CN111707230A - Road quality detection system based on multi-terminal data fusion - Google Patents
Road quality detection system based on multi-terminal data fusion Download PDFInfo
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- CN111707230A CN111707230A CN202010366433.4A CN202010366433A CN111707230A CN 111707230 A CN111707230 A CN 111707230A CN 202010366433 A CN202010366433 A CN 202010366433A CN 111707230 A CN111707230 A CN 111707230A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8854—Grading and classifying of flaws
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8883—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges involving the calculation of gauges, generating models
Abstract
The invention relates to a road quality detection system based on multi-terminal data fusion. The invention aims to provide a road quality detection system based on multi-terminal data fusion, which is intelligent, efficient and high in detection precision, and can find the quality problem of a road in time. The technical scheme of the invention is as follows: the system comprises: a server; the mobile equipment is arranged in a vehicle running on a road and is in communication connection with the server; the plurality of automobile data recorders are arranged in vehicles running on a road and are in communication connection with the server; the unmanned aerial vehicles are in communication connection with the server; the laser scanning probes are in communication connection with the server; the fixed monitoring cameras are in communication connection with the server; the server includes a server processor and a server memory, and a server computer program stored on the server memory. The invention is suitable for the technical field of intelligent traffic.
Description
Technical Field
The invention relates to a road quality detection system based on multi-terminal data fusion. The method is suitable for the technical field of intelligent traffic.
Background
With the rapid development of economic construction in China, urban road construction plays a crucial decisive role in the development of cities. The urban road is an artery of a city, is a skeleton of the city, and reflects the appearance of the city. The quality problem of roads brings great inconvenience to the development of cities and the life of residents, so that economic losses are caused, and the quality problem of highway engineering has attracted high attention of administrative departments of highway engineering at all levels. The quality detection level of the highway engineering needs to be improved to improve the quality of the highway engineering, and detection equipment needs to be developed and improved on one hand, and detection precision and data processing capacity need to be improved on the other hand.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the existing problems, the road quality detection system based on multi-terminal data fusion is intelligent, efficient and high in detection precision, and can find the quality problem of the road in time.
The technical scheme adopted by the invention is as follows: a road quality detection system based on multi-terminal data fusion is characterized by comprising:
a server;
the mobile equipment is arranged in a vehicle running on a road, is in communication connection with the server and is used for acquiring attitude information, position coordinate information, running speed information, acceleration information and vibration information of the vehicle;
the system comprises a plurality of automobile data recorders, a server and a plurality of data processing units, wherein the automobile data recorders are arranged in vehicles running on a road, are in communication connection with the server and are used for acquiring vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and road pavement image information;
the unmanned aerial vehicles are in communication connection with the server and used for acquiring road pavement image information of the specified positions;
the laser scanning probes are in communication connection with the server and used for acquiring road pavement elevation information at fixed positions;
the fixed monitoring cameras are in communication connection with the server and are used for acquiring road pavement image information at fixed positions;
the server comprising a server processor and a server memory, and a server computer program stored on the server memory which, when executed by the server processor, implements:
1. processing data information;
A. mobile equipment information processing:
acquiring mobile equipment posture information, vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and vehicle vibration information uploaded by mobile equipment;
solving road surface elevation change information according to a mathematical relation between the vehicle vibration information and the road surface elevation change;
according to the road surface elevation change information, the mobile equipment attitude information, the vehicle running speed information and the vehicle acceleration information, solving the displacement change of the vehicle in the horizontal direction and the vertical direction;
drawing a road surface elevation change diagram corresponding to the driving route of the vehicle according to the displacement change of the vehicle in the horizontal direction and the vertical direction;
identifying the type, severity and configuration of the road surface quality defect according to the road surface elevation change map;
B. and (3) processing the automobile data recorder information:
acquiring vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and road pavement image information uploaded by a vehicle event data recorder;
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
C. unmanned aerial vehicle information processing:
acquiring designated position information and corresponding road surface image information uploaded by an unmanned aerial vehicle;
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
D. processing the information of the laser scanning probe:
acquiring fixed position information and corresponding road pavement elevation information uploaded by a laser scanning probe;
identifying the type, severity and configuration of the road surface quality defect according to the road surface elevation information;
E. and (3) information processing of a fixed monitoring camera:
acquiring fixed position information uploaded by a fixed monitoring camera and corresponding road pavement image information;
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
2. and (3) performing data fusion on part or all of the processing results in the step (1) according to the position information, eliminating deviation values and solving an average value.
The mobile device information processing further comprises:
classifying the road surface elevation change maps corresponding to the drawn vehicle driving routes into one or more sets, wherein each set corresponds to one driving lane, and classifying the road surface elevation change maps which have the same vehicle position coordinate information and are close to each other into the same set;
superposing the road surface elevation change maps in the same set to obtain an average value;
and drawing a road surface elevation change map corresponding to the driving lane according to the average value.
The mobile device includes: the device comprises a device processor, a device memory, a GPS module, an acceleration sensor, a gravity sensor, a gyroscope, a magnetic sensor and a wireless communication module;
the device memory is stored with a device computer program, when the device computer program is executed by the device processor, the device computer program acquires the position coordinate information and the running speed information of the vehicle through the GPS module, acquires the acceleration information of the vehicle through the acceleration sensor, acquires the vibration information of the vehicle through the gravity sensor, and acquires the posture information of the mobile device through the gyroscope and the magnetic sensor;
and sending the vehicle position coordinate information, the vehicle running speed information, the vehicle acceleration information, the vehicle vibration information and the mobile equipment posture information to a server through a wireless communication module.
The mobile device adopts a smart phone.
The invention has the beneficial effects that: the invention realizes the multi-angle and large-scale detection of the road quality data by the information collection, uploading and fusion of various terminal devices, can effectively improve the effectiveness of the road quality detection, provides data support for road maintenance units and reduces the detection and maintenance cost. According to the invention, for the same type of data, data fusion improves data precision, and for different types of data, data fusion enriches data dimensionality and improves problem judgment capability, so that a system forms multi-dimensional and high-precision road detection information.
According to the invention, the attitude information, the vehicle position coordinate information, the vehicle running speed information, the vehicle acceleration information, the vehicle vibration information and other information of the mobile equipment are acquired through the sensor, the displacement change in the horizontal direction and the vertical direction is obtained according to the information, a road surface elevation change diagram is drawn, data support is provided for a road maintenance unit in time, and the detection and maintenance cost is reduced; detailed road information is provided for drivers in time, driving comfort and safety are improved, and the traffic accident rate is reduced.
Drawings
Fig. 1 is a flowchart of an information processing method of a mobile device in an embodiment.
Fig. 2 is a schematic structural diagram of the embodiment.
Detailed Description
As shown in fig. 1 and fig. 2, the present embodiment is a road quality detection system based on multi-terminal data fusion, and includes a server 1, a plurality of mobile devices 2, a plurality of automobile data recorders 3, a plurality of unmanned aerial vehicles 4, a plurality of laser scanning probes 5, and a plurality of fixed monitoring cameras 6.
In the embodiment, the mobile device 2 is arranged in a vehicle running on a road and is in communication connection with the server 1. The mobile device 2 includes: a device processor 201, a device memory 202, a GPS module 203, an acceleration sensor 204, a gravity sensor 205, a gyroscope 206, a magnetic sensor 207, and a wireless communication module 208.
Wherein the device memory 202 has stored thereon a device computer program which, when executed by the device processor 201, acquires vehicle position coordinate information and vehicle travel speed information via the GPS module 203, vehicle acceleration information via the acceleration sensor 204, vehicle vibration information via the gravity sensor 205, and mobile device attitude information of the mobile device 2 via the gyroscope 206 and the magnetic sensor 207; the vehicle position coordinate information, the vehicle running speed information, the vehicle acceleration information, the vehicle vibration information, and the mobile device attitude information are transmitted to the server 1 through the wireless communication module 208.
The drive recorder 3 is installed in a vehicle running on a road in this example, and is connected to the server 1 in communication therewith. The drive recorder 3 includes: the system comprises a driving image recording module, a GPS module, an acceleration sensor and a communication module.
The automobile data recorder 3 acquires road surface image information through an automobile image recording module, acquires vehicle position coordinate information and vehicle running speed information through a GPS module 203, acquires vehicle acceleration information through an acceleration sensor 204, and transmits the vehicle position coordinate information, the vehicle running speed information, the vehicle acceleration information and the road surface image information to the server 1 through a communication module.
In this embodiment, the unmanned aerial vehicle 4 is in communication connection with the server 1, and is configured to control the unmanned aerial vehicle 4 to acquire road pavement image information of a designated location, and send the designated location information and corresponding road pavement image information to the server 1.
In this example, the laser scanning probe 5 is in communication connection with the server 1, and is configured to acquire road surface elevation information at a fixed position, and send the road surface elevation information at the fixed position and corresponding road surface elevation information to the server 1.
In this embodiment, the fixed monitoring camera 6 is in communication connection with the server 1, and is configured to acquire road pavement image information at a fixed position and send the fixed position information and corresponding road pavement image information to the server 1.
The server 1 in this embodiment comprises a server processor 101 and a server memory 102, and a server computer program stored on the server memory 102, which when executed by the server processor 101, implements:
1. processing data information;
A. mobile device 2 information processing:
acquiring mobile equipment posture information, vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and vehicle vibration information uploaded by the mobile equipment 2;
solving road surface elevation change information according to a mathematical relation between the vehicle vibration information and the road surface elevation change;
according to the road surface elevation change information, the mobile equipment attitude information, the vehicle running speed information and the vehicle acceleration information, solving the displacement change of the vehicle in the horizontal direction and the vertical direction;
drawing a road surface elevation change chart corresponding to the driving route of the vehicle according to the displacement change of the vehicle in the horizontal direction and the vertical direction and the relationship between the vehicle type displacement change and the road surface elevation change;
classifying the road surface elevation change maps corresponding to the drawn vehicle driving routes into one or more sets, wherein each set corresponds to one driving lane, and classifying the road surface elevation change maps which have the same vehicle position coordinate information and are close to each other into the same set;
superposing the road surface elevation change maps in the same set to obtain an average value;
and drawing a road surface elevation change map corresponding to the driving lane according to the average value.
Vibration of the vehicle is a damped response of the suspended wheels to changes in road elevation. The input elevation may be solved for vibration information by a damping equation. Otherwise, the road surface elevation can be solved by inputting vibration information in an inverse mode. A physical damping vibration model is constructed to obtain a differential equation, acceleration information and vibration information are introduced, and displacement changes of the corresponding vehicle in the horizontal direction and the vertical direction are solved.
In the embodiment, the mobile device 2 adopts a smart phone, a common user can input the vehicle type of a vehicle driven by the common user after loading and unloading a corresponding APP on the smart phone, the smart phone obtains vehicle type information, vehicle position coordinate information, vehicle running speed information, vehicle acceleration information, vehicle vibration information and mobile terminal posture information during the vehicle driving process, and sends the information to the server 1 of an APP operator, the server 1 draws a road surface elevation change map according to the information, and the operator sells data such as the road surface elevation change map to a navigation software service provider and a road maintenance department to obtain benefits and distributes part of the benefits to the corresponding common user.
B. And (3) information processing of the automobile data recorder:
acquiring vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and road pavement image information which are uploaded by a vehicle data recorder 3;
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
C. 4, information processing of the unmanned aerial vehicle:
acquiring designated position information and corresponding road surface image information uploaded by the unmanned aerial vehicle 4;
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
D. information processing of the laser scanning probe 5:
acquiring fixed position information and corresponding road pavement elevation information uploaded by a laser scanning probe 5;
identifying the type, severity and configuration of the road surface quality defect according to the road surface elevation information;
E. and (3) information processing of the fixed monitoring camera 6:
acquiring fixed position information and corresponding road pavement image information uploaded by a fixed monitoring camera 6;
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
2. and (3) performing data fusion on part or all of the processing results in the step (1) according to the position information, eliminating deviation values and solving an average value. According to the geographic information, data fusion is carried out on data collected by different devices at the same position, data precision is improved for the same type of data through the data fusion, data dimensionality is enriched for the different types of data through the data fusion, and the problem judgment capacity is improved. Therefore, the system forms multi-dimensional and high-precision road detection information.
Claims (4)
1. A road quality detection system based on multi-terminal data fusion is characterized by comprising:
a server (1);
the mobile devices (2) are arranged in vehicles running on a road, are in communication connection with the server (1), and are used for acquiring attitude information, position coordinate information, running speed information, acceleration information and vibration information of the mobile devices;
the driving recorders (3) are arranged in vehicles running on a road, are in communication connection with the server (1), and are used for acquiring vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and road surface image information;
the unmanned aerial vehicles (4) are in communication connection with the server (1) and are used for acquiring road pavement image information of the specified position;
the laser scanning probes (5) are in communication connection with the server (1) and are used for acquiring road pavement elevation information at fixed positions;
the fixed monitoring cameras (6) are in communication connection with the server (1) and are used for acquiring road pavement image information at fixed positions;
the server (1) comprises a server processor (101) and a server memory (102), and a server computer program stored on the server memory (102), which when executed by the server processor (101) implements:
1.1, processing data information;
A. mobile device (2) information processing:
acquiring attitude information, vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and vehicle vibration information of the mobile device (2) uploaded by the mobile device;
solving road surface elevation change information according to a mathematical relation between the vehicle vibration information and the road surface elevation change;
according to the road surface elevation change information, the mobile equipment attitude information, the vehicle running speed information and the vehicle acceleration information, solving the displacement change of the vehicle in the horizontal direction and the vertical direction;
drawing a road surface elevation change diagram corresponding to the driving route of the vehicle according to the displacement change of the vehicle in the horizontal direction and the vertical direction;
identifying the type, severity and configuration of the road surface quality defect according to the road surface elevation change map;
B. and (3) information processing of the automobile data recorder:
acquiring vehicle position coordinate information, vehicle running speed information, vehicle acceleration information and road pavement image information which are uploaded by a vehicle traveling recorder (3);
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
C. unmanned aerial vehicle (4) information processing:
acquiring designated position information and corresponding road pavement image information uploaded by the unmanned aerial vehicle (4);
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
D. and (3) information processing of the laser scanning probe (5):
acquiring fixed position information and corresponding road pavement elevation information uploaded by a laser scanning probe (5);
identifying the type, severity and configuration of the road surface quality defect according to the road surface elevation information;
E. and (3) information processing of a fixed monitoring camera (6):
acquiring fixed position information uploaded by a fixed monitoring camera (6) and corresponding road pavement image information;
identifying the type and severity of the road surface quality defect and a road surface defect standard image according to the road surface image information;
and 1.2, performing data fusion on part or all of the processing results in the step 1.1 according to the position information, eliminating deviation values and solving an average value.
2. The multi-terminal data fusion-based road quality detection system according to claim 1, wherein: the mobile device (2) information processing further comprises:
classifying the road surface elevation change maps corresponding to the drawn vehicle driving routes into one or more sets, wherein each set corresponds to one driving lane, and classifying the road surface elevation change maps which have the same vehicle position coordinate information and are close to each other into the same set;
superposing the road surface elevation change maps in the same set to obtain an average value;
and drawing a road surface elevation change map corresponding to the driving lane according to the average value.
3. The multi-terminal data fusion-based road quality detection system according to claim 1 or 2, characterized in that: the mobile device (2) comprises: the device comprises a device processor (201), a device memory (202), a GPS module (203), an acceleration sensor (204), a gravity sensor (205), a gyroscope (206), a magnetic sensor (207) and a wireless communication module (208);
wherein the device memory (202) has stored thereon a device computer program which, when executed by the device processor (201), obtains vehicle position coordinate information and vehicle travel speed information via the GPS module (203), vehicle acceleration information via the acceleration sensor (204), vehicle vibration information via the gravity sensor (205), and mobile device attitude information of the mobile device (2) via the gyroscope (206) and the magnetic sensor (207);
and sending the vehicle position coordinate information, the vehicle running speed information, the vehicle acceleration information, the vehicle vibration information and the mobile equipment posture information to the server (1) through the wireless communication module (208).
4. The multi-terminal data fusion-based road quality detection system according to claim 3, wherein: the mobile device (2) is a smart phone.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113588664A (en) * | 2021-08-02 | 2021-11-02 | 安徽省通途信息技术有限公司 | Vehicle-mounted road defect rapid inspection and analysis system |
| CN113962301A (en) * | 2021-10-20 | 2022-01-21 | 北京理工大学 | Multi-source input signal fused pavement quality detection method and system |
| CN116453065A (en) * | 2023-06-16 | 2023-07-18 | 云途信息科技(杭州)有限公司 | Road surface foreign matter throwing identification method and device, computer equipment and storage medium |
| CN116469013A (en) * | 2023-06-20 | 2023-07-21 | 云途信息科技(杭州)有限公司 | Road ponding prediction method, device, computer equipment and storage medium |
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