width detection system compares the calculated maximum height and maximum width of the vehicle with the preset vehicle height limit and vehicle width limit respectively to determine whether the vehicle is super high or not Over-width, and notify the alarm indicator to perform the corresponding over-height indication or over-width indication operation when it is judged that the vehicle is over-height or over-width. 6. The method for detecting ultra-high and ultra-wide vehicles based on laser calibration according to claim 5, characterized in that, the light strip type laser transmitter is erected on the horizontal road lane by straddling the detection gantry arranged on the horizontal road lane above; the detection gantry includes two upright columns arranged on both sides of the horizontal roadway, and a cross beam arranged on the two uprights along the width direction of the lane. on the crossbeam; the light strip laser transmitter is equipped with a first angle sensor for sensing the pitch torsion angle of the light strip laser transmitter; a second angle sensor is installed on the column of the detection gantry, It is used to sense and detect the pitch and twist angle of the column of the mast; The angle data acquisition end of the detection control processing device is also electrically connected to the angle data output ends of the first angle sensor and the second angle sensor, for obtaining the angle data output by the first angle sensor and the second angle sensor, and calculating The displacement error value of the laser straight line formed by the projection of the plane laser strip onto the horizontal road lane due to the change of the pitch torsion angle of the detection light strip laser transmitter and the detection of the pitch torsion angle of the column of the mast is obtained, so that according to the The above-mentioned displacement error value carries out error compensation correction to the measurement and calculation of the maximum height measurement value and the maximum width measurement value of the vehicle, and the error compensation correction method is: Calculate the displacement error value ΔD of the laser straight line formed by the plane laser strip projected onto the horizontal road lane due to the change of the pitch torsion angle of the detection light strip laser emitter and the pitch torsion angle of the column of the detection mast: Among them, L _p is the length of the column of the detection gantry, α is the angle between the plane laser strip emitted by the light band laser transmitter in the initial state and the horizontal plane, and β is the angle between the vertical column of the detection gantry in the initial state and the horizontal plane The included angle, Δα is the pitch torsion angle emitted by the light strip laser transmitter, and Δβ is the pitch torsion angle of the column of the detection mast; thus, according to the displacement error of the laser straight line formed by projecting the plane laser strip onto the horizontal road lane The value ΔD is for the projection of the two laser lines emitted by the beam-type laser transmitter onto the horizontal road lane, and the connection line of the two laser spots is formed relative to the projection of the plane laser band emitted by the light-strip laser transmitter onto the horizontal road lane. The value of the actual horizontal spacing L ₀ of the laser straight line is corrected, and in the calculation image data, the line of the two laser spots formed by the projection of the two laser lines onto the horizontal road lane is projected onto the horizontal road relative to the plane laser band The horizontal spacing pixel value of the laser line formed on the lane and the maximum level of the laser line segment formed by the plane laser band projected onto the vehicle passing the horizontal road lane relative to the laser line formed by the plane laser band projected onto the horizontal road lane When the pitch pixel value is calculated, the displacement error value ΔD of the laser straight line formed by projecting the plane laser band onto the horizontal road lane is included in the calculation, and the error compensation is corrected.