CN107059579B - A kind of multi-functional road CT synthetic detection vehicle - Google Patents
A kind of multi-functional road CT synthetic detection vehicle Download PDFInfo
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- CN107059579B CN107059579B CN201710430770.3A CN201710430770A CN107059579B CN 107059579 B CN107059579 B CN 107059579B CN 201710430770 A CN201710430770 A CN 201710430770A CN 107059579 B CN107059579 B CN 107059579B
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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 present invention relates to Road Detection apparatus fields.It is designed to provide a kind of multi-functional road CT synthetic detection vehicle, a kind of collection road surface vision-based detection can be constructed, laser detection, Ground Penetrating Radar detection, illuminance detection, coefficient of friction are detected on integrated road CT comprehensive detection system.The technical scheme adopted by the invention is that: a kind of multi-functional road CT synthetic detection vehicle, detection system including car body and carrying on the car body, the detection system include the multifunction laser profiler that car body front lower portion is arranged in, the road surface breakage detection camera that car body upper front end is arranged in, the Ground Penetrating Radar that body rear end lower part is arranged in, the frictional factor test device that body rear end is arranged in, the rotary encoder of the GPS antenna and illuminance sensor and setting that car body top is arranged on the car body；The road surface breakage detects camera and tilts obliquely towards car body front.Lossless, efficient, continuous detection can be achieved in the present invention.
Description
Technical field
The present invention relates to Road Detection apparatus fields, can be used for detecting the multinomial road technical indicator of evaluation more particularly to one kind
Multi-functional road CT synthetic detection vehicle.
Background technique
Road traffic occupies an important position in national economy and people's lives, and in recent decades, highway is in countries in the world
It is rapidly developed.In the construction, operation, maintenance processes of road, the multinomial comprehensive detection index of road is for road construction
Department, operation department, maintenance department are most important.Increase with advanced road and the extension using the time, road maintenance
Just become key problem, how many index of road to be detected, is evaluated, is always the weight that relevant departments extremely pay close attention to
Point.
Pavement detection, maintenance work are a key links, this is because road surface directly bear driving load and it is natural because
The structure sheaf of element effect is related to whether driving is safe, quick, economical and comfortable.At present for the detection of road surface breakage situation
With evaluation, mainly by artificial vision check, there are detection efficiencies it is low, precision is low the problems such as.Current digital image detection side
Method has that automatic detection success rate is low, cannot be detected simultaneously with other indexs.It is detected in quality of road construction
In the process, the detection of the indexs such as thickness is mostly to take a progress drill hole sampling, lab analysis processing at random according to detection article, such
Detection method has very strong randomness, is not representative.
There are a major issues in road synthetic detection process at present is, single equipment can breakage to road,
Track, flatness, crack, friction coefficient are detected, but have no effective inspection to covert harm existing for road inside
Survey means, if it is possible to which the equipment for realizing a kind of multi-functional road surface, the disease under road surface while detection will make road
Construction and maintenance are increased to a new standard.
Summary of the invention
The purpose of the present invention is to provide a kind of multi-functional road CT synthetic detection vehicles, can construct a kind of collection road surface
Vision-based detection, laser detection, Ground Penetrating Radar detection, illuminance detection, friction coefficient are detected on the comprehensive inspection of integrated road CT
Examining system is, it can be achieved that lossless, efficient, continuous detection.
For achieving the above object, the technical scheme adopted by the invention is that: a kind of comprehensive inspection of multi-functional road CT
Measuring car including car body and carries detection system on the car body, and the detection system includes car body front lower portion is arranged in more
Function laser cross section instrument, the road surface breakage detection camera that car body upper front end is set, the spy that body rear end lower part is set
Radar, the frictional factor test device that body rear end is set, the GPS antenna that car body top is set and illuminance sensor and
Rotary encoder on the car body is set, and the road surface breakage detects camera, laser cross section instrument, Ground Penetrating Radar, coefficient of friction
Test equipment and illuminance sensor are triggered by rotary encoder；The road surface breakage detects camera and has a down dip towards car body front is oblique
Tiltedly.
Preferably, the road surface breakage detection camera includes that shell and the high speed linear array camera and line that are arranged inside the shell swash
The light of light high-energy light source, the line-scan digital camera capture matches with the energy line of line laser high-energy light source；The linear array
Camera is equipped with optical filter.
Preferably, the multifunction laser profiler includes 13 laser sensors and 2 acceleration transducers.
Preferably, the quantity of the illuminance sensor is two and is symmetrically distributed in the two sides of car body top, the GPS
The quantity of antenna is two and GPS and uses differential GPS.
Preferably, glass fibre reinforced plastic support is arranged in the lower part of the body rear end, and the Ground Penetrating Radar is mounted on glass fibre reinforced plastic support
On, the projecting end of the glass fibre reinforced plastic support is connect by drag-line with the fixing seat being located at the top of body rear end.
Preferably, the car body compartment includes the battery limits positioned at the workspace of leading portion and positioned at back segment；The workspace
Interior setting workbench, operations chair and the display wall for being linked with multiple displays；Cabinet is set in the battery limits, in the cabinet
Installation system host computer, profiler slave computer, radar slave computer, camera slave computer, line laser host, illuminance slave computer, difference
Divide GPS host and power-supply system control device, the display, profiler slave computer, radar slave computer, camera slave computer, line
Laser host, illuminance slave computer, differential GPS host and power-supply system control device are connect with host computer.
Preferably, the road surface breakage detection camera is mounted on car body top, the rotating base packet by rotating base
The fixed part for including and road surface breakage the rotating part that connect of detection camera and being connect with car body, the rotating part and fixed part respectively by
Two pieces of first otic placodes being parallel to each other and the second otic placode are constituted；Two pieces of second otic placodes are connected between two piece of first otic placode simultaneously
It is made up of articulated shaft hinged；The opening of one arc is set on first otic placode, it is opposite with opening on second otic placode
A piece clamping screw vertical with the second otic placode of place's setting, first otic placode and the second otic placode are tight by clamping screw band.
Preferably, buffer spring, the buffer spring are provided with below the road surface breakage detection lower one end of camera
Upper end and road surface breakage detection camera be in contact, adjusting nut is arranged in lower end, and the adjusting nut is set in outside adjustable column, institute
It is affixed with car body and be threadedly engaged with adjusting nut to state adjustable column.
Preferably, the shell of the road surface breakage detection camera includes compatible box body and box cover, and the box cover passes through
Bolt is affixed with box body；Two through-holes are arranged in one end face of box body, and two through-holes are high with line-scan digital camera and line laser respectively
Energy light source matches；The mounting plate that setting is matched with box body in box body, the side setting of the mounting plate and line laser are high
The mounting hole that the emitting head of energy light source matches, other side setting and the perpendicular bent plate of mounting plate；The line-scan digital camera is logical
It crosses bent plate to connect with mounting plate, the emitting head of the line laser high-energy light source passes through mounting hole and connect with mounting plate；The peace
The two sides of loading board are bolted with the floor that two inner sidewall of box body is arranged in.
Preferably, road surface breakage detection camera and the angle of horizontal direction are in 32 °.
Preferably, the detection system is powered by the power-supply system that car body carries.
Beneficial effect of the present invention embodies a concentrated reflection of:
1, surface evenness, track, construction depth data are acquired by multifunction laser profiler, is examined by road surface breakage
It surveys camera and acquires high-resolution pavement of road image, spectrum, the chrominance information of both sides of the road are acquired by illuminance sensor,
Thickness inside road, hole, pipeline information are acquired by Ground Penetrating Radar, integrated treatment in conjunction with later period software to each data,
Realize the surface appearances such as road surface breakage, flatness, track, construction depth, the internal states such as thickness, hole, pipeline, road two
The comprehensive detection of side illuminating position, road friction coefficient, function are more comprehensively and diversified.
2, the multifunction laser profiler of car body front lower portion, the Ground Penetrating Radar of rear end lower, body rear end are mounted on
Frictional factor test device, top illuminance sensor and GPS antenna, and be inclined at the road surface of car body front top
Damage testing camera, so that layout of the invention is more reasonable, compact, globality is stronger, improves the safety of driving.
3, cooperate GPS antenna that the acquisition position of each information is accurately positioned by rotary encoder, make the standard of information
True property is higher.
4, the road surface breakage detection camera being preferably provided with includes line-scan digital camera and line laser high-energy light source, passes through line laser
High-energy light source ensure that the abundance of line-scan digital camera light source as light filling equipment, match with the optical filter of line-scan digital camera, can
So that image cleaning, the brightness uniformity, good contrast of line-scan digital camera acquisition, improve the accuracy of detection.Maskable road simultaneously
The interference of lamp or other light reduces the difficulty of image information post-processing.
5, GPS of the invention preferably uses differential GPS, installs the GPS after GPS device on the car body enables with base station
It is communicated, correction is sent by base station, to further improve the accuracy of positioning.
6, preferably pass through drag-line for installing the glass fibre reinforced plastic support projecting end of Ground Penetrating Radar to connect with fixing seat, due to drag-line
Have certain flexibility, influence of the vehicle shake to Ground Penetrating Radar can be buffered, keep the data detected more accurate.
7, preferably by car body carry power-supply system be detection system power, ensure that the duration and stabilization of detection
Property.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the rearview when present invention does not install Ground Penetrating Radar；
Fig. 3 is the top view of structure shown in Fig. 2；
Fig. 4 is the left view of structure shown in Fig. 1；
Fig. 5 is the right view of structure shown in 1；
Fig. 6 is a kind of preferred scheme of installation of cabinet；
Fig. 7 is the scheme of installation for showing wall；
Fig. 8 is the shell mechanism schematic diagram that road surface breakage detects camera；
The top view of structure shown in Fig. 9 Fig. 8；
Figure 10 is the schematic diagram of internal structure of structure shown in Fig. 9；
Figure 11 is the A-A direction view of mechanism shown in Figure 10；
Figure 12 is the structural schematic diagram of mounting plate；
Figure 13 is the scheme of installation of rotating base.
Specific embodiment
A kind of multi-functional road CT synthetic detection vehicle in conjunction with shown in Fig. 1-13 including car body and carries on the car body
Detection system, the car body preferably uses commercial vehicle type car body, such as Ford is all-cis, the auspicious wind of Yangze river and Huai river.Detection of the invention
The settable independent battery power supply of system, but in order to improve the duration of detection and stability, the power supply preferably carried by car body
System power supply.Operating platform matched with detection system is carried in the compartment of car body, staff can be direct by operating platform
Detection system of the invention is operated, it is of course also possible to by detection system of the invention and inspection center's station wireless telecommunications,
Detection system is implemented to control in distal end.
As shown in Figure 1, detection system of the present invention includes the multifunction laser profiler that car body front lower portion is arranged in
1, the road surface breakage detection camera 2 that car body upper front end is arranged in, the Ground Penetrating Radar 3 that body rear end lower part is arranged in, setting exist
The frictional factor test device 40 of body rear end, the GPS antenna 4 that car body top is arranged in and illuminance sensor 5 and setting exist
Rotary encoder 6 on car body.The road surface breakage detects camera 2 and tilts obliquely towards car body front.Road surface of the present invention is broken
The subsystems such as damage detection camera 2, laser cross section instrument 1, Ground Penetrating Radar 3 and illuminance sensor 5 are generally also equipped with independence
Slave computer, fed back and controlled for the state to each subsystem.Each slave computer and system host computer, display etc. are common
Constitute operating platform.
Road surface breakage detection camera 2, laser cross section instrument 1, Ground Penetrating Radar 3 and illuminance sensor 5 of the present invention are by revolving
Turn the triggering of encoder 6.Such as: when car body moves forward, the every 1mm of rotary encoder 6 triggers a pulse, pulse-triggered road surface
Damaged camera 2 carries out the acquisition of image, and combines with GPS system and position to the location information of image.Similarly, illuminance passes
Sensor 5, laser cross section instrument 1, Ground Penetrating Radar 3 etc. can also send pulse signal by rotary encoder 6 and be triggered.It is arranged in vehicle
The frictional factor test device 40 of body rear end can detect that the coefficient of friction situation of road, frictional factor test device 40 include inspection
Unit and water supplying unit are surveyed, the different dry and wet condition of water analog road is spread by water supplying unit, realizes road in different situations
The detection of lower coefficient of friction.
Usual road surface breakage detection camera 2 and the angle of horizontal direction are in 32 °, guarantee camera all standing road, to ensure
The quality of acquired image can also carry out certain adjustment according to the actual situation.The road surface breakage detection camera 2 is usual
There are two settings, and in car body two sides, it includes a high speed linear array camera 7 inside camera 2 that road surface breakage, which detects, for full symmetric setting.
The line-scan digital camera 7 of two road surface damage testing cameras 2 is full symmetric, can the single lane of all standing, complete road surface breakage inspection
It surveys.For the stability for guaranteeing camera light source, road surface breakage camera 2 includes also a line laser high-energy light source 8, guarantees light filling
Stability.It is fixed between described high speed linear array camera 7 and line laser high-energy light source 8 using special bracket, mixes up the two
Between position, guarantee line-scan digital camera capture light fit like a glove with 8 energy line of line laser high-energy light source.Road surface breakage detects phase
Machine 2 can obtain high-resolution pavement of road image, can intuitively show the breakage on road surface, and utilize analysis software, energy
The damaged area for completely marking road surface provides Pavement distress according to all standard.In order to improve the essence of detection
Exactness, better way are that optical filter is adapted on line-scan digital camera 7, optical filter enable to line-scan digital camera acquire image cleaning,
Brightness uniformity, contrast.The interference of maskable street lamp or other light simultaneously reduces the difficulty of image information post-processing.
The multifunction laser profiler 1 of car body leading portion opens laser sensor when working, acquisition surface evenness, track,
Construction depth data, the data of acquisition by the post-processing of software, and according to the segment length of setting can fast, accurately to being engaged in this profession
Road Measuring Several Indexes: left and right flatness, left and right track, left construction depth data.Multifunction laser profiler 1 is commonly equipped with
13 laser sensors and 2 acceleration transducers can be expert to car body by the acceleration information that acceleration transducer acquires
Error caused by shaking during sailing is corrected.
The illuminance sensor 5 that the present invention is located at roof middle section can acquire the spectrum of present road two sides, coloration etc.
Information, usual illuminance sensing 5 are also provided with there are two and are arranged symmetrically.The data of 5 acquisition of illuminance sensing are transmitted to corresponding
Slave computer forms data processed result, and USB connection is used between slave computer and host computer.Local operation mode can be used, will count
According to saving to corresponding slave computer, spectrogram is formed, and show current illumination；It can also be used teleoperation mode, save to being located at
The host computer at inspection center station.Illuminance sensor 5 usually detects an illuminance at interval of 1m.Then according to the distance of setting
Parameter counts present road illuminance situation, and according to corresponding algorithm, in conjunction with symmetrical 5 data of illuminance sensor, analysis
Both sides of the road light source situation forms road light source analysis report.
In order to further increase the accuracy that the present invention positions, better way is that GPS of the invention uses differential GPS,
GPS communication with inspection center website after GPS device on car body enables, sends correction as base station by inspection center's website
Number is received by roof GPS antenna 4 and is corrected its measurement result, to obtain accurate positioning result.Body rear end part
3 equipment of Ground Penetrating Radar of installation mainly completes the detection of road thickness, cavity, pipeline；It can be equipped with difference according to different needs
The antenna of frequency, such as: 2000MHz, 1500MHz, 900MHz, 400MHz.High frequency antenna completes thickness detection, and low-frequency antenna is complete
At cavity, the detection of pipeline, the analysis software of rear end can be analyzed to obtain thickness, mark the position in cavity, pipeline.Due to
Influence of the car body vibration to radar system is relatively large in driving conditions, in order to further increase the accuracy of detection, preferably
Way is that glass fibre reinforced plastic support 9 is arranged in the lower part of the body rear end, is replaced certainly using the bracket of stainless steel or other materials
It is feasible, but 9 relative flexibility of glass fibre reinforced plastic support is more preferable, it is more preferable to the buffering effect of vibration.The Ground Penetrating Radar 3 is mounted on glass
On glass steel bracket 9, the projecting end of the glass fibre reinforced plastic support 9 is connected by drag-line 10 with the fixing seat 11 being located at the top of body rear end
It connects.Since drag-line 10 has certain flexibility, it can further buffer vehicle and shake influence to Ground Penetrating Radar 3, make to detect
The accuracy of data is further promoted.Meanwhile it generally also can be straight positioned at the frictional factor test device of body rear end 40
Glass fibre reinforced plastic support 9 was connected to be installed.
The present invention acquires surface evenness, track, construction depth data by multifunction laser profiler 1, passes through road surface
Damage testing camera 2 acquires high-resolution pavement of road image, by illuminance sensor 5 acquire both sides of the road spectrum,
Chrominance information, by the thickness inside the acquisition road of Ground Penetrating Radar 3, hole, pipeline information, in conjunction with later period software to each data
Integrated treatment realizes the surface appearances such as road surface breakage, flatness, track, construction depth, the internal shape such as thickness, hole, pipeline
Condition, the comprehensive detection of both sides of the road illuminating position, function are more comprehensively and diversified.It is mounted on more function of car body front lower portion
Can laser cross section instrument 1, the Ground Penetrating Radar 3 of rear end lower, top illuminance sensor 5 and GPS antenna 4, and be obliquely installed
Camera 2 is detected in the road surface breakage of car body front top, so that layout of the invention is more reasonable, compact, globality is stronger,
Improve the safety of driving.
Operating platform of the invention is located at interior, and in conjunction with shown in Fig. 2 and 3, the car body compartment includes being located at leading portion
Workspace and battery limits positioned at back segment.Workbench 12, operations chair 13 are set in the workspace and are linked with multiple displays
The display wall 14 of device, the quantity of the display are usually 4, and four displays are arranged in arrays, respectively correspond display and bottom out
The detection information of radar 3, laser cross section instrument 1, road surface breakage detection camera 2 and illuminance sensor 5.It is arranged in the battery limits
Cabinet 15, installation system host computer, profiler slave computer, radar slave computer, camera slave computer, line laser master in the cabinet 15
Machine, illuminance slave computer, differential GPS host and power-supply system control device, under the display, profiler slave computer, radar
Position machine, camera slave computer, line laser host, illuminance slave computer, differential GPS host and power-supply system control device with it is upper
Machine connection.The operating platform that the present invention is located in compartment is rationally distributed, compact.Each subsystem is carried out by each slave computer independent
Control, and planned as a whole by host computer, failure rate is low, and detecting state is stablized.In conjunction with shown in Fig. 6 and 7, it can also be set in the top of cabinet 15
Dividing wall is set, realizes the separation of battery limits and workspace, settable hook 30, string bag 31 etc. are convenient for file, tool on dividing wall
Deng storage pick and place, the also settable locker 35 in the two sides of cabinet 15, in addition it can in the setting of the side of workbench 12 for putting
Set the saucer etc. of tea water cup.
As illustrated in figs. 8-12, road surface breakage of the invention detection camera 2 removes line-scan digital camera 7 and line laser high-energy light source
Outside, it is usually also fitted with a shell, the shell includes compatible box body 24 and box cover 25, and the box cover 25 passes through bolt
It is affixed with box body 24.Two through-holes 26 are arranged in 24 1 end face of box body, and two through-holes 26 swash with line-scan digital camera 7 and line respectively
Light high-energy light source 8 matches, and is usually provided with transmission lens in through-hole 26, after the completion of box body 24 and box cover 25 combine, structure
At space in a closed box.The mounting plate 27 that setting is matched with box body 24 in box body 24, the side of the mounting plate 27
The mounting hole matched with the emitting head of line laser high-energy light source 8 is set, perpendicular curved of other side setting and mounting plate 27
Plate 28, the bent plate 28 are connect by bolt with mounting plate 27.The line-scan digital camera 7 is connect by bent plate 28 with mounting plate 27,
The emitting head of the line laser high-energy light source 8 passes through mounting hole and connect with mounting plate 27.The two sides of the mounting plate 27 with set
The floor 29 set in 24 liang of inner sidewalls of box body is bolted.It is bolted between mounting plate 27 and bent plate 28 of the invention,
It, can be curved by unscrewing or tightening when the light that light and line laser high-energy light source 8 that line-scan digital camera 7 acquires emit is misfitted
The bolt that plate 28 is connect with mounting plate 27 carries out the fine tuning of angle.
Since road surface breakage detection camera 2 usually requires to carry out certain angular adjustment according to the actual situation, in conjunction with Figure 13
Shown, better way is that road surface breakage detection camera 2 by rotating base 16 is mounted on car body top, the rotation bottom
Seat 16 includes detecting the rotating part that camera 2 is connect and the fixed part connecting with car body, the rotating part and fixation with road surface breakage
The first otic placode 17 and the second otic placode 18 that portion is parallel to each other by two pieces respectively are constituted.Two pieces of second otic placodes 18 are connected to two pieces
It is constituted between first otic placode 17 and by articulated shaft hinged.The opening 19 of one arc is set on first otic placode 17, it is described
A piece clamping screw 20 vertical with the second otic placode 18 of place's setting opposite with opening 19, first otic placode 17 on second otic placode 18
With the second otic placode 18 by clamping screw 20 with tight.When needing to carry out angular adjustment, unscrewing clamping screw 20 can be turned
It is dynamic, tighten the achievable locking again of clamping screw 20.Clamping screw 20 has both the function of guiding and locking, and structure is simple, is convenient for
Operation.
The present invention is since road surface breakage camera 2 is obliquely installed, even if after positioning, still having and in an inclined direction rotating
Trend, for this purpose, preferably way is, as shown in figure 13, road surface breakage detection is provided with below the lower one end of camera 2
The upper end of buffer spring 21, the buffer spring 21 is in contact with road surface breakage detection camera 2, road pavement damage testing camera 2
Flexible support is constituted, adjusting nut 22 is arranged in 21 lower end of buffer spring, and the adjusting nut 22 is set in outside adjustable column 23, described
Adjustable column 23 is affixed with car body and is threadedly engaged with adjusting nut 22；That is buffer spring 21 be by adjusting nut 22 with
What adjustable column 23 connected.It can adjust the position of buffer spring 21 in the height direction by rotating adjusting nut 22, realize buffering
The adjusting of 21 overall height of spring carries out certain support using the end of 21 road pavement damage testing camera 2 of buffer spring, and one
Aspect can influence caused by damping vibration, the trend that road surface breakage detection camera 2 is rotated to low side on the other hand can be offset, on road
After the completion of face damage testing camera 2 positions, the clamping screw 20 of rotating base 16 can effectively be avoided to loosen caused error.
On this basis, in order to ensure road surface breakage camera 2 when various angles are arrived in adjusting, buffer spring 21 can be constituted it effectively
Support, better way is, setting one is led near the position that the road surface breakage detection camera 2 contact with buffer spring 21
Xiang Zhu, one end of guide post are protruded into buffer spring 21, and the other end detects camera 2 with road surface breakage by universal ball end and connect,
The effect that excessively can preferably guarantee support is carried out by guide post in this way.Meanwhile the lower end of the adjustable column 23 is not direct
It is fixed with car body, but a guide rail is set on the car body, a sliding block is arranged in 23 lower end of adjustable column, and guide rail and sliding block can be realized
It locks or is slidably matched, thus realize that position of the adjustable column 23 on car body front-rear direction adjusts using guide rail and sliding block, thus
Realize that buffer spring 21 can constitute effective support when road surface breakage detection camera 2 is in any angle to it.
Claims (10)
1. a kind of multi-functional road CT synthetic detection vehicle, the detection system including car body and carrying on the car body, feature exist
In: the detection system includes the multifunction laser profiler (1) that car body front lower portion is arranged in, is arranged in car body upper front end
Road surface breakage detection camera (2), the Ground Penetrating Radar (3) of body rear end lower part is set, the friction system of body rear end is set
Number test equipment (40), the rotation of the GPS antenna (4) that car body top is set and illuminance sensor (5) and setting on the car body
Turn encoder (6), road surface breakage detection camera (2), laser cross section instrument (1), Ground Penetrating Radar (3), PVvalue testing are set
Standby (40) and illuminance sensor (5) are triggered by rotary encoder (6)；The road surface breakage detects camera (2) towards car body front
It tilts obliquely；Road surface breakage detection camera (2) includes the high speed linear array camera (7) and line of shell and setting inside the shell
Laser high-energy light source (8).
2. multi-functional road CT synthetic detection vehicle according to claim 1, it is characterised in that: the line-scan digital camera (7)
The light of capture matches with the energy line of line laser high-energy light source (8)；The line-scan digital camera (7) is equipped with optical filter；Institute
The quantity for stating GPS antenna (4) is two and GPS using differential GPS.
3. multi-functional road CT synthetic detection vehicle according to claim 1, it is characterised in that: the illuminance sensor
(5) quantity is two and is symmetrically distributed in the two sides of car body top.
4. multi-functional road CT synthetic detection vehicle according to claim 3, it is characterised in that: under the body rear end
Glass fibre reinforced plastic support (9) are arranged in portion, and the Ground Penetrating Radar (3) is mounted on glass fibre reinforced plastic support (9), the glass fibre reinforced plastic support (9)
Projecting end is connect by drag-line (10) with the fixing seat (11) being located at the top of body rear end.
5. multi-functional road CT synthetic detection vehicle according to claim 4, it is characterised in that: the multifunction laser is disconnected
Face instrument (1) includes 13 laser sensors and 2 acceleration transducers.
6. multi-functional road CT synthetic detection vehicle according to claim 5, it is characterised in that: the car body compartment includes
Workspace positioned at leading portion and the battery limits positioned at back segment；Workbench (12), operations chair (13) are set in the workspace and hung
Display wall (14) equipped with multiple displays；Cabinet (15) are set in the battery limits, on the interior installation system of the cabinet (15)
Position machine, profiler slave computer, radar slave computer, camera slave computer, line laser host, illuminance slave computer, differential GPS host and
Power-supply system control device, the display, profiler slave computer, radar slave computer, camera slave computer, line laser host, light
Illumination slave computer, differential GPS host and power-supply system control device are connect with host computer.
7. multi-functional road CT synthetic detection vehicle according to claim 6, it is characterised in that: the road surface breakage detection
Camera (2) is mounted on car body top by rotating base (16), and the rotating base (16) includes detecting camera with road surface breakage
(2) rotating part connected and the fixed part that is connect with car body, the rotating part and fixed part respectively by two pieces be parallel to each other the
One otic placode (17) and the second otic placode (18) are constituted；Two pieces of second otic placodes (18) are connected between two piece of first otic placode (17) simultaneously
It is made up of articulated shaft hinged；The opening (19) of one arc, second otic placode (18) are set on first otic placode (17)
Upper place opposite with opening (19) is arranged a clamping screw (20) vertical with the second otic placode (18), first otic placode (17) and
Second otic placode (18) is tight by clamping screw (20) band.
8. multi-functional road CT synthetic detection vehicle according to claim 7, it is characterised in that: the road surface breakage detection
It is provided with buffer spring (21) below camera (2) lower one end, the upper end of the buffer spring (21) and road surface breakage detect
Camera (2) is in contact, and adjusting nut (22) are arranged in lower end, and the adjusting nut (22) is set in adjustable column (23) outside, the tune
Segmented column (23) is affixed with car body and is threadedly engaged with adjusting nut (22).
9. the multi-functional road CT synthetic detection vehicle according to any one of claim 7 and 8, it is characterised in that: institute
The shell for stating road surface breakage detection camera (2) includes compatible box body (24) and box cover (25), and the box cover (25) passes through spiral shell
Bolt and box body (24) are affixed；(24) one end face of box body is arranged two through-holes (26), and two through-holes (26) respectively with linear array
Camera (7) and line laser high-energy light source (8) match；The mounting plate that setting is matched with box body (24) in box body (24)
(27), the mounting hole matched with the emitting head of line laser high-energy light source (8) is arranged in the side of the mounting plate (27), another
Side setting and mounting plate (27) perpendicular bent plate (28)；The line-scan digital camera (7) is connected by bent plate (28) and mounting plate (27)
It connects, the emitting head of the line laser high-energy light source (8) passes through mounting hole and connect with mounting plate (27)；The mounting plate (27)
Floor (29) of the two sides with setting in (24) two inner sidewall of box body is bolted.
10. multi-functional road CT synthetic detection vehicle according to claim 9, it is characterised in that: the road surface breakage
The angle for detecting camera (2) and horizontal direction is in 32 °, and the detection system is powered by the power-supply system that car body carries.
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| CN107817319A (en) * | 2017-12-19 | 2018-03-20 | 成都圭目机器人有限公司 | It is a kind of to be used for urban road and the Non-Destructive Testing robot system of pipe engineering underground defect |
| CN109239099A (en) * | 2018-09-30 | 2019-01-18 | 张家港天筑基业仪器设备有限公司 | Road surface breakage real-time detecting system and its detection method under multi-machine collaborative environment |
| CN109808610B (en) * | 2018-11-27 | 2020-12-15 | 佛山市奥策科技有限公司 | Vehicle-mounted line scanning imaging device using line laser light source |
| CN109581364A (en) * | 2018-12-14 | 2019-04-05 | 江苏中路工程技术研究院有限公司 | The identification of bridge brow plate emptying quantification and automatic identification method based on Ground Penetrating Radar |
| CN110275209B (en) * | 2019-05-24 | 2020-10-30 | 北京建筑大学 | Ground penetrating radar front load simulation device |
| CN112554012B (en) * | 2019-09-26 | 2022-05-03 | 中交国通公路工程技术有限公司 | Pavement damage measuring device and method |
| CN111395125A (en) * | 2020-04-24 | 2020-07-10 | 徐州徐工养护机械有限公司 | Road detection vehicle and information processing method |
| CN111424519B (en) * | 2020-04-28 | 2020-10-13 | 三门鸿喏科技有限公司 | Unmanned car of line is mended in engineering road marking washing |
| CN111778820A (en) * | 2020-08-07 | 2020-10-16 | 湖北中油科昊机械制造有限公司 | Urban road disease intelligent diagnosis and multi-functional repair equipment |
| CN113030094A (en) * | 2021-01-26 | 2021-06-25 | 重庆市智翔铺道技术工程有限公司 | High-precision comprehensive detection system and method for pavement use condition of steel bridge deck |
| GB2621580A (en) * | 2022-08-15 | 2024-02-21 | Robotiz3D Ltd | Apparatus |
| CN115575947A (en) * | 2022-11-21 | 2023-01-06 | 湖南联智科技股份有限公司 | Road disease detection device |
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