CN112985311B - Vehicle-mounted portable lightweight intelligent inspection method and system - Google Patents
Vehicle-mounted portable lightweight intelligent inspection method and system Download PDFInfo
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- CN112985311B CN112985311B CN202110177736.6A CN202110177736A CN112985311B CN 112985311 B CN112985311 B CN 112985311B CN 202110177736 A CN202110177736 A CN 202110177736A CN 112985311 B CN112985311 B CN 112985311B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
Abstract
The invention discloses a vehicle-mounted portable lightweight intelligent inspection system and a method, wherein the system comprises: the device comprises an image acquisition module, a detection module, a positioning module, a data storage module, a main control module, a power supply module and a data transmission module; based on the system, a vehicle-mounted portable lightweight intelligent inspection method is provided, and the method comprises the following steps: the vehicle is provided with an image acquisition module, a detection module, a positioning module, a data storage module, a main control module, a power supply module and a data transmission module; carrying out equipment calibration on the detection module; detecting a target road according to a road detection plan; and uploading the detection data to a database for big data analysis or visual display. Compared with the traditional detection, the detection system is economical and reasonable, has low requirement on the measurement environment, is simple and easy to operate in the installation of the detection equipment, and has higher measurement result precision.
Description
Technical Field
The invention relates to the field of intelligent and rapid road inspection, in particular to a vehicle-mounted portable lightweight intelligent inspection method and system.
Background
Road transportation is at the beginning of five transportation modes such as highway, railway, aviation, pipeline, water transportation and the like with the advantages of rapidness, convenience and direct door-to-door effect, and occupies an extremely important position in national economic development. By the end of 2019, the total mileage of the existing traffic roads in China exceeds 501 kilometers, and the original roads must be maintained and maintained while the roads are newly built, so that the driving safety is ensured and the operation cost is reduced. On one hand, the traditional road detection method has many defects, for example, the hand-push type section instrument method and other human working methods have the problems of time and labor consumption and troublesome operation, and the laser detection vehicle and other professional detection equipment are expensive and easily influenced by the environment, so that the large-range high-frequency popularization and use are difficult. On the other hand, the road quality management tasks are respectively shared by departments such as provincial and urban highway administration, road and government offices, local maintenance companies, and traffic department basic construction quality supervision central stations. The problems of complex flow, obvious obstruction and the like exist in data interaction of each link, so that a plurality of detection works are repeatedly performed, and a large amount of manpower and material resource investment is wasted. Therefore, the necessary measures for improving the road service level and ensuring the driving safety are realized by utilizing the expressway detection equipment to carry out normalized daily inspection and carrying out unified deployment management on the road quality detection data.
Disclosure of Invention
The invention aims to provide a vehicle-mounted portable lightweight intelligent inspection method and system, which are used for solving the technical problems in the prior art and realizing intelligent and convenient road quick inspection.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a vehicle-mounted portable lightweight intelligent inspection system, which comprises:
the device comprises an image acquisition module, a detection module, a positioning module, a data storage module, a main control module, a power supply module and a data transmission module;
the image acquisition module is used for shooting road images by vehicles;
the detection module is used for detecting the road image to obtain detection data;
the positioning module is used for accurately positioning the vehicle and acquiring positioning information of the vehicle in real time;
the data storage module is used for storing the detection data and the positioning information;
the main control module is used for controlling the vehicle-mounted portable lightweight intelligent inspection system;
the power supply module is used for supplying power to the vehicle-mounted portable lightweight intelligent inspection system;
the data transmission module is used for uploading the data detected by the detection module to a database.
Preferably, the detection module comprises at least a high definition industrial camera, a panoramic camera and an acceleration sensor.
Preferably, the high-definition industrial camera is arranged at the tail of the vehicle and used for detecting the distribution condition of the road surface diseases;
preferably, the road surface diseases include: cracks, pits, net cracks, repair, height difference of the well cover and damage of expansion joints.
Preferably, the panoramic camera is arranged at the head of the vehicle and used for detecting the integrity of the auxiliary facilities, wherein the panoramic camera is formed by splicing 8 cameras with different visual angles;
preferably, the accessory facilities include the absence of a guard rail, breakage or bending of a guard rail, the absence of an antiglare shield, and bending of a roadside lamp post.
Preferably, the acceleration sensor is disposed above a rear axle of the vehicle for detecting the flatness of the road surface.
Preferably, the main control module is a vehicle-mounted edge computing intelligent box, and at least comprises a CPU, a GPU, and a hardware interface for receiving and transmitting data signals.
Preferably, the data transmission module at least comprises a data receiving unit, a WebService unit, a JavaScript webpage unit, a data calculation unit, a database unit, a standard specification unit, and a report generation unit.
A vehicle-mounted portable lightweight intelligent inspection method comprises the following steps,
s1, installing the image acquisition module, the detection module, the positioning module, the data storage module, the main control module, the power supply module and the data transmission module on the vehicle;
s2, calibrating the detection module, wherein the detection module comprises an industrial camera, a panoramic camera and an acceleration sensor;
s3, detecting the target road according to the road detection plan;
and S4, uploading the detection data to a database for big data analysis or visual display.
Preferably, the S1 includes the steps of,
s1.1, placing a vehicle-mounted edge computing intelligent box in a vehicle, and supplying power;
s1.2, arranging the high-definition industrial camera at the tail of a vehicle body, and adjusting an aperture and a focal length of the high-definition industrial camera to ensure that the high-definition industrial camera covers at least one lane;
s1.3, arranging the panoramic camera at the front part of a vehicle body;
s1.4, arranging the acceleration sensor above a rear axle of the vehicle, and fixing the acceleration sensor by using a bolt or an adhesive tape;
s1.5, arranging the positioning module on the top of the vehicle and not being shielded;
s1.6, the high-definition industrial camera, the panoramic camera, the acceleration sensor and the RTK positioning device are respectively connected with the vehicle-mounted edge calculation intelligent box through signal transmission lines, and whether the device can normally operate is checked.
Preferably, in S2, the calibration process for the high-definition industrial camera and the panoramic camera includes placing the checkerboard plane boards at different positions to take photos as calibration data, detecting calibration points in the calibration data, solving internal parameters, external parameters and distortion coefficients of the video camera by using the calibration points, and obtaining an optimal internal parameter, an optimal external parameter and an optimal distortion parameter matrix according to the maximum likelihood estimation optimization result.
The invention discloses the following technical effects:
compared with the traditional detection, the project development equipment has the advantages of simple instrument, simple installation and operation, economy and reasonability and low requirement on the measurement environment. Only simple calibration work is required to be carried out regularly, and the precision of the measurement result is high. And because the measurement mode is vehicle-mounted measurement, the measurement speed is high, the efficiency is high, the method is suitable for measuring the road flatness in a large range, and the flatness detection period can be greatly shortened. In addition, in the system, various wireless sensor network technologies are adopted, so that data acquisition and transmission are more reliable, matched geographic information can be acquired by utilizing GPS equipment, and the GPS equipment can be combined with an electronic map to acquire and display real-time data of an urban road network.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic view of a panoramic camera mounting structure and a view angle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, the present embodiment provides a vehicle-mounted portable lightweight intelligent inspection system, including the following devices: a high-definition industrial camera is arranged behind the vehicle tail; the front part of the vehicle body is spliced by 8 cameras with different visual angles to form a 360-degree panoramic camera; a pair of acceleration sensors above the rear axle; a high precision RTK positioning device; the vehicle-mounted edge computing intelligent box mainly comprises computer hardware equipment such as a CPU (central processing unit), a GPU (graphic processing unit) and the like meeting the running requirements of a road detection related algorithm and a hardware interface for receiving and transmitting various data signals.
Based on the system, a vehicle-mounted portable lightweight intelligent inspection method is provided, and the method comprises the following steps: (1) equipment installation: the equipment required by the system is arranged at each part of the vehicle body according to the requirement and the power supply is ensured; (2) equipment calibration: respectively calibrating a rear high-definition industrial camera, a front spliced 360-degree panoramic camera and an acceleration sensor according to requirements, wherein equipment calibration is required to be carried out generally when the equipment is used for the first time and after the equipment is re-installed; (3) daily detection: after the system is ensured to work normally, the target road section is detected according to a road detection plan, and the detection content can comprise road surface flatness detection, road surface disease detection and accessory facility integrity detection; (4) and (3) data uploading: and uploading the collected road detection data to a back-end database in an online or offline manner in a unified manner to serve as a data source for big data analysis or visual display.
The step (1) of equipment installation: firstly, placing a vehicle-mounted edge calculation intelligent box in a vehicle, ensuring that the intelligent box cannot move in a large range and wires cannot fall off or break off in the running process of the vehicle, and supplying power through a power supply in the vehicle after the intelligent box is placed; arranging a high-definition industrial camera at the tail of a vehicle body through a sucker device, wherein the installation position of the high-definition industrial camera is not too low, the visual field is ensured to cover at least one lane, and the aperture and the focal length of the camera are well adjusted; the method comprises the following steps of splicing 8 cameras with different visual angles into a panoramic camera, wherein the splicing structure is schematically shown in figure 1, the spliced panoramic camera is arranged at the front part of a vehicle body and is generally positioned at the front end of a vehicle roof, so that the coverage range of a visual field is ensured to be more than or equal to 360 degrees, and an image is required to be clear; arranging a pair of acceleration sensors above a rear axle of a vehicle, ensuring that the pair of acceleration sensors are respectively close to two tires, and fixing the installation positions of the acceleration sensors by using tools such as bolts or adhesive tapes; the high-precision RTK positioning equipment is placed at the top of a vehicle, and the upper part of the high-precision RTK positioning equipment is required to be protected from being shielded by other objects so as not to influence the positioning precision; after the equipment is installed, the equipment is required to be connected with a signal transmission line between each equipment and the vehicle-mounted edge computing intelligent box, and whether data flow is smooth and whether the equipment can normally operate is checked.
Calibrating the equipment in the step (2): carry out camera calibration to rearmounted high definition industry camera and leading 360 panoramic camera of concatenation: manufacturing a checkerboard plane plate, wherein the size of each checkerboard is required to be ensured to be not less than 10cm x 10cm, the shape of each checkerboard is required to be a standard square, the edge of each checkerboard is clearly distinguishable, and the number of rows and columns of each checkerboard is required to be not less than 5; placing the checkerboards at different positions within the visual angle range of the camera respectively, taking pictures as calibration data, and ensuring that the calibration data at least comprises one picture of the checkerboards at the upper left corner, the upper right corner, the middle, the lower left corner and the lower right corner of the image respectively, wherein the total number of the calibration data is not less than 10; detecting feature points in all calibration data, namely the corner points of each checkerboard by using an algorithm tool, and solving internal parameters, external parameters and distortion coefficients of the camera under an ideal distortion-free condition by using known checkerboard data; and obtaining an optimal internal parameter, external parameter and distortion parameter matrix by combining the internal parameters, external parameters and distortion coefficients of the cameras of the multiple pictures and using the maximum likelihood estimation optimization result.
Calibrating the equipment in the step (2): calibrating the acceleration sensor: selecting 5-10 sections of road sections with known road surface evenness, wherein the international evenness index (IRI) distribution meets the requirement of uniform distribution between 1-5 as much as possible; fixing an acceleration sensor device right above left and right rear axle wheels in a vehicle trunk; connecting a vehicle-mounted edge computing intelligent box, starting equipment, recording the starting and ending time of a road section, and intercepting calibration data; testing for 2 times in the same direction on the same test road section at the same specified speed (30-80km/h), calculating the power spectral density curve integral of the test road section, and if the difference of the measurement results on the two sides exceeds 10%, continuing to perform spectral density integral calibration until the accuracy requirement is met; respectively measuring the test road sections with uniformly distributed predetermined 5-10 IRI sections, and calculating the integral mean value of the two spectral densities; model fitting is performed through known IRI and spectral density integral system, and fitting parameters are obtained. In order to ensure the accuracy of the test result, the same test speed is recommended to be kept, and if the test speed is changed, the test result is corrected according to the speed correction coefficient. The system defaults to calculating the distance of 500 meters, i.e. flatness calculation is performed every 500 meters.
And (3) utilizing an acceleration sensor to realize flatness calculation: the system response change of the sprung mass and the unsprung mass of the motor vehicle under the influence of the elevation difference is simplified by utilizing the quarter vehicle model, the acceleration change is distributed to wave bands with different frequencies by combining a road surface wave theory through a power spectral density method, and then the international flatness index is effectively estimated by utilizing the acceleration root mean square value.
The detection content corresponding to each sub-device in the daily detection in the step (3) is as follows: the rear high-definition industrial camera is used for detecting the distribution condition of pavement diseases, the detected pavement diseases comprise cracks, pit slots, net cracks, repair, well cover height frame difference, expansion joint damage and the like, the detection principle is that a pavement disease identification model with high detection precision is obtained through an early-stage training image target detection algorithm, and the pavement diseases are quickly identified based on the model; the method comprises the steps that a front-mounted 360-degree panoramic camera is used for detecting the integrity of subsidiary facilities, the detected subsidiary facilities comprise the defects of guardrails, the damage or the bending of the guardrails, the defects of anti-dazzle plates, the bending of roadside lamp posts and the like, the 360-degree full view angle of the front-mounted 360-degree panoramic camera can meet the requirement of detection of most subsidiary facilities on two sides of a road through single detection, the detection principle is that a subsidiary facility identification model with high detection precision is obtained through a pre-training image semantic segmentation algorithm, subsidiary facilities in an image are separated based on the model, the integrity of the subsidiary facilities is judged by detecting the appearance line shape through Hough transformation, finally, a plurality of cameras with different focal lengths are used for mutually verifying detection results, the identification results of different cameras for the same object are matched based on image characteristics, and the detection result with the maximum confidence coefficient is selected as a final result; the acceleration sensor is used for detecting the road surface evenness, the detection principle is that the system response change of the sprung mass and the unsprung mass of the motor vehicle under the influence of the elevation difference is simplified by utilizing a quarter vehicle model, the acceleration change is distributed to wave bands of different frequencies by combining the road surface wave theory and a power spectral density method, and then the international evenness index is effectively estimated by utilizing the acceleration root mean square value.
Performing wide area affiliated facility integrity verification by using a spliced 360-degree panoramic camera: 8 cameras with different focal lengths and visual angles are spliced into a panoramic camera, wherein 4 industrial cameras with standard lenses with horizontal visual angles of about 45 degrees are respectively arranged at the front right side, the front left side, the rear right side and the rear left side, 2 industrial cameras with wide-angle lenses with horizontal visual angles of about 60 degrees are respectively arranged at the left side and the right side, and 2 industrial cameras with telephoto lenses with horizontal visual angles of about 40 degrees are respectively arranged at the front side and the rear side, and the total visual angle range is required to be more than or equal to 360 degrees. Compare in single camera, the panoramic camera after the concatenation can satisfy the simultaneous acquisition of full visual angle, satisfies the single demand of gathering and can cover the road both sides simultaneously on the one hand, and on the other hand utilizes the shooting image of the different visual angles of multi-focal-length section camera to same object to come mutual inspection testing result.
The data uploading in the step (4): the data transmission and background processing environment mainly comprises: the system comprises a data receiving system, a WebService system, a JavaScript webpage system, a data computing system, a database system, a standard system and a report generating system. The data receiving system receives data sent by the acquisition equipment to a specified folder by adopting an FTPserver; the WebService system realizes the conversion of a coordinate system by using a Baidu map API; the data computing system is used for processing the original data and generating detection result data; the database system adopts an Oracle database as background data storage; the report generation system is used for outputting a summarized result to the system, and the summarized result comprises detection road section information, engineering names, detection results and the like; the webpage system is used as a foreground display part, a Baidu webpage API is called, and the calculation results of the running track, the flatness and the disease index of the collected vehicle are displayed on a foreground Baidu map. The background data processing flow is used for receiving data transmitted by various acquisition devices, performing pavement evenness calculation, pavement disease identification and accessory facility integrity detection by using a processing algorithm, realizing Baidu map-based API display, storing by using an oracle database, and finally giving road section maintenance suggestions by combining historical data and relevant specifications.
The invention has the following technical effects:
compared with the traditional detection, the project development equipment has the advantages of simple instrument, simple installation and operation, economy and reasonability and low requirement on the measurement environment. Only simple calibration work is required to be carried out regularly, and the precision of the measurement result is high. And because the measurement mode is vehicle-mounted measurement, the measurement speed is high, the efficiency is high, the method is suitable for measuring the road flatness in a large range, and the flatness detection period can be greatly shortened. In addition, in the system, various wireless sensor network technologies are adopted, so that data acquisition and transmission are more reliable, matched geographic information can be acquired by utilizing GPS equipment, and the GPS equipment can be combined with an electronic map to acquire and display real-time data of an urban road network.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (8)
1. The vehicle-mounted portable lightweight intelligent inspection method is characterized by comprising the following steps:
s1, to the on-vehicle portable lightweight intelligence system of patrolling and examining of vehicle installation, on-vehicle portable lightweight intelligence system of patrolling and examining includes: the device comprises an image acquisition module, a detection module, a positioning module, a data storage module, a main control module, a power supply module and a data transmission module;
s2, calibrating the detection module, wherein the detection module comprises an industrial camera, a panoramic camera and an acceleration sensor;
s3, detecting the target road according to the road detection plan;
s4, uploading the detection data to a database for big data analysis or visual display;
the image acquisition module is used for shooting road images by vehicles;
the detection module is used for detecting the road image to obtain detection data;
the positioning module is used for accurately positioning the vehicle and acquiring positioning information of the vehicle in real time;
the data storage module is used for storing the detection data and the positioning information;
the main control module is used for controlling the vehicle-mounted portable lightweight intelligent inspection system;
the power supply module is used for supplying power to the vehicle-mounted portable lightweight intelligent inspection system;
the data transmission module is used for uploading the data detected by the detection module to a database;
the detection module at least comprises a high-definition industrial camera, a panoramic camera and an acceleration sensor;
the process of calibrating the detection module comprises the following steps of calibrating an acceleration sensor: selecting 5-10 sections of road sections with known road surface flatness; fixing an acceleration sensor device right above left and right rear axle wheels in a vehicle trunk; connecting a vehicle-mounted edge computing intelligent box, starting equipment, recording the starting and ending time of a road section, and intercepting calibration data; testing for 2 times in the same direction on the same test road section at the same speed of 30-80km/h, calculating the power spectral density curve integral of the test road section, and if the difference of the measurement results on the two sides exceeds 10%, continuing to calibrate the spectral density integral until the accuracy requirement is met; respectively measuring the test road sections with uniformly distributed predetermined 5-10 IRI sections, and calculating the integral mean value of the two spectral densities; performing model fitting through a known IRI and spectral density integral system to obtain fitting parameters; if the testing speed is changed, correcting the testing result according to the speed correction coefficient;
the method further comprises the step of calculating the flatness by using the acceleration sensor, wherein the calculation process comprises the steps of simplifying system response changes of sprung mass and unsprung mass of the motor vehicle under the influence of elevation difference by using a quarter vehicle model, distributing the acceleration changes to wave bands of different frequencies by combining a road surface wave theory and a power spectral density method, and then calculating the flatness by using an acceleration root mean square value.
2. The vehicle-mounted portable lightweight intelligent inspection method according to claim 1,
the high-definition industrial camera is arranged at the tail of the vehicle and used for detecting the distribution condition of road surface diseases;
the pavement diseases comprise: cracks, pits, net cracks, repair, height difference of the well cover and damage of expansion joints.
3. The vehicle-mounted portable lightweight intelligent inspection method according to claim 1,
the panoramic camera is arranged at the head of the vehicle and used for detecting the integrity of auxiliary facilities, wherein the panoramic camera is formed by splicing 8 cameras with different visual angles;
the accessory facilities comprise the loss of guardrails, the damage or the bending of the guardrails, the loss of the anti-dazzle plate and the bending of the roadside lamp post.
4. The vehicle-mounted portable lightweight intelligent inspection method according to claim 1,
the acceleration sensor is arranged above the rear axle of the vehicle and used for detecting the flatness of the road surface.
5. The vehicle-mounted portable lightweight intelligent inspection method according to claim 1,
the main control module is a vehicle-mounted edge computing intelligent box and at least comprises a CPU, a GPU and a hardware interface for receiving and transmitting data signals.
6. The vehicle-mounted portable lightweight intelligent inspection method according to claim 1,
the data transmission module at least comprises a data receiving unit, a WebService unit, a JavaScript webpage unit, a data calculation unit, a database unit, a standard unit and a report generation unit.
7. The vehicle-mounted portable lightweight intelligent inspection method according to claim 1,
the S1 includes the steps of,
s1.1, placing a vehicle-mounted edge computing intelligent box in a vehicle, and supplying power;
s1.2, arranging the high-definition industrial camera at the tail of a vehicle body, and adjusting an aperture and a focal length of the high-definition industrial camera to ensure that the high-definition industrial camera covers at least one lane;
s1.3, arranging the panoramic camera at the front part of a vehicle body;
s1.4, arranging the acceleration sensor above a rear axle of the vehicle, and fixing the acceleration sensor by using a bolt or an adhesive tape;
s1.5, arranging the positioning module on the top of the vehicle and not being shielded;
s1.6, the high-definition industrial camera, the panoramic camera, the acceleration sensor and the RTK positioning device are respectively connected with the vehicle-mounted edge calculation intelligent box through signal transmission lines, and whether the device can normally operate is checked.
8. The vehicle-mounted portable lightweight intelligent inspection method according to claim 1,
and S2, the calibration process of the high-definition industrial camera and the panoramic camera comprises the steps of placing the checkerboard plane boards at different positions to shoot photos as calibration data, detecting calibration points in the calibration data, solving internal parameters, external parameters and distortion coefficients of the camera by using the calibration points, and obtaining optimal internal parameters, optimal external parameters and an optimal distortion parameter matrix according to the maximum likelihood estimation optimization result.
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| CN115465394A (en) * | 2022-10-18 | 2022-12-13 | 交科院检测技术（北京）有限公司 | Motorcycle-mounted road condition detection system |
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| JP2019196680A (en) * | 2018-05-11 | 2019-11-14 | 西日本電信電話株式会社 | Pavement information gathering inspection system, pavement information gathering inspection method, and program |
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