CN106012780A - Road surface detection equipment and road surface detection method - Google Patents
Road surface detection equipment and road surface detection method Download PDFInfo
- Publication number
- CN106012780A CN106012780A CN201610560553.1A CN201610560553A CN106012780A CN 106012780 A CN106012780 A CN 106012780A CN 201610560553 A CN201610560553 A CN 201610560553A CN 106012780 A CN106012780 A CN 106012780A
- Authority
- CN
- China
- Prior art keywords
- module
- pavement
- guardrail
- detection
- pavement detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Structures (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses road surface detection equipment and a road surface detection method. The road surface detection equipment comprises a motion module, as well as a power supply module, a road surface detection module, a power detection module and a guardrail detection module which are arranged on the motion module, wherein the power supply module is used for supplying electric energy for the road surface detection equipment; the road surface detection module is used for detecting whether the road surface at the current location is damaged based on a road surface image; the power detection module is used for detecting whether the power of the power supply module is normal or not when detecting that the road surface is not damaged or detecting that the road surface is damaged and sending the road surface image at the corresponding position to a background server; the guardrail detection module is used for detecting whether guardrails in an area to be advanced are normal or not when detecting that the power of the power supply module is normal; the motion module is used for conducting movement by taking the guardrails as guide rails when detecting that the guardrails in the area to be advanced are normal. According to the technical scheme, under the condition without manual operation, the automatic detection on the road surface can be realized.
Description
Technical field
The present invention relates to intelligent transportation field, particularly to a kind of pavement detection equipment and road surface
Detection method.
Background technology
Traditional highway detection be typically highway maintenance team highway continual enter
Pedestrian's work is patrolled, and when the road surface found occurs damaged, relevant position is carried out maintaining.
Existing this detection method, needs staff to detect on the spot, thus results in manpower
Relatively costly；Additionally, during staff detects on a highway, its meeting
Impacting the traffic efficiency of highway, also can there is certain safety in staff simultaneously
Hidden danger.
Summary of the invention
The present invention provides a kind of pavement detection equipment and pavement detection method, it is intended at least solve
One of technical problem present in prior art.
For achieving the above object, the invention provides a kind of pavement detection equipment, including: electricity
Source module, pavement detection module, electric power detection module, guardrail detection module and motion module,
Described power module, described pavement detection module, described electric power detection module and the inspection of described guardrail
Survey module to be respectively positioned in motion module；
Described power module is for providing electric energy for described pavement detection equipment；
Described pavement detection module is used for obtaining the pavement image of current location, and based on described
The road surface of pavement image detection current location is the most damaged, and is detecting that road surface exists breakage
Time, the described pavement image of correspondence position is sent to background server；
At described pavement detection unit, described electric power detection module is for detecting that road surface does not exists
Time damaged, and detect that road surface exists breakage and by correspondence position in described pavement detection module
Described pavement image when sending to background server, whether detect the electricity of described power module
Normally；
Described guardrail detection module is for detecting described power supply mould in described electric power detection module
When the electricity of block is normal, whether detect the corresponding described pavement detection equipment of guardrail region to be advanced
Normally；
Described motion module is for detecting the corresponding described road of described guardrail at guardrail detection module
Face detection equipment, when the region advanced is normal, moves with described guardrail for guide rail.
Alternatively, also including: control module, described control module is positioned at described motion module
On；
Described control module is for detecting described power module in described electric power detection module
During electricity exception, and detect the corresponding described road surface of described guardrail at described guardrail detection module
Detection equipment, when the regional anomaly advanced, controls power module and quits work.
Alternatively, also including: locating module, described locating module is positioned in motion module；
Described locating module is used for obtaining the positional information of described pavement detection equipment, and in institute
State pavement detection module and detect when road surface exists damaged, the positional information of correspondence position is sent
To described pavement detection module, for described pavement detection module by described positional information and described
Pavement image is sent along to background server.
Alternatively, described guardrail is corrugated guardrail, and described motion module includes: agent structure,
Top board structure and at least one motion structure, described motion structure and the first of described agent structure
Side connects, and described top board structure is connected and from the first side with the upper surface of described agent structure
Stretching out, the end of described top board structure is provided with the first hook structure；
Described first hook structure is for engaging with the upper edge of corrugated guardrail；
Described motion structure is for the upper edge at described first hook structure Yu corrugated guardrail
During engaging, contact to move along corrugated guardrail with the surface of described corrugated guardrail.
Alternatively, the end of described first hook structure is provided with the first roller.
Alternatively, described motion module also includes: base arrangement, described base arrangement and institute
The lower surface stating agent structure connects and stretches out from the first side, and the end of described base arrangement sets
It is equipped with the second hook structure；
Described second hook structure is for engaging with the upper edge of corrugated guardrail.
Alternatively, the end of described second hook structure is provided with the second roller.
Alternatively, it is provided with between described motion module and described motion structure and agent structure
Shock-damping structure；
Described shock-damping structure is used for reducing described motion structure institute along corrugated guardrail motor process
The vibrations produced.
Alternatively, described shock-damping structure includes: contiguous block and spring, the two ends of described spring
It is connected with described motion structure and described contiguous block respectively, described contiguous block and described motion structure
Connect.
Alternatively, described motion includes: several wheel hub motors, wherein, works as wheel hub
When the quantity of motor is more than 1, whole described wheel hub motors be arranged in parallel.
Alternatively, described corrugated guardrail includes: if several first protuberances spaced and
Dry the first recess；
When described first hook structure engages with the upper edge of corrugated guardrail, described motion
Structure is positioned at described first recess.
Alternatively, described first side is provided with several second recesses, when described first
When hook structure engages with the upper edge of corrugated guardrail, described second recess is first convex with described
Portion is correspondingly arranged.
Alternatively, described pavement detection module is positioned at the top of described top board structure, described road
Be provided with rotary connection structure between face detection module and described top board structure, described in be rotatably connected
Structure includes: horizontal rotation connects unit and vertical rotary connection unit, and described horizontal rotation is even
Order unit is positioned at the upper surface of described top board structure, described vertical rotary connection unit and described water
Flat rotary connection unit connects and pavement detection module connects；
Described horizontal rotation connects unit and is used for driving the vertical rotary connection unit of described master and institute
State pavement detection module to rotate in horizontal plane；
Described vertical rotary connection unit is used for driving pavement detection module to enter in perpendicular
Row rotates.
Alternatively, described horizontal rotation connection unit includes: the first rotary shaft；
Described first rotary shaft is vertically arranged, and its one end is connected with top board structure, separately
One end is connected with vertical rotary connection unit.
Alternatively, described vertical rotary connection unit includes: the second rotary shaft, the first connection
Axle, the 3rd rotary shaft and the second connecting shaft；
Described second rotary shaft and the 3rd rotary shaft are the most horizontally disposed, and described first even
Spindle is the most arranged in a crossed manner with described second rotary shaft and described 3rd rotary shaft, and described second connects
Axle and the 3rd rotary shaft are arranged in a crossed manner,
Described second rotary shaft is connected unit with described horizontal rotation and connects；
The two ends of described first connecting shaft are connected with the second rotary shaft and the 3rd rotary shaft respectively；
The two ends of the second connecting shaft are connected with the 3rd rotary shaft and pavement detection module respectively.
Alternatively, described guardrail detection module be positioned at described agent structure the second side and/or
3rd side, described second side and described 3rd side are two adjacent with described first side
Individual side.
Alternatively, described power module and described electric power detection module are respectively positioned on described body junction
In structure.
Alternatively, also include: solar charging panel, described solar charging panel and described electricity
Source module connects, for being charged for described power module.
Alternatively, described pavement detection module includes: the first video camera, the first image procossing
Unit and communication unit；
Described first video camera is used for obtaining pavement image；
Described first graphics processing unit is worked as with detection for processing described pavement image
The road surface of front position is the most damaged；
Described communication unit is broken for detecting that road surface exists at described first graphics processing unit
During damage, the described pavement image of correspondence position is sent to background server.
Alternatively, described guardrail detection module includes: the second video camera and the second image procossing
Unit；
Described second video camera is to be advanced for obtaining the corresponding described pavement detection equipment of guardrail
The guardrail image in region；
Described second graphics processing unit protects with detection for processing described guardrail image
The region that the corresponding described pavement detection equipment in hurdle is to be advanced is the most normal.
For achieving the above object, present invention also offers a kind of pavement detection method, described road
Face detection method includes based on above-mentioned pavement detection equipment, described pavement detection method:
Described power module provides electric energy for described pavement detection equipment；
Described pavement detection module obtains the pavement image of current location, and based on described road surface
The road surface of image detection current location is the most damaged；
When described pavement detection unit detects that road surface exists damaged, the most described pavement detection
The described pavement image of correspondence position is sent to background server by unit, described electric power detection mould
The electricity of block detection power module is the most normal；When described pavement detection unit detects that road surface is not
When existing damaged, the electricity of the most described electric power detection module detection power module is the most normal；
When the electricity that described electric power detection module detects described power module is normal, then institute
Whether state the guardrail detection module corresponding described pavement detection equipment of detection guardrail region to be advanced
Normally；
When described guardrail detection module detects that the corresponding described pavement detection equipment of described guardrail is treated
When the region of advance is normal, the most described motion module is moved with described guardrail for guide rail, and
Re-execute above-mentioned pavement detection module and obtain the pavement image of current location, and based on described road
The step that the road surface of face image detection current location is the most damaged.
Alternatively, when described pavement detection equipment also includes control module；
When the electricity that described electric power detection module detects described power module is normal, then institute
State the control module described power module of control to quit work；
And, detect the corresponding described pavement detection of described guardrail at described guardrail detection module
Equipment is when the regional anomaly advanced, and the most described control module controls described power module and stops work
Make.
The method have the advantages that
The invention discloses a kind of pavement detection equipment and pavement detection method, including: motion
Module and the power module being arranged in motion module, pavement detection module, electric power detection mould
Block and guardrail detection module, wherein, power module is for providing electric energy for pavement detection equipment；
Pavement detection module is for obtaining the pavement image of current location, and works as based on pavement image detection
The road surface of front position is the most damaged, and when detecting that road surface exists damaged, by correspondence position
Pavement image sends to background server；Electric power detection module is for detecting at pavement detection unit
Go out road surface when there is not breakage, and it is damaged and will to detect that road surface exists in pavement detection module
When the pavement image of correspondence position sends to background server, whether the electricity of detection power module
Normally；In electric power detection module, guardrail detection module is for detecting that the electricity of power module is normal
Time, the region that detection guardrail correspondence pavement detection equipment is to be advanced is the most normal；Motion module is used
In detecting that the region that guardrail correspondence pavement detection equipment is to be advanced is normal at guardrail detection module
Time, move with guardrail for guide rail.Technical scheme, by being positioned at road surface
Above-mentioned pavement detection equipment is at least set on the guardrail of side, can there is no manually-operated situation
Under, it is achieved the automatic detection of road pavement.
Accompanying drawing explanation
The structural representation of a kind of pavement detection equipment that Fig. 1 provides for the embodiment of the present invention one,
As shown in Figure 1；
Fig. 2 is the top view of pavement detection equipment shown in Fig. 1；
Fig. 3 is the logic connection diagram of each module in pavement detection equipment shown in Fig. 1；
Fig. 4 is schematic diagram when being placed on corrugated guardrail of the pavement detection equipment shown in Fig. 1；
Fig. 5 is to engage between the first hook structure and the upper edge of corrugated guardrail in the present invention
Time schematic diagram；
Fig. 6 is the structural representation of a kind of shock-damping structure in the present invention；
Fig. 7 is the structural representation of road surface detection module in the present invention；
Fig. 8 is the structural representation of guardrail detection module in the present invention；
The structural representation of a kind of pavement detection equipment that Fig. 9 provides for the embodiment of the present invention two；
The flow chart of a kind of pavement detection method that Figure 10 provides for the embodiment of the present invention three.
Detailed description of the invention
For making those skilled in the art be more fully understood that technical scheme, knot below
Close accompanying drawing a kind of pavement detection equipment that the present invention is provided and and pavement detection method carry out in detail
Thin description.
The structural representation of a kind of pavement detection equipment that Fig. 1 provides for the embodiment of the present invention one,
Fig. 2 is the top view of pavement detection equipment shown in Fig. 1, and Fig. 3 is that pavement detection shown in Fig. 1 sets
The logic connection diagram of each module in Bei, as shown in Figure 1 to Figure 3, this pavement detection equipment
Including: power module 6, pavement detection module 2, electric power detection module 5, guardrail detection mould
Block 3 and motion module 1, power module 6, pavement detection module 2, electric power detection module 5
It is respectively positioned in motion module 1 with guardrail detection module 3.
Wherein, power module 6 is for providing electric energy for pavement detection equipment.
Pavement detection module 2 is used for obtaining the pavement image of current location, and based on road surface figure
As the road surface of detection current location is the most damaged, and when detecting that road surface exists damaged, by right
The pavement image answering position sends to background server.
Electric power detection module 5 is used for when pavement detection unit detects that road surface does not exists breakage,
And detect that road surface exists breakage and by the road surface figure of correspondence position in pavement detection module 2
During as sending to background server, the electricity of detection power module 6 is the most normal.
Guardrail detection module 3 for detecting the electricity of power module 6 in electric power detection module 5
When measuring normal, the region that detection guardrail correspondence pavement detection equipment is to be advanced is the most normal.
At guardrail detection module 3, motion module 1 is for detecting that guardrail correspondence pavement detection sets
Standby when the region advanced is normal, move with guardrail for guide rail.
In the present embodiment, above-mentioned by arranging on the guardrail of at least side being positioned at road surface
Pavement detection equipment, can be in the case of not having manual operation, it is achieved the automatic detection of road pavement.
Alternatively, this pavement detection equipment also includes: control module 7, and control module 7 is positioned at
In motion module 1；Control module 7 is for detecting power module 6 in electric power detection module 5
Electricity exception time, and detect guardrail correspondence pavement detection equipment at guardrail detection module 3
When the regional anomaly advanced, control power module 6 and quit work.
In the present embodiment, can get timely and accurately to go out on road surface for ease of testing staff
The positional information in existing damaged region.Alternatively, this pavement detection equipment, also include: location
Module 4, locating module 4 is positioned in motion module 1, and locating module 4 is used for obtaining road surface inspection
The positional information of measurement equipment, and when pavement detection module 2 detects that road surface exists damaged, will
The positional information of correspondence position sends to pavement detection module 2, will for pavement detection module 2
The positional information of correspondence position and pavement image are sent along to background server.Now, detection
Personnel's case can get positional information and the phase damaged region occur from background server simultaneously
Answer image.
Fig. 4 is schematic diagram when being placed on corrugated guardrail of the pavement detection equipment shown in Fig. 1,
As shown in Figure 4, in actual applications, it is contemplated that the aesthetic property of guardrail and crash-worthiness, guardrail one
As use corrugated guardrail 10, this corrugated guardrail 10 generally comprises: spaced several the
One protuberance and several first recesses.In the present embodiment, will with guardrail for corrugated guardrail 10 and
In case of corrugated guardrail 10 includes two the first protuberances and first recess, show
Example explanation.
Alternatively, motion module 1 includes: agent structure 11, top board structure 12 and at least
Individual motion structure 14, the first side of motion structure 14 and agent structure 11 is (towards waveform
The side of guardrail 10) connect, top board structure 12 be connected with the upper surface of agent structure 11 and
Stretching out from the first side, the end of top board structure 12 is provided with the first hook structure 13, and first
Hook structure 13 is used for engaging with the upper edge of corrugated guardrail 10, motion structure 14
For when the first hook structure 13 engages with the upper edge of corrugated guardrail 10, protecting with waveform
The surface on hurdle 10 contacts to move along corrugated guardrail 10.
It should be noted that agent structure 11 and top board structure 12 can one in the present embodiment
Body formed.
Fig. 5 is to engage between the first hook structure and the upper edge of corrugated guardrail in the present invention
Time schematic diagram, as it is shown in figure 5, in the present embodiment, by the first hook structure 13 with
Snap action power between the upper edge of corrugated guardrail 10, and the surface of corrugated guardrail 10
Support force to motion structure 14, whole motion module 1 can hang on corrugated guardrail 10.
When motion structure 14 is operated, due to the surface of motion structure 14 with corrugated guardrail 10
There is frictional force, then motion structure 14 can move along the surface of corrugated guardrail 10, the most in fact
Existing motion module 1 is moved with guardrail for guide rail.
Preferably, when the first hook structure 13 engages with the upper edge of corrugated guardrail 10,
Motion structure 14 is positioned at the first recess.In the present embodiment, by by motion structure 14
It is placed in the first recess of corrugated guardrail 10, is now placed in the first protuberance of the first recess both sides
The tracks of motion structure 14 can be defined, it is thus possible to effectively prevent motion structure 14
The phenomenon of " derailing " occurs.
Shown in Figure 4, alternatively, the first side is provided with several the second recesses 15,
When the first hook structure 13 engages with the upper edge of corrugated guardrail 10, the second recess 15
It is correspondingly arranged with the first protuberance.In the present embodiment, convex by correspondence first on the first side
The position in portion arranges the second recess 15, can be prevented effectively from agent structure 11 and corrugated guardrail 10
Produce collision.
It should be noted that in accompanying drawing only exemplary depict a motion structure 14, this
The technical staff in field it should also be understood that in actual applications can according to actual needs with
First side of agent structure 11 arranges multiple motion structure 14.
Alternatively, motion structure 14 is with including: several wheel hub motors.Wherein, wheel hub is worked as
When the quantity of motor is more than 1, whole wheel hub motors are be arranged in parallel.Art technology
Personnel are it should also be understood that in actual applications can number to wheel hub motor according to actual needs
Amount is adjusted.Additionally, wheel hub motor is the common apparatus in this area, concrete structure and work
Make principle to be not described in detail herein.
In actual applications, it is respectively positioned on motion mould due to power module 6 and each detection module
On block 1, thereby ensure that the stability that motion module 1 is in motor process is the most necessary.
To this end, in the present embodiment, at motion module 1 and motion structure 14 and agent structure 11
Between be provided with shock-damping structure 8, this shock-damping structure 8 can reduce effectively at motion structure 14
The produced shake of agent structure 11 (with top board structure 12) along corrugated guardrail 10 motor process
Dynamic.Fig. 6 is the structural representation of a kind of shock-damping structure in the present invention, and as shown in Figure 6, this subtracts
Shake structure 8 includes: contiguous block 81 and spring 82, and the two ends of spring 82 are tied with motion respectively
Structure 14 and contiguous block 81 connect, and contiguous block 81 is connected with motion structure 14.At motion structure
In 14 motor processs, the produced vibrations of motion structure 14 can be absorbed by spring 82, thus
Agent structure 11 (with top board structure 12) will not be transferred to, thus ensure that agent structure 11
The stable operation of (with top board structure 12).
In the motor process of motion module 1, the first hook structure 13 and corrugated guardrail 10
Between can produce certain frictional force, this frictional force is easily caused the first hook structure 13 and generates heat
And deform upon, thus have impact on the service life of pavement detection equipment.For solving above-mentioned skill
Art problem, shown in Figure 5, at the first hook structure 13 in the present embodiment alternatively
End arranges the first roller 16, and the first roller 16 contacts with the inner surface of corrugated guardrail 10,
To reduce between the first hook structure 13 and corrugated guardrail 10 in motion module 1 motor process
Frictional force.
In the present embodiment, pavement detection module 2 is positioned at the top of top board structure 12, road surface
Rotary connection structure, rotary connection structure it is provided with between detection module 2 and top board structure 12
Including: horizontal rotation connects unit and vertical rotary connection unit, and horizontal rotation connects unit position
In the upper surface of top board structure 12, vertical rotary connection unit be connected with horizontal rotation unit and
Pavement detection module 2 connects；Horizontal rotation connects unit and is used for driving vertical rotary connection unit
Rotate in horizontal plane with pavement detection module 2；Vertically rotary connection unit is used for driving
Pavement detection module 2 rotates in perpendicular.In the present embodiment, by examining on road surface
Survey rotary connection structure between module 2 and top board structure 12, can effectively promote pavement detection
The motility of module 2 and operability.
Still optionally further, horizontal rotation connection unit includes: the first rotary shaft 41；First
Rotary shaft 41 is vertically arranged, and its one end is connected with top board structure 12, and the other end is with perpendicular
Straight rotary connection unit connects.Vertically rotary connection unit includes: the second rotary shaft 42, the
One connecting shaft the 43, the 3rd rotary shaft 44 and the second connecting shaft 45；Second rotary shaft 42 and
Three rotary shafts 44 are the most horizontally disposed, the first connecting shaft 43 and the second rotary shaft 42 and
3rd rotary shaft 44 is the most arranged in a crossed manner, and the second connecting shaft 45 is intersected with the 3rd rotary shaft 44 and set
Putting, the second rotary shaft 42 is connected unit with horizontal rotation and connects, the two ends of the first connecting shaft 43
It is connected with the second rotary shaft 42 and the 3rd rotary shaft 44 respectively, the two ends of the second connecting shaft 45
It is connected with the 3rd rotary shaft 44 and pavement detection module 2 respectively.
In the present embodiment, rotate by controlling the first rotary shaft 41, can road pavement detection
Module 2 position in the horizontal plane is controlled, by controlling the second rotary shaft 42 and the 3rd
Rotary shaft 44 rotates, and can carry out the road pavement detection module 2 position on perpendicular
Control.It should be noted that the present embodiment can first pass through the second rotary shaft 42 road pavement inspection
Survey the module 2 position on perpendicular to control roughly, then recycling the 3rd rotary shaft
The 44 road pavement detection modules 2 position on perpendicular accurately controls.
In the present embodiment, for ease of guardrail detection module 3, guardrail is detected, can be by
Guardrail detection module 3 is placed in the second side and/or the 3rd side, the Qi Zhong of agent structure 11
Two side faces and the 3rd side are two adjacent with the first side sides.
Additionally, in the present embodiment, power module 6 and electric power detection module 5 are respectively positioned on main body
In structure 11, power module 6 and electric power detection module 5 can be protected by this agent structure 11
Protect.
Seeing shown in Fig. 2 and Fig. 4, alternatively, this pavement detection equipment also includes: the sun
Energy charging panel 9, solar charging panel 9 is connected with power module 6, is used for as power module 6
It is charged.Now, solar charging panel 9 may be disposed at the top of top board structure 12.
Fig. 7 is the structural representation of road surface detection module in the present invention, as it is shown in fig. 7, make
For a kind of concrete structure of road surface detection module 2 in the present embodiment, this pavement detection module 2
Including: the first video camera the 21, first graphics processing unit 22 and communication unit 23；Wherein,
First video camera 21 is used for obtaining pavement image；First graphics processing unit 22 is for road pavement
Image carries out processing to obtain the textural characteristics on the road surface of current location, and texture based on road surface
Feature judges that the road surface of current location is the most damaged；Communication unit 23 is at the first image
When reason unit 22 goes out road surface existence breakage, the pavement image of correspondence position is sent and takes to backstage
Business device.
Fig. 8 is the structural representation of guardrail detection module in the present invention, as shown in Figure 8, makees
For a kind of concrete structure of guardrail detection module 3 in the present embodiment, this guardrail detection module 3
Including: the second video camera 31 and the second graphics processing unit 32；Wherein, the second video camera 31
For obtaining the guardrail image in guardrail correspondence pavement detection equipment region to be advanced；Second image
Processing unit 32 is for processing guardrail image, to obtain the stricture of vagina of the guardrail of correspondence position
Manage feature, and textural characteristics based on this guardrail detection guardrail correspondence pavement detection equipment is waited to advance
Region the most normal.
It should be noted that in the present embodiment, above-mentioned first graphics processing unit 22 and
Two graphics processing units 32 can be same graphics processing unit, the first video camera 21 and second
Video camera 31 can also be same video camera.
The embodiment of the present invention one provides a kind of pavement detection equipment, and this pavement detection equipment can
It is arranged on the guardrail of at least side being positioned at road surface, and can there is no manually-operated situation
Under, it is achieved the automatic detection of road pavement situation.
Embodiment two
The structural representation of a kind of pavement detection equipment that Fig. 9 provides for the embodiment of the present invention two,
As described in Figure 9, pavement detection equipment shown in Fig. 9 and the district of the pavement detection equipment shown in Fig. 1
Not being, the motion module 1 of pavement detection equipment shown in Fig. 9 not only includes: agent structure
11, top board structure 12 and motion structure 14, but also include base arrangement 17, wherein base plate
Structure 17 is connected with the lower surface of agent structure 11 and stretches out from the first side, base arrangement
The end of 17 is provided with the second hook structure 18, and the second hook structure 18 is used for and corrugated guardrail
The upper edge of 10 engages.
In the present embodiment, by setting the base arrangement 17 with the second hook structure 18,
The motion module 1 stability in motor process can be ensured further.
Alternatively, the end of the second hook structure 18 is provided with the second roller 19.In this enforcement
In example, by arranging the second roller 19, the second hook structure 18 can be effectively reduced and protect with waveform
Frictional force between hurdle 10.
Embodiment three
The flow chart of a kind of pavement detection method that Figure 10 provides for the embodiment of the present invention three, as
Shown in Figure 10, this pavement detection method is based on the road surface in above-described embodiment one or embodiment two
Detection equipment, the description arranged for this pavement detection can be found in above-described embodiment one or embodiment
Content in two, here is omitted, and this pavement detection method includes:
Step S0, power module provide electric energy for pavement detection equipment.
Step S1, pavement detection module obtain the pavement image of current location, and based on road surface
The road surface of image detection current location is the most damaged.
In step sl, detect that the road surface of current location exists breakage when pavement detection unit
Time, then perform step S2；When pavement detection unit detects that the road surface of current location does not exists
Time damaged, then perform step S3.
The pavement image of correspondence position is sent to background service by step S2, pavement detection unit
Device.
It should be noted that when pavement detection equipment includes locating module, then in step
In rapid S2, pavement detection unit is by acquired in the pavement image of correspondence position and locating module
Positional information is sent along to background server.
The electricity of step S3, electric power detection module detection power module is the most normal.
In step s3, when electric power detection module detects the electricity exception of power module,
Then perform step S6；When the electricity that electric power detection module detects power module is normal, then
Perform step S4.
The district that step S4, guardrail detection module detection guardrail correspondence pavement detection equipment is to be advanced
Territory is the most normal.
In step s 4, detect that guardrail correspondence pavement detection equipment is treated when guardrail detection module
During the regional anomaly advanced, then perform step S6；When guardrail detection module detects guardrail pair
Answer pavement detection equipment when the region advanced is normal, then perform step S5.
Step S5, motion module are moved with guardrail for guide rail.
It should be noted that after step S5 has performed, re-execute above-mentioned steps S 1.
Step S6, control module control power module and stop output.
The embodiment of the present invention one provides a kind of pavement detection method, this pavement detection method base
In pavement detection equipment, this pavement detection equipment is positioned on the guardrail of at least side on road surface, and
Can be in the case of there is no manual operation, it is achieved the carrying out of road pavement situation detects automatically.
It is understood that the principle that is intended to be merely illustrative of the present of embodiment of above and
The illustrative embodiments used, but the invention is not limited in this.For in this area
For those of ordinary skill, without departing from the spirit and substance in the present invention, can do
Going out various modification and improvement, these modification and improvement are also considered as protection scope of the present invention.
Claims (22)
1. a pavement detection equipment, it is characterised in that including: power module, road surface inspection
Survey module, electric power detection module, guardrail detection module and motion module, described power module,
Described pavement detection module, described electric power detection module and described guardrail detection module are respectively positioned on fortune
On dynamic model block；
Described power module is for providing electric energy for described pavement detection equipment；
Described pavement detection module is for obtaining the pavement image of current location, and detects current
The road surface of position is the most damaged, when detecting that road surface exists damaged, described in correspondence position
Pavement image sends to background server；
At described pavement detection unit, described electric power detection module is for detecting that road surface does not exists
Time damaged, and detect that road surface exists breakage and by correspondence position in described pavement detection module
Described pavement image when sending to background server, whether detect the electricity of described power module
Normally；
Described guardrail detection module is for detecting described power supply mould in described electric power detection module
When the electricity of block is normal, whether detect the corresponding described pavement detection equipment of guardrail region to be advanced
Normally；
Described motion module is for detecting the corresponding described road of described guardrail at guardrail detection module
Face detection equipment, when the region advanced is normal, moves with described guardrail for guide rail.
Pavement detection equipment the most according to claim 1, it is characterised in that also include:
Control module, described control module is positioned in described motion module；
Described control module is for detecting described power module in described electric power detection module
During electricity exception, and detect the corresponding described road surface of described guardrail at described guardrail detection module
Detection equipment, when the regional anomaly advanced, controls power module and quits work.
Pavement detection equipment the most according to claim 1, it is characterised in that also include:
Locating module, described locating module is positioned in motion module；
Described locating module is used for obtaining the positional information of described pavement detection equipment, and in institute
State pavement detection module and detect when road surface exists damaged, the positional information of correspondence position is sent
To described pavement detection module, for described pavement detection module by described positional information and described
Pavement image is sent along to background server.
Pavement detection equipment the most according to claim 1, it is characterised in that described in protect
Hurdle is corrugated guardrail, and described motion module includes: agent structure, top board structure and at least one
Motion structure, described motion structure is connected with the first side of described agent structure, described top board
Structure is connected with the upper surface of described agent structure and stretches out from the first side, described top board structure
End be provided with the first hook structure；
Described first hook structure is for engaging with the upper edge of corrugated guardrail；
Described motion structure is for the upper edge at described first hook structure Yu corrugated guardrail
During engaging, contact to move along corrugated guardrail with the surface of described corrugated guardrail.
Pavement detection equipment the most according to claim 4, it is characterised in that described
The end of one hook structure is provided with the first roller.
Pavement detection equipment the most according to claim 4, it is characterised in that described fortune
Dynamic model block also includes: base arrangement, and described base arrangement connects with the lower surface of described agent structure
Connecing and stretch out from the first side, the end of described base arrangement is provided with the second hook structure；
Described second hook structure is for engaging with the upper edge of corrugated guardrail.
Pavement detection equipment the most according to claim 6, it is characterised in that described
The end of two hook structures is provided with the second roller.
Pavement detection equipment the most according to claim 4, it is characterised in that described fortune
It is provided with shock-damping structure between dynamic model block and described motion structure and agent structure；
Described shock-damping structure is used for reducing described motion structure institute along corrugated guardrail motor process
The vibrations produced.
Pavement detection equipment the most according to claim 8, it is characterised in that described in subtract
Shake structure include: contiguous block and spring, the two ends of described spring respectively with described motion structure and
Described contiguous block connects, and described contiguous block is connected with described motion structure.
Pavement detection equipment the most according to claim 4, it is characterised in that described fortune
Motivation structure includes: several wheel hub motors, wherein, when the quantity of wheel hub motor is more than 1,
Whole described wheel hub motors be arranged in parallel.
11. pavement detection equipment according to claim 4, it is characterised in that described ripple
Shape guardrail includes: several first protuberances spaced and several first recesses；
When described first hook structure engages with the upper edge of corrugated guardrail, described motion
Structure is positioned at described first recess.
12. pavement detection equipment according to claim 11, it is characterised in that described
Several the second recesses it are provided with, when described first hook structure and corrugated guardrail on first side
Upper edge engaging time, described second recess is correspondingly arranged with described first protuberance.
13. pavement detection equipment according to claim 4, it is characterised in that described road
Face detection module is positioned at the top of described top board structure, described pavement detection module and described top board
Being provided with rotary connection structure between structure, described rotary connection structure includes: horizontal rotation is even
First and the vertical rotary connection unit of order, described horizontal rotation connects unit and is positioned at described top board knot
The upper surface of structure, described vertical rotary connection unit with described horizontal rotation is connected unit connection and
Pavement detection module connects；
Described horizontal rotation connects unit and is used for driving the vertical rotary connection unit of described master and institute
State pavement detection module to rotate in horizontal plane；
Described vertical rotary connection unit is used for driving pavement detection module to enter in perpendicular
Row rotates.
14. to remove the pavement detection equipment described in 13 according to right, it is characterised in that described
Horizontal rotation connects unit and includes: the first rotary shaft；
Described first rotary shaft is vertically arranged, and its one end is connected with top board structure, separately
One end is connected with vertical rotary connection unit.
15. to remove the pavement detection equipment described in 13 according to right, it is characterised in that described
Vertically rotary connection unit includes: the second rotary shaft, the first connecting shaft, the 3rd rotary shaft and the
Two connecting shafts；
Described second rotary shaft and the 3rd rotary shaft are the most horizontally disposed, and described first even
Spindle is the most arranged in a crossed manner with described second rotary shaft and described 3rd rotary shaft, and described second connects
Axle and the 3rd rotary shaft are arranged in a crossed manner,
Described second rotary shaft is connected unit with described horizontal rotation and connects；
The two ends of described first connecting shaft are connected with the second rotary shaft and the 3rd rotary shaft respectively；
The two ends of the second connecting shaft are connected with the 3rd rotary shaft and pavement detection module respectively.
16. pavement detection equipment according to claim 4, it is characterised in that described in protect
Hurdle detection module is positioned at the second side and/or the 3rd side of described agent structure, and described second
Side and described 3rd side are two sides adjacent with described first side.
17. pavement detection equipment according to claim 4, it is characterised in that described power supply
Module and described electric power detection module are respectively positioned in described agent structure.
18. pavement detection equipment according to claim 1, it is characterised in that also include:
Solar charging panel, described solar charging panel is connected with described power module, for for described
Power module is charged.
19. according to described pavement detection equipment arbitrary in claim 1-18, and its feature exists
In, described pavement detection module includes: the first video camera, the first graphics processing unit with communicate
Unit；
Described first video camera is used for obtaining pavement image；
Described first graphics processing unit is worked as with detection for processing described pavement image
The road surface of front position is the most damaged；
Described communication unit is broken for detecting that road surface exists at described first graphics processing unit
During damage, the described pavement image of correspondence position is sent to background server.
20. according to described pavement detection equipment arbitrary in claim 1-18, and its feature exists
In, described guardrail detection module includes: the second video camera and the second graphics processing unit；
Described second video camera is to be advanced for obtaining the corresponding described pavement detection equipment of guardrail
The guardrail image in region；
Described second graphics processing unit protects with detection for processing described guardrail image
The region that the corresponding described pavement detection equipment in hurdle is to be advanced is the most normal.
21. 1 kinds of pavement detection methods, it is characterised in that described pavement detection method is based on upper
State arbitrary described pavement detection equipment, described pavement detection method bag in claim 1-20
Include:
Described power module provides electric energy for described pavement detection equipment；
Described pavement detection module obtains the pavement image of current location, and based on described road surface
The road surface of image detection current location is the most damaged；
When described pavement detection unit detects that road surface exists damaged, the most described pavement detection
The described pavement image of correspondence position is sent to background server by unit, described electric power detection mould
The electricity of block detection power module is the most normal；When described pavement detection unit detects that road surface is not
When existing damaged, the electricity of the most described electric power detection module detection power module is the most normal；
When the electricity that described electric power detection module detects described power module is normal, then institute
Whether state the guardrail detection module corresponding described pavement detection equipment of detection guardrail region to be advanced
Normally；
When described guardrail detection module detects that the corresponding described pavement detection equipment of described guardrail is treated
When the region of advance is normal, the most described motion module is moved with described guardrail for guide rail, and
Re-execute above-mentioned pavement detection module and obtain the pavement image of current location, and based on described road
The step that the road surface of face image detection current location is the most damaged.
22. pavement detection methods according to claim 21, it is characterised in that work as institute
State time pavement detection equipment also includes control module；
When the electricity that described electric power detection module detects described power module is normal, then institute
State the control module described power module of control to quit work；
And, detect the corresponding described pavement detection of described guardrail at described guardrail detection module
Equipment is when the regional anomaly advanced, and the most described control module controls described power module and stops work
Make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560553.1A CN106012780B (en) | 2016-07-15 | 2016-07-15 | Pavement detection equipment and pavement detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560553.1A CN106012780B (en) | 2016-07-15 | 2016-07-15 | Pavement detection equipment and pavement detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106012780A true CN106012780A (en) | 2016-10-12 |
| CN106012780B CN106012780B (en) | 2019-01-29 |
Family
ID=57119228
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610560553.1A Active CN106012780B (en) | 2016-07-15 | 2016-07-15 | Pavement detection equipment and pavement detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106012780B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109902668A (en) * | 2018-12-27 | 2019-06-18 | 山东大学 | The pavement detection system and detection method of UAV system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2823324A1 (en) * | 1977-05-30 | 1978-12-14 | Queen In The Right Of The Prov | METHOD AND DEVICE FOR MARKING A LINE ALONG A ROAD |
| CN1488813A (en) * | 2003-08-13 | 2004-04-14 | 沈阳工业学院 | Automatic checking system for expressway surface |
| CN203056691U (en) * | 2013-01-11 | 2013-07-10 | 上海电力学院 | Model airplane-based power transmission line icing detection system |
| CN203270427U (en) * | 2013-04-16 | 2013-11-06 | 上海国力电气(集团)有限公司 | Intelligent new energy road inspection vehicle |
| CN105208328A (en) * | 2015-09-06 | 2015-12-30 | 浙江省公安厅高速公路交通警察总队宁波支队 | Highway mobile monitoring system |
| CN205115977U (en) * | 2015-11-23 | 2016-03-30 | 张先 | Road and bridge bituminous paving crack detection device |
| CN205975314U (en) * | 2016-07-15 | 2017-02-22 | 京东方科技集团股份有限公司 | Pavement detection equipment |
-
2016
- 2016-07-15 CN CN201610560553.1A patent/CN106012780B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2823324A1 (en) * | 1977-05-30 | 1978-12-14 | Queen In The Right Of The Prov | METHOD AND DEVICE FOR MARKING A LINE ALONG A ROAD |
| CN1488813A (en) * | 2003-08-13 | 2004-04-14 | 沈阳工业学院 | Automatic checking system for expressway surface |
| CN203056691U (en) * | 2013-01-11 | 2013-07-10 | 上海电力学院 | Model airplane-based power transmission line icing detection system |
| CN203270427U (en) * | 2013-04-16 | 2013-11-06 | 上海国力电气(集团)有限公司 | Intelligent new energy road inspection vehicle |
| CN105208328A (en) * | 2015-09-06 | 2015-12-30 | 浙江省公安厅高速公路交通警察总队宁波支队 | Highway mobile monitoring system |
| CN205115977U (en) * | 2015-11-23 | 2016-03-30 | 张先 | Road and bridge bituminous paving crack detection device |
| CN205975314U (en) * | 2016-07-15 | 2017-02-22 | 京东方科技集团股份有限公司 | Pavement detection equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109902668A (en) * | 2018-12-27 | 2019-06-18 | 山东大学 | The pavement detection system and detection method of UAV system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106012780B (en) | 2019-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205972599U (en) | Shuttle cart | |
| CN206393641U (en) | It is a kind of that there is the indoor rail mounted crusing robot for pressing push button function | |
| CN106124221A (en) | Braking simulation experiment method based on electric automobile regenerative braking performance test stand | |
| CN208272921U (en) | Intelligent car systems for across the array O&M robot of photovoltaic plant | |
| CN206971849U (en) | A kind of circular tower storehouse | |
| CN208313523U (en) | A kind of motive power machine device detecting computer room leak | |
| CN107088535A (en) | The automatic operational system of solar photovoltaic assembly | |
| CN205975314U (en) | Pavement detection equipment | |
| CN111873832A (en) | Intelligent charging shed and method for electric vehicle | |
| CN107415903A (en) | For electric automobile in multi-storied garage battery replacement device and change method for electrically | |
| CN104831965B (en) | Intelligentized liftable stereo garage and work method thereof | |
| CN106012780A (en) | Road surface detection equipment and road surface detection method | |
| CN112249914A (en) | Alarm device for illegal invasion of crane warning area | |
| CN205983836U (en) | Highway road conditions monitoring devices | |
| CN103741598A (en) | Upper chord inspection vehicle | |
| CN205771704U (en) | A kind of inspection type overtemperature based on wireless coverage watering protection system | |
| CN108184058A (en) | Quick automatic inspection system for railway tunnel | |
| CN108760756B (en) | Pantograph detection device | |
| CN206766044U (en) | Inspection car and cruising inspection system | |
| CN203157761U (en) | Movable protective device for rail contact net | |
| CN204508597U (en) | A kind of hoisting crane rail vehicle | |
| CN205894805U (en) | Motor chain over -and -under type three - dimensional parking equipment | |
| CN210135417U (en) | Track type workshop production line vision inspection device | |
| CN204801819U (en) | A but, movement monitoring device for railway switch area section | |
| CN202049204U (en) | Movable microcomputer-protected monomer debugging test table |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |