CN102691252B - Rapid detecting system of urban infrastructure - Google Patents
Rapid detecting system of urban infrastructure Download PDFInfo
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Abstract
The invention relates to a rapid collecting system of an urban infrastructure, which comprises a set of positioning system, a road index collecting subsystem, a ground facility collecting subsystem, an overhead bottom surface collecting subsystem, a control system and an electric power system, wherein the road index collecting subsystem, the ground facility collecting subsystem and the overhead bottom surface collecting subsystem are respectively connected with the positioning system; the control system is simultaneously connected with the road index collecting subsystem, the ground facility collecting subsystem and the overhead bottom surface collecting subsystem; and the electric power system is used for supplying power to the road index collecting subsystem, the ground facility collecting subsystem and the overhead bottom surface collecting subsystem. The rapid collecting system has the advantages that the synchronous collection of urban infrastructures including roads, overheads, municipal administration and the like is integrated; control equipment can expand sensor control as required; the rapid collecting system is not limited by high influences to cause that part of roads can not be detected; the production cost of a product is reduced, and simultaneously the stability of the product is enhanced; and users can organize a measuring unit according to respective demand so that user-defined products are finally formed, and then the demands of the users are completely met.
Description
Technical field
The present invention relates to the system of a kind of urban infrastructure detection system, especially urban road, overhead, urban operating mechanism fast detecting.
Background technology
Using and promoting in view of the different facility separate detection technology in existing city, the degree of modularity that various subitem facilities detect is relatively high, as road detection vehicle car is well applied in the Road Detection in each province and city, urban operating mechanism inspection vehicle also becomes a kind of method generally using in digital urban management data acquisition.But because existing various detection system complexity, relevant device are various and unified integrated system, finally having caused cannot the required data of disposable collection and need separately multi collect, cause that cost increases, claim for eot.Meanwhile, existing equipment all exists various detection modules to fail flexibly apolegamy, and all products are on the market all global function products, can not meet user and match the demand of customizing functions product.Taking cost into account because the sensor of existing numerous checkout equipment assembling is on the market all to adopt overseas equipment, and power supply system all adopts is generator powered pattern, so caused product cost significantly soaring.
Regard to the problems referred to above of existing similar products on the market.Urban infrastructure rapid detection system in line with and meet under the prerequisite of existing detection index with light weight, the thought that convenient, module turns to main body and develop.Product is lighter, flexible, is applicable to the needs that all kinds of complicated cities are detected.
The major defect of prior art is: 1. there is no integrated integral system equipment, and cannot the required facility data of disposable collection; 2. control appliance has obvious limitation, can only connect existing equipment, is difficult to expand other sensors; 3. existing detection system restricting condition for use is too many, and carrying the type of car is all middle-size and small-size passenger vehicle, and in segment path, particularly town road exists the constraints of limit for height.The driving ability of human pilot is also had to restriction simultaneously.And generally carry car model and fix, greatly limited the compliance of product; 4. existing detection system equipment adopts overseas equipment more, and no matter very high from carrying the aspect costs of raw material such as car model, powering mode, and the supply time is long; 5. install for car body repacking and external-hanging structure part, the existing detection system modes that adopt destructive strong more, can not restore.All devices, structural member and year car one, some cannot be freely for convenience detach, and some even can not be dismantled.And reform technology complexity, the production time cycle is longer; 6. detection system is all that cluster is installed, and each system cannot independently exist.Cannot meet User Defined demand; 7. interiors of products composition is too fixing, and most of checkout equipment models are without substitute products.
Summary of the invention
The present invention solves the existing technical problem of prior art; High and the modular control system of design extendibility, the convenient various facilities in access city that expand gather necessary sensor, all kinds of facility data collections of integrated urban facilities.Controller is made up of template and each sensor control panel, and template is responsible for basis communication and is controlled, and each sensor control panel is realized separated sensor control, thereby is convenient to expand sensor to realize other functions.
It is miniature cross-country car or light-duty commercial vehicle that the present invention also has an object that a kind of year car type is provided, all devices is installed rear detection system Whole Equipment height can not exceed the general limit for height value in city, no longer be subject to limit for height affect and cause segment path not detect, and turning radius is little, particularly favourable under the complicated road conditions in city.The horizontal constraints of human pilot is reduced.To specifically year car model is less demanding, increased adaptive a kind of urban infrastructure rapid detection system of product simultaneously.
It is to solve the existing technical problem of prior art that the present invention also has an object; A kind of employing production domesticization sensor device is provided, and has revised powering mode, reduced largely the cost of production of product, strengthened the stability of product simultaneously.And eliminate a kind of urban infrastructure rapid detection system that the bad user of the high noisy, the vibrations etc. that bring under conventional electric generators powering mode experiences.
It is to solve the existing technical problem of prior art that the present invention has an object again; Provide a kind of and all gathered with restorability installation for car body repacking and the installation of external-hanging structure part, after dismounting, reducible one-tenth carries car reset condition.And reduce largely repacking workload, reduced a kind of urban infrastructure rapid detection system of life cycle of the product.
It is to solve the existing technical problem of prior art that the present invention has an object again; It is all to adopt external hanging type Installation Modes that a kind of all detections, computing equipment are provided.Each detection system is a detecting unit of composition separately, and user can organize according to demand separately that detecting unit is final forms self-defined product, meets a kind of urban infrastructure rapid detection system of user's oneself demand completely.
It is to solve the existing technical problem of prior art that the present invention finally has an object; The sensor control interface software of development and Design highly compatible, provides a kind of sensor height compatibility, and each system all can be selected arbitrarily by the compatible sensor of money more than ten.User can carry out a kind of urban infrastructure rapid detection system of collocation arbitrarily according to own demand.
Above-mentioned technical problem of the present invention is mainly solved by following technical proposals:
A kind of urban infrastructure rapid detection system, is characterized in that, comprises a set of navigation system being made up of satellite datum station, GPS, inertial navigation and DMI; The sensor software interface routine of a set of compatible multisensor control; The a set of Highway Evaluation index collection subsystem, ground installation data acquisition subsystem and the overhead bottom surface data acquisition subsystem that combine with navigation system; The control system of the high extendibility being simultaneously connected with Highway Evaluation index collection subsystem, ground installation data acquisition subsystem and overhead bottom surface data acquisition subsystem, be convenient to expand the various facility collections of access palpus sensor and realize its control; And the power system of powering to described road index collection subsystem, ground installation acquisition subsystem and overhead bottom surface acquisition subsystem.
The present invention includes the integrated synchronous controller based on modularity control thought, controller is made up of motherboard and each sensor control panel, motherboard is responsible for basis communication and is controlled, and each sensor control panel is realized separated sensor control, thereby is convenient to expand sensor to realize other functions.
The main innovative point of the present invention is:
(1) according to the thought of modularity control, adopt motherboard and daughter board conceptual design control appliance, motherboard is responsible for basis communication, and daughter board is responsible for realizing each sensor control, thereby reaches the object of any expansion sensor, and the system of being convenient to expands.
(2) be combined with highly stable crystal oscillator by GPS time service, set up the time reference of system; By datum station, inertial navigation, GPS and DMI combination, set up the space reference of system; By the coupling of high-precision time and space position, realize the space-time uniformity of system, can search locus corresponding to a certain moment, the time also can query event occurring by locus.
(3) Design and implementation the multisensor of vehicle-mounted urban facilities rapid detection system based on split-second precision coordinate system integrated with Synchronization Control scheme, and analyzed synchronous error under this scheme and on multisource data fusion after the impact of system accuracy of detection.While based on modularity control thought, is improved equipment expandability on traditional Synchronizing Control Devices basis, is convenient to increase as required capture and detection apparatus and realizes and controlling.。
(4) vehicle movement is carried out on the basis of dynamic analysis to the POS error correction model that has proposed the data processing method of the vehicle operating track based on fitting of a polynomial, detected based on the up short at control point, the vertical error calibration model of laser scanning inspection and the registration model of laser scanning three-dimensional space data and CCD image based on control point elevation.
(5) in the functional study of vehicle mounted road fast detecting and detection module, propose with variablees such as the initial vertical speed of vehicle, displacement, acceleration of gravity, taking the interval vehicle planeness computation model of aggregate-value as minimum target that jolt, capture the laser evenness detection algorithm of inertia compensation, solved common in the world roughness detection equipments and can not correctly provide lower than 25km/h a difficult problem for result; Solve laser lighting and structured light rut detection integrated technique, realized automation detection and the data acquisition of round-the-clock pavement image and the rut degree of depth.
(6) propose by sensor combinations such as line scan camera, laser line generator and high speed scanners, realize overhead bottom surface image data three-dimensional data synchronous acquisition, thereby realize overhead crack class disease and the identification of being out of shape class disease.
(7) novel on-vehicle power supply mode has been proposed.Adopt former car automatic vehicle set generator that electric power is provided, vehicular non-maintaining type battery pack, as power storage device, is carried out voltage transitions by voltage conversion apparatus simultaneously, finally by comprehensive power management equipment, power supply is controlled.This mode compares that traditional powering mode is more energy-conservation, quiet, safety.
(8), for car load integration of equipments, a kind of novel Integration Concept has been proposed.All devices adopts the plug-in Installation Modes of reversible.User can remove and install equipment fast, and the reset condition of the car of also publishing originally.
In above-mentioned a kind of urban infrastructure Fast Acquisition System, described road index collection subsystem comprises pavement disease acquisition module, planeness module, rut module and the facility module along the line of being combined with navigation system respectively; Described overhead bottom surface acquisition subsystem comprises overhead bottom surface disease module and the overhead bottom surface three-dimensional module of being combined with navigation system respectively.
In above-mentioned a kind of urban infrastructure rapid detection system, described pavement disease acquisition module comprises a road surface linear array CCD camera of being combined with navigation system by control system.
In above-mentioned a kind of urban infrastructure rapid detection system, described planeness module comprises range finding camera and the accelerometer of being combined with described navigation system by control system, and described range finding camera is two, is respectively left part range finding camera and right part range finding camera; Described accelerometer is two, is respectively left part accelerometer and right part accelerometer.
In above-mentioned a kind of urban infrastructure rapid detection system, described rut module comprises a rut CCD camera of being combined with navigation system by control system, and a linear structural laser device being connected with control system.
In above-mentioned a kind of urban infrastructure rapid detection system, described facility module along the line comprises by control system and front image C CD camera that described navigation system is combined, described front image C CD camera is two, is respectively left part front image C CD camera and right part front image C CD camera; Described left part front image C CD camera is connected with wheel encoder device by control system; Described right part front image C CD camera is combined with described navigation system by control system.
In above-mentioned a kind of urban infrastructure rapid detection system, described control system comprises computer host system and is arranged on image pick-up card, data collecting card, isochronous controller, image workstation and the data workstation on computer host system; Above-mentioned navigation system is in conjunction with being also connected with road surface linear array CCD camera by isochronous controller; Navigation system is in conjunction with being connected with right part front image C CD camera with left part front image C CD camera respectively by isochronous controller; Navigation system is in conjunction with being also connected with rut CCD camera by isochronous controller; Above-mentioned left part range finding camera, right part range finding camera, left part accelerometer and right part accelerometer are connected with described isochronous controller by data collecting card simultaneously.
Therefore, tool of the present invention has the following advantages: 1. navigation system has solved GPS Urban signal losing lock situation.In without gps signal situation, can there be inertial navigation and DMI to realize reckoning positioning; 2. controller, according to the design of modularity control thought, can conveniently expand other sensors and realize and controlling; 3. a year car type is miniature cross-country car or light-duty commercial vehicle, all devices is installed rear inspection vehicle whole height can not exceed the general limit for height value in city, no longer be subject to limit for height affect and cause segment path not detect, and turning radius is little, particularly favourable under the complicated road conditions in city.The horizontal constraints of human pilot is reduced.To specifically year car model is less demanding, increased the compliance of product simultaneously; 4. all the sensors equipment all domesticizes.And revise powering mode, reduced largely the cost of production of product, strengthened the stability of product simultaneously.And eliminate bad user such as the high noisy, the vibrations etc. that bring under conventional electric generators powering mode and experienced; 5. all gather with restorability installation for car body repacking and the installation of external-hanging structure part, after dismounting, reducible one-tenth carries car reset condition.And reduce largely repacking workload, reduced life cycle of the product; 6. all detections, computing equipment are all to adopt external hanging type Installation Modes.Each detection system is a detecting unit of composition separately, and user can organize according to demand separately that detecting unit is final forms self-defined product, meets user's oneself demand completely; 7. sensor height compatibility, each system all can be selected arbitrarily by the compatible sensor of money more than ten.User can arrange in pairs or groups arbitrarily according to own demand.
Brief description of the drawings
Accompanying drawing 1 is a kind of fundamental diagram of the present invention.
Accompanying drawing 2 is subsystem syndeton schematic diagrams of the present invention.
Accompanying drawing 3 is operating principle schematic diagrames of pavement disease acquisition module in the present invention.
Accompanying drawing 4 is operating principle schematic diagrames of rut module in the present invention.
Accompanying drawing 5 is operating principle schematic diagrames of facility module along the line in the present invention.
Accompanying drawing 6 is operating principle schematic diagrames of planeness module in the present invention.
Accompanying drawing 7 is operating principle schematic diagrames of power system in the present invention.
Accompanying drawing 8 is the main TV structure schematic diagrames after installation of the present invention.
Accompanying drawing 9 is control system operating principle schematic diagrames of the present invention.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
A kind of urban infrastructure Fast Acquisition System of the present invention, is characterized in that, comprises a set of positioning control system; The road index collection subsystem, ground installation acquisition subsystem and the overhead bottom surface acquisition subsystem that are connected with navigation system respectively; Control system simultaneously that be connected with road index collection subsystem, ground installation acquisition subsystem and overhead bottom surface acquisition subsystem; And the power system of powering to described road index collection subsystem, ground installation acquisition subsystem and overhead bottom surface acquisition subsystem.
Introduce in detail structure and the workflow of several systems of the present invention below:
1. as shown in the figure, power system adopts:
(1) on-vehicle battery is as whole product power source.Its storage of electrical energy also provides electric energy to other equipment;
(2) product all devices is all direct current supply, product is used safer;
(3) vehicular charge mode, extends product continuous working period.
It should be noted that: the power supply mode that this product mainly adopts is: Vehicular accumulator cell group provides electric power source total system direct current supply (interchangeable interchange).Utilizing automobile to carry silicon sends out or is equipped with charger and charge.
If do not adopt this kind of pattern, can utilize small generator or replacing automobile to carry silicon and send out (changing into powerful).So just, need not adopt battery pack as electric power source.
2. road index collection subsystem comprises the pavement disease acquisition module, planeness module, rut module and the facility module along the line that are connected with navigation system respectively;
2.1. pavement disease acquisition module comprises a described road surface linear array CCD camera being connected with navigation system by control system.The operating principle of linear array CCD camera is that single exposure obtains a line view data, in order to obtain continuously pavement image clearly, need camera to take continuously road surface according to certain spacing distance (the corresponding width of roadway of a line image), then the image of these a line is spliced according to some sizes, can obtain a complete pavement image.For ensureing the integrality of pavement image, must guarantee that the every double exposure space interval of camera equals the corresponding road surface of a pixel real space distance.Specific works flow process as shown in the figure.
2.2. planeness module comprises the range finding camera and the accelerometer that are connected with described navigation system by control system, and range finding camera is two, is respectively left part range finding camera and right part range finding camera; Described accelerometer is two, is respectively left part accelerometer and right part accelerometer.This system adopts 2 laser sensors and 2 synthetic inertia of groups of acceleration sensors to detect in real time with reference to vertical section of road surface section detection system the vertical section of road surface section curve that comprises short wavelength and long wavelength, obtain various pavement evaluation indexs, its system acquisition handling process as shown in the figure simultaneously.
2.3. rut module comprises a rut CCD camera being connected with navigation system by control system, and a linear structural laser device being connected with control system.The function of rut detection controller and processing subsystem is by the altitude data on line-structured laser scanner high-speed and continuous scanning road surface, generate the digital elevation model (DEM) on road surface by data processing software, and can calculate length, the degree of depth and the area of rut, wave is gathered around the discrepancy in elevation and the area of bag, the degree of depth of depression and area, the degree of depth and the area etc. of hole groove, provide corresponding form.Its acquisition testing flow process as shown in the figure.
2.4. facility module along the line comprises the front image C CD camera being connected with described navigation system by control system, and front image C CD camera is two, is respectively left part front image C CD camera and right part front image C CD camera; Described left part front image C CD camera is connected with described navigation system by control system; Described right part front image C CD camera is connected with described navigation system by control system.The function of road ahead image data acquiring and processing subsystem is to gather road ahead image by many high-resolution color Digital CCD Cameras with certain interval, detect principle according to up short, in order to make clear picture undistorted, all photographic images digitlizations are stored in high capacity digital storage media, for real-time or daemon software processing, its collecting flowchart as shown in the figure.
3. overhead bottom surface acquisition subsystem comprises the overhead bottom surface disease module and the overhead bottom surface three-dimensional module that are connected with navigation system respectively.
The acquisition principle of overhead bottom surface disease module, with pavement disease acquisition module, has here just repeated no more;
The acquisition principle of overhead bottom surface three-dimensional module, with facility module along the line, has here also repeated no more.
4. as shown in the figure, control system of the present invention comprises computer host system and is arranged on image pick-up card, data collecting card, isochronous controller, image workstation and the data workstation on computer host system; Above-mentioned navigation system is also connected with road surface linear array CCD camera by isochronous controller; Navigation system is connected with right part front image C CD camera with left part front image C CD camera respectively by isochronous controller; Navigation system is also connected with rut CCD camera by isochronous controller; Above-mentioned left part range finding camera, right part range finding camera, left part accelerometer and right part accelerometer are connected with described isochronous controller by data collecting card simultaneously, the present invention also comprises a navigation system, described navigation system is connected with above-mentioned isochronous controller, and Synchronizing Control Devices adopts motherboard and daughter board mode to work.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendments or supplement or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (7)
1. a urban infrastructure rapid detection system, is characterized in that, comprises a set of navigation system; The road index collection subsystem, ground installation acquisition subsystem and the overhead bottom surface acquisition subsystem that are connected with navigation system respectively; Control system simultaneously that be connected with road index collection subsystem, ground installation acquisition subsystem and overhead bottom surface acquisition subsystem; And the power system of powering to described road index collection subsystem, ground installation acquisition subsystem and overhead bottom surface acquisition subsystem.
2. a kind of urban infrastructure rapid detection system according to claim 1, it is characterized in that, described road index collection subsystem comprises the pavement disease acquisition module, planeness module, rut module and the facility module along the line that are connected with navigation system respectively; Described overhead bottom surface acquisition subsystem comprises the overhead bottom surface disease module and the overhead bottom surface three-dimensional module that are connected with navigation system respectively.
3. a kind of urban infrastructure rapid detection system according to claim 2, is characterized in that, described pavement disease acquisition module comprises a road surface linear array CCD camera being connected with wheel encoder device by control system.
4. a kind of urban infrastructure rapid detection system according to claim 2, it is characterized in that, described planeness module comprises the range finding camera and the accelerometer that are connected with described navigation system by control system, described range finding camera is two, is respectively left part range finding camera and right part range finding camera; Described accelerometer is two, is respectively left part accelerometer and right part accelerometer.
5. a kind of urban infrastructure rapid detection system according to claim 2, is characterized in that, described rut module comprises a rut CCD camera being connected with navigation system by control system, and a linear structural laser device being connected with control system.
6. a kind of urban infrastructure rapid detection system according to claim 4, it is characterized in that, described facility module along the line comprises the front image C CD camera being connected with described navigation system by control system, described front image C CD camera is two, is respectively left part front image C CD camera and right part front image C CD camera; Described left part front image C CD camera is connected with wheel encoder device by control system; Described right part front image C CD camera is connected with described navigation system by control system.
7. a kind of urban infrastructure rapid detection system according to claim 6, it is characterized in that, described control system comprises computer host system and is arranged on image pick-up card, data collecting card, isochronous controller, image workstation and the data workstation on computer host system; Above-mentioned navigation system is also connected with road surface linear array CCD camera by isochronous controller; Navigation system is connected with right part front image C CD camera with left part front image C CD camera respectively by isochronous controller; Wheel encoder device is also connected with rut CCD camera by isochronous controller; Above-mentioned left part range finding camera, right part range finding camera, left part accelerometer and right part accelerometer are connected with described isochronous controller by data collecting card simultaneously.
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| CN104805760B (en) * | 2015-03-31 | 2017-03-15 | 山东省公路桥梁检测中心 | A kind of pavement disease information automation collecting vehicle and acquisition method |
| CN108711287A (en) * | 2018-05-31 | 2018-10-26 | 吉林化工学院 | A kind of Intelligent traffic information acquiring analysis process system |
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| JP2000194983A (en) * | 1998-12-28 | 2000-07-14 | Nichireki Co Ltd | Road surface and roadside photographing vehicle |
| KR100758705B1 (en) * | 2007-02-01 | 2007-09-21 | 위성동 | Construction of aautomatic measurement system for road pavement surface condition |
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