CN111648214A - Pavement state comprehensive detection system based on CCD and laser signal source combined measurement - Google Patents

Pavement state comprehensive detection system based on CCD and laser signal source combined measurement Download PDF

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Publication number
CN111648214A
CN111648214A CN202010485212.9A CN202010485212A CN111648214A CN 111648214 A CN111648214 A CN 111648214A CN 202010485212 A CN202010485212 A CN 202010485212A CN 111648214 A CN111648214 A CN 111648214A
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CN
China
Prior art keywords
ccd camera
signal source
array ccd
laser signal
vehicle
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Pending
Application number
CN202010485212.9A
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Chinese (zh)
Inventor
赵鹤松
王永光
宋喜颖
郭昊
陈泓宇
司昕昌
于艳丽
段海侠
赫福斌
乔佳伟
贾希伟
王博文
王全勇
崔永学
邱菊
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Zhonggong Chengke Jilin Engineering Testing Co ltd
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Zhonggong Chengke Jilin Engineering Testing Co ltd
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Application filed by Zhonggong Chengke Jilin Engineering Testing Co ltd filed Critical Zhonggong Chengke Jilin Engineering Testing Co ltd
Priority to CN202010485212.9A priority Critical patent/CN111648214A/en
Publication of CN111648214A publication Critical patent/CN111648214A/en
Pending legal-status Critical Current

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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 a pavement state comprehensive detection system jointly measured by a CCD (charge coupled device) and a laser signal source, which comprises a vehicle body, wherein a sensor integration box is arranged above the rear end of the vehicle body, a laser signal source with a double-line structure is arranged at the lower part of the rear end of the vehicle body, two linear array CCD cameras with lenses facing the ground, a first area array CCD camera with a lens facing the ground, a second area array CCD camera with a lens facing the ground, a third area array CCD camera with a lens facing the ground and a single-line structure laser signal source with a lens facing the ground are fixed in the sensor integration box; a control cabinet is fixed in the front chamber. Compared with the prior art, the invention is provided with the high-speed line scanning camera CCD and the structural laser signal source at the tail end of the vehicle, the structural laser signal source can emit laser signals to the road surface, the CCD camera can extend out of the tail end of the vehicle through the roof slide rail system to shoot downwards, the synchronous acquisition of the CCD camera and the structural laser signal source can be realized through the synchronous trigger controller, and then the detection results of road surface damage, road surface evenness, road surface rutting, road surface structure depth and the like are obtained through measurement and calculation.

Description

Pavement state comprehensive detection system based on CCD and laser signal source combined measurement
Technical Field
The invention relates to the technical field of road detection, in particular to a comprehensive pavement state detection system based on CCD and laser signal source combined measurement.
Background
The road surface is a main structure of road engineering, and the surface state thereof has an important influence on the safety of a running vehicle and the service level of a road. The surface state of the pavement comprises technical parameters such as apparent disease condition, flatness, rutting, construction depth and the like. Therefore, rapid and accurate acquisition of the road surface state has been a problem that traffic control departments expect to solve.
At present, a plurality of research institutions develop corresponding pavement surface state detection equipment, namely, single pavement single-item single detection equipment and comprehensive pavement surface state detection equipment. In the existing detection equipment, the apparent road disease detection is mainly performed by taking pictures of a laser camera, the pavement evenness, the track and the construction depth are detected by arranging a plurality of laser ranging sensors (mostly 13-17) on the cross section of a road, and indexes such as the track, the evenness, the construction depth and the like of the pavement are calculated through measuring data of discrete points and an algorithm.
At present, the comprehensive detection mode of the road surface condition mainly adopts two modes of multi-laser sensor and laser structure light section detection. The multi-point laser sensor system is interfered by vibration in the high-speed running process of a vehicle, so that the measurement precision is greatly influenced, particularly the pavement flatness and the construction depth index. The multipoint laser sensor is arranged on the cross beam, and the width of the cross beam cannot cover the whole lane, so that the lane cannot be completely covered. The laser structure light detection is a relatively new concept, common light and laser are used as light sources, a known pattern is projected onto a measured object through the direction of a known visual angle, deformation is generated due to the height and the relief of the surface of the measured object, and the three-dimensional deformation condition of the surface of the measured object can be calculated according to the deformation, but the laser structure light detection is also influenced by a sunshine light source.
When apparent road surface diseases are detected, a line laser scanning camera CCD is mostly adopted for shooting or shooting collection, but due to the fact that weather conditions and vehicle running routes during field collection cause the CCD camera to be affected by factors such as shadows, tunnels and strong light, the CCD camera is changed constantly in the detection process, existing equipment is difficult to adjust, and most of existing solutions are achieved by being provided with a certain light source.
Therefore, although various comprehensive road surface detection devices have been developed and applied, problems of low measurement accuracy, insufficient measurement stability, vehicle vibration interference, continuous variation of light intensity in the detection process, and the like still exist.
Disclosure of Invention
The invention aims to provide a comprehensive pavement state detection system for CCD and laser signal source combined measurement to measure pavement surface damage, pavement evenness, pavement ruts and pavement structure depth.
In order to achieve the purpose, the invention is implemented according to the following technical scheme:
a pavement state comprehensive detection system jointly measured by a CCD (charge coupled device) and a laser signal source comprises a vehicle body, wherein the interior of the vehicle body is divided into a front chamber and a rear chamber, a sensor integration box is arranged above the rear end of the vehicle body, a laser signal source with a double-line structure is arranged at the lower part of the rear end of the vehicle body, and two linear array CCD cameras with lenses facing the ground, a first area array CCD camera with lenses facing the ground, a second area array CCD camera with lenses facing the ground, a third area array CCD camera with lenses facing the ground and a single-line structure laser signal source with lenses facing the ground are fixed in the sensor integration box; and a control cabinet connected with the linear array CCD camera, the first area array CCD camera, the second area array CCD camera, the third area array CCD camera and the double-line structure laser signal source is fixed in the front chamber and used for controlling the linear array CCD camera to finish the acquisition of road surface damaged images, finishing the scanning of road surface rutting data by the first area array CCD camera, finishing the scanning of road surface evenness data by the second area array CCD camera, finishing the shooting of road surface image data by the third area array CCD camera, carrying out the measurement of road surface evenness by the single-line structure laser signal source and the second area array CCD camera, and carrying out the combined measurement of the road surface rutting data by the double-line structure laser signal source.
As a further preferable scheme of the present invention, the sensor integration box is mounted on the top of the vehicle body through the linear motor module, a telescopic beam is fixed on a slider of the linear motor module, the sensor integration box is fixed at the end of the telescopic beam, a servo motor of the linear motor module is connected with the control cabinet to control the sensor integration box to extend to a position one meter behind the vehicle body when the detection operation is performed, and the sensor integration box is retracted to a position right above the vehicle body after the detection operation is performed.
As a further preferable scheme of the present invention, the two linear CCD cameras are symmetrically arranged at both ends in the sensor integration box, the third area CCD camera is arranged between the two linear CCD cameras, the first area CCD camera is arranged between the third area CCD camera and one of the linear CCD cameras, the second area CCD camera is arranged between the third area CCD camera and the other linear CCD camera, and the single-line structure laser signal source is arranged between the first area CCD camera and one of the linear CCD cameras.
As a further preferred scheme of the invention, an industrial personal computer, a synchronous trigger controller and a vehicle-mounted power supply unit are installed in the control cabinet and used for storing running system software and detection data; the industrial personal computer is connected with the linear array CCD camera, the first planar array CCD camera, the second planar array CCD camera, the third planar array CCD camera, the double-line structure laser signal source and the servo motor of the linear motor module through the synchronous trigger controller so as to realize synchronous control of the sensor integration box and the double-line structure laser signal source.
As a further preferable scheme of the invention, the vehicle-mounted power supply unit is composed of a 12V lithium battery pack, a 12V-220V standard sine wave inverter and an automatic isolation switcher, wherein an output end of the lithium battery pack is connected with the 12V-220V standard sine wave inverter, the lithium battery pack is charged by a 12V direct current generator in a vehicle engine compartment, the automatic isolation switcher is connected between the 12V direct current generator in the vehicle engine compartment and the lithium battery pack, the automatic isolation switcher judges the electric energy storage condition in the lithium battery pack, the electric energy storage condition is automatically switched into a charging state according to the electric energy storage condition, and the automatic isolator automatically cuts off the generator after the electric energy of the battery pack is saturated.
As a further preferable scheme of the invention, the top of the vehicle body is also provided with a GPS positioning device connected with an industrial personal computer for completing the positioning of the detection track.
As a further preferable scheme of the invention, a system operation table and an operation control operation touch screen are further arranged in the front chamber, the operation control operation touch screen is fixed on the system operation table, and the operation control operation touch screen is connected with the industrial personal computer.
As a further preferable aspect of the present invention, a distribution board is provided in the control cabinet, and the distribution board integrates a power meter and a power main switch.
As a further preferable scheme of the invention, a working illuminating lamp is arranged in the control cabinet.
As a further preferable scheme of the present invention, a rain cover is provided outside the linear motor module.
Compared with the prior art, the invention has the following beneficial effects:
1. the vehicle tail end is provided with a high-speed line scanning camera CCD and a structural laser signal source, the structural laser signal source can emit laser signals to the road surface, the CCD camera can extend out of the vehicle tail end through a vehicle roof sliding rail system to shoot downwards, synchronous acquisition of the CCD camera and the structural laser signal source can be realized through a synchronous trigger controller, and then detection results such as road surface damage, road surface evenness, road surface rut, road surface structure depth and the like are obtained through measurement and calculation.
2. The invention is used for completing the detection track positioning through the GPS positioning device, is suitable for the rapid detection of the road surface condition, and can accurately detect within the detection speed range of 0-80 km/h.
3. The invention adopts the mode of combining the high-speed line scanning camera CCD and the structural laser signal source, effectively eliminates the influence of vehicle vibration and the trend of the longitudinal section of the road surface, and obviously improves the repeated stability and precision of measurement.
4. The invention realizes the integrated design of comprehensive acquisition of the surface condition of the road surface, has simple appearance, convenient installation, convenient field acquisition and operation, real-time data storage and high detection precision.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a vehicle body interior layout view of the present invention.
Fig. 4 is a schematic diagram of the rear-view working structure of the present invention.
Fig. 5 is an internal layout view of the sensor integrated box of the present invention.
Fig. 6 is an internal layout of the equipment rack of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. The specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As shown in fig. 1 and 5, the comprehensive pavement state detection system with CCD and laser signal source combined measurement of this embodiment includes a vehicle body 1, the vehicle body 1 is divided into a front chamber 14 and a rear chamber 13 by a partition 12, a sensor integration box 7 is disposed above the rear end of the vehicle body 1, a laser signal source 8 with double-line structure is disposed at the lower part of the rear end of the vehicle body 1, two linear CCD cameras 7a with lenses facing the ground, a first planar CCD camera 7b with lenses facing the ground, a second planar CCD camera 7c with lenses facing the ground, a third planar CCD camera 7d with lenses facing the ground, and a single-line structure laser signal source 7e with lenses facing the ground are fixed in the sensor integration box 7, referring to fig. 5, the two linear CCD cameras 7a are symmetrically disposed at two ends of the sensor integration box 7, the third planar CCD camera 7d is disposed between the two linear CCD cameras 7a, the first area array CCD camera 7b is arranged between the third area array CCD camera 7d and one of the linear array CCD cameras 7a, the second area array CCD camera 7c is arranged between the third area array CCD camera 7d and the other linear array CCD camera 7a, and the single-line structure laser signal source 7e is arranged between the first area array CCD camera 7b and one of the linear array CCD cameras 7 a; a control cabinet 11 connected with the linear array CCD camera 7a, the first array CCD camera 7b, the second array CCD camera 7c, the third array CCD camera 7d and the double-line structure laser signal source 8 is fixed in the front chamber 14, an industrial personal computer 11e for operating system software and storing detection data, a vehicle-mounted power supply unit 11g and a distribution board 11b are installed in the control cabinet 11, the distribution board 11b integrates a power meter 11c and a power main switch 11d, the vehicle-mounted power supply unit 11g consists of a 12V lithium battery pack, a 12V-220V standard sine wave inverter and an automatic isolation switcher, the output end of the lithium battery pack is connected with the 12V-220V standard sine wave inverter, the lithium battery pack is charged by a 12V direct current generator in an engine room of the vehicle body 1, and the automatic isolation switcher is connected between the 12V direct current generator and the lithium battery pack in the engine room of the vehicle body 1, the automatic isolation switcher judges the electric energy storage condition in the lithium battery pack, automatically switches to a charging state according to the electric quantity storage, and automatically cuts off the generator by the automatic isolator after the electric quantity of the battery pack is saturated; the industrial personal computer 11e is used for controlling the linear array CCD camera 7a to complete the acquisition of pavement damage images, the first surface array CCD camera 7b to complete the scanning of pavement rutting data, the second surface array CCD camera 7c to complete the scanning of pavement evenness data, the third surface array CCD camera 7d to complete the shooting of pavement image data, the single-line structure laser signal source 7e is combined with the second surface array CCD camera 7c to perform pavement evenness measurement, and the double-line structure laser signal source 8 is combined with the measurement of pavement rutting data.
In this embodiment, as shown in fig. 1 and 2, the sensor integration box 7 may be installed on the top of the vehicle body 1 through the linear motor module 5, the linear motor module 5 may be directly purchased and used on the market, and is capable of driving the sensor integration box 7 to extend or retract, the telescopic beam 6 is fixed on the slider of the linear motor module 5, the sensor integration box 7 is fixed at the end of the telescopic beam 6, the servo motor of the linear motor module 5 is connected with the control cabinet 11 to control the detection operation, so as to extend the sensor integration box 7 to a meter behind the vehicle body 1, and the sensor integration box 7 is retracted to a position right above the vehicle body 1 after the detection operation is completed. In order to protect the linear motor module 5, a rain cover 4 is arranged outside the linear motor module 5, and the linear motor module 5 is sealed in the rain cover 4, so that the linear motor module can stretch freely and can prevent rain.
After the linear motor module 5 is installed, a synchronous trigger controller 11f needs to be installed in the control cabinet 11, and the industrial personal computer 11e is connected with the linear array CCD camera 7a, the first planar array CCD camera 7b, the second planar array CCD camera 7c, the third planar array CCD camera 7d, the double-line structure laser signal source 8 and the servo motor of the linear motor module 5 through the synchronous trigger controller 11f to realize synchronous control over the sensor integration box 7 and the double-line structure laser signal source 8.
In this embodiment, as shown in fig. 1, a GPS positioning device 3 connected to an industrial personal computer 11e is further installed on the top of the vehicle body 1 to complete detection track positioning.
In this embodiment, as shown in fig. 3, a system console 15 and an operation control operation touch screen 16 are further disposed in the front room 14, the operation control operation touch screen 16 is fixed on the system console 15, and the operation control operation touch screen 16 is connected to the industrial personal computer 11 e. In this manner, personnel can re-enter front room 14 to operate and control the entire inspection system.
In actual practice, as shown in fig. 6, in order to facilitate the inspection or check of the condition inside the control cabinet 11, a working lamp 11a is installed inside the control cabinet 11.
The comprehensive pavement state detection system based on the CCD and laser signal source joint measurement can realize detection of pavement surface damage, pavement evenness, pavement ruts, pavement structural depth and the like, and a specific measurement principle is described in detail below with reference to FIG. 4:
1. and (3) detecting road surface damage: as shown in fig. 4, the two linear CCD cameras 7a jointly complete the scanning of the damaged data of the road surface width of 3.75 meters left and right, wherein each linear CCD camera 7a completes the scanning signal within the range of 1.9m respectively when receiving the control signal of the synchronous trigger controller 11f, along with the advancing process of the vehicle body 1, the continuously scanned data is compressed and stored into a data file and stored in the industrial personal computer 11e, the data is identified by manual assistance after the secondary extraction, and the road surface damaged sub-item data is calculated according to the (2019) JTG 5210 and 2018 road technical condition evaluation standard; it should be noted that the calculation process may directly adopt the existing calculation method, and this implementation is not described again.
2. Measuring the road surface flatness: as shown in fig. 4, a single-line structure laser 7e emits a laser signal source with a width of 3 meters, and focuses on the right wheel track, and a second planar array CCD camera 7c measures elevation data in the wheel track by using a triangulation principle; with the advancing process of the vehicle body 1, continuously scanned data are compressed and stored into a data file and stored in the industrial personal computer 11 e; after the data are subjected to secondary extraction, high-frequency filtering treatment is carried out on the data to obtain effective elevation data in a pavement wheel track band, an international flatness index (IRI) is calculated by adopting an IRI algorithm issued by the world bank organization to obtain an IRI value in a unit, and a pavement driving quality index RQI is calculated according to a (2019) JTG 5210-2018 highway technical condition evaluation standard; note that 3. formation depth measurement: using elevation data in a wheel track band measured by flatness to perform low-frequency filtering processing on the elevation data to obtain effective line structure data in a road wheel track band, and calculating the average road surface structure depth-MPD according to (2019) JTG 5210 and 2018 road technical condition evaluation standards; it should be noted that the calculation process may directly adopt the existing calculation method, and this implementation is not described again.
4. Measuring the ruts on the road surface: as shown in fig. 4, two laser signal sources 8a with a width of 3 meters are emitted by the laser signal source 8 with a double-line structure and focused in the whole lane, and the elevation data of the cross section of the whole lane is measured from left to right by the first area array CCD camera 7b by using the triangulation principle; scanning the elevation data of the cross section of the lane at fixed intervals of 0.5 m according to the driving direction along with the advancing process of the vehicle body 1, compressing and storing the data into a data file and storing the data file in an industrial personal computer 11 e; after the data are subjected to secondary extraction, high-frequency filtering processing is carried out on the data to obtain effective cross section elevation data, left and right rutting depths of the road surface are calculated according to (2019) JTG 5210 and 2018 road technical condition evaluation standards, and a rutting depth index-RDI is calculated; it should be noted that the calculation process may directly adopt the existing calculation method, and this implementation is not described again.
5. Measuring a road surface image: the third array CCD camera 7d is used for shooting road surface image data, is arranged in the middle of the sensor integration box 7, and has a lens aligned with the whole rear lane, so that the depth of field of an image can reach about 300 meters; when receiving the control signal of the synchronous trigger controller 11f, the scanning signals within the range of 1.9m are simultaneously completed, along with the advancing process of the vehicle body 1, the acquired image data are compressed and stored according to the jpg format and are stored in the industrial personal computer 11e, and a worker can check on the operation control operation touch screen 16 in the front room 14.
The technical solution of the present invention is not limited to the limitations of the above specific embodiments, and all technical modifications made according to the technical solution of the present invention fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides a CCD and laser signal source jointly measured road surface state integrated detection system, includes a automobile body (1), divides into antechamber (14) and back room (13) in automobile body (1), its characterized in that: a sensor integration box (7) is arranged above the rear end of the vehicle body (1), a double-line structure laser signal source (8) is arranged at the lower part of the rear end of the vehicle body (1), two linear array CCD cameras (7a) with lenses facing the ground, a first planar array CCD camera (7b) with lenses facing the ground, a second planar array CCD camera (7c) with lenses facing the ground, a third planar array CCD camera (7d) with lenses facing the ground and a single-line structure laser signal source (7e) with lenses facing the ground are fixed in the sensor integration box (7); and a control cabinet (11) connected with the linear array CCD camera (7a), the first area array CCD camera (7b), the second area array CCD camera (7c), the third area array CCD camera (7d) and the double-line structure laser signal source (8) is fixed in the front chamber (14) and used for controlling the linear array CCD camera (7a) to finish acquisition of pavement damage images, the first area array CCD camera (7b) to finish pavement rutting data scanning, the second area array CCD camera (7c) to finish pavement evenness data scanning, the third area array CCD camera (7d) to finish shooting pavement image data, the single-line structure laser signal source (7e) is combined with the second area array CCD camera (7c) to perform pavement evenness measurement, and the double-line structure laser signal source (8) is used for performing joint measurement of pavement rutting data.
2. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 1, characterized in that: install at automobile body (1) top through linear electric motor module (5) sensor collection box (7), be fixed with flexible roof beam (6) on the slider of the linear electric motor module of linear electric motor module (5), sensor collection box (7) are fixed at flexible roof beam (6) end, and the servo motor of linear electric motor module (5) comes to be connected with control rack (11) and stretches out sensor collection box (7) to one meter department in automobile body (1) rear when controlling the detection operation, contracts sensor collection box (7) to automobile body (1) directly over after accomplishing the detection operation.
3. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 1, characterized in that: the two linear array CCD cameras (7a) are symmetrically arranged at two ends in the sensor integration box (7), the third linear array CCD camera (7d) is arranged between the two linear array CCD cameras (7a), the first linear array CCD camera (7b) is arranged between the third linear array CCD camera (7d) and one of the linear array CCD cameras (7a), the second linear array CCD camera (7c) is arranged between the third linear array CCD camera (7d) and the other linear array CCD camera (7a), and the single-line structure laser signal source (7e) is arranged between the first linear array CCD camera (7b) and one of the linear array CCD cameras (7 a).
4. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 2, characterized in that: an industrial personal computer (11e) for storing running system software and detection data, a synchronous trigger controller (11f) and a vehicle-mounted power supply unit (11g) are installed in the control cabinet (11); the industrial personal computer (11e) is connected with the linear array CCD camera (7a), the first planar array CCD camera (7b), the second planar array CCD camera (7c), the third planar array CCD camera (7d), the double-line structure laser signal source (8) and a servo motor of the linear motor module (5) through the synchronous trigger controller (11f) so as to synchronously control the sensor integration box (7) and the double-line structure laser signal source (8).
5. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 4, characterized in that: the vehicle-mounted power supply unit (11g) is composed of a 12V lithium battery pack, a 12V-220V standard sine wave inverter and an automatic isolation switcher, the output end of the lithium battery pack is connected with the 12V-220V standard sine wave inverter, the lithium battery pack is charged by a 12V direct current generator in an engine cabin of the vehicle body (1), the automatic isolation switcher is connected between the 12V direct current generator in the engine cabin of the vehicle body (1) and the lithium battery pack, the automatic isolation switcher judges the electric energy storage condition in the lithium battery pack and automatically switches the electric energy storage condition into a charging state according to the electric energy storage, and the automatic isolator automatically cuts off the generator after the electric quantity of the battery pack is saturated.
6. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 4, characterized in that: and a GPS positioning device (3) connected with an industrial personal computer (11e) is further mounted at the top of the vehicle body (1) and used for completing detection track positioning.
7. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 4, characterized in that: the front chamber (14) is also internally provided with a system operating platform (15) and an operation control operation touch screen (16), the operation control operation touch screen (16) is fixed on the system operating platform (15), and the operation control operation touch screen (16) is connected with an industrial personal computer (11 e).
8. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 2 or 4, characterized in that: the control cabinet (11) is internally provided with a distribution board (11b), and the distribution board (11b) integrates a power meter (11c) and a power main switch (11 d).
9. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 2 or 4, characterized in that: and a working illuminating lamp (11a) is arranged in the control cabinet (11).
10. The comprehensive pavement state detection system based on CCD and laser signal source joint measurement according to claim 2, characterized in that: a rainproof cover (4) is arranged outside the linear motor module (5).
CN202010485212.9A 2020-06-01 2020-06-01 Pavement state comprehensive detection system based on CCD and laser signal source combined measurement Pending CN111648214A (en)

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CN202010485212.9A CN111648214A (en) 2020-06-01 2020-06-01 Pavement state comprehensive detection system based on CCD and laser signal source combined measurement

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CN202010485212.9A CN111648214A (en) 2020-06-01 2020-06-01 Pavement state comprehensive detection system based on CCD and laser signal source combined measurement

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112342880A (en) * 2021-01-05 2021-02-09 中南大学 Laser scanning vehicle for detecting surface roughness of track paving layer

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Publication number Priority date Publication date Assignee Title
JPH11218417A (en) * 1998-02-02 1999-08-10 For A Co Ltd Measuring method for road surface roughness and device
CN2739638Y (en) * 2004-11-19 2005-11-09 陈韶华 Asphalt surface driving performance laser detecting device
CN101487223A (en) * 2009-02-27 2009-07-22 长安大学 Laser road synthetic detection vehicle
CN101694084A (en) * 2009-10-14 2010-04-14 武汉武大卓越科技有限责任公司 Ground on-vehicle mobile detecting system
CN103194956A (en) * 2013-04-15 2013-07-10 南京道润交通科技有限公司 Road detecting vehicle and method for detecting road with same
CN106223175A (en) * 2016-07-21 2016-12-14 辽宁鑫磊检测技术有限公司 A kind of road detection vehicle and Approach for road detection

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Publication number Priority date Publication date Assignee Title
JPH11218417A (en) * 1998-02-02 1999-08-10 For A Co Ltd Measuring method for road surface roughness and device
CN2739638Y (en) * 2004-11-19 2005-11-09 陈韶华 Asphalt surface driving performance laser detecting device
CN101487223A (en) * 2009-02-27 2009-07-22 长安大学 Laser road synthetic detection vehicle
CN101694084A (en) * 2009-10-14 2010-04-14 武汉武大卓越科技有限责任公司 Ground on-vehicle mobile detecting system
CN103194956A (en) * 2013-04-15 2013-07-10 南京道润交通科技有限公司 Road detecting vehicle and method for detecting road with same
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112342880A (en) * 2021-01-05 2021-02-09 中南大学 Laser scanning vehicle for detecting surface roughness of track paving layer
CN112342880B (en) * 2021-01-05 2021-04-09 中南大学 Laser scanning vehicle for detecting surface roughness of track paving layer

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