CN114723594A - Urban road maintenance system and method based on Internet of things - Google Patents
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Abstract
The invention provides an urban road maintenance system and method based on the Internet of things. The road detection module is used for realizing automatic detection of the road, the road maintenance module is used for realizing maintenance of the road, the general control center is used for analyzing the road detection result according to the data in the large database and controlling the road maintenance scheme and time, and the road detection and maintenance with high efficiency are realized on the basis of reducing the personnel operation; meanwhile, the maintenance scheme and the maintenance time are sent to the vehicle owner receiving end through the master control center, and the travel route planning is realized by the vehicle owner receiving end, so that the traffic flow of the road maintenance in the road maintenance construction stage is controlled, the traffic jam is avoided, and the problems that the existing road detection efficiency is low, the large-scale use is not facilitated, and the traffic jam of the road maintenance section is caused during the road maintenance are solved.
Description
Technical Field
The invention relates to the technical field of road maintenance, in particular to an urban road maintenance system and method based on the Internet of things.
Background
With the continuous development of economic construction in China, the road construction career in China is different day by day, and particularly the construction of highways obtains huge achievements. In the east coastal economically developed area, the construction of road networks has been basically completed, and the problem of road surface maintenance and management has been highlighted.
At present, road detection and maintenance mainly depend on manpower. For example, pits appear on a certain road, drivers report road conditions through channels such as radio stations and the like, and related departments arrange the repair of the pits on the road after receiving feedback; as another example, the condition of the road is confirmed by regular inspection of engineers or by photographs taken by cameras on the road. However, this method is inefficient, and usually, the abnormality such as a defect in the road is compensated for, and the preventive maintenance of the road cannot be performed. With the increase of highway mileage, the manual detection cannot meet the requirement of road maintenance.
In order to improve the efficiency of road detection and to realize preventive maintenance of roads and to prolong the service life of roads, a Pavement Management System (PMS) has been developed. The PMS can analyze the road surface condition in the existing road network and the future road surface condition change and know the basic condition of the road network; analyzing and predicting road traffic capacity and traffic flow speed of each road section, and planning maintenance, new construction and reconstruction projects in a road network; defining maintenance standards of roads at all levels of the road network, estimating maintenance requirements of the road network, and performing priority sequencing on newly built and reconstructed projects; and investment calculation required for road maintenance, new construction, reconstruction and the like.
In addition, for example, the application number 201010103404.5 entitled "intelligent maintenance system for asphalt pavement based on Internet B/S network architecture" discloses a road maintenance system, which includes a plurality of detection devices, such as a road deflection detection device, a road flatness detection device, a road damage detection device, a road friction coefficient detection device, etc., and as the mileage of road construction increases, the input cost of the devices also increases, which is not suitable for large-scale use. Also, for example, the application No. 201710982865.6 entitled "method for determining optimal time for preventive maintenance of asphalt pavement" and the application No. 201710994181.8 entitled "variance σ based on variance2The method for determining the optimal time for preventive maintenance of the asphalt pavement discloses a scheme for preventive maintenance of the road, but the two schemes require sampling and analyzing the road section, so that the process is time-consuming and long, the engineering quantity is large, the road structure can be damaged to a certain extent, and the method is also not beneficial to large-scale use.
Although the preventive management system and method such as the PMS can scientifically guide people to maintain roads to a certain extent (no matter whether the estimated maintenance scheme can improve the maintenance cost of the roads to a certain extent or not), engineering personnel and engineering vehicles still need to be called to carry out closed construction on the maintenance road section in the maintenance construction process. Even if people can plan roads through navigation software, the maintenance operation is usually temporary, so the navigation software cannot acquire the time of the road maintenance operation in real time, which causes the situations of traffic congestion and the like on the maintenance construction road section.
Disclosure of Invention
The invention aims to provide an urban road maintenance system and method based on the Internet of things, and aims to solve the problems that the existing road detection efficiency is low, large-scale use is not facilitated, and the traffic of a maintenance road section is crowded during road maintenance.
In order to solve the technical problems, the invention provides an urban road maintenance system based on the Internet of things, which comprises a large database, a road detection module, a road maintenance module, a master control center and a vehicle owner receiving end, wherein the road detection module is used for detecting the road maintenance of the urban road;
the large database comprises construction data of all roads in the city, maintenance records of all roads each time, traffic flow rules of all roads and maximum bearing capacity of all roads;
the road detection module is used for monitoring the road, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to the master control center;
the road maintenance module is used for maintaining the road under the control of the master control center;
the master control center is used for designing a road maintenance scheme and maintenance time according to various data in the big database and results provided by the road detection module, and sending the maintenance scheme and the maintenance time to the vehicle owner receiving end;
the vehicle owner receiving end is used for enabling a vehicle owner to know the road section and time of maintenance and planning the route of the vehicle owner when the vehicle owner goes out.
Optionally, in the urban road maintenance system based on the internet of things, the road detection module includes a monitoring vehicle, an analyzer and an output end; the monitoring vehicle is provided with a positioning sensor and a distance measuring sensor, the positioning sensor is used for acquiring the position and the advancing direction of the monitoring vehicle in real time, and the distance measuring sensor is used for scanning the road surface of the whole road in the running process of the monitoring vehicle so as to acquire the distance from each point of the road surface to the monitoring vehicle; the analyzer is used for judging the road section monitored at present according to the position and the advancing direction acquired by the positioning sensor and calculating to obtain whether the road surface has the defect of maintenance according to the distance acquired by the distance measuring sensor; and the output end is used for sorting the road section judged by the analyzer and the result of whether the defect exists or not to obtain the comprehensive information of the road section needing to be maintained and outputting the comprehensive information to the master control center.
Optionally, in the urban road maintenance system based on the internet of things, the positioning sensor is a GPS sensor, and the distance measuring sensor is an electromagnetic radar sensor or a laser distance meter.
Optionally, in the urban road maintenance system based on the internet of things, the road maintenance module includes a construction unit and an acceptance unit; the construction unit is used for carrying out maintenance construction on the road section needing maintenance; and the acceptance unit is used for accepting the road section which is maintained and constructed by the construction unit.
Optionally, in the urban road maintenance system based on the internet of things, the master control center includes a maintenance simulation model and a data release platform; the maintenance simulation model is used for confirming a maintenance scheme of preventive maintenance of each road according to the construction data and each maintenance record of each road in the large database, confirming a maintenance scheme of remedial maintenance according to the road section to be maintained and the maintenance category which are analyzed by the road detection module, the construction data and the maximum bearing capacity of each road in the large database, and confirming the maintenance time of the road section to be maintained according to the traffic flow rule of each road in the large database; and the data issuing platform is used for summarizing and settling the maintenance schemes and the maintenance time of each road section confirmed by the maintenance simulation model to form a maintenance announcement, and sending the maintenance announcement to the vehicle owner receiving end according to the maintenance time.
In order to solve the technical problems, the invention also provides various urban road maintenance methods by using the urban road maintenance system based on the internet of things, wherein the urban road maintenance method comprises the following steps:
step one, constructing a large database, wherein the large database comprises building construction data of all roads in a city, maintenance records of all roads each time, traffic flow rules of all roads and the maximum bearing capacity of all roads;
monitoring the road by using a road detection module, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to a master control center;
thirdly, the general control center designs a maintenance scheme and maintenance time of the road according to various data in the big database and the result provided by the road detection module, sends the maintenance scheme and the maintenance time to the road maintenance module, generates a maintenance notice according to the maintenance scheme and the maintenance time, and sends the maintenance notice to a vehicle owner receiving end;
step four, the road maintenance module maintains the road according to the maintenance scheme and the maintenance time provided by the master control center;
and simultaneously, the vehicle owner receiving end informs the maintenance scheme and the maintenance time provided by the master control center to the vehicle owner, and carries out route planning on the trip of the vehicle owner.
Optionally, in the method for maintaining urban roads based on the internet of things, the road detection module includes a monitoring vehicle, an analyzer and an output end, and the monitoring vehicle is provided with a positioning sensor and a distance measuring sensor; the second step comprises the following steps:
the monitoring vehicle runs on a road, the position and the advancing direction of the monitoring vehicle are acquired in real time by using the positioning sensor, and meanwhile, the distance measuring sensor scans the road surface of the whole road to acquire the distance from each point of the road surface to the monitoring vehicle;
judging the road section monitored currently according to the position and the advancing direction acquired by the positioning sensor;
calculating according to the distance acquired by the distance measuring sensor to obtain whether the road surface has the defect of maintenance;
and if the road surface has the defect of needing to be maintained, determining the position of the road section of the road needing to be maintained and the type of the defect, summarizing and sorting to obtain the comprehensive information of the road section needing to be maintained, and outputting the comprehensive information to the master control center.
Optionally, in the method for maintaining an urban road based on the internet of things, the method for calculating whether the road surface has a defect that maintenance needs to be performed according to the distance acquired by the distance measuring sensor includes:
setting the distance measuring sensor to perform linear scanning on the road by using an angle vertical to the traveling direction of the monitoring vehicle, wherein the scanning point of the distance measuring sensor vertical to the road surface is a scanning zero point x0N scanning points respectively extending from both sides, x1，x2，x3……xnAnd x-1，x-2，x-3……x-nN points in each direction satisfy a linear function y ═ k on the plane0x+b0Where y is the distance between the scanning point x and the distance measuring sensor, b0To scan the zero point x0Distance from plane, k0A slope fitted to a distance y between a scanning point x and the range sensor with respect to the scanning point x;
in actual driving monitoring, aiming at scanning zero point x0N scanning points extending from two sides are fitted at each line type scanning moment to form a first fitting function y'1And a second fitting function y'2；
When k in a linear function fitted by a plurality of adjacent scanning points tends to 0, judging that roads corresponding to the scanning points are road teeth, and determining areas in the road teeth on two sides as the road surfaces;
when the difference value between the actual distance y' of the same scanning point from the distance measuring sensor on the road surface area and the distance y from the distance measuring sensor on the plane is larger than a set threshold value, determining that the road surface where the scanning point is located is abnormal;
if the plurality of scanning points which are judged to be abnormal on the road surface are continuous, the road surface corresponding to the plurality of scanning points has a defect which needs to be maintained.
Optionally, in the method for maintaining an urban road based on the internet of things, the method for calculating whether a road surface has a defect that maintenance needs to be performed according to the distance acquired by the distance measuring sensor further includes:
a first fitting function y 'formed from a plurality of scanning instants within a time interval'1And a second fitting function y'2Collecting to obtain a first collection { y'1Y 'and a second set { y'2}；
The first set { y'1And the second set { y'2Integrating actual distances y' corresponding to all scanning points judged to be abnormal on the road surface according to the positions of the scanning points to obtain the area and the position of the abnormal on the road surface;
the first set { y'1And the second set { y'2Integrating the difference values of the actual distances y' corresponding to all the scanning points judged as the road surface abnormity and the distances y from the distance measuring sensor on the plane according to the positions of the scanning points to obtain the depth of the road surface abnormity, wherein the difference values are positive and indicate the road surface depression;
the road surface depression is defined as the defect of the road surface which needs to be maintained.
Optionally, in the urban road maintenance method based on the internet of things, the distance measuring sensor is a laser distance measuring instrument; the method for calculating to obtain whether the road surface has the defect of maintenance according to the distance acquired by the distance measuring sensor further comprises the following steps:
judging the material of the road surface corresponding to each scanning point according to the intensity of the reflected light waves received by the laser range finder;
and when the depth of the road surface abnormity is a negative value, determining whether the road surface material corresponding to the scanning point at the abnormal position determined by the laser range finder is consistent with the road surface materials corresponding to other scanning points, and if so, determining that the defect that the road surface at the scanning point needs to be maintained exists.
Optionally, in the method for maintaining an urban road based on the internet of things, the third step includes:
confirming a maintenance scheme of preventive maintenance of each road according to the building construction data and each maintenance record of each road in the big database;
confirming a maintenance scheme of reparative maintenance according to the road sections needing maintenance and the maintenance category analyzed by the road detection module, the building construction data and the maximum bearing capacity of each road in the big database;
and confirming the maintenance time of the road section to be maintained according to the traffic flow rule of each road in the big database.
Optionally, in the method for maintaining an urban road based on the internet of things, the third step further includes:
and when the interval between the maintenance time of the remedial maintenance and the maintenance time of the preventive maintenance of the road section needing the remedial maintenance is less than the preset time, performing the preventative maintenance while performing the remedial maintenance.
Optionally, in the method for maintaining an urban road based on the internet of things, the third step further includes:
confirming to carry out totally-enclosed maintenance construction or semi-enclosed maintenance construction on the road section according to the maintenance scheme;
if the construction is totally-enclosed maintenance construction, the maintenance bulletin comprises the road closing time and a detour line;
and if the maintenance announcement is semi-closed maintenance construction, the maintenance announcement comprises road semi-closed time and a road planning scheme, wherein the road planning scheme is designed according to the traffic flow rule of each road in the large database and comprises driving routes in different time periods during the road semi-closed period.
The invention provides an urban road maintenance system and method based on the Internet of things, which comprises a large database, a road detection module, a road maintenance module, a master control center and a vehicle owner receiving end, wherein the road detection module is used for detecting whether a vehicle is in a road maintenance state or not; the large database comprises construction data of all roads in the city, maintenance records of all roads each time, traffic flow rules of all roads and maximum bearing capacity of all roads; the road detection module is used for monitoring the road, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to the master control center; the road maintenance module is used for maintaining the road under the control of the master control center; the master control center is used for designing a road maintenance scheme and maintenance time according to various data in the big database and results provided by the road detection module, and sending the maintenance scheme and the maintenance time to the vehicle owner receiving end; the vehicle owner receiving end is used for enabling a vehicle owner to know the road section and time of maintenance and planning the route of the vehicle owner when the vehicle owner goes out.
According to the urban road maintenance system and method based on the Internet of things, automatic detection of a road is achieved through the road detection module, maintenance of the road is achieved through the road maintenance module, the road detection result is analyzed and the road maintenance scheme and time are controlled through the general control center according to data in the large database, and efficient detection and maintenance of the road are achieved on the basis of reduction of personnel operation; meanwhile, the maintenance scheme and the maintenance time are sent to the vehicle owner receiving end through the master control center, and the travel route planning is realized by the vehicle owner receiving end, so that the traffic flow of the road maintenance in the road maintenance construction stage is controlled, the traffic jam is avoided, and the problems that the existing road detection efficiency is low, the large-scale use is not facilitated, and the traffic jam of the road maintenance section is caused during the road maintenance are solved.
Drawings
Fig. 1 is a schematic connection diagram of an urban road maintenance system based on the internet of things according to this embodiment;
fig. 2 is a schematic structural diagram of the road detection module provided in this embodiment;
fig. 3 is a schematic structural diagram of the road maintenance module provided in this embodiment;
fig. 4 is a schematic structural diagram of a general control center provided in this embodiment;
fig. 5 is a flowchart of an urban road maintenance method based on the internet of things according to this embodiment;
fig. 6 is a schematic view illustrating the monitoring vehicle according to the present embodiment running on a road;
fig. 7 is a schematic ranging diagram of the ranging sensor provided in this embodiment;
fig. 8 is a comparison diagram of the ranging result of the ranging sensor provided in this embodiment.
Detailed Description
The urban road maintenance system and method based on the internet of things provided by the invention are further described in detail with reference to the accompanying drawings and specific embodiments. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The embodiment provides an urban road maintenance system based on the internet of things, as shown in fig. 1, the urban road maintenance system comprises a large database, a road detection module, a road maintenance module, a master control center and a vehicle owner receiving end. Specifically, the large database comprises construction data of each road in the city, maintenance records of each road each time, traffic flow rules of each road and maximum bearing capacity of each road; the road detection module is used for monitoring the road, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to the master control center; the road maintenance module is used for maintaining the road under the control of the master control center; the master control center is used for designing a road maintenance scheme and maintenance time according to various data in the big database and results provided by the road detection module, and sending the maintenance scheme and the maintenance time to the vehicle owner receiving end; the vehicle owner receiving end is used for enabling a vehicle owner to know the road section and time of maintenance and planning the route of the vehicle owner when the vehicle owner goes out.
In the urban road maintenance system based on the internet of things, the road detection module is used for realizing automatic detection of the road, the road maintenance module is used for realizing maintenance of the road, the general control center is used for analyzing the road detection result according to the data in the big database and controlling the road maintenance scheme and time, and the road is efficiently detected and maintained on the basis of reducing the operation of personnel; meanwhile, the maintenance scheme and the maintenance time are sent to the vehicle owner receiving end through the master control center, and the travel route planning is realized by the vehicle owner receiving end, so that the traffic flow of the road maintenance in the road maintenance construction stage is controlled, the traffic jam is avoided, and the problems that the existing road detection efficiency is low, the large-scale use is not facilitated, and the traffic jam of the road maintenance section is caused during the road maintenance are solved.
In this embodiment, as shown in fig. 2, the road detection module includes a monitoring vehicle, an analyzer and an output end; the monitoring vehicle is provided with a positioning sensor and a distance measuring sensor, the positioning sensor is used for acquiring the position and the advancing direction of the monitoring vehicle in real time, and the distance measuring sensor is used for scanning the road surface of the whole road in the running process of the monitoring vehicle so as to acquire the distance from each point of the road surface to the monitoring vehicle; the analyzer is used for judging the road section monitored at present according to the position and the advancing direction acquired by the positioning sensor and calculating to obtain whether the road surface has the defect of maintenance according to the distance acquired by the distance measuring sensor; and the output end is used for sorting the road sections judged by the analyzer and the results of whether the defects exist or not to obtain the comprehensive information of the road sections needing to be maintained and outputting the comprehensive information to the master control center.
In the road detection process, the monitoring vehicle can normally run on the road without influencing the running of other vehicles, and meanwhile, the detection of the road pavement condition can be completed by means of the positioning sensor and the distance measuring sensor. And then the analyzer calculates and analyzes the detected data, so as to obtain the result of whether the road needs to be maintained.
Specifically, the positioning sensor is a GPS sensor, and the distance measuring sensor is an electromagnetic radar sensor or a laser distance meter. The positioning sensor selected in the embodiment is a GPS sensor, which has the advantages of wide coverage area and wide application, and certainly, other satellite positioning systems such as beidou and the like can be selected in practical application; the embodiment selects the electromagnetic radar sensor and the laser range finder for realizing the measurement of the road surface, has the advantages of fast data acquisition, wide coverage and high precision, and can finish the measurement of the whole road surface in the running process of the monitoring vehicle.
And, in this embodiment, as shown in fig. 3, the road maintenance module includes a construction unit and an acceptance unit; the construction unit is used for carrying out maintenance construction on the road section needing maintenance; and the acceptance unit is used for accepting the road section which is maintained and constructed by the construction unit. Consider that generally not pass through the acceptance after current road maintenance, or accept with the unit, lead to the maintenance effect not up to standard, the unit of will being under construction and the unit of acceptance of this embodiment are independent, and the unit of acceptance of construction unit maintenance construction is accepted, guarantees the quality of maintenance construction.
In addition, in this embodiment, as shown in fig. 4, the total control center includes a maintenance simulation model and a data distribution platform; the maintenance simulation model is used for confirming a maintenance scheme of preventive maintenance of each road according to the construction data of each road and each maintenance record in the big database, confirming a maintenance scheme of reparative maintenance according to the road section to be maintained and the maintenance category which are analyzed by the road detection module, the construction data of each road in the big database and the maximum bearing capacity, and confirming the maintenance time of the road section to be maintained according to the traffic flow rule of each road in the big database; and the data issuing platform is used for summarizing and settling the maintenance schemes and the maintenance time of each road section confirmed by the maintenance simulation model to form a maintenance announcement, and sending the maintenance announcement to the vehicle owner receiving end according to the maintenance time.
It should be noted that the "curing solution" described in this embodiment includes, but is not limited to, materials used for curing, curing engineering methods, processes, equipment, and the like; the "maintenance bulletin" includes, but is not limited to, a road section to be maintained, a road closure condition (full closure, semi closure, etc.), a maintenance time, a route plan for travel, and the like.
The embodiment also provides an urban road maintenance method based on the internet of things, and as shown in fig. 5, the urban road maintenance method includes:
step one, constructing a large database, wherein the large database comprises construction data of all roads in a city, maintenance records of all roads each time, traffic flow rules of all roads and maximum bearing capacity of all roads;
monitoring the road by using a road detection module, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to a master control center;
thirdly, the general control center designs a maintenance scheme and maintenance time of the road according to various data in the big database and the result provided by the road detection module, sends the maintenance scheme and the maintenance time to the road maintenance module, generates a maintenance notice according to the maintenance scheme and the maintenance time, and sends the maintenance notice to a vehicle owner receiving end;
fourthly, the road maintenance module maintains the road according to the maintenance scheme and the maintenance time provided by the master control center;
and simultaneously, the vehicle owner receiving end informs the maintenance scheme and the maintenance time provided by the master control center to the vehicle owner, and carries out route planning on the trip of the vehicle owner.
According to the urban road maintenance method based on the Internet of things, the road detection module is used for realizing automatic detection of the road, the road maintenance module is used for realizing maintenance of the road, the road detection result is analyzed and the road maintenance scheme and time are controlled through the general control center according to the data in the large database, and the road is efficiently detected and maintained on the basis of reducing the operation of personnel; meanwhile, the maintenance scheme and the maintenance time are sent to the vehicle owner receiving end through the master control center, and the travel route planning is realized by the vehicle owner receiving end, so that the traffic flow of the road maintenance in the road maintenance construction stage is controlled, the traffic jam is avoided, and the problems that the existing road detection efficiency is low, the large-scale use is not facilitated, and the traffic jam of the road maintenance section is caused during the road maintenance are solved.
Specifically, in this embodiment, the second step includes:
the monitoring vehicle runs on a road, the position and the advancing direction of the monitoring vehicle are acquired in real time by using the positioning sensor, and meanwhile, the distance measuring sensor scans the road surface of the whole road to acquire the distance from each point of the road surface to the monitoring vehicle;
judging the road section monitored currently according to the position and the advancing direction acquired by the positioning sensor;
calculating according to the distance acquired by the distance measuring sensor to obtain whether the road surface has the defect of maintenance;
and if the road surface has the defect needing to be maintained, determining the position of the road section needing to be maintained and the type of the defect, summarizing and sorting to obtain the comprehensive information of the road section needing to be maintained, and outputting the comprehensive information to the master control center.
The method for calculating and obtaining whether the road surface has the defect of maintenance according to the distance acquired by the distance measuring sensor comprises the following steps:
setting the distance measuring sensor to perform linear scanning on the road at an angle perpendicular to the traveling direction of the monitoring vehicle, wherein the scanning point of the distance measuring sensor perpendicular to the road surface is a scanning zero point x0N scanning points respectively extending from both sides, x1，x2，x3……xnAnd x-1，x-2，x-3……x-nN points in each direction satisfy a linear function y ═ k on the plane0x+b0Where y is the distance between the scanning point x and the distance measuring sensor, b0To scan the zero point x0Distance from plane, k0For scanning point x and said range findingThe slope to which the distance between the sensors y is fitted with respect to the scan point x;
in actual driving monitoring, aiming at scanning zero point x0N scanning points extending from two sides are fitted at each line type scanning moment to form a first fitting function y'1And a second fitting function y'2；
When k in a linear function fitted by a plurality of adjacent scanning points tends to 0, judging that roads corresponding to the scanning points are road teeth, and determining areas in the road teeth on two sides as the road surfaces;
when the difference value between the actual distance y' of the same scanning point from the distance measuring sensor on the road surface area and the distance y from the distance measuring sensor on the plane is larger than a set threshold value, determining that the road surface where the scanning point is located is abnormal;
if the plurality of scanning points which are judged to be abnormal on the road surface are continuous, the road surface corresponding to the plurality of scanning points has a defect which needs to be maintained.
The defect obtained at this time is a defective spot appearing on one scanning spot (one line) measured by the ranging sensor at one instant.
Further, in this embodiment, the method for calculating whether the road surface has a defect that needs to be maintained according to the distance acquired by the distance measuring sensor further includes:
a first fitting function y 'formed from a plurality of scanning instants within a time interval'1And a second fitting function y'2Collecting to obtain a first collection { y'1And a second set { y'2}；
The first set { y'1And the second set { y'2Integrating actual distances y' corresponding to all scanning points judged to be abnormal on the road surface according to the positions of the scanning points to obtain the area and the position of the abnormal on the road surface;
the first set { y'1And the second set { y'2Integrating the difference between the actual distances y' corresponding to all the scanning points judged as the road surface abnormity and the distances y from the distance measuring sensor on the plane according to the positions of the scanning points to obtain the road surface abnormityDepth of anomaly, wherein a difference of positive indicates road sag;
the road surface depression is defined as the defect of the road surface which needs to be maintained.
By integrating a plurality of scanning moments in a period of time, the same scanning point can be changed into a scanning line according to a time sequence, namely, a line formed by a plurality of scanning points can be changed into a surface, so that the area, the position and even the depth of a defect of a road surface can be obtained. Furthermore, small defects which do not need maintenance can be eliminated by screening data such as area, depth and the like, and the efficiency of defect judgment and maintenance is improved.
Furthermore, when the distance measuring sensor is a laser distance measuring instrument, the method for calculating and obtaining whether the road surface has the defect of maintenance according to the distance obtained by the distance measuring sensor further comprises the following steps:
judging the material of the road surface corresponding to each scanning point according to the intensity of the reflected light waves received by the laser range finder;
and when the depth of the road surface abnormity is a negative value, confirming whether the road surface material corresponding to the scanning point at the abnormal position confirmed by the laser range finder is consistent with the road surface material corresponding to other scanning points, and if so, judging that the road surface at the scanning point has the defect of maintenance.
Because the laser has certain penetrating power and has different penetration rates to different objects, the rough judgment can be carried out on the material of the protruding road surface. Certainly, in other embodiments, the road detection module further includes a road camera to obtain a road surface picture of the road; when the depth of the road surface abnormity is a negative value, calling a picture shot by a road camera of a road section where the road surface abnormity is located, confirming that the bulge at the road surface abnormity position is the road surface or the foreign matter, and if the bulge is the road surface instead of the foreign matter, judging that the road surface where the scanning point is located has the defect of maintenance. However, the camera is usually erected at a high place, when vehicles are arranged on the road surface, the whole state of the road surface cannot be displayed by the shot pictures, and the laser range finder can measure the road surface in the normal running process of the monitoring vehicle without being influenced by other passing vehicles.
In this embodiment, the third step includes:
confirming a maintenance scheme of preventive maintenance of each road according to the building construction data and each maintenance record of each road in the big database;
confirming a maintenance scheme of reparative maintenance according to the road sections needing maintenance and the maintenance category analyzed by the road detection module, the building construction data and the maximum bearing capacity of each road in the big database;
and confirming the maintenance time of the road section to be maintained according to the traffic flow rule of each road in the big database.
Preferably, the third step further includes: and when the interval between the maintenance time of the remedial maintenance and the maintenance time of the preventive maintenance of the road section needing the remedial maintenance is less than the preset time, performing the preventative maintenance while performing the remedial maintenance. Therefore, the maintenance can be integrated for two times, the repeated amount of maintenance work is reduced, and the congestion caused by multiple road closure is avoided.
In this embodiment, the third step further includes:
confirming to carry out totally-enclosed maintenance construction or semi-enclosed maintenance construction on the road section according to the maintenance scheme;
if the construction is totally-enclosed maintenance construction, the maintenance bulletin comprises the road closing time and a detour line;
and if the maintenance announcement is semi-closed maintenance construction, the maintenance announcement comprises road semi-closed time and a road planning scheme, wherein the road planning scheme is designed according to the traffic flow rule of each road in the large database and comprises driving routes in different time periods during the road semi-closed period.
The following specifically describes the system and method for maintaining urban roads based on the internet of things provided in this embodiment, with reference to fig. 6 to 8 as examples. In this particular embodiment, the real-time maintained roadway is a standard three-lane roadway from west to east in city a.
Firstly, a large database is constructed, wherein the large database comprises construction data of all roads in a city, maintenance records of all roads each time, traffic flow rules of all roads and the maximum bearing capacity of all roads. The construction data includes but is not limited to the starting and ending time of construction, used materials, construction method, construction party, inspection party, construction standard and the like; the maintenance records of each time include but are not limited to the maintenance time, the maintenance content and method, and the like; traffic flow laws include, but are not limited to, traffic flow at different periods of time per day, maximum traffic flow per day, and maximum traffic flow per week/month, even on holidays; the maximum bearing capacity may be the instantaneous maximum bearing capacity of the road, or may be the average maximum bearing capacity of the road.
Then, the master control center can allocate at least 1 monitoring vehicle to measure the road. In this embodiment, a distance measuring sensor, specifically a laser distance meter, is installed at the bottom end of the tail of the monitoring vehicle; the monitoring vehicle also has a GPS positioning function. As shown in fig. 6 and 7, if the monitoring vehicle travels on a three-lane and is located in the middle lane from west to east, the laser range finder emits a linear scanning line, and the scanning line may be configured as a plurality of scanning points, and the scanning line is perpendicular to the traveling direction of the vehicle.
In this embodiment, the vertical point of the laser range finder is used as the scanning zero point x0The road is divided into a left side and a right side, so that the monitoring vehicle is not strictly required to be positioned in a middle lane in the actual application process; meanwhile, in the embodiment, the detection of the road surface can identify the road teeth, so that the lane change operation can be carried out in the driving process, and the analyzer can automatically carry out the zero scanning point x after the lane change0And other scanning points compensate according to the distance of the original scanning point, thereby ensuring the continuity of data.
In addition, in order to avoid the distortion caused by the change of the running speed of the monitoring vehicle when the integral calculation is performed on the distance of the scanning point according to time, in this embodiment, the analyzer can also acquire the real-time running speed of the monitoring vehicle, so that the speed of the detection data can be regulated when the speed of the monitoring vehicle changes, and the result of detecting and scanning the road surface is ensured to be consistent with the actual road surface condition.
When the monitoring vehicle is used for measuring,as shown in fig. 7 and 8, if the road surface is strictly flat, the distance between the scanning point and the laser range finder should form a linear function y ═ k0x+b0(as shown by the dotted line in fig. 8), when the scanning point is located on the curb, since the curb is perpendicular to the road surface, the variation of the distance from the scanning point on the curb to the laser range finder should be small, and thus the slope k tends to 0, as can be seen from fig. 8, at the scanning point x26The position is the junction of the road teeth and the road surface, so that the area range of the road surface can be determined. The data obtained by actual measurement are shown as solid lines in FIG. 8 at scanning point x2To the scanning point x7Where the measured distance is larger than the theoretical value, it is likely that pits are present, again e.g. at the scanning point x11To the scanning point x15If the distance is smaller than the theoretical value, a bulge may occur. When the distance is analyzed, the distance needs to be restored once to obtain the actual depth of the pit on the road surface by considering that the laser emitted by the laser range finder is angularly scattered.
It should be noted that fig. 8 shows a diagram in which only the scan zero point x is shown0The scan points on one side fit a curve and only 30 scan points are listed, the 30 scan points being scaled. In practical application, it should be understood that the number of scanning points is much greater than 30, and the scanning points are adjacent to each other, so as to ensure the accuracy of detecting the road surface.
With the running of the monitoring vehicle, integration can be correspondingly carried out on each instant scanning point according to time, so that a scanning result of a section of road surface is obtained. If the width of the defect can be defined in each instant scanning line, the length of the defect can be known on the integrated scanning surface.
It should be noted that, in this embodiment, the principle of analyzing and calculating the detection data of the road surface is a basic mathematical principle, and a person skilled in the art can obtain the data based on the knowledge of the calculus principle, the linear function, the pythagorean theorem, and the like, and can set an automatic calculation program by a related technical means, which is not described herein again.
When the monitoring vehicle runs, the GPS positioning system carries out real-time positioning and confirms the running direction at the same time, the analyzer can confirm the road where the monitoring vehicle is located through the real-time positioning sent by the GPS, and then the analysis result of the data measured by the laser range finder can be corresponded to the road, so that the road surface detection result of the road is obtained.
After the analysis result of the analyzer is obtained by the master control center, various defects are firstly screened, the defect which does not need maintenance is eliminated, and a maintenance scheme is set for the defect which needs maintenance. Specifically, the construction data and the maximum bearing capacity of the road section are found in the large database to confirm how to repair the defect, and the materials, the construction period and the like required by the repair.
And then, the master control center calls the traffic flow rule of the road section from the large database, confirms the time period with the minimum traffic flow in the latest time period, and lists the time period as maintenance time. Meanwhile, whether the road needs to be totally closed in the maintenance scheme is determined, if the road needs to be totally closed, a bypassing scheme needs to be formed, and the bypassing scheme and the maintenance time are sent to a vehicle owner receiving end; if semi-closed construction is required, whether the road section after the semi-closed construction can meet normal traffic of traffic flow needs to be confirmed, if the risk of congestion exists, a driving route needs to be provided, and the driving route and maintenance time are sent to a receiving end of a vehicle owner.
Generally, the maintenance inspection of the road needs to be performed at least one month before the maintenance construction, and the maintenance scheme needs to be determined at least half a month before the maintenance construction. The maintenance bulletin can be issued in sequence according to the maintenance time, and generally issued 7 days before maintenance construction, so that the reasonable planning of travel by vehicle owners is facilitated. So, alright in order to guarantee that road maintenance construction can be known by the car owner in advance to avoid the problem that the information update leads to in time the vehicle blocks up.
The vehicle owner receiving end provided in the embodiment includes but is not limited to vehicle navigation, a mobile phone map APP, a road sign, a vehicle flow real-time monitoring display screen and the like.
In summary, the urban road maintenance system and method based on the internet of things provided by the embodiment include a large database, a road detection module, a road maintenance module, a master control center and a vehicle owner receiving end; the large database comprises construction data of all roads in the city, maintenance records of all roads each time, traffic flow rules of all roads and maximum bearing capacity of all roads; the road detection module is used for monitoring the road, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to the master control center; the road maintenance module is used for maintaining the road under the control of the master control center; the master control center is used for designing a road maintenance scheme and maintenance time according to various data in the big database and results provided by the road detection module, and sending the maintenance scheme and the maintenance time to the vehicle owner receiving end; the vehicle owner receiving end is used for enabling a vehicle owner to know the road section and time of maintenance and planning the route of the vehicle owner when the vehicle owner goes out. The road detection module is used for realizing automatic detection of the road, the road maintenance module is used for realizing maintenance of the road, the general control center is used for analyzing the road detection result according to the data in the large database and controlling the road maintenance scheme and time, and the road detection and maintenance with high efficiency are realized on the basis of reducing the personnel operation; meanwhile, the maintenance scheme and the maintenance time are sent to the vehicle owner receiving end through the master control center, and the travel route planning is realized by the vehicle owner receiving end, so that the traffic flow of the road maintenance in the road maintenance construction stage is controlled, the traffic jam is avoided, and the problems that the existing road detection efficiency is low, the large-scale use is not facilitated, and the traffic jam of the road maintenance section is caused during the road maintenance are solved.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (13)
1. An urban road maintenance system based on the Internet of things is characterized by comprising a large database, a road detection module, a road maintenance module, a master control center and a vehicle owner receiving end;
the large database comprises construction data of all roads in the city, maintenance records of all roads each time, traffic flow rules of all roads and maximum bearing capacity of all roads;
the road detection module is used for monitoring the road, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to the master control center;
the road maintenance module is used for maintaining the road under the control of the master control center;
the master control center is used for designing a road maintenance scheme and maintenance time according to various data in the big database and results provided by the road detection module, and sending the maintenance scheme and the maintenance time to the vehicle owner receiving end;
the vehicle owner receiving end is used for enabling a vehicle owner to know the road section and time of maintenance and planning the route of the vehicle owner when the vehicle owner goes out.
2. The internet of things-based urban road maintenance system according to claim 1, wherein the road detection module comprises a monitoring vehicle, an analyzer and an output end; the monitoring vehicle is provided with a positioning sensor and a distance measuring sensor, the positioning sensor is used for acquiring the position and the advancing direction of the monitoring vehicle in real time, and the distance measuring sensor is used for scanning the road surface of the whole road in the running process of the monitoring vehicle so as to acquire the distance from each point of the road surface to the monitoring vehicle; the analyzer is used for judging the road section monitored at present according to the position and the advancing direction acquired by the positioning sensor and calculating to obtain whether the road surface has the defect of maintenance according to the distance acquired by the distance measuring sensor; and the output end is used for sorting the road sections judged by the analyzer and the results of whether the defects exist or not to obtain the comprehensive information of the road sections needing to be maintained and outputting the comprehensive information to the master control center.
3. The Internet of things-based urban road maintenance system according to claim 2, wherein the positioning sensor is a GPS sensor, and the distance measuring sensor is an electromagnetic radar sensor or a laser distance measuring instrument.
4. The internet of things-based urban road maintenance system according to claim 1, wherein the road maintenance module comprises a construction unit and an acceptance unit; the construction unit is used for carrying out maintenance construction on the road section needing maintenance; and the acceptance unit is used for accepting the road section which is maintained and constructed by the construction unit.
5. The urban road maintenance system based on the Internet of things of claim 1, wherein the master control center comprises a maintenance simulation model and a data release platform; the maintenance simulation model is used for confirming a maintenance scheme of preventive maintenance of each road according to the construction data and each maintenance record of each road in the large database, confirming a maintenance scheme of remedial maintenance according to the road section to be maintained and the maintenance category which are analyzed by the road detection module, the construction data and the maximum bearing capacity of each road in the large database, and confirming the maintenance time of the road section to be maintained according to the traffic flow rule of each road in the large database; and the data publishing platform is used for summarizing and sorting the maintenance schemes and the maintenance time of all road sections confirmed by the maintenance simulation model to form a maintenance announcement, and sending the maintenance announcement to the vehicle owner receiving end according to the maintenance time.
6. The method for urban road maintenance by using the urban road maintenance system based on the Internet of things as claimed in any one of claims 1 to 5, wherein the method for urban road maintenance comprises the following steps:
step one, constructing a large database, wherein the large database comprises construction data of all roads in a city, maintenance records of all roads each time, traffic flow rules of all roads and maximum bearing capacity of all roads;
monitoring the road by using a road detection module, analyzing and calculating the road section to be maintained and the maintenance category, and outputting the analysis and calculation result to a master control center;
thirdly, the general control center designs a maintenance scheme and maintenance time of the road according to various data in the big database and the result provided by the road detection module, sends the maintenance scheme and the maintenance time to the road maintenance module, generates a maintenance notice according to the maintenance scheme and the maintenance time, and sends the maintenance notice to a vehicle owner receiving end;
fourthly, the road maintenance module maintains the road according to the maintenance scheme and the maintenance time provided by the master control center;
and simultaneously, the vehicle owner receiving end informs the maintenance scheme and the maintenance time provided by the master control center to the vehicle owner, and carries out route planning on the trip of the vehicle owner.
7. The urban road maintenance method based on the Internet of things of claim 6, wherein the road detection module comprises a monitoring vehicle, an analyzer and an output end, and the monitoring vehicle is provided with a positioning sensor and a distance measuring sensor; the second step comprises the following steps:
the monitoring vehicle runs on a road, the position and the advancing direction of the monitoring vehicle are acquired in real time by using the positioning sensor, and meanwhile, the distance measuring sensor scans the road surface of the whole road to acquire the distance from each point of the road surface to the monitoring vehicle;
judging the road section currently monitored according to the position and the traveling direction acquired by the positioning sensor;
calculating according to the distance acquired by the distance measuring sensor to obtain whether the road surface has the defect of maintenance;
and if the road surface has the defect needing to be maintained, determining the position of the road section needing to be maintained and the type of the defect, summarizing and sorting to obtain the comprehensive information of the road section needing to be maintained, and outputting the comprehensive information to the master control center.
8. The method for urban road maintenance based on the Internet of things of claim 7, wherein the method for calculating whether the road surface has the defect that maintenance is required according to the distance acquired by the distance measuring sensor comprises the following steps:
setting the distance measuring sensor to perform linear scanning on the road at an angle perpendicular to the traveling direction of the monitoring vehicle, wherein the scanning point of the distance measuring sensor perpendicular to the road surface is a scanning zero point x0N scanning points respectively extending from both sides, x1，x2，x3……xnAnd x-1，x-2，x-3……x-nN points in each direction satisfy a linear function y ═ k on the plane0x+b0Where y is the distance between the scanning point x and the distance measuring sensor, b0To scan the zero point x0Distance from plane, k0A slope fitted to a distance y between a scanning point x and the range sensor with respect to the scanning point x;
in actual driving monitoring, aiming at scanning zero point x0N scanning points extending from two sides are fitted at each line type scanning moment to form a first fitting function y'1And a second fitting function y'2；
When k in a linear function fitted by a plurality of adjacent scanning points tends to 0, judging that roads corresponding to the scanning points are road teeth, and determining areas in the road teeth on two sides as the road surfaces;
when the difference value between the actual distance y' of the same scanning point from the distance measuring sensor on the road surface area and the distance y from the distance measuring sensor on the plane is larger than a set threshold value, determining that the road surface where the scanning point is located is abnormal;
if the plurality of scanning points which are judged to be abnormal on the road surface are continuous, the road surface corresponding to the plurality of scanning points has a defect which needs to be maintained.
9. The method for maintaining the urban road based on the internet of things according to claim 8, wherein the method for calculating whether the road surface has the defect that maintenance is needed according to the distance acquired by the distance measuring sensor further comprises the following steps:
forming a first fit over a plurality of scanning instants within a time intervalFunction y'1And a second fitting function y'2Collecting to obtain a first collection { y'1And a second set { y'2}；
The first set { y'1Y 'and the second set { y'2Integrating actual distances y' corresponding to all scanning points judged to be abnormal on the road surface according to the positions of the scanning points to obtain the area and the position of the abnormal on the road surface;
the first set { y'1And the second set { y'2Integrating the difference values of the actual distances y' corresponding to all the scanning points judged as the road surface abnormity and the distances y from the distance measurement sensor on the plane according to the positions of the scanning points to obtain the depth of the road surface abnormity, wherein the difference values are positive and represent the road surface depression;
the road surface depression is defined as the defect of the road surface which needs to be maintained.
10. The urban road maintenance method based on the Internet of things of claim 9, wherein the distance measuring sensor is a laser distance measuring instrument; the method for calculating whether the road surface has the defect needing to be maintained according to the distance acquired by the distance measuring sensor further comprises the following steps:
judging the material of the road surface corresponding to each scanning point according to the intensity of the reflected light waves received by the laser range finder;
and when the depth of the road surface abnormity is a negative value, confirming whether the road surface material corresponding to the scanning point at the abnormal position confirmed by the laser range finder is consistent with the road surface material corresponding to other scanning points, and if so, judging that the road surface at the scanning point has the defect of maintenance.
11. The method for maintaining the urban road based on the Internet of things as claimed in claim 6, wherein the third step comprises:
confirming a maintenance scheme of preventive maintenance of each road according to the building construction data and each maintenance record of each road in the big database;
confirming a maintenance scheme of remedial maintenance according to the road sections needing maintenance and the maintenance category analyzed by the road detection module, the building construction data and the maximum bearing capacity of each road in the big database;
and confirming the maintenance time of the road section to be maintained according to the traffic flow rule of each road in the big database.
12. The method for maintaining the urban road based on the Internet of things as claimed in claim 11, wherein the third step further comprises:
and when the interval between the maintenance time of the remedial maintenance and the maintenance time of the preventive maintenance of the road section needing the remedial maintenance is less than the preset time, performing the preventative maintenance while performing the remedial maintenance.
13. The urban road maintenance method based on the Internet of things of claim 11, wherein the third step further comprises:
confirming to carry out totally-enclosed maintenance construction or semi-enclosed maintenance construction on the road section according to the maintenance scheme;
if the construction is totally-enclosed maintenance construction, the maintenance bulletin comprises the road closing time and a detour line;
and if the maintenance announcement is semi-closed maintenance construction, the maintenance announcement comprises road semi-closed time and a road planning scheme, wherein the road planning scheme is designed according to the traffic flow rule of each road in the large database and comprises driving routes in different time periods during the road semi-closed period.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115762181A (en) * | 2022-11-23 | 2023-03-07 | 日照公路建设有限公司 | Informationization method and device for construction safety management of highway maintenance road |
| CN116227775A (en) * | 2023-05-06 | 2023-06-06 | 中国公路工程咨询集团有限公司 | Method, device and storage medium for determining road maintenance operation route |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115762181A (en) * | 2022-11-23 | 2023-03-07 | 日照公路建设有限公司 | Informationization method and device for construction safety management of highway maintenance road |
| CN116227775A (en) * | 2023-05-06 | 2023-06-06 | 中国公路工程咨询集团有限公司 | Method, device and storage medium for determining road maintenance operation route |
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