CN108149554B - Pavement pit recognition method and device - Google Patents
Pavement pit recognition method and device Download PDFInfo
- Publication number
- CN108149554B CN108149554B CN201711462551.XA CN201711462551A CN108149554B CN 108149554 B CN108149554 B CN 108149554B CN 201711462551 A CN201711462551 A CN 201711462551A CN 108149554 B CN108149554 B CN 108149554B
- Authority
- CN
- China
- Prior art keywords
- road surface
- pit
- vehicle body
- suspension
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a pavement pit recognition method and a device thereof, which can obtain the length, width, depth or height three-dimensional characteristics of pavement pits or bulges based on binocular vision; the position of the pit groove or the bulge can be quickly positioned by combining the suspension displacement sensor with the driving recording device; during post-processing, the data image of the binocular camera in the section can be directly called from the computing unit according to the positioning of the pit slot or the bulge by the driving recording device, so that the problems that the three-dimensional space information of the road surface pit slot is difficult to obtain and the position of the road surface pit slot cannot be positioned in the prior art are solved.
Description
Technical Field
The invention belongs to the technical field of road detection; in particular to a method and a device for identifying pits on a road surface.
Background
At present, urban roads, expressways, bridge pavements and the like are paved into asphalt pavements by asphalt, and due to the action of driving load and the influence of natural factors, the surfaces of the roads are gradually damaged, wherein pits on the pavements have the greatest influence on the smoothness of automobiles, and the driving safety can be influenced. Therefore, it is obvious that the detection of the pit in the asphalt pavement is important for the running of the vehicle.
The current road surface pit detection is mostly based on single-camera imaging, and although the method has great improvement on detection efficiency, the method is difficult to acquire three-dimensional space information of the road surface pit, and cannot locate the position of the road surface pit, so that inconvenience is brought to road surface maintenance.
Therefore, it is necessary to provide a device for acquiring the pit information from the depth by using the three-dimensional road surface pit detection technology, and accurately and quickly positioning the pit position.
Disclosure of Invention
The invention aims to provide a pavement pit recognition method and a device thereof, which solve the problems that the three-dimensional space information of the pavement pit is difficult to obtain and the position of the pavement pit cannot be positioned in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides a pavement pit recognition method, which comprises the following steps:
step (1), a line laser and a binocular camera acquire image information of a road surface and send the image information to a computing unit;
a step (2) of carrying out a treatment,the displacement d of the suspension relative to the wheel center is obtained through a suspension displacement sensor, and d is compared with a threshold value | + -d for detecting the displacement of the suspension relative to the wheel center when the vehicle body runs on a flat road surface0Comparing, |;
step (3), if the suspension spring is in a compressed state and | d>|±d0If yes, detecting that the vehicle body passes through a raised road surface or exits from a pit; if the suspension spring is in tension and | d +>|±d0If yes, detecting that the vehicle body drives into the pit slot; then recording linear coordinates of the passing position of the detected vehicle body and sending the linear coordinates to the computing unit;
and (4) acquiring the image information in the step and the linear coordinates in the step by a calculation unit, extracting the three-dimensional characteristics of the road surface by a binocular vision technology, extracting the length, the width and the depth of the three-dimensional characteristics, and then judging that the acquired image data are road surface pit slots or road surface bulges.
Furthermore, the invention is characterized in that:
threshold value | + -d in step (2)0The calculation process of | is: on a flat road surface, when the detection vehicle body is in a static state, the distance between a suspension and the center of a wheel is delta d; when the vehicle body is detected to run on a flat road, the maximum distance + d between the suspension and the center of the wheel is obtained0And a minimum distance-d0To obtain the threshold | + -d0|。
The binocular vision technology in the step (4) is used for extracting the three-dimensional characteristics of the road surface, and the specific steps are as follows:
step (4.1), boundary characteristics of the pits or the bulges in the road surface image information are extracted, the geometric symmetry center of the pits or the bulges is defined in an image coordinate system, and two points A (a) with the largest distance between the pits or the bulges on the longitudinal axis are determined1，b1)，B(a2，b2) And A, B the distance between the two points is the length of the pit or the bulge; two points C (C) with the largest distance between the pits or bulges on the horizontal axis are determined2，d2)，D(c2，d2) C, D, the distance between the two points is the width of the pit or the bulge; determining the distance between the point N, N with the maximum distance from the pit or the bulge to the ground tangent plane and the point M on the ground tangent planeThe distance is the depth of the pit;
step (4.2), taking the horizontal ground as a reference and the distance between the binocular camera and the horizontal ground as s, obtaining the distance z between a plurality of points in the pit slot or the bulge of the image information in the step (4.1) and the binocular camera, and obtaining the zmax＝max(Z1，Z2，Z3，…，Zn) Wherein n is the number of points;
step (4.3), if zmax>s, the image is a ground pit; if z ismax<s, then the image is a ground projection.
The invention also provides a pavement pit recognition device, which comprises a detection vehicle body, wherein a horizontally arranged fixed flat plate extends out of the top of the front end of the detection vehicle body, two downward binocular cameras are arranged at the end part of the fixed flat plate, and a synchronous controller is arranged on the detection vehicle body; a line laser is also arranged on a suspension of the detection vehicle body, the line laser is arranged at the front end of the detection vehicle body, and the binocular camera and the line laser are connected with the synchronous controller; a suspension spring is arranged between a suspension of the detection vehicle body and a wheel axle, and a suspension displacement sensor capable of measuring the compression amount of the suspension spring is arranged on the suspension spring. The detection vehicle body is also provided with a driving recording device, and the driving recording device is connected with the calculation unit.
The binocular camera is used for acquiring image data of the detected road surface;
the line laser is used for assisting the binocular camera to acquire image data of the detected road;
the synchronous controller is used for controlling the binocular camera and the line laser to work synchronously;
the driving recording device is used for acquiring position parameters of pits or bulges on the road surface;
the suspension displacement sensor is used for acquiring the displacement of the suspension relative to the center of a wheel and assisting the driving recording device to acquire position parameters of pits or bulges on the road surface;
and the computing unit is used for analyzing and processing the acquired image data of the pits or the bulges on the road surface.
Furthermore, the invention is characterized in that:
the vehicle-mounted monitoring system further comprises a voice control unit, wherein the voice control unit is connected with the driving recording device, and when the fact that the vehicle body continuously runs through a road surface with a pit or a convex road surface is detected, the driving recording device is controlled to position a driving section through the voice control unit.
The driving recording device is fixed on the top of the fixed flat plate.
The computing unit is a computer.
Compared with the prior art, the invention has the following beneficial technical effects:
according to the method and the device for identifying the pavement pit slot, provided by the invention, the three-dimensional characteristics of the length, the width, the depth or the height of the pavement pit slot or the bulge can be obtained based on binocular vision; the position of the pit groove or the bulge can be quickly positioned by combining the suspension displacement sensor with the driving recording device; during post-processing, the data images of the binocular camera in the section can be directly called from the computing unit according to the positioning of the driving recording device on the pit slot or the bulge, so that the screening time of a large number of images is saved, and the working efficiency is improved.
Drawings
Fig. 1 is a front view of a pavement pit recognition apparatus according to the present invention;
fig. 2 is a side view of a pavement pit recognition apparatus according to the present invention;
FIG. 3 is a flow chart of a method for identifying a pavement pit provided by the present invention;
fig. 4 is a pit parameter diagram of the road surface pit identification method provided by the invention.
In the figure: 1 is a binocular camera; 2 is a synchronous controller; 3 is a line laser; 4 is a suspension displacement sensor; 5 is a calculating unit; 6 is a detection vehicle body; 7 is a driving recording device; and 8 is a fixed flat plate.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
the invention provides a pavement pit recognition device, as shown in figures 1 and 2, a horizontally arranged fixed flat plate 8 extends out of the top of the front end of a detection vehicle body 6, two downward binocular cameras 1 are arranged at the end part of the fixed flat plate 8, and a synchronous controller 2 is arranged in the middle of the two binocular cameras 1; a line laser 3 is further arranged on a suspension of the detection vehicle body 6, the line laser 3 is arranged at the front end of the detection vehicle body 6, and the binocular camera 1 and the line laser 3 are connected with the synchronous controller 2; a suspension spring is arranged between a suspension of the detection vehicle body 6 and a wheel axle, and a suspension displacement sensor 4 for measuring the compression amount of the suspension spring is arranged on the suspension spring; the detection vehicle body 6 is also provided with a driving recording device 7, and the driving recording device 7 is connected with the calculation unit 5.
Preferably, the calculation unit 5 is a computer.
The detection vehicle body 6 is mainly used for providing a mechanical carrying platform and a stable power supply for each unit of road surface detection.
A fixed flat plate 8 is arranged at the center of the top of the front end (namely the head) of the detection vehicle body 6, and the fixed flat plate 8 is used for fixing the binocular camera 1, the driving recording device 7 and the synchronous controller 2; one end of the fixed flat plate 8 is fixed at the center of the front end of the detection vehicle body 6, and the binocular camera 1 is fixed below the other end of the fixed flat plate 8 through bolts and is mainly used for acquiring image data of a detected road surface; a driving recording device 7 is fixed at the top end of the fixed flat plate 8 and is mainly used for acquiring the linear coordinate of the detection vehicle body 6; and a synchronous controller 2 is fixed at an included angle between the fixed flat plate 8 and the ceiling of the detection vehicle body 6 and is mainly used for controlling the binocular camera 1 and the line laser 3 to work synchronously.
A line laser 3 is fixed at the front end bumper of the detection vehicle body 6, and the line laser 3 is mainly used for assisting the binocular camera 1 to acquire image data of a detected road; meanwhile, a calculation unit 5 is arranged in the detection vehicle body 6 and is mainly used for analyzing and processing the acquired road surface image data.
The invention also provides a pavement pit recognition method, as shown in fig. 3, comprising the following steps:
and (1) acquiring the image characteristics of the detected road surface by the line laser 3 and the binocular camera 1.
Step (2), the suspension displacement sensor 4 obtains the displacement d of the suspension relative to the wheel center, and d and a threshold value | + -d for detecting the displacement of the suspension relative to the wheel center when the vehicle body runs on a flat road surface0Compare | is performed.
Wherein the rigidity of a suspension spring between a wheel axle and a suspension is k, and the empty vehicle mass is m0Mass m of carriere，me＝m0+ Δ m, undamped natural circular frequency ω of empty car0Then, the difference between the static spring compression amounts is as follows:
Δzs＝Δzse-Δzs0
defining a difference Deltaz between the compression masses of the static suspension springsIs a zero point z of references0The compression amount of the suspension spring is at the reference zero point z when the vehicle runs on a flat roads0On the basis of elongation or compression, the maximum elongation being measured as + d0And a maximum compression amount of-d0Stipulate | + -d0And | is a threshold value.
Step (3), the displacement data of the suspension relative to the wheel center, which is acquired by the suspension displacement sensor 4, and the threshold value | +/-d of the displacement of the suspension relative to the wheel center when the automobile runs on a flat road surface0And l, comparing, wherein the displacement of the suspension spring relative to the wheel center is specified to be upwards telescopic amount + d, and the displacement of the suspension spring relative to the wheel center is specified to be downwards compressed amount-d, and specifically positioning the following modes:
a) e.g. the displacement of the suspension relative to the wheel center is transformed from-d to + d, and | d>|±d0If yes, the calculation unit judges that the detected vehicle body 6 exits the pit slot or passes through the raised road surface, and starts the driving recording device 7 to perform linear coordinate (x) on the pit slot or the raised road surface0，y0) Positioning;
b) e.g. the displacement of the suspension relative to the wheel center is transformed from + d to-d, and | d>|±d0If yes, the calculation unit judges that the vehicle body 6 is detected to drive into the pit slot, and starts the driving recording device 7 to perform linear coordinate (x) on the pit slot0，y0) And (6) positioning.
c) When it is detected that the vehicle body 6 continuously runs over a road surface with pits or a convex road surface, the travel section is positioned by manually controlling the travel recording device 7.
Step (4), the driving recording device 7 locates the coordinates (x) of the road surface0，y0) And feeding back to a calculation unit, calling the image data of the road surface acquired by the binocular camera 1 in the time period during processing, judging whether the acquired image data is a road surface pit or a road surface bulge by using a binocular vision technology, and extracting three-dimensional characteristics of the length, the width, the depth or the height of the pit.
The method for extracting the three-dimensional characteristics of the pavement pit slot by using the binocular vision technology comprises the following steps:
a) the calculation unit 5 performs homonymy matching on the road surface pit images acquired by the binocular camera 1;
b) extracting boundary characteristics of the pits or the bulges, defining the geometric symmetry center of the pits or the bulges in an image coordinate system, and finding out two points A (a) with the maximum distance in the longitudinal axis direction of the image1，b1)，B(a2，b2) A, B the distance between the two points is defined as the length of the pit.
c) Finding two points C (C) with maximum distance in the horizontal axis direction of the image2，d2)，D(c2，d2) C, D the distance between the two points is defined as the width of the pit.
d) And (3) taking the horizontal road surface as a reference, taking the distance from the camera to the horizontal ground as s, obtaining the three-dimensional coordinates of each point in the pit slot or the bulge, calculating the distance between each point and the camera, comparing the distances and comparing the distances. Wherein the distance between each point of the pit or the bulge and the camera is z, zmax＝max(z1，z2，z3，…，zn) And n is the number of points on the pit or the bulge.
1) If z ismax>s, the image is considered as a ground pit;
2) if z ismax<s, the image is considered to be a ground projection.
And obtaining a point N with the largest distance from the ground tangent plane in the pit slot, and defining the distance (z-s) between the point N and the point M on the ground tangent plane as the depth of the pit slot.
Claims (5)
1. A pavement pit recognition method is characterized by comprising the following steps:
step (1), a line laser (3) and a binocular camera (1) acquire image information of a road surface and send the image information to a computing unit;
step (2), the displacement d of the suspension relative to the wheel center is obtained through the suspension displacement sensor (4), and d and a threshold value | + -d for detecting the displacement of the suspension relative to the wheel center when the vehicle body (6) runs on a flat road surface are used0Comparing, |;
step (3), if the suspension spring is in a compressed state and | d>|±d0If yes, detecting that the vehicle body (6) passes through a raised road surface or exits from a pit groove; if the suspension spring is in tension and | d +>|±d0If yes, detecting that the vehicle body (6) drives into the pit; then recording linear coordinates of the passing position of the detected vehicle body (6) and sending the linear coordinates to the computing unit (5);
step (4), a calculating unit (5) acquires the image information in the step (1) and the linear coordinates in the step (3), the calculating unit (5) extracts the three-dimensional features of the road surface through a binocular vision technology, extracts the length, the width and the depth of the three-dimensional features, and then judges that the acquired image data are road surface pit slots or road surface bulges;
the binocular vision technology in the step (4) is used for extracting the three-dimensional characteristics of the road surface, and the specific steps are as follows:
step (4.1), boundary characteristics of the pits or the bulges in the road surface image information are extracted, the geometric symmetry center of the pits or the bulges is defined in an image coordinate system, and two points A (a) with the largest distance between the pits or the bulges on the longitudinal axis are determined1，b1)，B(a2，b2) And A, B the distance between the two points is the length of the pit or the bulge; two points C (C) with the largest distance between the pits or bulges on the horizontal axis are determined2，d2)，D(c2，d2) C, D, the distance between the two points is the width of the pit or the bulge; determining the point N with the maximum distance between the pit slot or the bulge and the ground tangent plane, wherein the distance between the point N and the point M on the ground tangent plane is the pitThe depth of the groove;
step (4.2), taking the horizontal ground as a reference, taking the distance between the binocular camera (1) and the horizontal ground as s, obtaining the distance z between a plurality of points in the pit slot or the bulge of the image information in the step (4.1) and the binocular camera, and obtaining the zmax＝max(z1，z2，z3，…，zn) Wherein n is the number of points;
step (4.3), if zmax>s, the image is a ground pit; if z ismax<s, then the image is a ground projection.
2. The method for identifying a pavement pit according to claim 1, wherein the threshold value | ± d in step (2)0The calculation process of | is: on a flat road surface, when the detection vehicle body (6) is in a static state, the distance between the suspension and the center of the wheel is delta d; when the detection vehicle body (6) runs on a flat road, the maximum distance + d between the suspension and the center of the wheel is acquired0And a minimum distance-d0To obtain the threshold | + -d0|。
3. The pavement pit recognition device based on the pavement pit recognition method of claim 1, characterized by comprising a detection vehicle body (6), wherein a horizontally arranged fixed flat plate (8) extends out of the top of the front end of the detection vehicle body (6), two downward binocular cameras (1) are arranged at the end part of the fixed flat plate (8), and a synchronous controller (2) is arranged on the detection vehicle body (6); a line laser (3) is further arranged on a suspension of the detection vehicle body (6), the line laser (3) is arranged at the front end of the detection vehicle body (6), and the binocular camera (1) and the line laser (3) are connected with the synchronous controller (2); a suspension spring is arranged between a suspension of the detection vehicle body (6) and a wheel axle, and a suspension displacement sensor (4) capable of measuring the compression amount of the suspension spring is arranged on the suspension spring; the detection vehicle body (6) is also provided with a driving recording device (7), and the driving recording device (7) is connected with the calculation unit (5);
the binocular camera (1) is used for acquiring image data of a detected road surface;
the line laser (3) is used for assisting the binocular camera (1) to acquire image data of the detected road;
the synchronous controller is used for controlling the binocular camera (1) and the line laser (3) to work synchronously;
the driving recording device (7) is used for acquiring position parameters of pits or bulges on the road surface;
the suspension displacement sensor (4) is used for acquiring the displacement of the suspension relative to the center of a wheel and assisting the driving recording device (7) to acquire the position parameters of a pit groove or a bulge on the road surface;
the computing unit (5) is used for analyzing and processing the acquired image data of the pits or the bulges of the road surface;
the calculation unit (5) is a computer.
4. The pavement pit recognition apparatus according to claim 3, further comprising a voice control unit connected to the driving recording device (7), wherein when it is detected that the vehicle body (6) continuously travels over a road surface with pits or a convex road surface, the driving recording device (7) is controlled by the voice control unit to position the travel section.
5. Pavement pit recognition apparatus according to claim 3, characterized in that the tachograph means (7) is fixed on top of the fixed plate (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711462551.XA CN108149554B (en) | 2017-12-28 | 2017-12-28 | Pavement pit recognition method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711462551.XA CN108149554B (en) | 2017-12-28 | 2017-12-28 | Pavement pit recognition method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108149554A CN108149554A (en) | 2018-06-12 |
| CN108149554B true CN108149554B (en) | 2020-12-11 |
Family
ID=62462675
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711462551.XA Active CN108149554B (en) | 2017-12-28 | 2017-12-28 | Pavement pit recognition method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108149554B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109919139B (en) * | 2019-04-01 | 2021-02-09 | 杭州晶一智能科技有限公司 | Road surface condition rapid detection method based on binocular stereo vision |
| CN110967345B (en) * | 2019-11-28 | 2022-08-02 | 长安大学 | Pavement damage detection device and damaged brick identification and positioning method |
| CN111485475B (en) * | 2020-04-23 | 2021-12-28 | 陕西国防工业职业技术学院 | Pavement pit recognition method and device |
| CN111951320A (en) * | 2020-08-17 | 2020-11-17 | 辽宁工业大学 | Vehicle road surface height recognition system based on binocular vision |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08132841A (en) * | 1994-11-10 | 1996-05-28 | Nissan Motor Co Ltd | Road configuration detecting device |
| CN106978774A (en) * | 2017-03-22 | 2017-07-25 | 中公高科养护科技股份有限公司 | A kind of road surface pit automatic testing method |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09287933A (en) * | 1996-04-23 | 1997-11-04 | Mitsubishi Heavy Ind Ltd | Apparatus for measuring state of rutted road surface |
| CN100405007C (en) * | 2003-05-15 | 2008-07-23 | 南京理工大学 | Intelligent 3D laser road state detecting vehicle |
| CN101694084B (en) * | 2009-10-14 | 2011-05-11 | 武汉武大卓越科技有限责任公司 | Ground on-vehicle mobile detecting system |
| CN203878446U (en) * | 2013-12-27 | 2014-10-15 | 北京恒达锦程图像技术有限公司 | Novel road detection vehicle |
-
2017
- 2017-12-28 CN CN201711462551.XA patent/CN108149554B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08132841A (en) * | 1994-11-10 | 1996-05-28 | Nissan Motor Co Ltd | Road configuration detecting device |
| CN106978774A (en) * | 2017-03-22 | 2017-07-25 | 中公高科养护科技股份有限公司 | A kind of road surface pit automatic testing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108149554A (en) | 2018-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108149554B (en) | Pavement pit recognition method and device | |
| CN114049294B (en) | Road surface technical condition detection method and equipment based on three-dimensional contour | |
| CN203422765U (en) | Automatic identification system for vehicle type | |
| JP7309915B2 (en) | Method and system for recognizing unevenness in road pavement | |
| CN108778889B (en) | Method and measuring system for detecting a fixed point beside a track | |
| KR20140109990A (en) | Determining a vertical profile of a vehicle environment by means of a 3d camera | |
| JP2017187418A (en) | Wear inspection apparatus and wear inspection method | |
| JP4979306B2 (en) | Vehicle automatic measurement device, vehicle automatic measurement system, and vehicle automatic measurement method | |
| CN111683853B (en) | Method for recognizing lane boundaries and control unit | |
| CN103802826A (en) | Stability prewarning system used during high-speed turning and driving of automobile | |
| CN103837139A (en) | Rough road surface driving assisted equipment and method for rough road driving assisting | |
| CN111664830A (en) | Road longitudinal section elevation and flatness measuring method based on three-dimensional laser scanning | |
| EP3335003B1 (en) | Point cloud based surface construction | |
| CN108765393B (en) | Method for detecting vibration behavior of high-speed railway contact net | |
| CN115797338B (en) | Panoramic pavement multi-performance index calculation method and system based on binocular vision | |
| CN111485475A (en) | Pavement pit recognition method and device | |
| JP2016133857A (en) | Railway maintenance operation support information processing device, information processing method, and program | |
| CN103481842B (en) | A kind of changing method of moving vehicles detection and tracking pattern | |
| CN113795415B (en) | Method and system for detecting irregularities of a road surface | |
| CN104108391A (en) | Method And Device For Controlling The Driving Dynamics Of Vehicle Having Track Groove Compensation | |
| CN112883778A (en) | Road well lid height difference identification method and device based on computer vision | |
| CN110055867A (en) | A kind of asphalt pavement antiskid security risk real-time perception method for early warning | |
| CN109341592B (en) | Road surface scanning device based on laser interference fringes | |
| KR101371531B1 (en) | A system and a method for inspecting catenary through a vibration correction | |
| CN116631187B (en) | Intelligent acquisition and analysis system for case on-site investigation information |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |