CN104864909A - Road surface pothole detection device based on vehicle-mounted binocular vision - Google Patents

Abstract

The invention is a road surface pothole detection device based on vehicle-mounted binocular vision, which includes a GPS module, a binocular camera module, a vibration sensor module, an external trigger module, a power supply module, a main controller module, an external storage module, a computer, and a high-speed memory And the router, the GPS module locates the position of the vehicle in real time, and divides the frequency to the binocular camera module at equal intervals. The binocular camera module collects road images once every time it receives a trigger signal from the GPS module. At the same time, the vibration sensor module receives the signal from the GPS module. The initial trigger signal collects the vibration information of the car body, the main controller module processes the information with synchronous time information collected by the vibration sensor module and the GPS module, and the computer processes and analyzes the image data information transmitted by the binocular camera module. The invention combines multi-sensor data collection, and can effectively locate the latitude and longitude of road potholes through computer algorithm processing, and calculate the area and depth information of road potholes.

Description

A road surface pothole detection device based on vehicle-mounted binocular vision

technical field

The invention belongs to the field of road quality detection, and in particular relates to a road surface pothole detection device combined with a binocular camera, a GPS, a vibration sensor and a main control chip.

Background technique

With the rapid development of my country's economy, the use of vehicles has become more and more common. At the same time, urban roads will be affected or greatly affected by the long-term driving of vehicles, the impact of wheels, and natural factors such as wind, sun, floods, and sand or small damages that form potholes. The number of potholes on the road surface is an important criterion for measuring road quality. Potholes on the road surface are not only related to the service life of the road, but also affect the driving experience of drivers and passengers in the vehicle and affect driving safety.

The traditional pavement pothole measurement is generally manually searched and recorded, which is time-consuming, laborious and inefficient. At present, foreign advanced technologies are widely used in pavement pothole detection, but due to the relatively large investment in equipment, and the inconvenience of maintenance and maintenance of foreign related equipment, it is difficult to promote them in China. There are relatively few researches and equipment on road surface pothole detection in China, and most of them are measuring instruments with mature international indicators such as road surface roughness. In terms of road pothole positioning, the traditional bump accumulator can only measure the curve of the road profile but cannot obtain the spatial position information of the road pothole. In terms of area and depth measurement, the traditional monocular camera can only measure the horizontal and vertical Measurement in two dimensions is even more ineffective in determining the three-dimensional coordinates of spatial structures such as road potholes.

Contents of the invention

The purpose of the present invention is to overcome the problem of pavement pothole defects that cannot be measured by traditional road surface detection instruments, and combine binocular cameras, GPS, three-axis accelerometers, etc., and aim at the diversity and wide distribution of pavement potholes to solve the problem of pavement pits Difficulties in measuring slot location, area, and depth information.

In order to achieve the above-mentioned technical purpose and achieve the above-mentioned technical effect, the present invention is realized through the following technical solutions:

A road surface pothole detection device based on vehicle-mounted binocular vision, including a collection terminal, a data processing module, and a data analysis and storage module arranged on the vehicle, wherein:

The acquisition terminal includes a GPS module, and a binocular camera module and a vibration sensor module respectively connected to the GPS module. The GPS module locates the position of the vehicle in real time, and sends a synchronous trigger signal to the binocular camera module at equal intervals. Every time the camera module receives a trigger signal from the GPS module, the road surface image is collected once, and the vibration sensor module starts to collect the vibration information of the car body after receiving the synchronous trigger signal from the GPS module;

The data processing module includes a main controller module, and an external trigger module, a power supply module and an external storage module that are respectively connected to the main controller module, the GPS module and the vibration sensor module are connected to the main controller module, and the GPS module and the vibration sensor module are connected to the main controller module. The sensor module transmits the position and vibration information with synchronous time information to the main controller module for processing, and the main controller module stores the processed information in the external storage module, and the external trigger module is used to control the main controller The module sends a synchronous trigger pulse, and the main controller module sends a signal to the GPS module to record the GPS information at that time after receiving the trigger pulse;

The data analysis and storage module includes a computer, the computer is connected to the binocular camera module through a router, and the computer is respectively connected to an external storage module and a high-speed memory, and the computer calculates and analyzes the image data transmitted by the binocular camera module information, and accept the sampling data transmitted by the external storage module, and the high-speed memory is used to store the data information processed by the computer.

Further, the external trigger module is manually triggered by the on-vehicle tester if and only when the vehicle does not pass through a pothole on the road surface but can be observed by human eyes.

Further, the binocular camera module adopts a DCFS800H industrial CCD camera.

Further, the sensor module adopts a three-axis accelerometer LIS34DE chip.

Further, the main controller module adopts STM32F107RC chip.

Further, the high-speed memory adopts Samsung CN850EVOSSD memory.

Further, the external trigger module adopts a button mode.

The beneficial effects of the present invention are:

The invention combines multi-sensor data collection, and can effectively locate the latitude and longitude of road potholes through computer algorithm processing, and calculate the area and depth information of road potholes. These data can not only become the identification basis of the electronic map, but also provide reference for the maintenance of urban traffic conditions, and can also play a certain guiding role in the driver's driving process, which has very important engineering practical significance, and has a simple structure and strong anti-interference ability , high reliability.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the acquisition terminal in the present invention;

Fig. 2 is the structural representation of data processing module in the present invention;

Fig. 3 is a schematic structural diagram of the data analysis and storage module in the present invention.

Explanation of symbols in the figure: 1. GPS module, 2. Binocular camera module, 3. Vibration sensor module, 4. External trigger module, 5. Power supply module, 6. Main controller module, 7. External storage module, 8. Computer , 9, high-speed memory, 10, router.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

A road surface pothole detection device based on vehicle-mounted binocular vision, including a collection terminal, a data processing module, and a data analysis and storage module arranged on the vehicle, wherein:

With reference to shown in Figure 1, described acquisition terminal comprises GPS module 1, and the binocular camera module 2 that connects GPS module 1 and vibration sensor module 3 respectively, described GPS module 1 locates the position of vehicle in real time, and equally spaced frequency divides to The binocular camera module 2, the binocular camera module 2 collects road surface images once every time it receives a trigger signal from the GPS module 1, and the vibration sensor module 3 starts to collect the vehicle body after receiving the initial trigger signal from the GPS module 1 vibration information;

With reference to shown in Figure 2, described data processing module comprises main controller module 6, and the external trigger module 4 that connects main controller module 6, power supply module 5 and external storage module 7 respectively, described GPS module 1 and vibration sensor module 3. Connect the main controller module 6, the GPS module 1 and the vibration sensor module 3 transmit the position and vibration information with synchronous time information to the main controller module 6 for processing, and the main controller module 6 will process the information Stored in the external storage module 7, the external trigger module 4 is used to send a trigger pulse to the main controller module 6, and the main controller module 6 sends a signal for recording the GPS information at that time to the GPS module 1 after receiving the trigger pulse;

With reference to shown in Figure 3, described data analysis and storage module comprise computer 8, described computer 8 connects binocular camera module 2 by router 10, and described computer 8 connects external storage module 7 and high-speed memory 9 respectively, described computer 8 By calculating and analyzing the image data information transmitted by the binocular camera module 2, and accepting the sampling data transmitted by the external storage module 7, the high-speed memory 9 is used to store the data information processed by the computer 8.

The external trigger module 4 is manually triggered by the on-vehicle tester if and only when the vehicle does not pass through a pothole on the road surface but can be observed by human eyes.

The binocular camera module 2 adopts a DCFS800H industrial CCD camera.

The sensor module 3 adopts a three-axis accelerometer LIS34DE chip.

The main controller module 6 adopts STM32F107RC chip.

Described high-speed memory 9 adopts Samsung CN850EVOSSD memory.

The external trigger module 4 adopts a button mode.

Principle of the present invention:

As shown in Figure 1, the GPS module 1 locates the position of the vehicle in real time, and divides the synchronous trigger signal to the binocular camera module 2 at equal intervals. The binocular camera module 2 collects road images every time it receives a trigger signal from the GPS module 1. once. Simultaneously, the vibration sensor module 3 starts to collect the vibration information of the vehicle body after receiving the synchronous trigger signal of the GPS module.

As shown in Figure 2, the main controller module 6 carries out data processing with the information with synchronous time information collected by the vibration sensor module 3 and the GPS module 1, and the power supply module 5 is responsible for providing power support to the main controller module 6, and the external trigger Module 4 is independent of GPS module 1, binocular camera module 2 and vibration sensor module 3, and is connected to the main controller module 6 separately. When the main controller module 6 receives the synchronous trigger pulse of the external trigger module 4, it immediately sends a signal to the GPS module , and record the GPS information at that time, the external trigger module 4 is manually triggered by the on-board tester if and only when the vehicle does not pass through the road potholes but can be observed by human eyes, and the external storage module 7 is responsible for storing the data processed by the main controller 6. information.

As shown in Figure 3, the computer 8 calculates and analyzes the image data information transmitted by the binocular camera module 2 through the router 10 through an image processing method, and accepts a large amount of sampling data transmitted by the external storage module 7, and the high-speed memory 9 is responsible for storing the computer 8 A large amount of data information processed.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. A road surface pothole detection device based on vehicle-mounted binocular vision, is characterized in that, comprises the collection terminal that is arranged on the vehicle, data processing module, data analysis and storage module, wherein: The collection terminal includes a GPS module (1), a binocular camera module (2) and a vibration sensor module (3) respectively connected to the GPS module (1), the GPS module (1) locates the position of the vehicle in real time, and etc. The interval frequency division synchronous trigger signal is sent to the binocular camera module (2), and the binocular camera module (2) collects road surface images once every time it receives a trigger signal from the GPS module (1), and at the same time, the vibration sensor module (3 ) Start collecting the vibration information of the car body after receiving the synchronous trigger signal from the GPS module (1); The data processing module includes a main controller module (6), an external trigger module (4), a power supply module (5) and an external storage module (7) respectively connected to the main controller module (6), and the GPS module ( 1) and the vibration sensor module (3) are connected to the main controller module (6), and the GPS module (1) and the vibration sensor module (3) transmit the position and vibration information with synchronous time information to the main controller module ( 6), the main controller module (6) stores the processed information in the external storage module (7), and the external trigger module (4) is used to send a synchronous trigger pulse to the main controller module (6) , the main controller module (6) sends a signal to the GPS module (1) to record the GPS information at that time after receiving the trigger pulse; The data analysis and storage module includes a computer (8), the computer (8) is connected to the binocular camera module (2) through a router (10), and the computer (8) is connected to an external storage module (7) and a high-speed Memory (9), the computer (8) calculates and analyzes the image data information transmitted by the binocular camera module (2), and accepts the sampling data transmitted by the external storage module (7), and the high-speed memory (9) It is used to store the data information processed by the computer (8). 2. The vehicle-mounted binocular vision-based road pothole detection device according to claim 1, characterized in that the external trigger module (4) is only when the vehicle does not pass through the road potholes but can be observed by human eyes Manually triggered by on-board testers. 3. The vehicle-mounted binocular vision-based road pothole detection device according to claim 1, wherein the binocular camera module (2) adopts a DCFS800H industrial CCD camera. 4. The vehicle-mounted binocular vision-based road pothole detection device according to claim 1, wherein the sensor module (3) adopts a three-axis accelerometer LIS34DE chip. 5. The vehicle-mounted binocular vision-based road surface pothole detection device according to claim 1, characterized in that the main controller module (6) adopts an STM32F107RC chip. 6. The road surface pothole detection device based on vehicle-mounted binocular vision according to claim 1, characterized in that the high-speed memory (9) adopts Samsung CN850EVOSSD memory. 7. The road surface pothole detection device based on vehicle-mounted binocular vision according to claim 2, characterized in that the external trigger module (4) adopts a button mode.