CN110700056B - Asphalt pavement disease monitoring system and monitoring method - Google Patents

Asphalt pavement disease monitoring system and monitoring method Download PDF

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Publication number
CN110700056B
CN110700056B CN201910995365.5A CN201910995365A CN110700056B CN 110700056 B CN110700056 B CN 110700056B CN 201910995365 A CN201910995365 A CN 201910995365A CN 110700056 B CN110700056 B CN 110700056B
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asphalt pavement
detected
dimensional
graphic data
dimensional graphic
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CN110700056A (en
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张宜洛
邓展伟
李宁
董学超
程英伦
程艳
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Changan University
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Changan University
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    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01Devices 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

Abstract

The invention discloses an asphalt pavement disease monitoring system and a monitoring method, belonging to the field of asphalt pavement disease monitoring, wherein a BIM model database comprising original three-dimensional graphic data of an asphalt pavement and coordinate information of the asphalt pavement is established, then three-dimensional laser scanning detection method is utilized to obtain three-dimensional graphic data of the asphalt pavement to be detected, asphalt pavement position information synchronous with the three-dimensional graphic data of the asphalt pavement to be detected is obtained, finally, three-dimensional BIM model data integration is carried out on the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected through Navisvarks to obtain a contour difference diagram of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected, and asphalt pavement change information can be rapidly obtained through the contour difference diagram, thereby asphalt pavement disease detection can be rapidly completed, the detection speed of the invention is high, the accuracy is high, can carry out comprehensive the measuring to bituminous paving simultaneously, improves and detects the precision.

Description

Asphalt pavement disease monitoring system and monitoring method
Technical Field
The invention relates to the field of asphalt pavement disease monitoring, in particular to an asphalt pavement disease monitoring system and a monitoring method.
Background
At present, most of expressway surface layers are made of asphalt concrete, and since expressway construction is carried out for traffic, under the combined action of traffic load and external environmental factors, asphalt pavement has various diseases of different degrees in the operation process, wherein cracks, ruts, loose parts and pits are common. The travelling comfort of the vehicle can be influenced when the diseases are light, the travelling safety of the vehicle on the asphalt pavement can be influenced when the diseases are serious, the structural strength of the pavement is reduced, the service life of the asphalt pavement is greatly shortened, and therefore how to timely and effectively detect and monitor various diseases of the asphalt pavement in the operation and maintenance process of the highway is concerned by more and more road workers.
At present, the traditional road detection only limits to consider single evaluation indexes such as pavement evenness, breakage rate and the like one by one, the influence of human factors of some indexes is large, sample data is more and is not archived clearly, and because the current maintenance management system lacks the monitoring and real-time observation data of the whole process for the disease treatment of the asphalt pavement, a dynamic, automatic and high-data sampling rate asphalt pavement disease monitoring system is not established.
Disclosure of Invention
The invention aims to provide a system and a method for monitoring diseases of an asphalt pavement, which aim to overcome the defect that the existing asphalt pavement diseases are not monitored in place and improve the visualization and informatization processing capability of asphalt pavement disease processing.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for monitoring diseases of an asphalt pavement comprises the following steps:
step 1), establishing an asphalt pavement original three-dimensional graphic database by utilizing BIM software so as to obtain a BIM model database, wherein the asphalt pavement original three-dimensional graphic database comprises asphalt pavement original three-dimensional graphic data and asphalt pavement coordinate information;
step 2), acquiring three-dimensional graphic data of the asphalt pavement to be detected by a three-dimensional laser scanning detection method, and acquiring asphalt pavement position information synchronous with the three-dimensional graphic data of the asphalt pavement to be detected;
and 3) acquiring original three-dimensional graphic data of the asphalt pavement to be detected, which is consistent with the position information of the asphalt pavement to be detected, and performing three-dimensional BIM model data integration on the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected through Navisvarks to obtain a contour difference diagram of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected, so that the detection of the asphalt pavement diseases is completed.
Further, in the step 1), a BIM software is utilized to establish an original three-dimensional graphic database of the asphalt pavement according to DWG design and construction drawings of road engineering.
Further, in the step 2), denoising is performed on the acquired three-dimensional graphic data of the asphalt pavement to be detected, so as to obtain the three-dimensional graphic data of the asphalt pavement to be detected after the dryness is removed.
Further, in the step 2), the three-dimensional graphic data of the asphalt pavement to be detected is obtained, and simultaneously, the image information of the asphalt pavement to be detected is synchronously obtained and is used as an auxiliary image for detecting the diseases of the asphalt pavement to be detected.
Further, in the step 3), three-dimensional BIM model data integration is carried out on the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected after denoising through Navisvarks, and the three-dimensional image data of the asphalt pavement is subjected to contour comparison to obtain a contour difference diagram.
An asphalt pavement disease monitoring system comprises a three-dimensional laser scanning detection unit and a cloud server unit connected with the three-dimensional laser scanning detection unit, wherein the cloud server unit is connected with an asphalt pavement disease monitoring platform and a positioning module, and the asphalt pavement disease monitoring platform is connected with a BIM model database;
the three-dimensional laser scanning detection unit is used for acquiring three-dimensional graphic data of the asphalt pavement to be detected and transmitting the acquired three-dimensional graphic data of the asphalt pavement to the asphalt pavement disease monitoring platform through the cloud server unit; the positioning module is used for acquiring the position information of the asphalt pavement to be detected and transmitting the acquired position information of the asphalt pavement to be detected to the cloud server unit;
the BIM model database is used for storing original three-dimensional graphic data of the asphalt pavement to be detected; and the asphalt pavement disease monitoring platform compares the acquired asphalt pavement three-dimensional graphic data and the position information of the asphalt pavement to be detected with the original three-dimensional graphic data of the asphalt pavement to be detected at the corresponding positions in the BIM model database to obtain the data difference between the asphalt pavement three-dimensional graphic data and the original three-dimensional graphic data of the asphalt pavement to be detected, so as to obtain a profile difference diagram of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected.
Further, the three-dimensional laser scanning detection unit comprises a laser transmitter, a three-dimensional laser scanner host, a receiver host, a laser transmitter and a three-dimensional laser scanner host which are all fixed on a three-dimensional laser scanner rotating disc; the three-dimensional laser scanner host computer and the receiver host computer are through wired or wireless connection, and the receiver host computer passes through wireless transmission with the bituminous paving three-dimensional graphic data that the three-dimensional laser scanner host computer acquireed to high in the clouds server unit.
Further, still including removing the automobile body, remove the automobile body upper end and be fixed with the superstructure mainboard, three-dimensional laser scanner rotating disc is fixed in superstructure mainboard upper end through the three-dimensional laser scanner pivot, and four three-dimensional laser scanning detecting element are installed to superstructure mainboard upper end, still including being fixed in the camera that is used for acquireing the bituminous paving picture on the superstructure mainboard, the camera passes through wireless transmission module and transmits the bituminous paving picture that acquirees to high in the clouds server unit.
Furthermore, the camera is fixed on the upper structure main board through a fixed base, and a camera rotating chassis is arranged between the fixed base and the upper structure main board.
Further, the receiver host is connected with a receiver power supply and a receiver antenna, and the receiver power supply and the receiver antenna are both fixed on the upper structure mainboard.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention relates to an asphalt pavement disease monitoring method, which utilizes BIM software to establish an asphalt pavement original three-dimensional graphic database so as to obtain a BIM model database comprising asphalt pavement original three-dimensional graphic data and asphalt pavement coordinate information, then utilizes a three-dimensional laser scanning detection method to obtain asphalt pavement three-dimensional graphic data to be detected, simultaneously obtains asphalt pavement position information synchronous with the asphalt pavement three-dimensional graphic data to be detected, finally carries out three-dimensional BIM model data integration on the asphalt pavement original three-dimensional graphic data to be detected and the asphalt pavement three-dimensional graphic data to be detected through Navisvarks to obtain a contour difference diagram of the asphalt pavement original three-dimensional graphic data to be detected and the asphalt pavement three-dimensional graphic data to be detected, can rapidly obtain asphalt pavement change information through the contour difference diagram, thereby rapidly completing asphalt pavement disease detection, and has high detection speed, the accuracy is high, can carry out comprehensive the measuring to bituminous paving simultaneously, improves and detects the precision.
Furthermore, the BIM software is utilized to establish the original three-dimensional graphic database of the asphalt pavement according to DWG design and construction drawings of road engineering, and the obtained original three-dimensional graphic database of the asphalt pavement is stable in data and high in accuracy.
Further, the drying treatment is carried out on the obtained three-dimensional graphic data of the asphalt pavement to be detected, the three-dimensional graphic data of the asphalt pavement to be detected after drying is obtained, the drying treatment of the obtained three-dimensional graphic data of the asphalt pavement to be detected is improved, and the accuracy of the three-dimensional graphic data of the asphalt pavement to be detected after drying is obtained.
The invention relates to an asphalt pavement disease monitoring system, which utilizes a three-dimensional laser scanning detection unit to obtain three-dimensional graphic data of an asphalt pavement to be detected, simultaneously utilizes a positioning module to obtain asphalt pavement position information synchronous with the three-dimensional graphic data of the asphalt pavement to be detected, then carries out three-dimensional BIM model data integration on original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected, which are stored in a BIM model database, through Navisthrocks to obtain a profile difference diagram of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected, and can rapidly obtain asphalt pavement change information through the profile difference diagram, thereby rapidly completing asphalt pavement disease detection.
Furthermore, the three-dimensional laser scanning detection unit is fixed on the movable vehicle body, and the movable vehicle body is used as a carrier of the three-dimensional laser scanning detection unit, so that the detection precision is high, and the detection speed is high.
Drawings
FIG. 1 is a block diagram of a disease monitoring system according to the present invention;
FIG. 2 is a side view of the overall structure of the airborne three-dimensional laser scanning device of the present invention;
FIG. 3 is a schematic view of a three-dimensional laser scanner and gyroscopic sensor configuration;
FIG. 4 is an isometric view of a three-dimensional laser scanner and gyroscopic sensor arrangement;
FIG. 5 is a receiver synchronized with a cloud;
fig. 6 is a schematic view of a camera.
In the figure: the system comprises a 1-three-dimensional laser scanning detection unit, a 2-cloud server unit, a 3-asphalt pavement disease monitoring platform, a 4-BIM model database, a 5-mobile terminal, a 6-laser transmitter, a 7-revolution sensor, an 8-three-dimensional laser scanner host, a 9-upper structure mainboard, a 10-video camera, an 11-fixed base, a 12-mobile vehicle body, a 13-receiver power supply, a 14-receiver antenna, a 15-three-dimensional laser scanner rotating disc, a 16-three-dimensional laser scanner rotating shaft, a 17-receiver host and an 18-camera rotating chassis.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1-6, an asphalt pavement disease monitoring system includes a three-dimensional laser scanning detection unit 1 and a cloud server unit 2 connected to the three-dimensional laser scanning detection unit 1, the cloud server unit 2 is connected to an asphalt pavement disease monitoring platform 3 and a positioning module, and the asphalt pavement disease monitoring platform 3 is connected to a BIM model database;
the three-dimensional laser scanning detection unit 1 is used for acquiring three-dimensional graphic data of an asphalt pavement to be detected and transmitting the acquired three-dimensional graphic data of the asphalt pavement to the asphalt pavement disease monitoring platform 3 through the cloud server unit 2; the positioning module is used for acquiring the position information of the asphalt pavement to be detected and transmitting the acquired position information of the asphalt pavement to be detected to the cloud server unit 2;
the BIM model database is used for storing original three-dimensional graphic data of the asphalt pavement to be detected; the asphalt pavement disease monitoring platform 3 compares the acquired asphalt pavement three-dimensional graphic data and the position information of the asphalt pavement to be detected with the original three-dimensional graphic data of the asphalt pavement to be detected at the corresponding positions in the BIM model database to obtain the data difference between the asphalt pavement three-dimensional graphic data and the original three-dimensional graphic data of the asphalt pavement to be detected, so that the disease data of the asphalt pavement to be detected is obtained.
The three-dimensional laser scanning detection unit 1 comprises a laser transmitter 6, a three-dimensional laser scanner host 8 and a receiver host 17, wherein the laser transmitter 6 and the three-dimensional laser scanner host 8 are both fixed on a three-dimensional laser scanner rotating disc 15, and the three-dimensional laser scanner rotating disc 15 drives the laser transmitter 6 and the three-dimensional laser scanner host 8 to rotate so as to acquire panoramic data of 360-degree omni-directional scanning of the asphalt pavement; three-dimensional laser scanner host computer 8 and receiver host computer 17 are through wired or wireless connection, and receiver host computer 17 passes through wireless transmission to high in the clouds server unit 2 with the bituminous paving three-dimensional graphic data that three-dimensional laser scanner host computer 8 obtained. The three-dimensional laser scanner host 8 is used for acquiring a spatial three-dimensional laser scanning model of the asphalt pavement in a point cloud mode and transmitting data to the receiver host 17.
Still including removing automobile body 12, it is fixed with superstructure mainboard 9 to remove automobile body 12 upper end, three-dimensional laser scanner rotating disc 15 is fixed in superstructure mainboard 9 upper end through three-dimensional laser scanner pivot 16, four three-dimensional laser scanning detecting element 1 are installed to superstructure mainboard 9 upper end, a panoramic data for acquireing 360 degrees all-round scanning bituminous paving, still including being fixed in camera 10 on superstructure mainboard 9, camera 10 is fixed in superstructure mainboard 9 through unable adjustment base 11, camera 10 is used for acquireing bituminous paving picture, camera 10 transmits the bituminous paving picture that acquirees to cloud end server unit 2 through wireless transmission module, cloud end server unit 2 transmits bituminous paving picture to bituminous paving disease monitor platform 3, as bituminous paving disease reference image. A camera rotation chassis 18 is arranged between the fixed base 11 and the upper structure main board 9 for adjusting the rotation angle of the video camera 10.
The receiver host 17 is connected with a receiver power supply 13 and a receiver antenna 14, and both the receiver power supply 13 and the receiver antenna 14 are fixed on the upper structure main board 9.
A method for monitoring diseases of an asphalt pavement comprises the following steps:
step 1), according to DWG design and construction drawings of road engineering, building an original three-dimensional graph database of the asphalt pavement by using BIM software so as to obtain a BIM model database; the database of the original three-dimensional graphics of the asphalt pavement comprises original three-dimensional graphics data of the asphalt pavement and coordinate information of the asphalt pavement;
step 2), acquiring three-dimensional graphic data of the asphalt pavement to be detected by a three-dimensional laser scanning detection method; denoising the acquired three-dimensional image data of the asphalt pavement to be detected to obtain denoised three-dimensional image data of the asphalt pavement to be detected;
and 3) acquiring original three-dimensional graphic data of the asphalt pavement to be detected, which is consistent with the position information of the asphalt pavement to be detected, performing three-dimensional BIM model data integration on the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected after denoising through Navisvarks to obtain a contour difference diagram of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected after denoising, and thus completing detection of the asphalt pavement diseases.
Specifically, in the step 2), the image information of the asphalt pavement to be detected is synchronously acquired while acquiring the three-dimensional graphic data of the asphalt pavement to be detected, and the image information is used as an auxiliary image for detecting the asphalt pavement disease to be detected, so that the accuracy of detecting the asphalt pavement disease to be detected is improved.
And 3) performing three-dimensional BIM model data integration on the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected after drying through Navisvarks, performing contour comparison on the three-dimensional image data of the asphalt pavement to obtain a contour difference diagram, and marking coordinates on the part with the contour difference, so that the disease position can be accurately obtained.
The asphalt pavement disease monitoring platform 3 transmits finally obtained asphalt pavement disease information to the mobile terminal connected to the cloud server unit 2 through the cloud server unit 2, and workers can conveniently check and process the diseases through the mobile terminal.
And acquiring the disease types and the disease outline areas of the asphalt pavement according to the outline difference image, wherein the disease types comprise cracks, pits and ruts.
The method comprises the steps that three-dimensional BIM model data integration is carried out on original three-dimensional graphic data of the asphalt pavement to be detected and three-dimensional graphic data of the asphalt pavement to be detected after denoising to obtain a contour difference graph, namely the three-dimensional graph formed by coordinate differences of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected after denoising, the coordinate difference is 0 to indicate that the asphalt pavement has no diseases, when the coordinate difference is not 0, the defects exist, the coordinate difference is larger than zero, the coordinate difference is continuously larger than zero, the width is larger than 5mm, the groove is formed, and if the coordinate difference is larger than zero and the coordinate difference is continuously larger than zero, the width is smaller than 5mm, the groove is formed; if the coordinate difference is less than zero, the wheel is a track.

Claims (9)

1. An asphalt pavement disease monitoring system for an asphalt pavement disease monitoring method is characterized in that the asphalt pavement disease monitoring method comprises the following steps:
step 1), establishing an asphalt pavement original three-dimensional graphic database by utilizing BIM software so as to obtain a BIM model database, wherein the asphalt pavement original three-dimensional graphic database comprises asphalt pavement original three-dimensional graphic data and asphalt pavement coordinate information;
step 2), acquiring three-dimensional graphic data of the asphalt pavement to be detected by a three-dimensional laser scanning detection method, and acquiring asphalt pavement position information synchronous with the three-dimensional graphic data of the asphalt pavement to be detected;
step 3), acquiring original three-dimensional graphic data of the asphalt pavement to be detected, which is consistent with the position information of the asphalt pavement to be detected, and performing three-dimensional BIM model data integration on the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected through Navisvarks to obtain a contour difference diagram of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected, so that the detection of the asphalt pavement diseases is completed; the system comprises a three-dimensional laser scanning detection unit (1) and a cloud server unit (2) connected with the three-dimensional laser scanning detection unit (1), wherein the cloud server unit (2) is connected with an asphalt pavement disease monitoring platform (3) and a positioning module, and the asphalt pavement disease monitoring platform (3) is connected with a BIM model database;
the three-dimensional laser scanning detection unit (1) is used for acquiring three-dimensional graphic data of the asphalt pavement to be detected and transmitting the acquired three-dimensional graphic data of the asphalt pavement to the asphalt pavement disease monitoring platform (3) through the cloud server unit (2); the positioning module is used for acquiring the position information of the asphalt pavement to be detected and transmitting the acquired position information of the asphalt pavement to be detected to the cloud server unit (2);
the BIM model database is used for storing original three-dimensional graphic data of the asphalt pavement to be detected; the asphalt pavement disease monitoring platform (3) compares the acquired asphalt pavement three-dimensional graphic data and the position information of the asphalt pavement to be detected with the original three-dimensional graphic data of the asphalt pavement to be detected at the corresponding positions in the BIM model database to obtain the data difference between the asphalt pavement three-dimensional graphic data and the original three-dimensional graphic data of the asphalt pavement to be detected, so as to obtain a contour difference diagram of the original three-dimensional graphic data of the asphalt pavement to be detected and the three-dimensional graphic data of the asphalt pavement to be detected.
2. The asphalt pavement disease monitoring system for the asphalt pavement disease monitoring method according to claim 1, wherein in the step 1), a BIM software is used for establishing an asphalt pavement original three-dimensional graph database according to DWG design and construction drawings of road engineering.
3. The asphalt pavement disease monitoring system for the asphalt pavement disease monitoring method according to claim 1, wherein in step 2), the obtained three-dimensional graphic data of the asphalt pavement to be detected is denoised to obtain the denoised three-dimensional graphic data of the asphalt pavement to be detected.
4. The asphalt pavement disease monitoring system for the asphalt pavement disease monitoring method according to claim 1, wherein in step 2), the image information of the asphalt pavement to be detected is synchronously acquired while acquiring the three-dimensional graphic data of the asphalt pavement to be detected, and is used as an auxiliary image for detecting the asphalt pavement disease to be detected.
5. The asphalt pavement disease monitoring system for the asphalt pavement disease monitoring method according to claim 1, wherein in step 3), original three-dimensional graphic data of the asphalt pavement to be detected and three-dimensional graphic data of the asphalt pavement to be detected after denoising are subjected to three-dimensional BIM model data integration through Navisvarks, and the three-dimensional graphic data of the asphalt pavement are subjected to contour comparison to obtain a contour difference map.
6. The asphalt pavement damage monitoring system for the asphalt pavement damage monitoring method according to claim 1, characterized in that the three-dimensional laser scanning detection unit (1) comprises a laser transmitter (6), a three-dimensional laser scanner host (8) and a receiver host (17), and the laser transmitter (6) and the three-dimensional laser scanner host (8) are both fixed on a three-dimensional laser scanner rotating disc (15); the three-dimensional laser scanner host (8) and the receiver host (17) are connected in a wired or wireless mode, and the receiver host (17) transmits the three-dimensional image data of the asphalt pavement, acquired by the three-dimensional laser scanner host (8), to the cloud server unit (2) in a wireless mode.
7. The asphalt pavement disease monitoring system for the asphalt pavement disease monitoring method according to claim 6, further comprising a moving vehicle body (12), wherein an upper structure main board (9) is fixed on the upper end of the moving vehicle body (12), a three-dimensional laser scanner rotating disc (15) is fixed on the upper end of the upper structure main board (9) through a three-dimensional laser scanner rotating shaft (16), four three-dimensional laser scanning detection units (1) are installed on the upper end of the upper structure main board (9), and further comprising a camera (10) fixed on the upper structure main board (9) and used for acquiring an asphalt pavement picture, wherein the camera (10) transmits the acquired asphalt pavement picture to the cloud server unit (2) through a wireless transmission module.
8. The asphalt pavement damage monitoring system for an asphalt pavement damage monitoring method according to claim 7, characterized in that the camera (10) is fixed to the upper structure main board (9) by a fixing base (11), and a camera rotating chassis (18) is provided between the fixing base (11) and the upper structure main board (9).
9. The asphalt pavement damage monitoring system for the asphalt pavement damage monitoring method according to claim 6, characterized in that the receiver host (17) is connected with a receiver power supply (13) and a receiver antenna (14), and the receiver power supply (13) and the receiver antenna (14) are both fixed on the upper structure main board (9).
CN201910995365.5A 2019-10-18 2019-10-18 Asphalt pavement disease monitoring system and monitoring method Active CN110700056B (en)

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CN111553017B (en) * 2020-07-09 2020-11-24 江苏燕宁工程科技集团有限公司 BIM-based pavement disease analysis display method and system
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CN106679723A (en) * 2017-01-03 2017-05-17 上海同岩土木工程科技股份有限公司 Highway tunnel detection vehicle system
CN108917712A (en) * 2018-07-10 2018-11-30 湖南城市学院 A kind of Tunnel automation monitoring system and method based on three-dimensional laser scanning technique
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