CN102518030B - 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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- CN102518030B CN102518030B CN201110437160.9A CN201110437160A CN102518030B CN 102518030 B CN102518030 B CN 102518030B CN 201110437160 A CN201110437160 A CN 201110437160A CN 102518030 B CN102518030 B CN 102518030B
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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 traffic engineering field, relate to pavement detection car, especially a kind of inspection vehicle for damage of bituminous pavement situation.
Background technology
Along with increasing substantially and the cumulative year after year of the traffic volume of high-grade highway and speedway mileage, under the prerequisite of not disturbing traffic, road pavement is damaged and is detected accurately and rapidly the active demand that becomes pavement maintenance management.The main damage of flexible pavement can be divided into surface fracture class and distortion class, and scope and the normally foundation of asphalt pavement maintenance of degree that this two class is damaged, come out or pavement detection equipment in conceptual phase also damages as main to detect this two class.The nondestructive testing that is wherein treated to technical foundation with image is the important directions of this area research, but current technical level is still not mature enough, particularly automation context of detection, and most application still rest on experimental stage.
In pavement damage detects, detect road surface breakage and generally adopt field operation to take pictures or the mode of photography, interior industry identification, more ripe recognition mode mostly is manual identified or semi-automatic identification, and automatically identification and Real time identification not yet have and stablize ripe application.Different from the technology path that breakage detection is relatively single, surface deformation detects the multiple technologies form that presents, 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 technically quick, the nondestructive testing of road pavement distortion, automaticity is also higher.Comparatively speaking, laser rotary mirror detects, because complex structure, the application that involves great expense are in practice few; Thereby optical interference detects owing to being not suitable for the detection under dynamic environment to shaking extremely sensitivity.Nowadays apply maximum relatively traditional many laser sensors that are still and detect, although all there is defect in accuracy of detection and method, technology maturation, cheap.Structured light detects that the theory of surface deformation is existing so far exceedes the history of 20 years, but time using laser as structured light is not long.Current most laser structure light all exists and can only detect or be subject at night the problem that vibration influence accuracy of detection is not high.In addition, no matter adopt which kind of technology, all have the problem of ignoring road surface 3 D deformation at present for the detection of surface deformation, the road surface three-dimensional appearance of setting up can not accurately reflect road surface duty.And at present also all there is following point in integrated pavement detection equipment to some extent: damage location technology and only adopt GPS or only adopt mileage controller, have GPS location not accurately, mileage control ignores again overall inferior position; Checkout gear and vehicle body are not integraty designs, are difficult to ignore in driving process vehicle body or checkout gear and shake the impact on testing result.
In view of the foregoing, although the existing multiple road surface automatic detection system appearance based on image processing, its application in actual production practice is still very limited, and the research in this field still exists very large space.
Summary of the invention
The object of the invention is to address the above problem, a kind of improved bituminous pavement damage integrated intelligent detection vehicle is provided, its characteristics of compact layout, vehicle body and checkout gear rigidity are coordinated, under normal travel speed, can be detected road surface breakage and distortion simultaneously, and can obtain damage position.
Solution of the present invention is:
A kind of improved bituminous pavement damage integrated intelligent detection vehicle, comprise vehicle body, road surface breakage detector, surface deformation detector, GPS device and mileage range unit, road surface breakage detector is installed on the front end of vehicle body, obtains road surface breakage information by taking pavement image; Surface deformation detector is installed on the tail end of vehicle body, determines surface deformation information by the distortion that at least three beams parallel laser line and at least a branch of laser rays intersecting with parallel laser line are projeced into ground; GPS device is installed on the top of vehicle body; Mileage range unit is installed on the axletree of inspection vehicle.
Further, described road surface breakage detector comprises CCD line scan camera, laser illuminator device and the first prism, and the first prism is placed in laser illuminator device front, and the first prism and laser illuminator device are arranged in juxtaposition the side in CCD line scan camera.
The line laser of the some laser that described laser illuminator device is launched after the first prism diffusion, width is not less than 7mm.
Described road surface breakage detector is fixed on vehicle body by support, and support comprises 4 connecting rods, and wherein one end of 2 is welded on vehicle body top, and the other end is welded on road surface breakage detector; One end of other 2 is welded on body structure, and the other end is welded on road surface breakage detector.
Described 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 installing rack, wherein laterally install at least three, be parallel to cross section, road surface, at least one side direction installed, with laterally acutangulate angle; Installing rack is fixed on vehicle body top, and covers whole roof and extend to vehicle body tail end outside, and high-power line style 532nm laser instrument is positioned on the installing rack of vehicle body tail end outside, and its laser is all to road surface projection, and CCD area array cameras is installed on the lower end of tail of the body.
Described installing rack comprises crossbeam and longeron, and longeron is two, is located at respectively two ends, and crossbeam is some, and two is one group; Between crossbeam and longeron, be slidably connected; The high-power line style 532nm laser instrument of each horizontal installation is fixed on wherein on the crossbeam of a group separately, the high-power line style 532nm laser instrument that side direction is installed shares one group of crossbeam or is independently installed on one group of crossbeam with the high-power line style 532nm laser instrument of laterally installing, and between high-power line style 532nm laser instrument and crossbeam, is provided with rubber sheet gasket.
Described high-power line style 532nm laser instrument comprises transmitter and the second prism, and the some laser that transmitter is launched diffuses into line laser through the second prism and is projeced into road surface, covers a lane width; CCD area array cameras is taken the image in laser projection district, and coverage covers a lane width.
Described CCD area array cameras is provided with filter element group, filter element group comprises broad band pass filter and narrow band pass filter, wherein broad band pass filter is arranged on before the camera lens of CCD area array cameras, and narrow band pass filter is arranged between camera lens and the imageing sensor of CCD area array cameras.
Owing to having adopted such scheme, the present invention has following characteristics: 1. utilize the structured light pattern of at least 3 bundle x wire laser and 1～2 bundle line of dip laser composition to carry out projection to flexible pavement, can obtain horizontal out-of-flatness degree and longitudinal out-of-flatness degree of flexible pavement simultaneously, also be two-dimentional planeness, solved while directly utilizing information structuring road surface, cross section, road surface three-dimensional appearance cannot the longitudinal strain of accurate description road surface problem; 2. in the time 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 fast by image calculation the longitudinal strain degree on road surface; 3.GPS road pavement is damaged and is carried out region class location, and mileage range unit obtains the concrete pile No. position of pavement damage with respect to route, for net level and the project level maintenance management of road are provided convenience.
Accompanying drawing explanation
Fig. 1 is the side arrangement schematic diagram of an embodiment of the present invention;
Fig. 2 is the front schematic diagram of arranging of car embodiment illustrated in fig. 1;
Fig. 3 is that the tailstock embodiment illustrated in fig. 1 is arranged schematic diagram;
Fig. 4 is the high-power Linear Laser device of tailstock 532nm group embodiment illustrated in fig. 1 scheme of installation while comprising at least 4 laser line generators (containing 1 oblique laser instrument);
Fig. 5 is the road structure optical pattern that the mount scheme of laser line generator shown in Fig. 4 is corresponding;
Fig. 6 is the high-power Linear Laser device of tailstock 532nm group embodiment illustrated in fig. 1 scheme of installation while comprising at least 5 laser line generators (containing 2 oblique laser instruments);
Fig. 7 is the road structure optical pattern that the mount scheme of laser line generator shown in Fig. 6 is corresponding;
Fig. 8 is the fundamental diagram of the checkout gear of road surface breakage shown in Fig. 2;
Fig. 9 is the fundamental diagram of the checkout gear of surface deformation shown in Fig. 3;
Figure 10 is the installation drawing of filter element group on area array cameras shown in Fig. 9.
The specific embodiment
Below in conjunction with accompanying drawing illustrated embodiment, the present invention is further illustrated.
As shown in Figure 1, the improved bituminous pavement damage integrated intelligent detection vehicle of the present invention, 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 by support 2; 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 the first prism 18, and wherein the first prism 18 is placed on laser illuminator device 17 fronts, and the two is all arranged in parallel at CCD line scan camera 19 1 sides.Surface deformation detector comprises 5,1 high speed high definition CCD area array cameras 6 of many (at least 4～5) high-power line style 532nm laser instrument and supporting filter element group 23 thereof, high-power line style 532nm laser instrument 5 is installed on steelframe 4, the mode that steelframe 4 adds bolt anchoring by welding is fixed on 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 is positioned on the steelframe 4 of this outside, tailstock edge, and its laser all projects to road surface.Wherein, the line laser bundle of at least 3 high-power line style 532nm laser instruments 5 is laterally (being parallel to cross section, road surface), the line laser bundle of another 1～2 high-power line style 532nm laser instrument 5 is oblique or diagonal cross (acutangulating angle with cross section, road surface), and the direction of line laser bundle regulates by the prism direction on laser instrument; High speed high definition CCD area array cameras 6 is installed on the bottom of tail of the body by triangular supports 7, the mode that support 7 adopts welding to add bolt 9 anchorings is fixed on the afterbody of vehicle body, is connected, as shown in Figure 3 with vehicle body.
As shown in Figure 2, the steel that support 2 is connected on vehicle body by 4 root beads form, and wherein one end of 2 is welded on roof, the other end is welded on road surface breakage detector 1, one end of other 2 is welded on before car, and the other end is welded on 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 in the time of Vehicle Driving Cycle.
Fig. 4 is an embodiment of the concrete layout schematic diagram of high-power line style 532nm laser instrument 5, and as shown in the figure, steelframe 4 comprises crossbeam 10 and longeron 11, and longeron 11 is two, is located at respectively two ends, and crossbeam 10 is at least 6,2 one group.In this example, high-power line style 532nm laser instrument 5 comprises the laser instrument 12 (being called for short horizontal laser instrument) of 3 transmitting x wire laser beams and the laser instrument 13 (being called for short oblique laser instrument) of 1 transmitting line of dip laser beam, wherein 3 horizontal laser instruments 12 are installed on wherein on one group of crossbeam 10 separately, in the middle of being installed on, on one group of crossbeam 10, installs side by side with the horizontal laser instrument 12 on this group crossbeam 10 by 13, oblique laser instrument.Each high-power line style 532nm laser instrument 5 is connected with crossbeam 10 by anchor bolt 14, between high-power line style 532nm laser instrument 5 and crossbeam, be provided with rubber sheet gasket 15, make high-power line style 532nm laser instrument 5 compacter with being connected of steelframe 4, and can alleviate the destruction of anchoring pressure to high-power line style 532nm laser instrument 5; The crossbeam 10 of steelframe 4 and longeron 11 adopt the mode that is slidably connected, in order to adjust the spacing of laser array.
Fig. 5 is the laser structure optical pattern that laser instrument shown in Fig. 4 is arranged embodiment, and wherein 3 bundle x wire laser are parallel shape, and parallel with 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 schematic diagram of high-power line style 532nm laser instrument 5.From embodiment illustrated in fig. 4 different be, in the present embodiment, be positioned on central crossbeam a horizontal laser instrument has only been installed between two parties, one side (the near tailstock one side) of this crossbeam has increased by one group for the crossbeam 16 of oblique laser instrument is installed, 2 oblique laser instruments 13 are housed on crossbeam 16, and are interval and arrange between two parties.Regulate the prism angle of oblique laser instrument, to be acute angle (10～45 °) symmetrical crossing and meet at a bit with being positioned at central x wire laser beam to make 2 bundle line of dip laser beams.All the other of the present embodiment arrange all with embodiment illustrated in fig. 4 identical.
Fig. 7 is the laser structure optical pattern that laser instrument shown in Fig. 6 is arranged embodiment, wherein 3 bundle x wire laser are parallel shape, and parallel with road surface cross-sectional direction, 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 the first prism 18, be incident upon on the table 20 of road, this line laser has certain width (width is generally 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 round the clock road pavement carries out continuously or interval shooting, and CCD line scan camera 19 and laser illuminator device 17 are answered firm stable with being connected of vehicle body, avoids causing taking pictures position and lighting position dislocation because shaking in Vehicle Driving Cycle process.
It shown in Fig. 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 transmitter 21 and the second prism 22, and the some laser that transmitter 21 is launched diffuses into line laser through the second prism 22 and is projeced into road surface, covers a lane width; On the camera of high speed high definition CCD area array cameras 6 and camera lens, filter element group 23 is 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.
It shown in Figure 10, is the scheme of installation of filter element group 23 supporting on 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 wherein broad band pass filter 24 is arranged on before camera lens 26, and narrow band pass filter 25 is arranged between camera lens 26 and ccd image sensor 27.
Operating principle of the present invention is: the high speed high definition CCD line scan camera 19 of installing before car can be continuously the in the situation that of laser illuminator device 17 floor light or the pavement image of compartment of terrain shooting clear, thereby obtain the damaged information of road surface, comprises crack, cheats groove etc.At least 4～5 high-power Linear Laser devices 5 that the tailstock is installed, the x wire laser beam that wherein at least 3 bundles are parallel to cross section, track is projeced into road surface, and project in addition 1～2 bundle and the acutangulate line of dip laser beam in cross section, track and x wire laser beams intersect or symmetrical chiasma, form road structure optical pattern.Structured light pattern when road surface is ideal plane is defined as the canonical form of road structure light, and in the time that road surface exists distortion, structured light pattern also correspondingly deforms.Due to the imaging in same piece image of structured light pattern, therefore can, according to the corresponding relation of distressed structure optical pattern and canonical form, obtain real surface deformation by the mode of image processing.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 structured light pattern cover continuously road surface, can obtain the absolute two-dimentional elevation on whole road surface, and set up accordingly real road surface threedimensional model.
The road surface breakage detector 1 of damage of bituminous pavement Intelligent Measurement car of the present invention round the clock road pavement carries out continuously or interval shooting, wherein illuminating line laser should possess certain width, high speed high definition CCD line scan camera 19 and laser illuminator device 17 (prism 18 is fixed on the light-emitting window of laser illuminator device 17) are answered firm stable with being connected of vehicle body, avoid causing taking pictures position and lighting position dislocation because shaking in Vehicle Driving Cycle process; The surface deformation detector that vehicle tail 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; In car, be equipped with GPS device 3 and mileage range unit 8, can position by road pavement failure area, and obtain the accurate pile No. position of pavement damage 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, be all connected with vehicle power and central processing unit in car.Before car, CCD line scan camera 19 and tailstock CCD area array cameras 6 transfer to the image of shooting the central memory being arranged in car by Ethernet interface, treat successive image processing.In sum, road surface breakage detector detects the damaged condition on road surface by taking high definition pavement image, and surface deformation detector obtains the deformation behaviour on road surface by the structured light distortion pattern of taking special shape.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.Person skilled in the art obviously can easily make various modifications to these embodiment, and General Principle described herein is applied in other embodiment and needn't passes through performing creative labour.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 departing from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (6)
1. an improved bituminous pavement damage integrated intelligent detection vehicle, it is characterized in that: comprise vehicle body, road surface breakage detector, surface deformation detector, GPS device and mileage range unit, road surface breakage detector is installed on the front end of vehicle body, obtains road surface breakage information by taking pavement image; Surface deformation detector is installed on the tail end of vehicle body, determines surface deformation information by the distortion that at least three beams parallel laser line and at least a branch of laser rays intersecting with parallel laser line are projeced into ground; GPS device is installed on the top of vehicle body; Mileage range unit is installed on the axletree of inspection vehicle;
Described road surface breakage detector comprises CCD line scan camera, laser illuminator device and the first prism, and the first prism is placed in laser illuminator device front, and the first prism and laser illuminator device are arranged in juxtaposition the side in CCD line scan camera;
Described road surface breakage detector is fixed on vehicle body by support, and support comprises 4 connecting rods, and wherein one end of 2 is welded on vehicle body top, and the other end is welded on road surface breakage detector; One end of other 2 is welded on body structure, and the other end is welded on road surface breakage detector.
2. improved bituminous pavement damage integrated intelligent detection vehicle as claimed in claim 1, is characterized in that: the line laser of the some laser that described laser illuminator device is launched after the first prism diffusion, width is not less than 7mm.
3. improved bituminous pavement damage integrated intelligent detection vehicle as claimed in claim 1, it is characterized in that: described 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 installing rack, wherein laterally install at least three, be parallel to cross section, road surface, at least one side direction installed, with laterally acutangulate angle; Installing rack is fixed on vehicle body top, and covers whole roof and extend to vehicle body tail end outside, and high-power line style 532nm laser instrument is positioned on the installing rack of vehicle body tail end outside, and its laser is all to road surface projection, and CCD area array cameras is installed on the lower end of tail of the body.
4. improved bituminous pavement damage integrated intelligent detection vehicle as claimed in claim 3, is characterized in that: described installing rack comprises crossbeam and longeron, longeron is two, is located at respectively two ends, and crossbeam is some, and two is one group; Between crossbeam and longeron, be slidably connected; The high-power line style 532nm laser instrument of each horizontal installation is fixed on wherein on the crossbeam of a group separately, the high-power line style 532nm laser instrument that side direction is installed shares one group of crossbeam or is independently installed on one group of crossbeam with the high-power line style 532nm laser instrument of laterally installing, and between high-power line style 532nm laser instrument and crossbeam, is provided with rubber sheet gasket.
5. improved bituminous pavement damage integrated intelligent detection vehicle as claimed in claim 3, it is characterized in that: described high-power line style 532nm laser instrument comprises transmitter and the second prism, the point laser that transmitter is launched diffuses into line laser through the second prism and is projeced into road surface, covers a lane width; CCD area array cameras is taken the image in laser projection district, and coverage covers a lane width.
6. improved bituminous pavement damage integrated intelligent detection vehicle as claimed in claim 3, it is characterized in that: described CCD area array cameras is provided with filter element group, filter element group comprises broad band pass filter and narrow band pass filter, wherein broad band pass filter is arranged on before the camera lens of CCD area array cameras, and narrow band pass filter is arranged between camera lens and the imageing sensor of CCD area array cameras.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110437160.9A CN102518030B (en) | 2011-12-23 | 2011-12-23 | Improved comprehensive intelligent detecting vehicle for asphalt pavement damages |
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| CN201110437160.9A CN102518030B (en) | 2011-12-23 | 2011-12-23 | Improved comprehensive intelligent detecting vehicle for asphalt pavement damages |
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| CN102518030A CN102518030A (en) | 2012-06-27 |
| CN102518030B true CN102518030B (en) | 2014-05-21 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102749336B (en) * | 2012-07-09 | 2015-01-07 | 南京航空航天大学 | Structured light-based surface defect high-speed detection system and detection method thereof |
| CN108507529B (en) * | 2017-05-16 | 2024-02-06 | 重庆大学 | Bridge slope subsides automatic checkout device and vehicle |
| CN109975501B (en) * | 2019-03-22 | 2022-03-15 | 中国铁建大桥工程局集团有限公司 | A patrol and examine car for sponge city |
| 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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| CN201424620Y (en) * | 2009-01-20 | 2010-03-17 | 南京理工大学 | Green laser pavement track road shape detecting system |
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| JPS6473415A (en) * | 1987-09-16 | 1989-03-17 | Hitachi Ltd | Optical disk sub-system |
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| JPH1073415A (en) * | 1996-08-30 | 1998-03-17 | Tokimec Inc | Far infrared radiation image pickup device |
| CN1548653A (en) * | 2003-05-15 | 2004-11-24 | 南京理工大学 | Intelligent 3D laser road state detecting vehicle |
| CN2658211Y (en) * | 2003-08-28 | 2004-11-24 | 武汉武大卓越科技有限责任公司 | Intelligent automatic detecting vehicle for road surface |
| CN201424620Y (en) * | 2009-01-20 | 2010-03-17 | 南京理工大学 | Green laser pavement track road shape detecting system |
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