CN106012780B - Pavement detection equipment and pavement detection method - Google Patents
Pavement detection equipment and pavement detection method Download PDFInfo
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- CN106012780B CN106012780B CN201610560553.1A CN201610560553A CN106012780B CN 106012780 B CN106012780 B CN 106012780B CN 201610560553 A CN201610560553 A CN 201610560553A CN 106012780 B CN106012780 B CN 106012780B
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- 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
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Abstract
The invention discloses a kind of pavement detection equipment and pavement detection methods, it include: motion module and the power module being set in motion module, pavement detection module, electric power detection module and guardrail detection module, power module is used to provide electric energy for pavement detection equipment；Whether pavement detection module is used for the road surface based on pavement image detection current location damaged；Electric power detection module is used for when detecting that road surface is not present damaged, and when detecting that road surface has breakage and the pavement image of corresponding position is sent to background server, whether the electricity for detecting power module is normal；Guardrail detection module is used for when the electricity for detecting power module is normal, and whether the guardrail for detecting region to be advanced is normal；Motion module is used for when the guardrail for detecting the region wait advance is normal, is moved by guide rail of guardrail.Technical solution of the present invention can realize the automatic detection of road pavement in the case where no manual operation.
Description
Technical field
The present invention relates to intelligent transportation field, in particular to a kind of pavement detection equipment and pavement detection method.
Background technique
Traditional highway detection, which is usually highway maintenance team, is manually patrolled highway is continual, and
It was found that road surface when occurring damaged, maintenance is carried out to corresponding position.Existing this detection method, needs staff to arrive
It is detected on the spot, thus causes human cost higher；In addition, the process detected on a highway in staff
In, the traffic efficiency of highway can be impacted, some potential safety problems can also be had by working at the same time personnel.
Summary of the invention
The present invention provides a kind of pavement detection equipment and pavement detection method, it is intended at least solve existing in the prior art
One of technical problem.
To achieve the above object, the present invention provides a kind of pavement detection equipment, comprising: power module, pavement detection mould
Block, electric power detection module, guardrail detection module and motion module, the power module, the pavement detection module, the electricity
Detection module and the guardrail detection module are respectively positioned in motion module；
The power module is used to provide electric energy for the pavement detection equipment；
The pavement detection module is used to obtain the pavement image of current location, and current based on pavement image detection
Whether the road surface of position is damaged, and when detecting that road surface has damaged, after the pavement image of corresponding position is sent to
Platform server；
The electric power detection module is used for when the pavement detection unit detects that road surface is not present damaged, and in institute
Stating pavement detection module, to detect that road surface exists damaged and when the pavement image of corresponding position is sent to background server,
Whether the electricity for detecting the power module is normal；
When electricity of the guardrail detection module for detecting the power module in the electric power detection module is normal,
Whether detection guardrail corresponds to pavement detection equipment region to be advanced normal；
The motion module is used to detect that the guardrail corresponds to before the pavement detection equipment waits in guardrail detection module
Into region it is normal when, moved using the guardrail as guide rail.
Optionally, further includes: control module, the control module are located in the motion module；
The control module is used for when the electric power detection module detects the electricity exception of the power module, and
When the guardrail detection module detects that the guardrail corresponds to region exception of the pavement detection equipment wait advancing, control electricity
Source module stops working.
Optionally, further includes: locating module, the locating module are located in motion module；
The locating module is used to obtain the location information of the pavement detection equipment, and examines in the pavement detection module
When measuring road surface in the presence of breakage, the location information of corresponding position is sent to the pavement detection module, for road surface inspection
It surveys module and the location information and the pavement image is sent to background server together.
Optionally, the guardrail is corrugated guardrail, and the motion module includes: main structure, top board structure and at least one
A motion structure, the motion structure are connect with the first side of the main structure, the top board structure and the main body knot
The upper surface of structure connects and stretches out from first side, and the end of the top board structure is provided with the first hook structure；
First hook structure with the upper edge of corrugated guardrail for being engaged；
The motion structure is used for when first hook structure engages with the upper edge of corrugated guardrail, with the wave
The surface of shape guardrail is contacted to be moved along corrugated guardrail.
Optionally, the end of first hook structure is provided with the first idler wheel.
Optionally, the motion module further include: floor structure, the lower surface of the floor structure and the main structure
It connects and is stretched out from first side, the end of the floor structure is provided with the second hook structure；
Second hook structure with the upper edge of corrugated guardrail for being engaged.
Optionally, the end of second hook structure is provided with the second idler wheel.
Optionally, shock-damping structure is provided between the motion module and the motion structure and main structure；
The shock-damping structure is for reducing the motion structure generated vibration along corrugated guardrail motion process.
Optionally, the shock-damping structure includes: link block and spring, the both ends of the spring respectively with the main structure
It is connected with the link block, the link block is connect with the motion structure.
Optionally, the motion structure includes: several hub motors, wherein when the quantity of hub motor is greater than 1
When, all the hub motor is arranged in parallel.
Optionally, the corrugated guardrail includes: several spaced first protrusions and several first recess portions；
When first hook structure engages with the upper edge of corrugated guardrail, the motion structure is located at described first
In recess portion.
Optionally, several second recess portions are provided in the first side, when first hook structure and waveform protect
When the upper edge engaging on column, second recess portion is correspondingly arranged with first protrusion.
Optionally, the pavement detection module is located at the top of the top board structure, the pavement detection module with it is described
Rotary connection structure is provided between top board structure, the rotary connection structure includes: to rotate horizontally connection unit and vertical rotation
Turn connection unit, the upper surface for rotating horizontally connection unit and being located at the top board structure, the vertical rotary connection unit
It is connect with the horizontal rotation connection unit and pavement detection module connects；
The horizontal rotation connection unit is for driving the vertical rotary connection unit and the pavement detection module to exist
It is rotated in horizontal plane；
The vertical rotary connection unit is for driving pavement detection module to be rotated in perpendicular.
Optionally, the horizontal rotation connection unit includes: the first rotary shaft；
First rotary shaft is arranged along the vertical direction, and one end is connect with top board structure, and the other end and vertical rotation connect
The connection of order member.
Optionally, the vertical rotary connection unit includes: the second rotary shaft, the first connecting shaft, third rotary shaft and
Two connecting shafts；
Second rotary shaft and third rotary shaft are horizontally disposed, first connecting shaft and second rotation
Shaft and the third rotary shaft are arranged in a crossed manner, and second connecting shaft and third rotary shaft are arranged in a crossed manner,
Second rotary shaft is connect with the horizontal rotation connection unit；
The both ends of first connecting shaft rotate axis connection with the second rotary shaft and third respectively；
The both ends of second connecting shaft are connect with third rotary shaft and pavement detection module respectively.
Optionally, the guardrail detection module is located at second side and/or the third side of the main structure, and described
Two side faces and the third side are two sides adjacent with the first side.
Optionally, the power module and the electric power detection module are respectively positioned in the main structure.
Optionally, further includes: solar charging panel, the solar charging panel are connect with the power module, for for
The power module charges.
Optionally, the pavement detection module includes: the first video camera, the first image processing unit and communication unit；
First video camera is for obtaining pavement image；
The first image processing unit is for handling the pavement image to detect the road surface of current location and be
No breakage；
The communication unit is used for when the first image processing unit detects that road surface has damaged, by corresponding position
The pavement image be sent to background server.
Optionally, the guardrail detection module includes: the second video camera and the second image processing unit；
Second video camera is for obtaining the guardrail image that guardrail corresponds to pavement detection equipment region to be advanced；
Second image processing unit is for handling the guardrail image to detect guardrail and correspond to the road surface
Whether detection device region to be advanced is normal.
To achieve the above object, the present invention also provides a kind of pavement detection method, the pavement detection method is based on upper
The pavement detection equipment stated, the pavement detection method include:
The power module provides electric energy for the pavement detection equipment；
The pavement detection module obtains the pavement image of current location, and detects current location based on the pavement image
Road surface it is whether damaged；
When the pavement detection unit detects that road surface has damaged, then the pavement detection unit is by corresponding position
The pavement image is sent to background server, and whether the electricity of the electric power detection module detection power module is normal；Work as institute
It states pavement detection unit and detects road surface there is no when breakage, then whether the electricity of the electric power detection module detection power module
Normally；
When the electric power detection module detect the power module electricity it is normal when, then guardrail detection module inspection
Whether survey guardrail corresponds to pavement detection equipment region to be advanced normal；
When to detect that the guardrail corresponds to pavement detection equipment region to be advanced normal for the guardrail detection module
When, then the motion module is moved using the guardrail as guide rail, and is re-executed above-mentioned pavement detection module and obtained currently
The pavement image of position, and based on the pavement image detection current location road surface whether Po Sun step.
Optionally, when further including having control module in the pavement detection equipment；
The electric power detection module detect the power module electricity it is normal when, then the control module controls institute
Power module is stated to stop working；
And detect that the guardrail corresponds to pavement detection equipment region to be advanced in the guardrail detection module
When abnormal, then the control module controls the power module and stops working.
The invention has the following advantages:
The invention discloses a kind of pavement detection equipment and pavement detection methods, comprising: motion module and is set to fortune
Power module, pavement detection module, electric power detection module and guardrail detection module on dynamic model block, wherein power module is used for
Electric energy is provided for pavement detection equipment；Pavement detection module is used to obtain the pavement image of current location, and is based on pavement image
Whether the road surface for detecting current location is damaged, and when detecting that road surface has damaged, the pavement image of corresponding position is sent
To background server；Electric power detection module is used for when pavement detection unit detects that road surface is not present damaged, and on road surface
When detection module detects that road surface has breakage and the pavement image of corresponding position is sent to background server, power supply mould is detected
Whether the electricity of block is normal；When electricity of the guardrail detection module for detecting power module in electric power detection module is normal, inspection
Whether survey guardrail corresponds to pavement detection equipment region to be advanced normal；Motion module in guardrail detection module for detecting to protect
Column correspond to region of the pavement detection equipment wait advancing it is normal when, moved by guide rail of guardrail.Technical solution of the present invention is led to
Cross be located at road surface at least side guardrail on above-mentioned pavement detection equipment is set, can in the case where no manual operation,
Realize the automatic detection of road pavement.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram for pavement detection equipment that the embodiment of the present invention one provides, as shown in Figure 1；
Fig. 2 is the top view of pavement detection equipment shown in Fig. 1；
Fig. 3 is the logical connection schematic diagram of each module in pavement detection equipment shown in Fig. 1；
Fig. 4 is schematic diagram when pavement detection equipment shown in FIG. 1 is placed on corrugated guardrail；
Fig. 5 is schematic diagram when engaging between the first hook structure and the upper edge of corrugated guardrail in the present invention；
Fig. 6 is a kind of structural schematic diagram of shock-damping structure in the present invention；
Fig. 7 is the structural schematic diagram of road surface detection module in the present invention；
Fig. 8 is the structural schematic diagram of guardrail detection module in the present invention；
Fig. 9 is a kind of structural schematic diagram of pavement detection equipment provided by Embodiment 2 of the present invention；
Figure 10 is a kind of flow chart for pavement detection method that the embodiment of the present invention three provides.
Specific embodiment
To make those skilled in the art more fully understand technical solution of the present invention, the present invention is mentioned with reference to the accompanying drawing
It a kind of pavement detection equipment that supplies and is described in detail with pavement detection method.
Fig. 1 is a kind of structural schematic diagram for pavement detection equipment that the embodiment of the present invention one provides, and Fig. 2 is road shown in Fig. 1
The top view of face detection device, Fig. 3 are the logical connection schematic diagram of each module in pavement detection equipment shown in Fig. 1, such as Fig. 1 to figure
Shown in 3, which includes: power module 6, pavement detection module 2, electric power detection module 5, guardrail detection module 3
With motion module 1, power module 6, pavement detection module 2, electric power detection module 5 and guardrail detection module 3 are respectively positioned on movement mould
On block 1.
Wherein, power module 6 is used to provide electric energy for pavement detection equipment.
Pavement detection module 2 is used to obtain the pavement image of current location, and based on pavement image detection current location
Whether road surface is damaged, and when detecting that road surface has damaged, the pavement image of corresponding position is sent to background server.
Electric power detection module 5 is used for when pavement detection unit detects that road surface is not present damaged, and in pavement detection
When module 2 detects that road surface has breakage and the pavement image of corresponding position is sent to background server, power module 6 is detected
Electricity it is whether normal.
When electricity of the guardrail detection module 3 for detecting power module 6 in electric power detection module 5 is normal, guardrail is detected
Whether corresponding pavement detection equipment region to be advanced is normal.
Motion module 1 is used to detect that guardrail is corresponding to pavement detection equipment region to be advanced just in guardrail detection module 3
Chang Shi is moved by guide rail of guardrail.
It in the present embodiment, can by the way that above-mentioned pavement detection equipment is arranged on the guardrail of at least side for being located at road surface
In the case where no manual operation, the automatic detection of road pavement is realized.
Optionally, pavement detection equipment further include: control module 7, control module 7 are located in motion module 1；Control mould
Block 7 when electric power detection module 5 detects the electricity exception of power module 6, and in guardrail detection module 3 for detecting to protect
When column corresponds to region exception of the pavement detection equipment wait advancing, control power module 6 stops working.
In the present embodiment, the position timely and accurately to get the region for occurring breakage on road surface convenient for testing staff
Confidence breath.Optionally, pavement detection equipment, further includes: locating module 4, locating module 4 are located in motion module 1, positioning mould
Block 4 is used to obtain the location information of pavement detection equipment, and when pavement detection module 2 detects that road surface has damaged, will be right
The location information of position is answered to be sent to pavement detection module 2, so that pavement detection module 2 is by the location information of corresponding position and road
Face image is sent to background server together.At this point, testing staff's case can be got simultaneously from background server there is breakage
The location information and respective image in region.
Fig. 4 is schematic diagram when pavement detection equipment shown in FIG. 1 is placed on corrugated guardrail, as shown in figure 4, actually answering
In, it is contemplated that the aesthetics and crash-worthiness of guardrail, guardrail generally use corrugated guardrail 10, which generally comprises:
Several spaced first protrusions and several first recess portions.It, will be using guardrail as corrugated guardrail 10 and wave in the present embodiment
In case where shape guardrail 10 includes two the first protrusions and first recess portion, illustrate.
Optionally, motion module 1 includes: main structure 11, top board structure 12 and at least one motion structure 14, movement knot
Structure 14 is connect with the first side (towards the side of corrugated guardrail 10) of main structure 11, top board structure 12 and main structure 11
Upper surface connects and stretches out from first side, and the end of top board structure 12 is provided with the first hook structure 13, the first hook structure
13 with the upper edge of corrugated guardrail 10 for being engaged, and motion structure 14 is used in the first hook structure 13 and corrugated guardrail
When 10 upper edge engaging, contacted with the surface of corrugated guardrail 10 to be moved along corrugated guardrail 10.
It should be noted that main structure 11 and top board structure 12 can be integrally formed in the present embodiment.
Fig. 5 is schematic diagram when engaging between the first hook structure and the upper edge of corrugated guardrail in the present invention, such as Fig. 5
It is shown, in the present embodiment, by the snap-in function power between the first hook structure 13 and the upper edge of corrugated guardrail 10, with
And the surface of corrugated guardrail 10, to the support force of motion structure 14, entire motion module 1 can be hung on corrugated guardrail 10.It is transporting
When dynamic structure 14 is worked, since there are frictional force for the surface of motion structure 14 and corrugated guardrail 10, then motion structure 14 can
Surface along corrugated guardrail 10 is moved, i.e. realization motion module 1 is moved by guide rail of guardrail.
Preferably, when the first hook structure 13 engages with the upper edge of corrugated guardrail 10, motion structure 14 is located at the
In one recess portion.In the present embodiment, by the way that motion structure 14 to be placed in the first recess portion of corrugated guardrail 10, it is now placed in first
First protrusion of recess portion two sides can be defined the tracks of motion structure 14, go out to can effectively prevent motion structure 14
The phenomenon that existing " derailing ".
It is shown in Figure 4, several the second recess portions 15 optionally, in first side are provided with, when the first hook structure 13
When engaging with the upper edge of corrugated guardrail 10, the second recess portion 15 is correspondingly arranged with the first protrusion.In the present embodiment, by
The second recess portion 15 is arranged in the position of corresponding first protrusion in first side, can effectively avoid main structure 11 and corrugated guardrail 10 produces
Raw collision.
It should be noted that only exemplary depicts a motion structure 14 in attached drawing, those skilled in the art is answered
This knows, can be tied according to actual needs with multiple movements are arranged in the first side of main structure 11 in practical applications
Structure 14.
Optionally, motion structure 14 is with including: several hub motors.Wherein, when the quantity of hub motor is greater than 1
When, whole hub motors are arranged in parallel.Those skilled in the art are it should also be understood that in practical applications can be according to reality
Border needs to be adjusted to the quantity of hub motor.In addition, hub motor be this field in common apparatus, specific structure and
Working principle is not described in detail herein.
In practical applications, since power module 6 and each detection module are respectively positioned in motion module 1, guarantee fortune
The stability of dynamic model block 1 during the motion is very necessary.For this purpose, in the present embodiment, being tied in motion module 1 and movement
Shock-damping structure 8 is provided between structure 14 and main structure 11, which can effectively reduce in motion structure 14 along waveform
Vibration caused by main structure 11 (and top board structure 12) in 10 motion process of guardrail.Fig. 6 is a kind of damping knot in the present invention
The structural schematic diagram of structure, as shown in fig. 6, the shock-damping structure 8 includes: link block 81 and spring 82, the both ends of spring 82 respectively with
Main structure 11 and link block 81 connect, and link block 81 is connect with motion structure 14.In 14 motion process of motion structure, movement
Vibration caused by structure 14 can be absorbed by spring 82, because without being transferred to main structure 11 (and top board structure 12), thus
It ensure that the stable operation of main structure 11 (and top board structure 12).
In the motion process of motion module 1, certain rub can be generated between the first hook structure 13 and corrugated guardrail 10
Power is wiped, which is easy to cause the fever of the first hook structure 13 and deformation occurs, to affect pavement detection equipment
Service life.In order to solve the above technical problems, it is shown in Figure 5, in the present embodiment optionally, at the end of the first hook structure 13
The first idler wheel 16 is arranged in portion, and the first idler wheel 16 is contacted with the inner surface of corrugated guardrail 10, in 1 motion process of motion module
Reduce the frictional force between the first hook structure 13 and corrugated guardrail 10.
In the present embodiment, pavement detection module 2 is located at the top of top board structure 12, pavement detection module 2 and top plate knot
Rotary connection structure is provided between structure 12, rotary connection structure includes: horizontal rotation connection unit and vertical rotation connection list
Member rotates horizontally the upper surface that connection unit is located at top board structure 12, vertical rotary connection unit and horizontal rotation connection unit
It is connected with pavement detection module 2；Connection unit is rotated horizontally for driving vertical rotary connection unit and pavement detection module 2 to exist
It is rotated in horizontal plane；Vertical rotary connection unit is for driving pavement detection module 2 to be rotated in perpendicular.This
In embodiment, by the rotary connection structure between pavement detection module 2 and top board structure 12, pavement detection can be effectively promoted
The flexibility and operability of module 2.
Still optionally further, rotating horizontally connection unit includes: the first rotary shaft 41；First rotary shaft 41 is along the vertical direction
Setting, one end are connect with top board structure 12, and the other end is connect with vertical rotary connection unit.Vertical rotary connection unit packet
It includes: the second rotary shaft 42, the first connecting shaft 43, third rotary shaft 44 and the second connecting shaft 45；Second rotary shaft 42 and third rotation
Shaft 44 is horizontally disposed, and the first connecting shaft 43 and the second rotary shaft 42 and third rotary shaft 44 are arranged in a crossed manner, the
Two connecting shafts 45 and third rotary shaft 44 are arranged in a crossed manner, and the second rotary shaft 42 is connect with connection unit is rotated horizontally, the first connection
The both ends of axis 43 are connect with the second rotary shaft 42 and third rotary shaft 44 respectively, and the both ends of the second connecting shaft 45 are revolved with third respectively
Shaft 44 and pavement detection module 2 connect.
In the present embodiment, rotated by controlling first rotary shaft 41, can road pavement detection module 2 in the horizontal plane
Position is controlled, and is rotated by the second rotary shaft 42 of control and third rotary shaft 44, can road pavement detection module 2 perpendicular
Position in straight plane is controlled.It should be noted that the detection of 42 road pavement of the second rotary shaft can be first passed through in the present embodiment
Position of the module 2 on perpendicular is controlled roughly, then recycles 44 road pavement detection module 2 of third rotary shaft perpendicular
Position in straight plane is accurately controlled.
In the present embodiment, to be detected convenient for guardrail detection module 3 to guardrail, guardrail detection module 3 can be placed in
The second side of main structure 11 and/or third side, wherein second side and third side are adjacent with first side two
A side.
In addition, power module 6 and electric power detection module 5 are respectively positioned in main structure 11, the main structure in the present embodiment
11 can protect power module 6 and electric power detection module 5.
Referring to fig. 2 and shown in Fig. 4, optionally, the pavement detection equipment further include: solar charging panel 9, solar recharging
Plate 9 is connect with power module 6, for charging for power module 6.At this point, solar charging panel 9 may be disposed at top board structure
12 top.
Fig. 7 is the structural schematic diagram of road surface detection module in the present invention, as shown in fig. 7, examining as road surface in the present embodiment
A kind of specific structure of module 2 is surveyed, which includes: the first video camera 21, the first image processing unit 22 and lead to
Believe unit 23；Wherein, the first video camera 21 is for obtaining pavement image；First image processing unit 22 for road pavement image into
Row processing is to obtain the textural characteristics on the road surface of current location, and the textural characteristics based on road surface judge that the road surface of current location is
No breakage；Communication unit 23 is used for when the first image processing unit 22 goes out road surface and has damaged, by the road surface figure of corresponding position
As being sent to background server.
Fig. 8 is the structural schematic diagram of guardrail detection module in the present invention, as shown in figure 8, examining as guardrail in the present embodiment
A kind of specific structure of module 3 is surveyed, which includes: the second video camera 31 and the second image processing unit 32；Its
In, the second video camera 31 is for obtaining the guardrail image that guardrail corresponds to pavement detection equipment region to be advanced；At second image
Reason unit 32 is for handling guardrail image, to obtain the textural characteristics of the guardrail of corresponding position, and based on the guardrail
Whether textural characteristics detection guardrail corresponds to pavement detection equipment region to be advanced normal.
It should be noted that in the present embodiment, above-mentioned first image processing unit 22 and the second image processing unit 32
It can be the same image processing unit, the first video camera 21 and the second video camera 31 or the same video camera.
The embodiment of the present invention one provides a kind of pavement detection equipment, which may be disposed at positioned at road surface
At least on the guardrail of side, and the automatic detection of road pavement situation can be realized in the case where no manual operation.
Embodiment two
Fig. 9 is a kind of structural schematic diagram of pavement detection equipment provided by Embodiment 2 of the present invention, as described in Figure 9, Fig. 9 institute
Show that pavement detection equipment and the difference of pavement detection equipment shown in FIG. 1 are, the motion module of pavement detection equipment shown in Fig. 9
1 not only includes: main structure 11, top board structure 12 and motion structure 14, but also including floor structure 17, wherein floor structure
17 connect with the lower surface of main structure 11 and stretch out from first side, and the end of floor structure 17 is provided with the second hook structure
18, the second hook structure 18 with the upper edge of corrugated guardrail 10 for being engaged.
In the present embodiment, the floor structure 17 that the second hook structure 18 is had by setting, can further guarantee to transport
The stability of dynamic model block 1 during the motion.
Optionally, the end of the second hook structure 18 is provided with the second idler wheel 19.In the present embodiment, pass through setting second
Idler wheel 19 can effectively reduce the frictional force between the second hook structure 18 and corrugated guardrail 10.
Embodiment three
Figure 10 is a kind of flow chart for pavement detection method that the embodiment of the present invention three provides, as shown in Figure 10, the road surface
Detection method based on the above embodiment one or embodiment two in pavement detection equipment, for the pavement detection setting description can
Referring to the content in above-described embodiment one or embodiment two, details are not described herein again, which includes:
Step S0, power module provides electric energy for pavement detection equipment.
Step S1, pavement detection module obtains the pavement image of current location, and detects current location based on pavement image
Road surface it is whether damaged.
In step sl, when pavement detection unit detects the road surface of current location in the presence of breakage, S2 is thened follow the steps；
When pavement detection unit detect the road surface of current location there is no it is damaged when, then follow the steps S3.
Step S2, the pavement image of corresponding position is sent to background server by pavement detection unit.
It should be noted that when including locating module in pavement detection equipment, then in step s 2, pavement detection list
Location information acquired in pavement image and locating module of the member by corresponding position is sent to background server together.
Step S3, whether the electricity of electric power detection module detection power module is normal.
In step s3, when electric power detection module detects the electricity exception of power module, S6 is thened follow the steps；Work as electricity
When amount detection module detects that the electricity of power module is normal, S4 is thened follow the steps.
Step S4, whether normal guardrail detection module detection guardrail corresponds to pavement detection equipment region to be advanced.
In step s 4, when guardrail detection module detects that guardrail corresponds to pavement detection equipment region exception to be advanced
When, then follow the steps S6；When guardrail detection module detect guardrail correspond to region of the pavement detection equipment wait advancing it is normal when, then
Execute step S5.
Step S5, motion module is moved by guide rail of guardrail.
It should be noted that re-executing above-mentioned steps S1 after step S5 has been executed.
Step S6, control module control power module stops output.
The embodiment of the present invention one provides a kind of pavement detection method, which is based on pavement detection equipment,
The pavement detection equipment is located on the guardrail of at least side on road surface, and can be in the case where no manual operation, realization pair
The progress of surface conditions detects automatically.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (18)
1. a kind of pavement detection equipment characterized by comprising power module, pavement detection module, electric power detection module, shield
Column detection module and motion module, the power module, the pavement detection module, the electric power detection module and the guardrail
Detection module is respectively positioned in motion module；
The power module is used to provide electric energy for the pavement detection equipment；
The pavement detection module is used to obtain the pavement image of current location, and whether the road surface for detecting current location is damaged,
When detecting that road surface has damaged, the pavement image of corresponding position is sent to background server；
The electric power detection module is used for when the pavement detection unit detects that road surface is not present damaged, and on the road
When face detection module detects that road surface has breakage and the pavement image of corresponding position is sent to background server, detection
Whether the electricity of the power module is normal；
When electricity of the guardrail detection module for detecting the power module in the electric power detection module is normal, detection
Whether guardrail corresponds to pavement detection equipment region to be advanced normal；
The motion module is used to detect that the guardrail corresponds to the pavement detection equipment in guardrail detection module to be advanced
When region is normal, moved using the guardrail as guide rail；
The guardrail is corrugated guardrail, and the motion module includes: main structure, top board structure and at least one motion structure,
The motion structure is connect with the first side of the main structure, and the upper surface of the top board structure and the main structure connects
It connects and is stretched out from first side, the end of the top board structure is provided with the first hook structure；
First hook structure with the upper edge of corrugated guardrail for being engaged；
The motion structure is used for when first hook structure engages with the upper edge of corrugated guardrail, is protected with the waveform
The surface on column is contacted to be moved along corrugated guardrail；
The corrugated guardrail includes: several spaced first protrusions and several first recess portions；
When first hook structure engages with the upper edge of corrugated guardrail, the motion structure is located at first recess portion
It is interior；
Several the second recess portions are provided in the first side, when the upper edge of first hook structure and corrugated guardrail
When engaging, second recess portion is correspondingly arranged with first protrusion；
Pavement detection equipment further include: control module, the control module are located in the motion module；
The control module is used for when the electric power detection module detects the electricity exception of the power module, and in institute
When stating guardrail detection module and detecting that the guardrail corresponds to region exception of the pavement detection equipment wait advancing, power supply mould is controlled
Block stops working.
2. pavement detection equipment according to claim 1, which is characterized in that further include: locating module, the locating module
In motion module；
The locating module is used to obtain the location information of the pavement detection equipment, and detects in the pavement detection module
When road surface has damaged, the location information of corresponding position is sent to the pavement detection module, for the pavement detection mould
The location information and the pavement image are sent to background server by block together.
3. pavement detection equipment according to claim 1, which is characterized in that the end of first hook structure is provided with
First idler wheel.
4. pavement detection equipment according to claim 1, which is characterized in that the motion module further include: floor structure,
The floor structure connect with the lower surface of the main structure and stretches out from first side, the end setting of the floor structure
There is the second hook structure；
Second hook structure with the upper edge of corrugated guardrail for being engaged.
5. pavement detection equipment according to claim 4, which is characterized in that the end of second hook structure is provided with
Second idler wheel.
6. pavement detection equipment according to claim 1, which is characterized in that the motion module and the motion structure with
Shock-damping structure is provided between main structure；
The shock-damping structure is for reducing the motion structure generated vibration along corrugated guardrail motion process.
7. pavement detection equipment according to claim 6, which is characterized in that the shock-damping structure includes: link block and bullet
Spring, the both ends of the spring are connect with the main structure and the link block respectively, the link block and the motion structure
Connection.
8. pavement detection equipment according to claim 1, which is characterized in that the motion structure includes: several wheel hubs
Motor, wherein when the quantity of hub motor is greater than 1, all the hub motor is arranged in parallel.
9. pavement detection equipment according to claim 1, which is characterized in that the pavement detection module is located at the top plate
The top of structure is provided with rotary connection structure, the rotation connection between the pavement detection module and the top board structure
Structure includes: that horizontal rotation connection unit and vertical rotary connection unit, the horizontal rotation connection unit are located at the top plate
The upper surface of structure, the vertical rotary connection unit is connect with the horizontal rotation connection unit and pavement detection module connects
It connects；
The horizontal rotation connection unit is for driving the vertical rotary connection unit and the pavement detection module in level
It is rotated in face；
The vertical rotary connection unit is for driving pavement detection module to be rotated in perpendicular.
10. pavement detection equipment according to claim 9, which is characterized in that the horizontal rotation connection unit includes:
One rotary shaft；
First rotary shaft is arranged along the vertical direction, and one end is connect with top board structure, and the other end and vertical rotation connection are single
Member connection.
11. pavement detection equipment according to claim 9, which is characterized in that the vertical rotary connection unit includes:
Two rotary shafts, the first connecting shaft, third rotary shaft and the second connecting shaft；
Second rotary shaft and third rotary shaft are horizontally disposed, first connecting shaft and second rotary shaft
Arranged in a crossed manner with the third rotary shaft, second connecting shaft and third rotary shaft are arranged in a crossed manner,
Second rotary shaft is connect with the horizontal rotation connection unit；
The both ends of first connecting shaft rotate axis connection with the second rotary shaft and third respectively；
The both ends of second connecting shaft are connect with third rotary shaft and pavement detection module respectively.
12. pavement detection equipment according to claim 1, which is characterized in that the guardrail detection module is located at the master
The second side of body structure and/or third side, the second side and the third side are adjacent with the first side
Two sides.
13. pavement detection equipment according to claim 1, which is characterized in that the power module and the electric power detection mould
Block is respectively positioned in the main structure.
14. pavement detection equipment according to claim 1, which is characterized in that further include: solar charging panel, the sun
Energy charging panel is connect with the power module, for charging for the power module.
15. any pavement detection equipment in -14 according to claim 1, which is characterized in that the pavement detection module packet
It includes: the first video camera, the first image processing unit and communication unit；
First video camera is for obtaining pavement image；
The first image processing unit is for handling the pavement image to detect whether the road surface of current location breaks
Damage；
The communication unit is used for when the first image processing unit detects that road surface has damaged, by the institute of corresponding position
It states pavement image and is sent to background server.
16. any pavement detection equipment in -14 according to claim 1, which is characterized in that the guardrail detection module packet
It includes: the second video camera and the second image processing unit；
Second video camera is for obtaining the guardrail image that guardrail corresponds to pavement detection equipment region to be advanced；
Second image processing unit is for handling the guardrail image to detect guardrail and correspond to the pavement detection
Whether equipment region to be advanced is normal.
17. a kind of pavement detection method, which is characterized in that the pavement detection method is based on any in the claims 1-16
The pavement detection equipment, the pavement detection method include:
The power module provides electric energy for the pavement detection equipment；
The pavement detection module obtains the pavement image of current location, and the road based on pavement image detection current location
Whether face is damaged；
When the pavement detection unit detects that road surface has damaged, then the pavement detection unit will be described in corresponding position
Pavement image is sent to background server, and whether the electricity of the electric power detection module detection power module is normal；When the road
Face detection unit detects road surface there is no when breakage, then whether just the electric power detection module detects the electricity of power module
Often；
When the electric power detection module detect the power module electricity it is normal when, then guardrail detection module detection shield
Whether column corresponds to pavement detection equipment region to be advanced normal；
When the guardrail detection module detect the guardrail correspond to region of the pavement detection equipment wait advancing it is normal when, then
The motion module is moved using the guardrail as guide rail, and is re-executed above-mentioned pavement detection module and obtained current location
Pavement image, and based on the pavement image detection current location road surface whether Po Sun step.
18. pavement detection method according to claim 17, which is characterized in that when further including in the pavement detection equipment
When having control module；
The electric power detection module detect the power module electricity it is normal when, then the control module controls the electricity
Source module stops working；
And detect that the guardrail corresponds to pavement detection equipment region exception to be advanced in the guardrail detection module
When, then the control module controls the power module and stops working.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610560553.1A CN106012780B (en) | 2016-07-15 | 2016-07-15 | Pavement detection equipment and pavement detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610560553.1A CN106012780B (en) | 2016-07-15 | 2016-07-15 | Pavement detection equipment and pavement detection method |
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| CN106012780B true CN106012780B (en) | 2019-01-29 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CA1079106A (en) * | 1977-05-30 | 1980-06-10 | Thomas G. Kirk | Highway premarking guidance system |
| CN1228508C (en) * | 2003-08-13 | 2005-11-23 | 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 |
| CN105208328B (en) * | 2015-09-06 | 2018-07-06 | 浙江省公安厅高速公路交通警察总队宁波支队 | A kind of 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 |
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