CN105862556A - Intelligent vehicle-mounted road information acquisition device and method for acquiring road information - Google Patents
Intelligent vehicle-mounted road information acquisition device and method for acquiring road information Download PDFInfo
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- CN105862556A CN105862556A CN201610369774.0A CN201610369774A CN105862556A CN 105862556 A CN105862556 A CN 105862556A CN 201610369774 A CN201610369774 A CN 201610369774A CN 105862556 A CN105862556 A CN 105862556A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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Abstract
The invention discloses an intelligent vehicle-mounted road information acquisition device. The intelligent vehicle-mounted road information acquisition device comprises a vehicle main body, wherein the vehicle main body is provided with a 360-degree panoramic camera for photographing an image around a vehicle body, a laser scanning device for finishing three-dimensional information data of a road and the surrounding of the road in a vehicle driving process, a thermal imager for scanning an infrared thermal image around the vehicle body, an auxiliary illumination device for supplementing light when being used for coping with the acquisition work of a tunnel section, an area array image sensor, a GPS (Global Position System) positioning device, an inertia measurement device and a speed measurement radar device for accurately measuring a vehicle driving distance; the devices are used as information acquisition secondary devices and are connected with a display and a server in the vehicle main body; the vehicle is internally provided with a power supply for supplying power; the server is internally provided with a synchronous control subsystem, a time service subsystem and a data processing and analyzing subsystem, and can be used for rapidly acquiring road disease information and other road subsidiary information. The invention further discloses a method for acquiring the road information.
Description
Technical field
The present invention relates to a kind of intelligent vehicle-carried road information harvester, further relate to use intelligent vehicle
Carry the method that road information harvester gathers road information.
Background technology
China's road construction is in fast-developing period, and road total kilometrage constantly increases, and promotes
The maintenance level of road, and the managerial skills of road satellite information are particularly important.But,
Quickly and accurately detect road Common Diseases information and rapid extraction road satellite information, be
Improve road maintenance and the Important Action of managerial skills.
For detection and the extraction of road satellite information of road disease information, traditional is artificial
Method and instrument and equipment static method, artificial process labour intensity is big, and cost is high, instrument and equipment static method
Efficiency is low, it is impossible to meet the requirement efficiently, quickly and accurately extracting road information.Therefore,
Technology convenient and swift in the urgent need to exploitation, that efficiently and accurately extracts road information, it is achieved road is normal
See detection and the digitlization of road information, the visualized management automatically of disease, preferably service
In maintenance unit, government department and service station.
In terms of automation rapid extraction road disease information and road satellite information, domestic do
Numerous studies, concentrate on the road information with vehicle as carrier and automatically extract technology, but big portion
The instrument and equipment of the technology of dividing relies on external import, and relatively costly, the road information developing oneself carries
Taking equipment is the most necessary.Additionally, there is integration relatively in existing vehicle mounted road information extracting system
Difference, extracts information more single, and result accurately waits series of problems not comprehensively.
Summary of the invention
It is an object of the invention to the deficiency existed for prior art, it is provided that one can quickly be adopted
The intelligent vehicle-carried road information collection dress of collection road disease information and other road satellite information
Put.
For achieving the above object, the technology that the present invention intelligent vehicle-carried road information harvester uses
Scheme is:
A kind of intelligent vehicle-carried road information harvester, including vehicle body, vehicle body is installed
There are 360 ° of full-view cameras for shooting image around car body, run over for completing vehicle
Road and the laser scanning device of road surrounding environment three-dimensional information data acquisition in journey, it is used for sweeping
Retouch the thermal imaging system of vehicle periphery Infrared Thermogram, mend when tunnel construction sections Collecting operation for reply
The auxiliary lighting apparatus of light, face battle array image sensor, GPS positioner, inertial measuring unit
With the velocity radar device for accurately measuring vehicle operating range, these are as the information of collection
Device is connected with the display being arranged within vehicle body and server, and vehicle interior is provided with
For power supply power supply, server built-in Synchronization Control subsystem, for laser scanning device,
360 ° of full-view cameras, thermal imaging system, face battle array image sensors carry out parameter setting, data
Gather, Stateful Inspection and data storage, server built-in time service subsystem, be used for improving faint
Signal capture ability, shortens primary positioning time, and server onboard data processes and analyzes subsystem
System, to image data, laser point cloud data, thermal imaging data and the inertial navigation through post processing
Data process and analyze, and extract road Common Diseases information and road satellite information, real
The automatic detection of existing road Common Diseases, the rapid extraction of road satellite information and the number of information
Word, visualized management.With vehicle as carrier, the integrated multiple sub-device of collection information, automatically
Obtain road GPS track, laser point cloud, full-view image, high definition image and thermal imaging data etc.,
Vehicle operating range is accurately measured, it is achieved the automatic detection of road Common Diseases, road
The rapid extraction of satellite information and the digitlization of road information, visualized management, can extensively answer
For three-dimensional road data and the collection of two dimensional map data and renewal, it is possible to be widely used in road
Side building three-dimensional modeling, streetscape map and the production of three-dimensional road navigation data.
Laser scanning device, based on flight time measurement principle, uses non-contact measurement mode,
Complete road and the collection of road ambient condition information data in vehicle travel process.
360 ° of full-view cameras, in vehicular motion, complete 360 ° of roads of vehicle periphery
View data and the collection of satellite information data, process, splice and the work such as correction.
Thermal imaging system, utilizes Infrared Detectors and optical imagery object lens to receive the infrared of measured target
Emittance, is reflected on the light-sensitive element of Infrared Detectors, thus is obtained infrared thermal imagery
Figure, the different colours above heat picture represents the different temperatures of testee, this thermography with
The heat distribution field of body surface is corresponding.At the tunnel construction sections of road, thermograph automatically detect
Obtain temperature contrast region, determine Tunnel Water Leakage detailed attribution information (as position, area and
The information such as temperature).
Face battle array image sensor gathers road information and stores.For the characteristic of tunnel construction, right
Vertical section, tunnel carries out disposable vector scan, collects relevant letter by face battle array image sensor
Cease and store.By to image data analysis, determine Lining Crack and the position of peeling, length and width
And the information such as area.
GPS positioner and inertial measuring unit, combine satellite fix with inertia measurement,
Easily blocked by the tall and big object such as building, mountain forest for satellite-signal and cause satellite losing lock to be affected calmly
Position precision, is difficult to the problems such as capture and tracking satellite signal, overcomes in motion carrier mobile process
The congenital weakness of satellite navigation, while ensureing high reliability, high precision and high dynamic,
May also provide the key messages such as course, attitude that satellite navigation cannot provide.It is applicable to road GPS
Track is measured and high accuracy post processing in real time.
Velocity radar device, for accurately measuring the operating range of vehicle, this velocity radar device
It is combined with each other with inertial measuring unit, acquisition system search asking less than satellite-signal can be solved
Topic, and then ensure to gather the accuracy of data.
Auxiliary lighting apparatus, not enough for reply light illumination when vcehicular tunnel section Collecting operation,
Enough light sources can be provided by auxiliary lighting apparatus.
Power supply is automatic charging in vehicle travels, to ensure long-time flying power.
Described 360 ° of full-view cameras, laser scanning device, thermal imaging system and floor light
Device is arranged on the top of vehicle body.
Described laser scanning device is arranged on the top rear of vehicle body, laser scanning device
Including two laser scanners arranged up and down, the scanning end of two laser scanners intersects.
Configure upper and lower two laser scanners, complete road and road surrounding environment in vehicle travel process
The collection of three-dimensional information data.
Laser scanning device is arranged on the top rear of vehicle body, and 360 ° of described panoramas are taken the photograph
As head is arranged on the upper end of laser scanning device, 360 ° of described full-view cameras merge 6
High-resolution digital camera, digital camera lens direction intersects at a point radial arrangement.
Present invention also offers a kind of intelligent vehicle-carried road information harvester and gather road information
Method.
For achieving the above object, the present invention intelligent vehicle-carried road information harvester gathers road letter
The method of breath the technical scheme is that
Described intelligent vehicle-carried road information harvester gathers the method for road information, including with
Lower step:
(1) operation prepares: collects and surveys district's data, writes embodiment；
(2) data acquisition: first, carries out surveying front inspection, base station addressing；Secondly, by servicing
The data acquisition of each collection sub-device of information of the Synchronization Control subsystem controls of device, adopts each
The sub-device of collection information carries out parameter setting, data acquisition, Stateful Inspection and data storage；
(3) data process, manage and analyze: to image data, laser point cloud data, thermal imaging
Data and the inertial navigation data through post-processing process and analyze, and extract road normal
See defect information and road satellite information, it is achieved the automatic detection of road Common Diseases, road is attached
The rapid extraction of genus information and the digitlization of road information, visualized management, first, to adopting
Full-view image data, laser point cloud and GPS track data that collecting system obtains process；
Secondly, generate road DOM data and dem data according to the multiple batch data after processing,
And data characteristic point is extracted according to gps data and mates, obtain high accuracy road-rail
Mark data, it is achieved extract highway sideline key element from image, three-dimensional coordinate, distance and area
Spatial measurement, road sign automatically identify several functions；Finally, the information extracted is carried out
Editor, management and result output, edit operation includes that spatial data editing and attribute data are compiled
Volume；Final realize quickly the identifying of road Common Diseases, judge, add up, inquire about, manage
With displaying, and according to system arrange Disease Processing distribution flow, defect information is classified
And issue, finally realize the rapid extraction of road satellite information.
The present invention compared with prior art, has the advantage that
Precise and high efficiency: realize to the quick and precisely identification of road Common Diseases, judge, add up,
Inquire about, manage and show, and realize the rapid extraction of road satellite information, overcome tradition
The weak points such as artificial process labour intensity is big and efficiency is low.
The road information extracted is fine, directly perceived and comprehensive, and preferably can carry out extraction information
Management.The route combination situation checking certain region that can be fine, building detail characteristic, such as:
The situation such as position and area；The topography and geomorphology in road network region, road equipment can be browsed intuitively
Situation, and all facilities are all with attribute information, carry out figure genus under the multidimensional platform built
Look into mutually and can automatically show facility position.
Low cost and easily operation: process is simple and is easily achieved, only need to be by acquisition system to be measured
The upper traveling of Duan Daolu can complete the quick obtaining to this section of road information, therefore can be periodically to road
Road situation carries out complete detection, improves road maintenance and managerial skills.
Integration ofTechnology is preferable, can objective, extraction various roads information accurately and quickly, logical
Strong by property, it is simple to popularize.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of intelligent vehicle-carried road information harvester.
Fig. 2 is the operation that intelligent vehicle-carried road information harvester gathers the method for road information
Flow chart.
Fig. 3 is the detail flowchart of collecting method.
Detailed description of the invention
Below in conjunction with the accompanying drawings and detailed description of the invention, it is further elucidated with the present invention, it should be understood that these
Embodiment is merely to illustrate the present invention rather than limits the scope of the present invention, is reading this
After invention, those skilled in the art all fall within this to the amendment of the various equivalent form of values of the present invention
Application claims limited range.
It is illustrated in figure 1 the schematic diagram of intelligent vehicle-carried road information harvester.Intelligent vehicle-carried road
Road information collecting device, including vehicle body 1, vehicle body 1 is provided with for shooting car body week
Enclose 360 ° of full-view cameras 2 of image, for completing road and road week in vehicle travel process
The laser scanning device 3 of collarette border three-dimensional information data acquisition, to be used for scanning vehicle periphery infrared
Thermographic thermal imaging system 4, for when tunnel construction sections Collecting operation the auxiliary lighting apparatus 5 of light filling,
Face battle array image sensor 6, GPS positioner 7, inertial measuring unit 8 and for accurately measuring car
The velocity radar device 9 of operating range, these as the sub-device of collection information be arranged on car
Display 10 and the server 11 of body interior connect, and vehicle interior is provided with for power supply
Power supply 12.Intelligent vehicle-carried road information harvester is with vehicle as carrier, and integrated multiple collection is believed
Cease sub-device, automatically obtain road GPS track, laser point cloud, full-view image, high definition image
With thermal imaging data etc., vehicle operating range is accurately measured, it is achieved road Common Diseases
Automatic detection, the rapid extraction of road satellite information and the digitlization of road information, visual
Change management, can be widely applied to three-dimensional road data and the collection of two dimensional map data and renewal,
It is also widely applied to trackside building three-dimensional modeling, streetscape map and three-dimensional road navigation data
Produce.Synchronization Control subsystem, time service subsystem, data process and the analysis that server is built-in
Subsystem.360 ° of full-view cameras, laser scanning device, thermal imaging system and floor light dress
Put the top being arranged on vehicle body.Laser scanning device 3 is arranged on vehicle body top rear,
Laser scanning device 3 includes two laser scanners 31 arranged up and down, two laser scanners
Scanning end intersect, based on flight time measurement principle, use non-contact measurement mode,
Configure upper and lower two laser scanners, complete road and road surrounding environment in vehicle travel process
The collection of three-dimensional information data.360 ° of full-view cameras are arranged on the upper end of laser scanning device,
360 ° of full-view cameras merge 6 high-resolution digital cameras, and digital camera lens direction intersects
In some radial arrangement.Thermal imaging system 4 is arranged on the front at vehicle body top, and auxiliary is shone
Bright device 5, face battle array image sensor 6 and GPS positioner 7 are arranged in vehicle body top
Between position, inertial measuring unit 8 is arranged on the bottom of laser scanning device 3, velocity radar device
9 afterbodys being arranged on vehicle body.Thermal imaging system 4 is arranged on the front at vehicle body top can
Quickly catch thermal imaging, improve the accuracy of thermal imaging.
In vehicular motion, complete 360 ° of road image data of vehicle periphery and attached letter
The collection of breath data, process, splice and the work such as correction.Thermal imaging system, utilizes infrared acquisition
Device and optical imagery object lens receive the infrared energy of measured target, are reflected infrared spy
Survey on the light-sensitive element of device, thus obtain Infrared Thermogram, the different colours generation above heat picture
The different temperatures of table testee, this thermography is corresponding with the heat distribution field of body surface.
At the tunnel construction sections of road, thermograph automatically detect and obtain temperature contrast region, determine tunnel
Percolating water detailed attribution information (such as information such as position, area and temperature).Face battle array image sensing
Device gathers road information and stores.Satellite fix is combined with inertia measurement, believes for satellite
Number easily blocked by the tall and big object such as building, mountain forest and to cause satellite losing lock to be affected positioning precision, fortune
Dynamic load body mobile process is difficult to the problems such as capture and tracking satellite signal, overcomes satellite navigation first
It weakness, while ensureing high reliability, high precision and high dynamic, may also provide and defend
Star navigate cannot provide course, the key message such as attitude.It is applicable to road GPS track real-time
Measure and high accuracy post processing.Velocity radar device, for accurately measuring the operating range of vehicle,
This velocity radar device be combined with each other with inertial measuring unit, can solve to search for and believe less than satellite
Number problem, and then ensure gather data accuracy.Auxiliary lighting apparatus, exists for reply
During vcehicular tunnel section Collecting operation, light illumination is not enough, can provide enough by auxiliary lighting apparatus
Light source.Power supply is automatic charging in vehicle travels, to ensure long-time flying power.Service
Device built-in Synchronization Control subsystem, for laser scanning device, 360 ° of full-view cameras,
Thermal imaging system, face battle array image sensor carry out parameter setting, data acquisition, Stateful Inspection and number
According to storage.Server built-in time service subsystem, is used for improving small-signal capture ability, shortens
Primary positioning time.Server onboard data processes and analyzing subsystem, to image data, swashs
Light cloud data, thermal imaging data and the inertial guidance data through post processing process and analyze,
Extract road Common Diseases information and road satellite information, it is achieved road Common Diseases automatic
Detection, the rapid extraction of road satellite information and the digitlization of information, visualized management.
It is illustrated in figure 2 the method that intelligent vehicle-carried road information harvester gathers road information
Operation process chart, Fig. 3 is the detail flowchart of collecting method.Described is intelligent vehicle-carried
Road information harvester gathers the method for road information, comprises the following steps:
(1) operation prepares: collects and surveys district's data, writes embodiment；
(2) data acquisition: first, carries out surveying front inspection, base station addressing；Secondly, by servicing
The data acquisition of each collection sub-device of information of the Synchronization Control subsystem controls of device, fills each
Put and carry out parameter setting, data acquisition, Stateful Inspection and data storage；
(3) data process, manage and analyze: to image data, laser point cloud data, thermal imaging
Data and the inertial navigation data through post-processing process and analyze, and extract road normal
See defect information and road satellite information, it is achieved the automatic detection of road Common Diseases, road is attached
The rapid extraction of genus information and the digitlization of road information, visualized management, particular content is such as
Under, first, full-view image data, laser point cloud and the GPS track that acquisition system is obtained
Data etc. process；Secondly, road DOM number is generated according to the multiple batch data after processing
According to this and dem data, and data characteristic point is extracted according to gps data and mates, must
To high accuracy path locus data, it is achieved extract the key elements such as highway sideline, three-dimensional seat from image
The spatial measurement of mark, distance and area etc., the several functions such as the automatic identification of road sign；?
After, the information extracted to be edited, manages and result output, edit operation includes space number
According to editor and attribute data editor；Final realize quickly the identifying of road Common Diseases, sentence
Break, add up, inquire about, manage and show, and the Disease Processing distribution flow arranged according to system,
Defect information classified and issues, the most also realizing the rapid extraction of road satellite information.
The present invention is according to the intelligent vehicle-carried road information harvester of independent research and gathers road
The method of information, it is possible to automatically, efficiently and accurately extracts road Common Diseases information and road is attached
Information, it is achieved to existing road GPS track, laser point cloud, full-view image, high definition image and
The acquisition of thermal imaging data, the accurate measurement to vehicle operating range, reach road common disease
Harmful quickly identifies, judges, adds up, inquires about, manages and shows, to road satellite information
Rapid extraction and to the digitlization of road information, the purpose of visualized management, finally improves
Road maintenance and managerial skills.
Claims (5)
1. an intelligent vehicle-carried road information harvester, it is characterised in that: include vehicle body,
Vehicle body is provided with 360 ° of full-view cameras for shooting image around car body, for complete
The laser of road and road surrounding environment three-dimensional information data acquisition in vehicle travel process is become to sweep
Imaging apparatus, for scan vehicle periphery Infrared Thermogram thermal imaging system, for reply in tunnel
Section Collecting operation time the auxiliary lighting apparatus of light filling, face battle array image sensor, GPS positioner,
Inertial measuring unit and the velocity radar device for accurately measurement vehicle operating range, these are made
It is connected with the display being arranged within vehicle body and server for the sub-device of collection information, car
Being internally provided with the power supply for power supply, server built-in Synchronization Control subsystem, for right
Laser scanning device, 360 ° of full-view cameras, thermal imaging system, face battle array image sensors are carried out
Parameter setting, data acquisition, Stateful Inspection and data storage, server built-in time service subsystem,
For improving small-signal capture ability, shorten primary positioning time, at server onboard data
Reason and analyzing subsystem, to image data, laser point cloud data, thermal imaging data and process
The inertial guidance data of post processing processes and analyzes, and extracts road Common Diseases information and road
Satellite information, it is achieved the automatic detection of road Common Diseases, the rapid extraction of road satellite information
And the digitlization of information, visualized management.
Intelligent vehicle-carried road information harvester the most according to claim 1, it is characterised in that:
Described 360 ° of full-view cameras, laser scanning device, thermal imaging system and auxiliary lighting apparatus
It is arranged on the top of vehicle body.
Intelligent vehicle-carried road information harvester the most according to claim 1, it is characterised in that:
Described laser scanning device is arranged on the top rear of vehicle body, and laser scanning device includes
Two laser scanners arranged up and down, the scanning end of two laser scanners intersects.
Intelligent vehicle-carried road information harvester the most according to claim 1, it is characterised in that:
Laser scanning device is arranged on the top rear of vehicle body, 360 ° of described full-view cameras
Being arranged on the upper end of laser scanning device, 360 ° of described full-view cameras merge 6 high scores
Resolution digital camera, digital camera lens direction intersects at a point radial arrangement.
Intelligent vehicle-carried road information harvester the most as claimed in claim 1 gathers road information
Method, it is characterised in that comprise the following steps:
(1) operation prepares: collects and surveys district's data, writes embodiment；
(2) data acquisition: first, carries out surveying front inspection, base station addressing；Secondly, by servicing
The data acquisition of each collection sub-device of information of the Synchronization Control subsystem controls of device, adopts each
The sub-device of collection information carries out parameter setting, data acquisition, Stateful Inspection and data storage；
(3) data process, manage and analyze: to image data, laser point cloud data, thermal imaging
Data and the inertial navigation data through post-processing process and analyze, and extract road normal
See defect information and road satellite information, it is achieved the automatic detection of road Common Diseases, road is attached
The rapid extraction of genus information and the digitlization of road information, visualized management, first, to adopting
Full-view image data, laser point cloud and GPS track data that collecting system obtains process；
Secondly, generate road DOM data and dem data according to the multiple batch data after processing,
And data characteristic point is extracted according to gps data and mates, obtain high accuracy road-rail
Mark data, it is achieved extract highway sideline key element from image, three-dimensional coordinate, distance and area
Spatial measurement, road sign automatically identify several functions；Finally, the information extracted is carried out
Editor, management and result output, edit operation includes that spatial data editing and attribute data are compiled
Volume；Final realize quickly the identifying of road Common Diseases, judge, add up, inquire about, manage
With displaying, and according to system arrange Disease Processing distribution flow, defect information is classified
And issue, finally realize the rapid extraction of road satellite information.
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| CN201610369774.0A CN105862556A (en) | 2016-05-30 | 2016-05-30 | Intelligent vehicle-mounted road information acquisition device and method for acquiring road information |
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