CN102518030A - Improved comprehensive intelligent detecting vehicle for asphalt pavement damages - Google Patents
Improved comprehensive intelligent detecting vehicle for asphalt pavement damages Download PDFInfo
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- CN102518030A CN102518030A CN2011104371609A CN201110437160A CN102518030A CN 102518030 A CN102518030 A CN 102518030A CN 2011104371609 A CN2011104371609 A CN 2011104371609A CN 201110437160 A CN201110437160 A CN 201110437160A CN 102518030 A CN102518030 A CN 102518030A
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Abstract
The invention discloses an improved comprehensive intelligent detecting vehicle for asphalt pavement damages. The vehicle is characterized in that the vehicle comprises a vehicle body, a pavement damage detector, a pavement deformation detector, a GPS (global position system) device and a mileage ranging device, and the pavement damage detector which is arranged on the front end of the vehicle body acquires pavement damage information through shooting pavement images; the pavement deformation detector which is arranged on the tail end of the vehicle body determines pavement deformation information through projecting at least three parallel laser ray beams and at least one laser ray beam intersected with the parallel laser rays onto ground deformations; the GPS device is arranged on the top of the vehicle body; and the mileage ranging device is arranged on a wheel shaft of the detecting vehicle. By continuously or discontinuously shooting the pavement, rapidly detecting the three-dimensional pavement deformations through a structured light projection principle, effectively overcoming the interference of sunlight during the day, positioning damaged zones of the pavement, and obtaining accurate stake number positions of the pavement damages relative to a routine in the invention, damage and deformation data can be obtained at a normal driving speed.
Description
Technical field
The invention belongs to the traffic engineering field, relate to the pavement detection car, especially a kind of inspection vehicle to the flexible pavement damaged condition.
Background technology
Along with increasing substantially and the cumulative year after year of the traffic volume of high-grade highway and speedway mileage, road pavement is damaged and is detected the active demand that becomes the maintenance of surface management accurately and rapidly under the prerequisite of not disturbing traffic.The main damage of flexible pavement can be divided into surface fracture class and distortion type, and the scope of these two types of damages and degree be the foundation of asphalt pavement maintenance normally, has come out or the pavement detection equipment that is in conceptual phase is main to detect these two types of damages also.The nondestructive testing that wherein is treated to technical foundation with image is the important directions of this area research, but present technical level is still not mature enough, particularly automation context of detection, and most the application still rests on experimental stage.
In the road surface damage to be detected, detect road surface breakage and adopt generally that field operation is taken pictures or photographed, interior industry identification mode, mostly ripe recognition mode is manual identified or semi-automatic identification, automatically identification and Real time identification do not have stable ripe application as yet.Different with the technology path that the breakage detection is single relatively; Surface deformation detects the multiple technologies form that demonstrates; Detect from early stage many laser sensors, detect to laser rotary mirror scanning detection, optical interference, and the detection of laser structure light section etc.; All can realize quick, the nondestructive testing of road pavement distortion technically, automaticity is also higher.Comparatively speaking, laser rotary mirror detects, owing to complex structure, involve great expense that it is few to use in practice; Sensitivity is not suitable for the detection under the dynamic environment to shaking extremely thereby optical interference detects.Nowadays use maximum traditional relatively many laser sensors that are still and detect, though all there are defective in accuracy of detection and method, technology maturation, cheap.Structured light detects the existing so far history that surpasses 20 years of theory of surface deformation, but laser is not long as the time of structured light.Present most laser structure light all exists can only detect or receive the not high problem of vibration influence accuracy of detection at night.In addition, no matter adopt which kind of technology, all there is the problem of ignoring the road surface 3 D deformation in the detection to surface deformation at present, and the road surface three-dimensional appearance of being set up can not accurately reflect the road surface duty.And also all there is following point to some extent in integrated pavement detection equipment at present: damage location technology and only adopt GPS or only adopt the mileage controller, have the inferior position that the GPS location is accurate inadequately, the overall situation is ignored in mileage control again; Checkout gear and vehicle body are not integraty designs, are difficult to ignore vehicle body in the driving process or the checkout gear vibrations influence to testing result.
In view of the foregoing, though the existing multiple road surface automatic detection system of handling based on image comes out, its application in the actual production practice is still very limited, and still there is very large space in the research in this field.
Summary of the invention
The objective of the invention is to address the above problem; Provide a kind of improved flexible pavement to damage the comprehensive intelligent inspection vehicle; It is arranged compactness, vehicle body and the coordination of checkout gear rigidity, under cruising speed, can detect road surface breakage and distortion simultaneously, and can obtain to damage the position.
The solution that the present invention adopted is:
A kind of improved flexible pavement damages the comprehensive intelligent inspection vehicle; Comprise vehicle body, road surface breakage detector, surface deformation detector, GPS device and mileage range unit; The road surface breakage detector is installed on the front end of vehicle body, obtains road surface breakage information through taking pavement image; The surface deformation detector is installed on the tail end of vehicle body, confirms surface deformation information through the distortion that three beams parallel laser line at least and a branch of at least laser rays that intersects with the parallel laser line are projeced into ground; The GPS device is installed on the top of vehicle body; The mileage range unit is installed on the axletree of inspection vehicle.
Further, said road surface breakage detector comprises CCD line scan camera, laser illuminator device and first prism, and first prism places laser illuminator device the place ahead, and first prism and laser illuminator device are arranged in juxtaposition the side in the CCD line scan camera.
The line laser of the some laser that said laser illuminator device is launched after the diffusion of first prism, width is not less than 7mm.
Said road surface breakage detector is fixed on the vehicle body through support, and support comprises 4 connecting rods, and wherein an end of 2 is welded on the vehicle body top, and the other end is welded on the road surface breakage detector; Other 2 end is welded on body structure, and the other end is welded on the road surface breakage detector.
Said surface deformation detector comprises CCD area array cameras and high-power line style 532nm laser instrument; High-power line style 532nm laser instrument has 4 at least; Be fixed on the installing rack, wherein laterally install at least three, promptly be parallel to the cross section, road surface; At least one side direction installed, promptly with laterally acutangulate angle; Installing rack is fixed in the vehicle body top, and covers whole roof and extend to the vehicle body tail end outside, and high-power line style 532nm laser instrument is positioned on the outside installing rack of vehicle body tail end, and its laser is all to the road surface projection, and the CCD area array cameras is installed on the lower end of tail of the body.
Said installing rack comprises crossbeam and longeron, and longeron is two, is located at two ends respectively, and crossbeam is some, and two is one group; Be slidingly connected between crossbeam and the longeron; Each high-power line style 532nm laser instrument of laterally installing is fixed in wherein on one group the crossbeam separately; The high-power line style 532nm laser instrument that side direction is installed perhaps independently is installed on one group of crossbeam with the shared one group of crossbeam of laterally installing of high-power line style 532nm laser instrument, is provided with rubber sheet gasket between high-power line style 532nm laser instrument and the crossbeam.
Said high-power line style 532nm laser instrument comprises the transmitter and second prism, and the some laser that transmitter is launched diffuses into line laser through second prism and is projeced into the road surface, covers a lane width; The CCD area array cameras is taken the image in laser projection district, and coverage covers a lane width.
Said CCD area array cameras is provided with the filter element group; The filter element group comprises broad band pass filter and narrow band pass filter; Before wherein broad band pass filter was installed in the camera lens of CCD area array cameras, narrow band pass filter was installed between the imageing sensor of camera lens and CCD area array cameras.
Owing to adopted such scheme; The present invention has following characteristics: 1. the structured light pattern that utilizes at least 3 bundle x wire laser and 1～2 bundle line of dip laser to form carries out projection to flexible pavement; Can obtain the horizontal out-of-flatness degree and vertical out-of-flatness degree of flexible pavement simultaneously; Also be two-dimentional planeness, solved when directly utilizing information structuring road surface, cross section, road surface three-dimensional appearance can't the longitudinal strain of accurate description road surface problem; 2. when adopting at least 4～5 bunch laser structure light to detect surface deformation, only need 1 high speed high definition area array cameras can obtain the longitudinal strain degree on road surface fast through image calculation; Carry out the region class location 3.GPS road pavement is damaged, the mileage range unit obtains the road surface and damages the concrete pile No. position with respect to route, for the net level and the project level maintenance management of road are provided convenience.
Description of drawings
Fig. 1 is the side arrangement sketch map of an embodiment of the present invention;
Fig. 2 is the preceding sketch map of arranging of car embodiment illustrated in fig. 1;
Fig. 3 is that the tailstock embodiment illustrated in fig. 1 is arranged sketch map;
Fig. 4 is that the high-power Linear Laser device of tailstock 532nm group embodiment illustrated in fig. 1 comprises the scheme of installation of at least 4 laser line generators when (containing 1 oblique laser instrument);
Fig. 5 is the corresponding road structure optical pattern of laser line generator mount scheme shown in Figure 4;
Fig. 6 is that the high-power Linear Laser device of tailstock 532nm group embodiment illustrated in fig. 1 comprises the scheme of installation of at least 5 laser line generators when (containing 2 oblique laser instruments);
Fig. 7 is the corresponding road structure optical pattern of laser line generator mount scheme shown in Figure 6;
Fig. 8 is the fundamental diagram of road surface breakage checkout gear shown in Figure 2;
Fig. 9 is the fundamental diagram of surface deformation checkout gear shown in Figure 3;
Figure 10 is the installation drawing of filter element group on the area array cameras shown in Figure 9.
The specific embodiment
Below in conjunction with the accompanying drawing illustrated embodiment the present invention is further described.
As shown in Figure 1, the improved flexible pavement of the present invention damages the comprehensive intelligent inspection vehicle, comprises vehicle body, road surface breakage detector 1, surface deformation detector, GPS device 3 and mileage range unit 8, and road surface breakage detector 1 is installed on the front end of vehicle body through support 2; The surface deformation detector is installed on the tail end of vehicle body; GPS device 3 is installed on the top of vehicle body; Mileage range unit 8 is installed on the axletree of inspection vehicle.Road surface breakage detector 1 comprises high speed high definition CCD line scan camera 19, laser illuminator device 17 and first prism 18, and wherein first prism 18 is placed on laser illuminator device 17 the place aheads, and the two all is arranged in parallel at CCD line scan camera 19 1 sides.The surface deformation detector comprises many (at least 4～5) high-power line style 532nm laser instrument 5,1 high speed high definition CCD area array cameras 6 and supporting filter element group 23 thereof; High-power line style 532nm laser instrument 5 is installed on the steelframe 4; The mode that steelframe 4 adds bolt anchoring through welding is fixed in the top of vehicle body; The length of steelframe 4 covers whole roof and extends to outside, tailstock edge always; High-power line style 532nm laser instrument 5 promptly is positioned on the outside steelframe 4 in this tailstock edge, and its laser all throws to the road surface.Wherein, The line laser bundle of at least 3 high-power line style 532nm laser instruments 5 is laterally (being parallel to the cross section, road surface); The line laser bundle of 1～2 high-power line style 532nm laser instrument 5 is oblique or diagonal cross (acutangulating angle with the cross section, road surface) in addition, and the direction of line laser bundle is regulated through the prism direction on the laser instrument; High speed high definition CCD area array cameras 6 is installed on the bottom of tail of the body through triangular supports 7, and the mode that support 7 adopts welding to add bolt 9 anchorings is fixed on the afterbody of vehicle body, fuses with vehicle body, and is as shown in Figure 3.
As shown in Figure 2, support 2 is made up of the steel that 4 root beads are connected on the vehicle body, and wherein an end of 2 is welded on roof; The other end is welded on the road surface breakage detector 1; Before other 2 end was welded on car, the other end was welded on the road surface breakage detector 1 equally, and triangular supports is of a pair respectively.Support 2 should have enough rigidity, and coordinates with body stiffness, avoids excessive shock when vehicle '.
Fig. 4 is an embodiment of the concrete layout sketch map of high-power line style 532nm laser instrument 5, and is as shown in the figure, and steelframe 4 comprises crossbeam 10 and longeron 11, and longeron 11 is two, is located at two ends respectively, and crossbeam 10 is at least 6,2 one group.High-power line style 532nm laser instrument 5 comprises the laser instrument 12 (being called for short horizontal laser instrument) of 3 emission x wire laser beams and the laser instrument 13 (being called for short oblique laser instrument) of 1 emission line of dip laser beam in this example; Wherein 3 horizontal laser instruments 12 are installed on wherein on one group of crossbeam 10 separately; 13 in oblique laser instrument is installed on middle one group of crossbeam 10, installs side by side with the horizontal laser instrument 12 on this group crossbeam 10.Each high-power line style 532nm laser instrument 5 all passes through anchor bolt 14 and links to each other with crossbeam 10; Be provided with rubber sheet gasket 15 between high-power line style 532nm laser instrument 5 and the crossbeam; Make high-power line style 532nm laser instrument 5 compact more, and can alleviate the destruction of anchoring pressure high-power line style 532nm laser instrument 5 with being connected of steelframe 4; The crossbeam 10 of steelframe 4 adopts the mode that is slidingly connected with longeron 11, in order to the spacing of adjustment laser array.
Fig. 5 is the laser structure optical pattern that laser instrument shown in Figure 4 is arranged embodiment, and wherein 3 bundle x wire laser are parallel shape, and parallel with the road surface cross-sectional direction, and 1 bundle line of dip laser intersects with x wire laser.
Fig. 6 is another embodiment of the concrete layout sketch map of high-power line style 532nm laser instrument 5.With embodiment illustrated in fig. 4 different be; In the present embodiment; Be positioned at a horizontal laser instrument only has been installed on the central crossbeam between two parties; One side of this crossbeam (the near tailstock one side) has then increased by one group of crossbeam 16 that is used to install oblique laser instrument, and 2 oblique laser instruments 13 are housed on the crossbeam 16, and is centered at interval.Regulate the prism angle of oblique laser instrument, make 2 bundle line of dip laser beams and the x wire laser beam that is positioned at central authorities be acute angle (10～45 °) symmetry and intersect and meet at a bit.All the other of present embodiment are provided with all with embodiment illustrated in fig. 4 identical.
Fig. 7 is the laser structure optical pattern that laser instrument shown in Figure 6 is arranged embodiment, and wherein 3 bundle x wire laser are parallel shape, and parallel with the road surface cross-sectional direction, and 2 bundle line of dip laser and x wire laser are acute angle (10～45 °) symmetrical chiasma and meet at a bit.
Fig. 8 is the fundamental diagram of road surface breakage checkout gear; The point laser that laser illuminator device 17 is launched diffuses into line laser through first prism 18; Be incident upon on the table 20 of road; This line laser has certain width (width generally is not less than 7mm), should cover the sweep limits of high speed high definition CCD line scan camera 19.This road surface breakage detector 1 road pavement round the clock carries out continuously or interval shooting, and CCD line scan camera 19 is answered firm, stable with laser illuminator device 17 and being connected of vehicle body, avoids in the vehicle ' process misplacing because of vibrations cause taking pictures position and lighting position.
Shown in Figure 9 is the fundamental diagram of surface deformation checkout gear.As shown in the figure, high-power line style 532nm laser instrument 5 is made up of the transmitter 21 and second prism 22, and the some laser that transmitter 21 is launched diffuses into line laser through second prism 22 and is projeced into the road surface, covers a lane width; On the camera of high speed high definition CCD area array cameras 6 and the camera lens filter element group 23 has been installed, to get rid of the interference of sunshine; High speed high definition CCD area array cameras 6 is taken the image in laser projection district, and coverage can cover a lane width.
Shown in Figure 10 is the scheme of installation of filter element group 23 supporting on the high speed high definition CCD area array cameras 6.Filter element group 23 is made up of broad band pass filter 24 and narrow band pass filter 25, and before wherein broad band pass filter 24 was installed in camera lens 26, narrow band pass filter 25 was installed between camera lens 26 and the ccd image sensor 27.
Operating principle of the present invention is: the high speed high definition CCD line scan camera of installing before the car 19 can be continuously under the situation of laser illuminator device 17 floor lights or the pavement image of compartment of terrain shooting clear, thereby obtain the damaged information of road surface, comprises the crack, cheats groove etc.At least 4～5 high-power Linear Laser devices 5 that the tailstock is installed; Wherein at least 3 bundles x wire laser beam that is parallel to the cross section, track is projeced into the road surface; And throw 1～2 bundle and the acutangulate line of dip laser beam in cross section, track and x wire laser beams intersect or symmetrical chiasma in addition, constitute the road structure optical pattern.Structured light pattern when the road surface is the ideal plane is defined as the canonical form of road structure light, and when there was distortion in the road surface, the structured light pattern also correspondingly deformed.Because the structured light pattern forms images in same width of cloth image, therefore can be according to the corresponding relation of distressed structure optical pattern and canonical form, the mode of handling through image obtains real surface deformation.Wherein, the lateral deformation on x wire laser beam reaction road surface, and the Combined Treatment of horizontal laser beam and oblique laser beam can obtain the longitudinal strain on road surface.If the absolute elevation of given initial measuring point, and make the structured light pattern cover the road surface continuously, just can obtain the absolute two-dimentional elevation on whole road surface, and set up real road surface threedimensional model in view of the above.
The road surface breakage detector 1 of flexible pavement damage Intelligent Measurement car of the present invention road pavement round the clock carries out continuously or interval shooting; Wherein illuminating line laser should possess certain width; High speed high definition CCD line scan camera 19 is answered firm, stable with laser illuminator device 17 (prism 18 is fixed on the light-emitting window of laser illuminator device 17) with being connected of vehicle body, avoids in the vehicle ' process because of vibrations cause taking pictures position and lighting position dislocation; The surface deformation detector that the vehicle afterbody is installed utilizes structured light projection principle road pavement two dimension planeness (being 3 D deformation) to detect, and effectively overcomes the interference of sunshine on daytime; Be equipped with GPS device 3 and mileage range unit 8 in the car, but the road pavement failure area position, and obtain the road surface and damage accurate pile No. position with respect to route.High speed high definition CCD line scan camera 19, laser illuminator device 17, high-power line style 532nm laser instrument 18, high speed high definition CCD area array cameras 6 all are connected with central processing unit with the interior vehicle power of car.CCD line scan camera 19 transfers to the central memory that be arranged on car in the image of taking through Ethernet interface with tailstock CCD area array cameras 6 before the car, treats the successive image processing.In sum, the road surface breakage detector is through the damaged situation on shooting high definition pavement image detection road surface, and the surface deformation detector obtains the deformation behaviour on road surface through the structured light distortion pattern of taking special shape.
The above-mentioned description to embodiment is can understand and use the present invention for ease of the those of ordinary skill of this technical field.The personnel of skilled obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (8)
1. an improved flexible pavement damages the comprehensive intelligent inspection vehicle; It is characterized in that: comprise vehicle body, road surface breakage detector, surface deformation detector, GPS device and mileage range unit; The road surface breakage detector is installed on the front end of vehicle body, obtains road surface breakage information through taking pavement image; The surface deformation detector is installed on the tail end of vehicle body, confirms surface deformation information through the distortion that three beams parallel laser line at least and a branch of at least laser rays that intersects with the parallel laser line are projeced into ground; The GPS device is installed on the top of vehicle body; The mileage range unit is installed on the axletree of inspection vehicle.
2. improved flexible pavement as claimed in claim 1 damages the comprehensive intelligent inspection vehicle; It is characterized in that: said road surface breakage detector comprises CCD line scan camera, laser illuminator device and first prism; First prism places laser illuminator device the place ahead, and first prism and laser illuminator device are arranged in juxtaposition the side in the CCD line scan camera.
3. improved flexible pavement as claimed in claim 2 damages the comprehensive intelligent inspection vehicle, it is characterized in that: the line laser of the some laser that said laser illuminator device is launched after the diffusion of first prism, width is not less than 7mm.
4. according to claim 1 or claim 2 improved flexible pavement damages the comprehensive intelligent inspection vehicle; It is characterized in that: said road surface breakage detector is fixed on the vehicle body through support; Support comprises 4 connecting rods; Wherein an end of 2 is welded on the vehicle body top, and the other end is welded on the road surface breakage detector; Other 2 end is welded on body structure, and the other end is welded on the road surface breakage detector.
5. improved flexible pavement as claimed in claim 1 damages the comprehensive intelligent inspection vehicle; It is characterized in that: said surface deformation detector comprises CCD area array cameras and high-power line style 532nm laser instrument, and high-power line style 532nm laser instrument has 4 at least, is fixed on the installing rack; Wherein laterally install at least three; Promptly be parallel to the cross section, road surface, at least one side direction installed, promptly with laterally acutangulate angle; Installing rack is fixed in the vehicle body top, and covers whole roof and extend to the vehicle body tail end outside, and high-power line style 532nm laser instrument is positioned on the outside installing rack of vehicle body tail end, and its laser is all to the road surface projection, and the CCD area array cameras is installed on the lower end of tail of the body.
6. improved flexible pavement as claimed in claim 5 damages the comprehensive intelligent inspection vehicle, and it is characterized in that: said installing rack comprises crossbeam and longeron, and longeron is two, is located at two ends respectively, and crossbeam is some, and two is one group; Be slidingly connected between crossbeam and the longeron; Each high-power line style 532nm laser instrument of laterally installing is fixed in wherein on one group the crossbeam separately; The high-power line style 532nm laser instrument that side direction is installed perhaps independently is installed on one group of crossbeam with the shared one group of crossbeam of laterally installing of high-power line style 532nm laser instrument, is provided with rubber sheet gasket between high-power line style 532nm laser instrument and the crossbeam.
7. improved flexible pavement as claimed in claim 5 damages the comprehensive intelligent inspection vehicle; It is characterized in that: said high-power line style 532nm laser instrument comprises the transmitter and second prism; The point laser that transmitter is launched diffuses into line laser through second prism and is projeced into the road surface, covers a lane width; The CCD area array cameras is taken the image in laser projection district, and coverage covers a lane width.
8. improved flexible pavement as claimed in claim 1 damages the comprehensive intelligent inspection vehicle; It is characterized in that: said CCD area array cameras is provided with the filter element group; The filter element group comprises broad band pass filter and narrow band pass filter; Before wherein broad band pass filter was installed in the camera lens of CCD area array cameras, narrow band pass filter was installed between the imageing sensor of camera lens and CCD area array cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110437160.9A CN102518030B (en) | 2011-12-23 | 2011-12-23 | Improved comprehensive intelligent detecting vehicle for asphalt pavement damages |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110437160.9A CN102518030B (en) | 2011-12-23 | 2011-12-23 | Improved comprehensive intelligent detecting vehicle for asphalt pavement damages |
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| Publication Number | Publication Date |
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| CN102518030A true CN102518030A (en) | 2012-06-27 |
| CN102518030B CN102518030B (en) | 2014-05-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110437160.9A Expired - Fee Related CN102518030B (en) | 2011-12-23 | 2011-12-23 | Improved comprehensive intelligent detecting vehicle for asphalt pavement damages |
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| CN102749336A (en) * | 2012-07-09 | 2012-10-24 | 南京航空航天大学 | Structured light-based surface defect high-speed detection system and detection method thereof |
| CN108507529A (en) * | 2017-05-16 | 2018-09-07 | 重庆大学 | A kind of bridge joint slope sedimentation automatic detection device and vehicle |
| CN109975501A (en) * | 2019-03-22 | 2019-07-05 | 中国铁建大桥工程局集团有限公司 | A kind of inspection car for sponge city |
| CN111043974A (en) * | 2019-12-25 | 2020-04-21 | 长安大学 | Vehicle-mounted road edge height measuring system and method |
| CN111649708A (en) * | 2020-06-28 | 2020-09-11 | 河南大学 | Mountain slope length measuring instrument and measuring method |
| CN113780178A (en) * | 2021-09-10 | 2021-12-10 | 北京百度网讯科技有限公司 | Road detection method, road detection device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102749336A (en) * | 2012-07-09 | 2012-10-24 | 南京航空航天大学 | Structured light-based surface defect high-speed detection system and detection method thereof |
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| CN111043974A (en) * | 2019-12-25 | 2020-04-21 | 长安大学 | Vehicle-mounted road edge height measuring system and method |
| CN111043974B (en) * | 2019-12-25 | 2021-06-01 | 长安大学 | Measuring method based on vehicle-mounted measuring road edge height system |
| CN111649708A (en) * | 2020-06-28 | 2020-09-11 | 河南大学 | Mountain slope length measuring instrument and measuring method |
| CN113780178A (en) * | 2021-09-10 | 2021-12-10 | 北京百度网讯科技有限公司 | Road detection method, road detection device, electronic equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN102518030B (en) | 2014-05-21 |
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