CN107941170A - Road detection apparatus and system - Google Patents
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- CN107941170A CN107941170A CN201711345107.XA CN201711345107A CN107941170A CN 107941170 A CN107941170 A CN 107941170A CN 201711345107 A CN201711345107 A CN 201711345107A CN 107941170 A CN107941170 A CN 107941170A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
Road detection apparatus provided in an embodiment of the present invention and system, on vehicle, for carrying out Road Detection, described device includes：Linear laser source, image acquisition device and processor, the linear laser source are used to send laser, and described image collector is used for the image for gathering the laser irradiating position, and described image collector is connected with the processor；The linear laser source continuously sends out laser at interval of preset time period, and the time for continuously sending out laser is the first duration；Described image collector is continuously shot at interval of the preset time period, and the time being continuously shot is the second duration, and second duration is longer than first duration.When linear laser source continuously sends out laser and image acquisition device is continuously shot, the data of acquisition can be used for detecting the rutting depth and surface evenness of road, when linear laser source does not send laser, and image acquisition device is continuously shot, the data of acquisition can be used for detecting the damaged state of road.
Description
Technical field
The present invention relates to measuring device field, in particular to a kind of road detection apparatus and system.
Background technology
Highway in China mileage open to traffic rapid growth, the magnitude of traffic flow increasingly increase, and pavement maintenance management workload is acute with difficulty
Increase；Surface evenness, rutting depth, damaged state are to evaluate the important indicator of road conditions, are to carry out Highway Section to learn maintenance management
Premise.Surface evenness, rutting depth, damaged state not only directly affects travel safety and comfort also seriously endangers road
Structural integrity and stability.Therefore, it is necessary to the surface evenness that satisfies the need, rutting depth, damaged state to carry out periodic detection.
However, traditional detection method detection time is long, labor intensity is big, detection speed is low, it is typically only capable to complete single
The detection of index.Therefore Pavement Road Surface Quality is used for quickly detecting so as to obtain it is accurate, complete, efficiently pick up survey data, be
Highway maintenance and management are provided according to the developing direction for being highway detection.
The content of the invention
In view of this, an embodiment of the present invention provides a kind of road detection apparatus and system.
To achieve the above object, an embodiment of the present invention provides a kind of road detection apparatus, on vehicle, for into
Row Road Detection, described device include：Linear laser source, image acquisition device and processor, the linear laser source are used to send sharp
Light, described image collector are used for the image for gathering the laser irradiating position, and described image collector connects with the processor
Connect；The linear laser source continuously sends out laser at interval of preset time period, and the time for continuously sending out laser is the first duration；It is described
Image acquisition device is continuously shot at interval of the preset time period, and the time being continuously shot is the second duration, and described second
Duration is longer than first duration.
Preferably, in the road detection apparatus that the application provides, described image collector includes camera, CCD linear arrays
Sensor, analog signal conditioner circuit and AD Acquisition Circuit, the camera is connected with the CCD line array sensors, described
CCD line array sensors are connected with the analog signal conditioner circuit, the analog signal conditioner circuit and the AD Acquisition Circuit
Connection, the AD Acquisition Circuit are connected with the processor.
Preferably, in the road detection apparatus that the application provides, the processor includes more mouthfuls of ram memory cells, cars
Rut logical algorithm unit, flatness logical algorithm unit, road surface breakage logical algorithm unit and ARM hard nucleus management units, institute
More mouthfuls of ram memory cells are stated to patrol with track logical algorithm unit, flatness logical algorithm unit and the road surface breakage respectively
Collect algorithm unit connection, the track logical algorithm unit, flatness logical algorithm unit and road surface breakage logical algorithm list
Member is connected with the ARM hard nucleus managements unit.
Preferably, in the road detection apparatus that the application provides, the processor further includes accelerometer, the acceleration
Degree meter is connected with the ARM hard nucleus managements unit.
Preferably, in the road detection apparatus that the application provides, the road detection apparatus further includes wheel encoder,
The wheel encoder is installed on the wheel of the vehicle, and the wheel encoder is connected with the processor.
Preferably, in the road detection apparatus that the application provides, the road detection apparatus further includes wireless telecommunications list
Member, the wireless communication unit are connected with the processor.
Preferably, in the road detection apparatus that the application provides, the road detection apparatus further includes GNSS receiver,
The GNSS receiver is connected with the processor.
Preferably, in the road detection apparatus that the application provides, the road detection apparatus further includes power supply, the electricity
Source is connected with the processor, image acquisition device and linear laser source respectively.
Preferably, in the road detection apparatus that the application provides, the linear laser source includes point light source and laser prism,
The point light source is used to launch laser beam, and the laser prism is used to laser beam refraction becoming line laser.
The embodiment of the present invention additionally provides a kind of road detection system, the system comprises：The server and the road
Road detection device communication, the temporal information hair when wireless communication unit of the road detection apparatus is by result information and detection
Send to the server；The server receives and stores the result information and temporal information.
Road detection apparatus provided in an embodiment of the present invention and system have the beneficial effect that：
Road detection apparatus provided in an embodiment of the present invention and system, on vehicle, for carrying out Road Detection, institute
Stating device includes：Linear laser source, image acquisition device and processor, the linear laser source are used to send laser, and described image is adopted
Storage is used for the image for gathering the laser irradiating position, and described image collector is connected with the processor；The line laser
Source continuously sends out laser at interval of preset time period, and the time for continuously sending out laser is the first duration；Described image collector is every
It is spaced the preset time period to be continuously shot, the time being continuously shot is the second duration, and second duration is longer than described
First duration.When linear laser source continuously sends out laser and image acquisition device is continuously shot, the data of acquisition can be used for detecting
The rutting depth and surface evenness of road, when linear laser source does not send laser, and image acquisition device is continuously shot, obtain
Data can be used for detecting the damaged state of road.
Brief description of the drawings
, below will be to embodiment or existing for the clearer explanation embodiment of the present invention or technical solution of the prior art
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram for the road detection apparatus that present pre-ferred embodiments provide；
Fig. 2 is a kind of structural representation of the embodiment for the road detection apparatus that present pre-ferred embodiments provide
Figure；
Fig. 3 is the application scenarios schematic diagram for the road detection apparatus that present pre-ferred embodiments provide；
Fig. 4 is the structure diagram for the road detection system that present pre-ferred embodiments provide；
Fig. 5 is the structure diagram that linear laser source coordinates with camera.
Icon：10- road detection apparatus；110- linear laser sources；111- point light sources；112- laser prisms；120- images are adopted
Storage；121- cameras；122-CCD line array sensors；123- analog signal conditioner circuits；124-AD Acquisition Circuits；At 130-
Manage device；More mouthfuls of ram memory cells of 131-；132- track logical algorithm units；133- flatness logical algorithm units；134- road surfaces
Damaged logical algorithm unit；135-ARM hard nucleus management units；136- accelerometers；140- wheel encoders；150- wireless telecommunications
Unit；160-GNSS receivers；170- power supplys；20- servers；30- networks；1- systems.
Embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is right below
The detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit the scope of claimed invention, but
It is merely representative of the selected embodiment of the present invention.Based on the embodiment of the present invention, those skilled in the art are not making creativeness
All other embodiments obtained on the premise of work, belong to the scope of protection of the invention.
Details refer to Fig. 1, and Fig. 1 shows road detection apparatus 10 provided in an embodiment of the present invention, which includes line
Lasing light emitter 110, image acquisition device 120 and processor 130.The linear laser source 110 is used to send laser, described image collection
Device 120 is used for the image for gathering the laser irradiating position, and described image collector 120 is connected with the processor 130；
The linear laser source 110 continuously sends out laser at interval of preset time period, and the time for continuously sending out laser is first
Duration；Described image collector 120 is continuously shot at interval of the preset time period, when the time being continuously shot is second
Long, second duration is longer than first duration.
Described image collector 120 include camera 121, CCD line array sensors 122, analog signal conditioner circuit 123 with
And AD Acquisition Circuit 124, the camera 121 are connected with the CCD line array sensors 122, the CCD line array sensors 122
It is connected with the analog signal conditioner circuit 123, the analog signal conditioner circuit 123 is connected with the AD Acquisition Circuit 124,
The AD Acquisition Circuit 124 is connected with the processor 130.
Fig. 2 and Fig. 3 are referred to, camera 121 can be arranged on the bottom of road detection apparatus 10 and 121 court of camera
Earthward, so as to be shot to ground, which is arranged on the front end of CCD line array sensors 122, refers to Fig. 2,
Receive laser line generator and be irradiated to the laser that ground return returns and the image that laser and ground are crossed to form, and laser and
Image passes to CCD line array sensors 122, and the width on the camera 121 irradiation ground is determined by the focal length of camera lens.
CCD line array sensors 122 connect camera 121, and the optical signal received is converted to electric signal, and by telecommunications
Number export to analog signal conditioner circuit 123, in order to which analog signal conditioner circuit 123 nurses one's health electric signal.
The output terminal of the input terminal connection CCD line array sensors 122 of analog signal conditioner circuit 123, CCD linear arrays are sensed
The more faint analog signal that device 122 exports is amplified and is filtered, and is then output to high-speed AD acquisition circuit 124.
AD Acquisition Circuit 124 converts analog signals into digital signal and passes to processor 130, is passed so as to fulfill linear array
The numeralization of sensor output quantity.Processor 130 is specifically as follows high-performance FPGA calculating platforms.
Fig. 2 is referred to, the processor 130 includes more mouthfuls of ram memory cells 131, track logical algorithm unit 132, puts down
Whole degree logical algorithm unit 133, road surface breakage logical algorithm unit 134 and ARM hard nucleus managements unit 135, the more mouthfuls of RAM
Storage unit 131 is patrolled with the track logical algorithm unit 132, flatness logical algorithm unit 133 and road surface breakage respectively
Collect algorithm unit 134 to connect, the track logical algorithm unit 132, flatness logical algorithm unit 133 and road surface breakage are patrolled
Algorithm unit 134 is collected to be connected with the ARM hard nucleus managements unit 135.The processor 130 further includes accelerometer 136, institute
Accelerometer 136 is stated to be connected with the ARM hard nucleus managements unit 135.
Processor 130 receives the view data of numeralization, is cached by FIFO, and calculates different pavement detection parameters,
Its internal ARM hard nucleus managements unit 135 realizes the generation of the storage of result of calculation and report.130 inner buffer of processor
There are track logical algorithm unit 132, flatness logical algorithm unit 133, road surface breakage logical algorithm unit 134, unit
It is independent to calculate different pavement detection parameters.
Accelerometer 136 is used for the acceleration for measuring vertical direction, the vibration displacement value of equipment is obtained, for detecting road surface
Flatness.
The road detection apparatus 10 further includes wheel encoder 140, refers to Fig. 3, and the wheel encoder 140 is installed
In on the wheel of the vehicle, the wheel encoder 140 is connected with the processor 130.Wheel encoder 140 can obtain
Whether the movement of vehicle, the movement mileage of vehicle is obtained.And road detection apparatus 10 can be at interval of sending one for a period of time
A trigger signal is to processor 130, so that processor 130 controls camera 121 to take pictures.
Road detection apparatus 10 further includes wireless communication unit 150, the wireless communication unit 150 and the processor
130 connections.Wireless communication unit 150 is used for realization the communication between road detection apparatus 10 and server 20, specifically, can be with
It is connected with collection monitoring computer, there is provided service on net, the display for Online Map.
The road detection apparatus 10 further includes GNSS receiver 160, the GNSS receiver 160 and the processor
130 connections.GNSS receiver 160 is global navigation satellite system receiver, can by RS232 serial ports connection processings device 130,
For obtaining time and position, and time acquisition and positional information pass to ARM hard nucleus managements unit 135, so as to ARM
Hard nucleus management unit 135 transmits the data detected and time and positional information to server 20, can specifically send
Give cloud platform integrated treatment center.
The road detection apparatus 10 further includes power supply 170, and the power supply 170 is adopted with the processor 130, image respectively
Storage 120 and linear laser source 110 connect.Power supply 170 is used to be that modules are powered in system.
Linear laser source 110 is connected with processor 130, and processor 130 provides the control sequential of line laser light source, specifically,
When encoder sends output pulse to processor 130, processor 130 controls the Laser emission of linear laser source 110.
Linear laser source 110 includes point light source 111 and laser prism 112, refers to Fig. 5, and point light source 111 is used to launch laser
Beam, laser prism 112 reflect laser beam into line laser.
The operation principle of road detection apparatus 10 provided by the embodiments of the present application is as follows：
Road detection apparatus 10 is installed on the top of vehicle, specifically may refer to Fig. 3, and encoder is installed at wheel, and
Encoder is electrically connected with the processor 130 of road detection apparatus 10.Encoder is used to judge whether vehicle moves, when vehicle moves
When, encoder sends pulse signal to processor 130.
Processor 130 controls linear laser source 110 to continuously send out laser respectively according to pulse signal, and continuously sends out laser
The first durations of Shi Changwei, it is the second duration to control the camera 121 of image acquisition device 120 to carry out the time at interval of preset time period
Be continuously shot, and the second duration is longer than the first duration.I.e. camera 121 can collect the laser that linear laser source 110 is sent
View data when being in contact with road surface and when being irradiated without laser road surface view data.
The view data that camera 121 collects successively through CCD line array sensors 122, analog signal conditioner circuit 123,
Processor 130 is emitted to after the processing of AD Acquisition Circuit 124 to handle.Wherein, view data when laser is in contact with road surface is sent
Handled to track logical algorithm unit 132, flatness logical algorithm unit 133；The picture number on road surface during no laser irradiation
Handled according to sending to road surface breakage logical algorithm unit 134.
Track logical algorithm unit 132 is handled in the following way：
Image gray processing processing in addition to the laser band that the image got to be formed except laser irradiates, makes effective laser
The view data of irradiation is more prominent.Then processing is filtered, the interference sources such as interference, hardware noise letter will be travelled due to vehicle
Cease to filtering out.It is different in gray scale using the target object and background to be extracted in image by threshold segmentation algorithm
Often, pixel is divided into by grey level by given threshold it is some, so as to fulfill image split.The banded regions that laser is irradiated
Regional partition, so that road surface gray level image is converted into bianry image.Then the center of line laser striped is obtained, with reference to coordinate data
And the centre data of line laser striped, calculate the rutting depth data for detecting road surface.
Flatness logical algorithm unit 133 is in the following way handled the image got：
Since flatness detection is longitudinal section detection on road surface, it is not necessary to swash to the line taking each like that of track logical algorithm
The data of one full line of light, it is only necessary to the image information of fixed point coordinates is taken, for example, can be with line taking laser stripe
The data of heart point, can also take the data of the N number of neighbor pixel of central point.Again by the gradation of image in track logical algorithm
Processing, image filtering processing, image dividing processing handle image, are then extracted by gray level image circular central coordinate
Algorithm obtains the accurate centre coordinate of hot spot, then in conjunction with coordinate data, acceleration information, calculates the elevation at respective coordinates
Data, then at interval of being reprocessed after a period of time once, to obtain the flatness data of different sections of highway.Acceleration information is
In order to eliminate data error caused by vehicle jolts.
Road surface breakage logical algorithm unit 134 carries out image procossing in the following way：
Exported after being scanned due to CCD line-scan digital cameras for row image, it is necessary to obtain picture number from more mouthfuls of ram memory cells 131
According to completion image mosaic.Due to the parallel processing of FPGA, splicing caching only needs several rows；Then by Image filter arithmetic
Reason, can be selected the field filtering method of average, medium filtering, adaptive-filtering；It can be selected according to being configured under varying environment and road surface
Different filtering algorithms；Eliminate the noise brought due to illumination, shade, hardware circuit etc..Filtered image disruption noise
Less, color, gray value, space characteristics and the textural characteristics of image binaryzation according to bituminous paving pixel etc. divide image
For several mutually disjoint regions, so that these features embody uniformity or similitude in identical region, but
Different characteristics is shown in different regions；Crackle is separated from background.
Mathematical Morphology Crack handling is to pass through closing operation for scatterplot present in bianry image, pseudo- target etc., open
Computing, connected component labeling, skeletal extraction and and processing the methods of computing, eliminating scatterplot, pseudo- target etc. influences, and taking-up is split
Line.Pavement image after digital morphological Crack handling, exports and gives Identification of Cracks algorithm, calculates crack length, width, face
The parameters such as product；And transversal crack, longitudinal crack or irregular crackle are judged according to form.
The operation principle of the data acquisition device of the front end of the road detection apparatus 10 is as follows：
Fig. 5 is referred to, the line laser that linear laser source 110 is sent shoots line laser with road surface into predetermined angular, camera 121
The stripe shape being crossed to form with road surface analyzes the profile situation on road surface, if road surface is horizontal, CCD imaging meetings
It is straight line；On the contrary, if road surface is not horizontal, CCD imagings can be a curve.
By line laser oblique fire on by road surface to be detected, since the height of road surface to be detected rises and falls so projecting
Line laser streak line on road surface can change, and since light striped is deformed, analysis calculates the light of this deformation
Striped, it is possible to obtain the surface profile situation on road surface, i.e. surface elevation data, then combining the elimination car of accelerometer 136
Influence of jolting, track and flatness can be calculated.Linear laser source 110 is may then turn off, is clapped by camera 121
Take the photograph, CCD camera will image mosaic be line by line a secondary M*N images, by Digital Image Processing algorithm, come realize road surface crackle,
Damaged detection.
Fig. 4 is referred to, Fig. 4 shows the road detection system 1 that the application preferred embodiment provides, including Road Detection dress
10 and server 20 are put, road detection apparatus 10 and server 20 are communicated by network 30.The server 20 with it is described
Road detection apparatus 10 communicates, when the wireless communication unit 150 of the road detection apparatus 10 is by result information and detection
Temporal information is sent to the server 20.The server 20 receives and stores the result information and temporal information.
Processor 130 is calculated by track logical algorithm unit 132, flatness logical algorithm unit 133, road surface breakage logic
After method unit 134 gets track data, flatness data and road surface breakage data respectively, wireless communication unit can be passed through
150 by above-mentioned data sending to server 20, can also send to cloud platform aggregation of data processing center.
Server 20 can be specifically Cloud Server 20, and server 20 receives the real-time of different road detection apparatus 10
Data are detected, and establish pavement detection multi-functional data storehouse, according to the GPS geography information, temporal information, car of different device passback
Rut data, flatness data and road surface breakage data, establish complete database, so that road major executives is led to
The status information and vehicle condition of any one road in the domain of institute area under control can be checked whenever and wherever possible by crossing mobile phone or pc client.
The embodiment of the present application provides road detection apparatus 10 and is carried out at the same time rut detection, flatness detection and road surface breakage
Detection, and 10 function very high integrity of road detection apparatus, it is small, it is low in energy consumption to be easily installed maintenance, and pass through camera
121 durations being continuously shot are longer than the duration that linear laser source 110 continuously sends out laser, realize rut detection, flatness detection
The collection of view data needed for the collection of required view data and road surface breakage detection.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, above in conjunction with the embodiment of the present invention
Attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of the embodiment of the present invention of the above to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this area is common
Technical staff's all other embodiments obtained without creative efforts, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and cannot manage
Solve to indicate or implying relative importance.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can mechanically connect or be electrically connected；It can be directly connected, can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Claims (10)
1. a kind of road detection apparatus, it is characterised in that on vehicle, for carrying out Road Detection, described device includes：
Linear laser source, image acquisition device and processor, the linear laser source are used to send laser, and described image collector is used to gather
The image of the laser irradiating position, described image collector are connected with the processor；
The linear laser source continuously sends out laser at interval of preset time period, and the time for continuously sending out laser is the first duration；Institute
Image acquisition device to be stated to be continuously shot at interval of the preset time period, the time being continuously shot is the second duration, described
Two durations are longer than first duration.
2. device according to claim 1, it is characterised in that described image collector includes camera, CCD linear arrays sense
Device, analog signal conditioner circuit and AD Acquisition Circuit, the camera are connected with the CCD line array sensors, the CCD lines
Array sensor is connected with the analog signal conditioner circuit, and the analog signal conditioner circuit is connected with the AD Acquisition Circuit,
The AD Acquisition Circuit is connected with the processor.
3. device according to claim 1, it is characterised in that the processor is patrolled including more mouthfuls of ram memory cells, tracks
Algorithm unit, flatness logical algorithm unit, road surface breakage logical algorithm unit and ARM hard nucleus management units are collected, it is described more
Mouth ram memory cell is calculated with the track logical algorithm unit, flatness logical algorithm unit and road surface breakage logic respectively
Method unit connects, and the track logical algorithm unit, flatness logical algorithm unit and road surface breakage logical algorithm unit are equal
It is connected with the ARM hard nucleus managements unit.
4. device according to claim 3, it is characterised in that the processor further includes accelerometer, the acceleration
Meter is connected with the ARM hard nucleus managements unit.
5. device according to claim 1, it is characterised in that the road detection apparatus further includes wheel encoder, institute
State wheel encoder to be installed on the wheel of the vehicle, the wheel encoder is connected with the processor.
6. device according to claim 1, it is characterised in that the road detection apparatus further includes wireless communication unit,
The wireless communication unit is connected with the processor.
7. device according to claim 1, it is characterised in that the road detection apparatus further includes GNSS receiver, institute
GNSS receiver is stated to be connected with the processor.
8. device according to claim 1, it is characterised in that the road detection apparatus further includes power supply, the power supply
It is connected respectively with the processor, image acquisition device and linear laser source.
9. device according to claim 1, it is characterised in that the linear laser source includes point light source and laser prism, institute
State point light source to be used to launch laser beam, the laser prism is used to laser beam refraction becoming line laser.
A kind of 10. road detection system, it is characterised in that the system comprises：Road detection apparatus described in claim 6 with
And server, the server communicate with the road detection apparatus,
The temporal information when wireless communication unit of the road detection apparatus is by result information and detection is sent to the clothes
Business device；
The server receives and stores the result information and temporal information.
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| CN201711345107.XA CN107941170A (en) | 2017-12-15 | 2017-12-15 | Road detection apparatus and system |
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| CN201711345107.XA CN107941170A (en) | 2017-12-15 | 2017-12-15 | Road detection apparatus and system |
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| CN107941170A true CN107941170A (en) | 2018-04-20 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110158430A (en) * | 2019-05-08 | 2019-08-23 | 中铁北京工程局集团有限公司 | A kind of automatic plucking laminating machine in bridge concrete face |
| CN110660073A (en) * | 2019-09-20 | 2020-01-07 | 北京神工科技有限公司 | Straight line edge identification equipment |
| CN111127459A (en) * | 2019-12-30 | 2020-05-08 | 武汉理工大学 | Real-time image processing system for road track detection |
| CN112180914A (en) * | 2020-09-14 | 2021-01-05 | 北京石头世纪科技股份有限公司 | Map processing method, map processing device, storage medium and robot |
| CN113466960A (en) * | 2021-05-21 | 2021-10-01 | 山东威鼎航检测设备有限公司 | Method, system and equipment for detecting foreign matters on airport road |
| CN114459429A (en) * | 2022-03-03 | 2022-05-10 | 中化学南方运营管理有限公司 | Flatness and elevation measuring device |
| CN115655122A (en) * | 2022-12-01 | 2023-01-31 | 浙江同禾传感技术有限公司 | Crack image monitoring device |
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