CN107941170A - Road detection device and system - Google Patents

Abstract

Road detection apparatus provided in an embodiment of the present invention and system, on vehicle, for carrying out Road Detection, described device includes：Linear laser source, image acquisition device and processor, the linear laser source are used to send laser, and described image collector is used for the image for gathering the laser irradiating position, and described image collector is connected with the processor；The linear laser source continuously sends out laser at interval of preset time period, and the time for continuously sending out laser is the first duration；Described image collector is continuously shot at interval of the preset time period, and the time being continuously shot is the second duration, and second duration is longer than first duration.When linear laser source continuously sends out laser and image acquisition device is continuously shot, the data of acquisition can be used for detecting the rutting depth and surface evenness of road, when linear laser source does not send laser, and image acquisition device is continuously shot, the data of acquisition can be used for detecting the damaged state of road.

Description

Road detection device and system

technical field

The invention relates to the field of measuring devices, in particular to a road detection device and system.

Background technique

The mileage of highways in my country is increasing rapidly, the traffic flow is increasing day by day, and the workload and difficulty of road surface maintenance management are increasing sharply. The road surface roughness, rut depth, and damage state are important indicators for evaluating road conditions and the premise of implementing scientific road maintenance management. Road surface roughness, rut depth, and damage state not only directly affect driving safety and comfort, but also seriously endanger the integrity and stability of road structure. Therefore, it is necessary to regularly detect the road surface roughness, rut depth, and damage state.

However, traditional detection methods take a long time to detect, are labor-intensive, and have low detection speed, and usually can only complete the detection of a single indicator. Therefore, it is the development direction of highway inspection to quickly inspect the quality of highway pavement, so as to obtain accurate, complete and efficient detection data, and provide basis for road maintenance and management.

Contents of the invention

In view of this, an embodiment of the present invention provides a road detection device and system.

In order to achieve the above object, an embodiment of the present invention provides a road detection device installed on a vehicle for road detection, the device includes: a line laser source, an image collector and a processor, the line laser source is used When emitting laser light, the image collector is used to collect the image of the laser irradiation position, and the image collector is connected to the processor; the line laser source continues to emit laser light at intervals of preset time periods, and the continuous emission of laser light The time is a first duration; the image collector performs continuous shooting every interval of the preset time period, and the continuous shooting time is a second duration, and the second duration is longer than the first duration.

Preferably, in the road detection device provided in the present application, the image collector includes a camera, a CCD line sensor, an analog signal conditioning circuit, and an AD acquisition circuit, the camera is connected to the CCD line sensor, and the CCD The line array sensor is connected with the analog signal conditioning circuit, the analog signal conditioning circuit is connected with the AD acquisition circuit, and the AD acquisition circuit is connected with the processor.

Preferably, in the road detection device provided by the present application, the processor includes a multi-port RAM storage unit, a rutting logic algorithm unit, a smoothness logic algorithm unit, a road surface damage logic algorithm unit, and an ARM hard core processing unit. The RAM storage unit is respectively connected with the rutting logic algorithm unit, the smoothness logic algorithm unit and the road surface damage logic algorithm unit, and the rutting logic algorithm unit, the smoothness logic algorithm unit and the road surface damage logic algorithm unit are all connected with the ARM hardware The core processing unit is connected.

Preferably, in the road detection device provided in the present application, the processor further includes an accelerometer, and the accelerometer is connected to the ARM hard-core processing unit.

Preferably, in the road detection device provided in the present application, the road detection device further includes a wheel encoder, the wheel encoder is installed on the wheel of the vehicle, and the wheel encoder is connected to the processor.

Preferably, in the road detection device provided in the present application, the road detection device further includes a wireless communication unit connected to the processor.

Preferably, in the road detection device provided in the present application, the road detection device further includes a GNSS receiver, and the GNSS receiver is connected to the processor.

Preferably, in the road detection device provided in the present application, the road detection device further includes a power supply, and the power supply is respectively connected to the processor, the image collector and the line laser source.

Preferably, in the road detection device provided in the present application, the line laser source includes a point light source and a laser prism, the point light source is used to emit a laser beam, and the laser prism is used to refract the laser beam into a line laser.

The embodiment of the present invention also provides a road detection system, the system includes: the server communicates with the road detection device, the wireless communication unit of the road detection device sends the result information and the time information of the detection to the The server; the server receives and stores the result information and time information.

The beneficial effects of the road detection device and system provided by the embodiments of the present invention are as follows:

The road detection device and system provided by the embodiments of the present invention are installed on a vehicle for road detection. The device includes: a line laser source, an image collector and a processor. The line laser source is used to emit laser light. The image collector is used to collect images of the laser irradiation position, and the image collector is connected to the processor; the line laser source continues to emit laser light every preset time period, and the time for continuously emitting laser light is the first duration ; The image collector performs continuous shooting every interval of the preset time period, and the continuous shooting time is a second duration, and the second duration is longer than the first duration. When the line laser source continuously emits laser light and the image collector continuously shoots, the obtained data can be used to detect the rut depth of the road and the smoothness of the road surface. When the line laser source does not emit laser light and the image collector continuously takes pictures, the obtained data It can be used to detect the damaged state of the road.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic structural view of a road detection device provided by a preferred embodiment of the present invention;

Fig. 2 is a schematic structural view of a specific embodiment of a road detection device provided by a preferred embodiment of the present invention;

Fig. 3 is a schematic diagram of an application scenario of a road detection device provided by a preferred embodiment of the present invention;

Fig. 4 is a structural block diagram of a road detection system provided by a preferred embodiment of the present invention;

Fig. 5 is a structural schematic diagram of the cooperation between the line laser source and the camera.

Icons: 10-road detection device; 110-line laser source; 111-point light source; 112-laser prism; 120-image collector; 121-camera; 122-CCD line array sensor; 123-analog signal conditioning circuit; 124- AD acquisition circuit; 130-processor; 131-multi-port RAM storage unit; 132-rutting logic algorithm unit; 133-evenness logic algorithm unit; 134-road damage logic algorithm unit; 135-ARM hard core processing unit; 136- Accelerometer; 140-wheel encoder; 150-wireless communication unit; 160-GNSS receiver; 170-power supply; 20-server; 30-network; 1-system.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. The following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to FIG. 1 for details. FIG. 1 shows a road detection device 10 provided by an embodiment of the present invention, which includes a line laser source 110 , an image collector 120 and a processor 130 . The line laser source 110 is used to emit laser light, the image collector 120 is used to collect images of the laser irradiation position, and the image collector 120 is connected to the processor 130;

The line laser source 110 continuously emits laser light every preset time period, and the time for continuously emitting laser light is the first duration; the image collector 120 performs continuous shooting every interval of the preset time period, and the continuous shooting time is the first duration. Two durations, the second duration is longer than the first duration.

The image collector 120 includes a camera 121, a CCD line sensor 122, an analog signal conditioning circuit 123 and an AD acquisition circuit 124, the camera 121 is connected with the CCD line sensor 122, and the CCD line sensor 122 is connected with the CCD line sensor 122. The analog signal conditioning circuit 123 is connected, the analog signal conditioning circuit 123 is connected to the AD acquisition circuit 124, and the AD acquisition circuit 124 is connected to the processor 130.

Referring to Fig. 2 and Fig. 3, the camera 121 can be arranged on the bottom of the road detection device 10 and the camera 121 is facing the ground, so as to shoot the ground, the camera 121 is arranged on the front end of the CCD line array sensor 122, see Fig. 2, The receiving line laser irradiates the laser reflected by the ground and the image formed by the intersection of the laser and the ground, and transmits the laser and the image to the CCD line sensor 122. The width of the camera 121 irradiating the ground is determined by the focal length of the lens.

The CCD line array sensor 122 is connected to the camera 121, converts the received optical signal into an electrical signal, and outputs the electrical signal to the analog signal conditioning circuit 123, so that the analog signal conditioning circuit 123 can condition the electrical signal.

The input end of the analog signal conditioning circuit 123 is connected to the output end of the CCD line array sensor 122 , amplifies and filters the relatively weak analog signal output by the CCD line array sensor 122 , and then outputs it to the high-speed AD acquisition circuit 124 .

The AD acquisition circuit 124 converts the analog signal into a digital signal and transmits it to the processor 130, thereby realizing the digitization of the output of the line array sensor. Specifically, the processor 130 may be a high-performance FPGA computing platform.

2, the processor 130 includes a multi-port RAM storage unit 131, a rutting logic algorithm unit 132, a smoothness logic algorithm unit 133, a road damage logic algorithm unit 134, and an ARM hard core processing unit 135. The multi-port RAM The storage unit 131 is respectively connected with the rutting logic algorithm unit 132, the smoothness logic algorithm unit 133 and the road surface damage logic algorithm unit 134, and the rut logic algorithm unit 132, the smoothness logic algorithm unit 133 and the road surface damage logic algorithm unit 134 are all It is connected with the ARM hard core processing unit 135 . The processor 130 also includes an accelerometer 136 connected to the ARM hard core processing unit 135 .

The processor 130 receives the digitized image data, caches it through FIFO, and calculates different road surface detection parameters, and the ARM hard core processing unit 135 inside it realizes the storage of calculation results and the generation of reports. The processor 130 internally caches a rutting logic algorithm unit 132 , a smoothness logic algorithm unit 133 , and a road surface damage logic algorithm unit 134 , and each unit independently calculates different road surface detection parameters.

The accelerometer 136 is used to measure the acceleration in the vertical direction, and obtain the vibration displacement value of the device, which is used to detect the smoothness of the road surface.

The road detection device 10 also includes a wheel encoder 140 , please refer to FIG. 3 , the wheel encoder 140 is installed on the wheel of the vehicle, and the wheel encoder 140 is connected to the processor 130 . The wheel encoder 140 can obtain whether the vehicle is moving or not, and obtain the mileage of the vehicle. And the road detection device 10 may send a trigger signal to the processor 130 at intervals, so that the processor 130 controls the camera 121 to take pictures.

The road detection device 10 further includes a wireless communication unit 150 connected to the processor 130 . The wireless communication unit 150 is used to realize the communication between the road detection device 10 and the server 20, specifically, it can be connected with the collection and monitoring computer to provide Internet service for displaying the online map.

The road detection device 10 also includes a GNSS receiver 160 connected to the processor 130 . The GNSS receiver 160 is a global navigation satellite system receiver, which can be connected to the processor 130 through the RS232 serial port to obtain time and position, and transmit the obtained time and position information to the ARM hard core processing unit 135 for ARM hard core processing The unit 135 packages the detected data, time and location information and sends them to the server 20, specifically to the integrated processing center of the cloud platform.

The road detection device 10 also includes a power supply 170 , which is connected to the processor 130 , the image collector 120 and the line laser source 110 respectively. The power supply 170 is used to supply power to each module in the system.

The line laser source 110 is connected to the processor 130, and the processor 130 gives the control sequence of the line laser source. Specifically, when the encoder sends an output pulse to the processor 130, the processor 130 controls the laser emission of the line laser source 110.

The line laser source 110 includes a point light source 111 and a laser prism 112 , please refer to FIG. 5 , the point light source 111 is used to emit a laser beam, and the laser prism 112 refracts the laser beam into a line laser.

The working principle of the road detection device 10 provided in the embodiment of the present application is as follows:

The road detection device 10 is installed on the top of the vehicle. For details, see FIG. 3 , the encoder is installed at the wheel, and the encoder is electrically connected to the processor 130 of the road detection device 10 . The encoder is used to determine whether the vehicle is moving, and when the vehicle is moving, the encoder sends a pulse signal to the processor 130 .

The processor 130 respectively controls the line laser source 110 to continuously emit laser light according to the pulse signal, and the duration of the continuous emission of laser light is the first duration, and controls the camera 121 of the image collector 120 to perform continuous shooting at intervals of a preset time period for the second duration. , and the second duration is longer than the first duration. That is, the camera 121 can collect image data when the laser emitted by the line laser source 110 touches the road surface and image data of the road surface when there is no laser irradiation.

The image data collected by the camera 121 is sequentially processed by the CCD line array sensor 122 , the analog signal conditioning circuit 123 , and the AD acquisition circuit 124 , and then sent to the processor 130 for processing. Among them, the image data when the laser is in contact with the road surface is sent to the rutting logic algorithm unit 132 and the smoothness logic algorithm unit 133 for processing; the image data of the road surface when there is no laser irradiation is sent to the road damage logic algorithm unit 134 for processing.

The rutting logic algorithm unit 132 is processed in the following manner:

The acquired image is grayscaled except for the laser band formed by laser irradiation, so that the image data of effective laser irradiation is more prominent. Then filter processing is performed to filter out interference source information such as vehicle driving interference and hardware noise. Through the image threshold segmentation algorithm, the target object to be extracted and the abnormality in the background gray scale are used in the image, and the pixel points are divided into several according to the gray scale level by setting the threshold value, so as to realize image segmentation. Segment the strip-shaped area irradiated by the laser to convert the grayscale image of the road surface into a binary image. Then obtain the center of the line laser stripes, combine the coordinate data and the center data of the line laser stripes to calculate the rut depth data of the detected road surface.

The flatness logic algorithm unit 133 processes the acquired image in the following manner:

Since the flatness detection is a longitudinal section detection of the road surface, it is not necessary to obtain the data of a whole line of the laser line at a time like the rutting logic algorithm, but only need to obtain the image information of fixed point coordinates, for example, the line laser stripes can be obtained The data of the center point of the center point, or the data of N adjacent pixel points of the center point. Also through the image grayscale processing, image filtering processing and image segmentation processing in the rutting logic algorithm to process the image, and then obtain the accurate center coordinates of the light spot through the gray image circle center coordinate extraction algorithm, and then combine the coordinate data and acceleration data, Calculate the elevation data at the corresponding coordinates, and then repeat the processing after a period of time to obtain the flatness data of different road sections. Acceleration data is to eliminate data errors caused by vehicle bumps.

The road damage logic algorithm unit 134 performs image processing in the following manner:

Since the CCD line scan camera outputs column images after scanning, it is necessary to obtain image data from the multi-port RAM storage unit 131 to complete image splicing. Due to the parallel processing of the FPGA, only a few lines are needed for splicing the cache; then it is processed by the image filtering algorithm, and the domain filtering averaging method, median filtering, and adaptive filtering can be selected; different filtering algorithms can be selected according to different environments and road configurations ; Eliminate noise caused by light, tree shade, hardware circuits, etc. The filtered image has less interference noise, and the image binarization divides the image into several disjoint regions according to the color, gray value, spatial characteristics and texture characteristics of the asphalt pavement pixels, so that these characteristics are in the same region. Consistency or similarity is manifested within, but different characteristics are shown in different regions; separate cracks from background.

Mathematical morphological crack processing is to eliminate the influence of scattered points and false targets in the binary image through image closing operation, opening operation, connected domain marking, skeleton extraction and AND operation, etc., and take out crack. The pavement image processed by the digital form crack is output to the crack recognition algorithm to calculate the crack length, width, area and other parameters; and judge whether it is a transverse crack, a longitudinal crack or an irregular crack according to the shape.

The working principle of the data acquisition device at the front end of the road detection device 10 is as follows:

Please refer to Fig. 5, the line laser light that the line laser source 110 sends out has a predetermined angle with the road surface, and the camera 121 shoots the line shape formed by the intersection of the line laser light and the road surface to analyze the contour condition of the road surface. If the road surface is level, the CCD imaging will be A straight line; conversely, if the road surface is not level, the CCD imaging will be a curve.

Shoot the line laser obliquely onto the road surface to be detected. Due to the ups and downs of the road surface to be detected, the line laser stripes projected on the road surface will change. Because the light stripes are deformed, analyze and calculate the deformed light stripes. The surface contour condition of the road surface, that is, the surface elevation data, can be obtained, and then combined with the accelerometer 136 to eliminate the bumping effect of the car, the rut and flatness can be calculated. Then the line laser source 110 can be turned off, and the camera 121 takes pictures. The CCD camera stitches the line-by-line images into a pair of M*N images, and realizes the detection of cracks and damages on the road surface through digital image processing algorithms.

Please refer to FIG. 4 , which shows a road detection system 1 provided by a preferred embodiment of the present application, including a road detection device 10 and a server 20 , and the road detection device 10 and the server 20 communicate through a network 30 . The server 20 communicates with the road detection device 10 , and the wireless communication unit 150 of the road detection device 10 sends the result information and detection time information to the server 20 . The server 20 receives and stores the result information and time information.

After the processor 130 respectively obtains the rutting data, the smoothness data and the road surface damage data through the rutting logic algorithm unit 132, the smoothness logic algorithm unit 133, and the road surface damage logic algorithm unit 134, the above data can be sent to the server through the wireless communication unit 150 20. It can also be sent to the integrated data processing center of the cloud platform.

The server 20 can specifically be a cloud server 20. The server 20 receives real-time detection data from different road detection devices 10, and establishes a road surface detection multifunctional database. According to the GPS geographic information, time information, rut data, and flatness returned by different devices, Data and road surface damage data, and establish a complete database, so that the upper management personnel of the road can view the status information and vehicle conditions of any road in the managed area anytime and anywhere through mobile phones or PC clients.

The embodiment of the present application provides a road detection device 10 that simultaneously performs rutting detection, smoothness detection, and road surface damage detection, and the road detection device 10 is highly integrated in functions, small in size, low in power consumption, easy to install and maintain, and the continuous shooting time of the camera 121 is It is longer than the time for which the line laser source 110 continuously emits laser light, so as to realize the collection of image data required for rutting detection, flatness detection, and image data required for road surface damage detection.

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention have been clearly and completely described above in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the above detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention but represents only selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is usually placed when the product of the invention is used, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying References to devices or elements must have a particular orientation, be constructed, and operate in a particular orientation and therefore should not be construed as limiting the invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "installation", "installation", "connection" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, It can also be a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Claims (10)

1. a kind of road detection apparatus, it is characterised in that on vehicle, for carrying out Road Detection, described device includes： Linear laser source, image acquisition device and processor, the linear laser source are used to send laser, and described image collector is used to gather The image of the laser irradiating position, described image collector are connected with the processor；

The linear laser source continuously sends out laser at interval of preset time period, and the time for continuously sending out laser is the first duration；Institute Image acquisition device to be stated to be continuously shot at interval of the preset time period, the time being continuously shot is the second duration, described Two durations are longer than first duration.

2. device according to claim 1, it is characterised in that described image collector includes camera, CCD linear arrays sense Device, analog signal conditioner circuit and AD Acquisition Circuit, the camera are connected with the CCD line array sensors, the CCD lines Array sensor is connected with the analog signal conditioner circuit, and the analog signal conditioner circuit is connected with the AD Acquisition Circuit, The AD Acquisition Circuit is connected with the processor.

3. device according to claim 1, it is characterised in that the processor is patrolled including more mouthfuls of ram memory cells, tracks Algorithm unit, flatness logical algorithm unit, road surface breakage logical algorithm unit and ARM hard nucleus management units are collected, it is described more Mouth ram memory cell is calculated with the track logical algorithm unit, flatness logical algorithm unit and road surface breakage logic respectively Method unit connects, and the track logical algorithm unit, flatness logical algorithm unit and road surface breakage logical algorithm unit are equal It is connected with the ARM hard nucleus managements unit.

4. device according to claim 3, it is characterised in that the processor further includes accelerometer, the acceleration Meter is connected with the ARM hard nucleus managements unit.

5. device according to claim 1, it is characterised in that the road detection apparatus further includes wheel encoder, institute State wheel encoder to be installed on the wheel of the vehicle, the wheel encoder is connected with the processor.

6. device according to claim 1, it is characterised in that the road detection apparatus further includes wireless communication unit, The wireless communication unit is connected with the processor.

7. device according to claim 1, it is characterised in that the road detection apparatus further includes GNSS receiver, institute GNSS receiver is stated to be connected with the processor.

8. device according to claim 1, it is characterised in that the road detection apparatus further includes power supply, the power supply It is connected respectively with the processor, image acquisition device and linear laser source.

9. device according to claim 1, it is characterised in that the linear laser source includes point light source and laser prism, institute State point light source to be used to launch laser beam, the laser prism is used to laser beam refraction becoming line laser.

A kind of 10. road detection system, it is characterised in that the system comprises：Road detection apparatus described in claim 6 with And server, the server communicate with the road detection apparatus,

The temporal information when wireless communication unit of the road detection apparatus is by result information and detection is sent to the clothes Business device；

The server receives and stores the result information and temporal information.