A kind of multi-functional road CT synthetic detection vehicles
Road Detection apparatus field is the utility model is related to, can be used for detection to evaluate multinomial road road technique more particularly to one kind
The multi-functional road CT synthetic detection vehicles of index.
Road traffic occupies critical role in national economy and people's lives, and in recent decades, highway is in countries in the world
Developed rapidly.In the construction, operation, maintenance processes of road, the multinomial comprehensive detection index of road is for road construction
Department, operation department, maintenance department are most important.With the increase of advanced road and the extension of usage time, road maintenance
Just become key problem, how many index of road to be detected, is evaluated, be always the weight that relevant departments extremely pay close attention to
Pavement detection, maintenance work are a key links because road surface directly bear drive a vehicle load and it is natural because
The structure sheaf of element effect, it is related to whether driving is safe, quick, economical and comfortable.At present for the detection of road surface breakage situation
With evaluation, mainly check detection efficiency is low, precision is low etc. be present by artificial vision.Current digital image detection side
Method exist automatic detection success rate it is low, can not be with other indexs while the problem of detected.Detected in quality of road construction
During, the detection of the index such as thickness is to take a progress drill hole sampling, lab analysis processing at random according to detection article mostly, such
Detection method has very strong randomness, representative not strong.
Exist at present in road synthetic detection process a major issue be breakage that single equipment can be to road,
Rut, flatness, crack, friction coefficient are detected, but have no effective inspection to covert harm existing for road inside
Survey means, if it is possible to the equipment for realizing a kind of multi-functional road surface, the disease under road surface while detection, road will be made
Build and maintenance brings up to a new standard.
The content of the invention
The purpose of this utility model is to provide a kind of multi-functional road CT synthetic detection vehicles, can build one kind and collect road
It is comprehensive that surface vision-based detection, laser detection, GPR detect, illuminance detects, friction coefficient is detected on integral road CT
Detecting system is closed, lossless, efficient, continuous detection can be achieved.
For achieving the above object, technical scheme is used by the utility model：A kind of multi-functional road CT is comprehensive
Detection car, including car body and the detecting system being mounted on car body are closed, the detecting system is including being arranged on car body front lower portion
Multifunction laser profiler, be arranged on car body upper front end road surface breakage detection camera, be arranged on body rear end bottom
GPR, the frictional factor test device for being arranged on body rear end, the gps antenna for being arranged on car body top and illuminance sensing
Device and the rotary encoder being arranged on car body, the road surface breakage detection camera, laser cross section instrument, GPR, friction
Coefficient test equipment and illuminance sensor are triggered by rotary encoder；It is oblique towards car body front that the road surface breakage detects camera
Preferably, the high speed linear array camera and line that the road surface breakage detection camera includes shell and is arranged in shell swash
Light high-energy light source, the light of the line-scan digital camera capture match with the energy line of line laser high-energy light source；The linear array
Camera is equipped with optical filter.
Preferably, the multifunction laser profiler includes 13 laser sensors and 2 acceleration transducers.
Preferably, the quantity of the illuminance sensor is two and is symmetrically distributed in the both sides of car body top, the GPS
The quantity of antenna is two and GPS and uses differential GPS.
Preferably, the bottom of the body rear end sets glass fibre reinforced plastic support, and the GPR is arranged on glass fibre reinforced plastic support
On, the projecting end of the glass fibre reinforced plastic support is connected by drag-line with the fixed seat at the top of body rear end.
Preferably, the car body compartment is included positioned at the workspace of leading portion and positioned at the battery limits of back segment；The workspace
Interior setting workbench, operations chair and the display wall for being linked with multiple displays；Rack is set in the battery limits, in the rack
Installation system host computer, profiler slave computer, radar slave computer, camera slave computer, line laser main frame, illuminance slave computer, difference
Divide GPS main frames and power-supply system control device, the display, profiler slave computer, radar slave computer, camera slave computer, line
Laser main frame, illuminance slave computer, differential GPS main frame and power-supply system control device are connected with host computer.
Preferably, the road surface breakage detection camera is arranged on car body top, the rotating base bag by rotating base
Include and detect the camera rotating part being connected and the fixed part being connected with car body with road surface breakage, the rotating part and fixed part respectively by
Two pieces of first otic placodes being parallel to each other and the second otic placode are formed；Two pieces of second otic placodes are connected between two piece of first otic placode simultaneously
It is made up of jointed shaft be hinged；The opening of one arc is set on first otic placode, it is relative with opening on second otic placode
Place sets a clamping screw vertical with the second otic placode, and first otic placode and the second otic placode are tight by clamping screw band.
Preferably, buffer spring, the buffer spring are provided with below described relatively low one end of road surface breakage detection camera
Upper end and road surface breakage detection camera be in contact, lower end sets adjusting nut, and the adjusting nut is set in outside adjustable column, institute
It is affixed and coordinate with adjusting nut screw thread to state adjustable column and car body.
Preferably, the shell of the road surface breakage detection camera includes the box body and lid being adapted, and the lid passes through
Bolt is affixed with box body；The box body end face sets two through holes, and two through holes are high with line-scan digital camera and line laser respectively
Energy light source is engaged；The installing plate being engaged with box body is set in box body, and the side of the installing plate is set and line laser height
The mounting hole that the emitting head of energy light source is engaged, opposite side are set and the perpendicular bent plate of installing plate；The line-scan digital camera leads to
Cross bent plate to be connected with installing plate, the emitting head of the line laser high-energy light source is connected through mounting hole with installing plate；The peace
The both sides of loading board and the floor bolt connection for being arranged on the madial wall of box body two.
Preferably, road surface breakage detection camera and the angle of horizontal direction are in 32 °.
Preferably, the power-supply system that the detecting system is carried by car body is powered.
The utility model beneficial effect embodies a concentrated reflection of：
1st, surface evenness, rut, construction depth data are gathered by multifunction laser profiler, examined by road surface breakage
Survey camera and gather high-resolution pavement of road image, spectrum, the chrominance information of both sides of the road are gathered by illuminance sensor,
Thickness inside road, hole, pipeline information are gathered by GPR, with reference to integrated treatment of the later stage software to each data,
Realize the internal state such as the surface appearances such as road surface breakage, flatness, rut, construction depth, thickness, hole, pipeline, road two
The comprehensive detection of side illuminating position, road friction coefficient, function are more comprehensively and diversified.
2nd, installed in the multifunction laser profiler of car body front lower portion, the GPR of rear end lower, body rear end
Frictional factor test device, the illuminance sensor and gps antenna at top, and it is inclined at the road surface of car body front top
Damage testing camera so that layout of the present utility model is more reasonable, compact, and globality is stronger, improves the safety of driving
3rd, coordinate collection position of the gps antenna to each information to be accurately positioned by rotary encoder, make the standard of information
True property is higher.
4th, the road surface breakage detection camera being preferably provided with includes line-scan digital camera and line laser high-energy light source, passes through line laser
High-energy light source ensure that the abundance of line-scan digital camera light source, is engaged with the optical filter of line-scan digital camera as light filling equipment, can
So that the image cleaning of line-scan digital camera collection, brightness uniformity, good contrast, improve the accuracy of detection.Maskable road simultaneously
The interference of lamp or other light, reduce the difficulty of image information post-processing.
5th, GPS of the present utility model preferably uses differential GPS, and the GPS device on car body enables rear and base station
GPS communicated, correction is sent by base station, so as to further increase the accuracy of positioning.
6th, preferably it is connected for installing the glass fibre reinforced plastic support projecting end of GPR by drag-line with fixed seat, due to drag-line
Possesses certain flexibility, available buffer vehicle shakes the influence to GPR, makes the data that detect more accurate.
7th, the power-supply system preferably carried by car body is that detecting system is powered, and ensure that the continuation and stably of detection
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is rearview when the utility model does not install GPR；
Fig. 3 is the top view of structure shown in Fig. 2；
Fig. 4 is the left view of structure shown in Fig. 1；
Fig. 5 is the right view of structure shown in 1；
Fig. 6 is a kind of preferable scheme of installation of rack；
Fig. 7 is the scheme of installation of display wall；
Fig. 8 is the shell mechanism schematic diagram that road surface breakage detects camera；
The top view of structure shown in Fig. 9 Fig. 8；
Figure 10 is the internal structure schematic diagram of structure shown in Fig. 9；
Figure 11 is the A-A direction views of mechanism shown in Figure 10；
Figure 12 is the structural representation of installing plate；
Figure 13 is the scheme of installation of rotating base.
A kind of multi-functional road CT synthetic detection vehicles with reference to shown in Fig. 1-13, including car body and be mounted on car body
Detecting system, the car body preferably use commercial vehicle type car body, and such as Ford is all-cis, the auspicious wind of Yangze river and Huai river.It is of the present utility model
Independent battery power supply can be set in detecting system, but in order to improve the continuation of detection and stability, is preferably carried by car body
Power-supply system is powered.Operating platform can be passed through with the supporting operating platform of detecting system, staff by being carried in the compartment of car body
Directly detecting system of the present utility model is operated, it is of course also possible to by detecting system of the present utility model and detection
Center station wireless telecommunications, detecting system is implemented to control in distal end.
As shown in figure 1, the multifunction laser that detecting system described in the utility model includes being arranged on car body front lower portion breaks
Face instrument 1, the road surface breakage detection camera 2 for being arranged on car body upper front end, it is arranged on the GPR 3 of body rear end bottom, sets
Put body rear end frictional factor test device 40, be arranged on car body top gps antenna 4 and illuminance sensor 5 and set
Put the rotary encoder 6 on car body.The road surface breakage detects camera 2 and tilted obliquely towards car body front.This practicality is new
The subsystems such as type road surface breakage detection camera 2, laser cross section instrument 1, GPR 3 and illuminance sensor 5 are generally also matched somebody with somebody
Independent slave computer is had, for the state of each subsystem to be fed back and controlled.Each slave computer and system host computer, display
Device etc. collectively forms operating platform.
Road surface breakage detection camera 2, laser cross section instrument 1, GPR 3 and illuminance sensor 5 described in the utility model
Triggered by rotary encoder 6.Such as：When car body moves forward, rotary encoder 6 triggers a pulse, pulse-triggered per 1mm
Road surface breakage camera 2 carries out the collection of image, and combines with GPS system and the positional information of image is positioned.Similarly, illumination
Degree sensor 5, laser cross section instrument 1, GPR 3 etc. also can send pulse signal by rotary encoder 6 and be triggered.Set
The coefficient of friction situation of road is can detect that in the frictional factor test device 40 of body rear end, frictional factor test device 40 is wrapped
Include detection unit and water supplying unit, by water supplying unit spread water can the different dry and wet condition of simulated roadway, realize road in difference
The detection of coefficient of friction under situation.
Usual road surface breakage detection camera 2 and the angle of horizontal direction are in 32 °, ensure camera all standing road, to ensure
The quality of the image collected, certain adjustment can be also carried out according to actual conditions.Described road surface breakage detection camera 2 is usual
Two are provided with, full symmetric to be arranged on car body both sides, the inside of road surface breakage detection camera 2 includes a high speed linear array camera 7.
The line-scan digital camera 7 of two road surface damage testing cameras 2 is full symmetric, can the single track of all standing, complete the damaged inspection of road surface
Survey.To ensure the stability of camera light source, road surface breakage camera 2 also includes a line laser high-energy light source 8, ensures light filling
Stability.Fixed between described high speed linear array camera 7 and line laser high-energy light source 8 using special support, mix up both it
Between position, ensure line-scan digital camera capture light fitted like a glove with the energy line of line laser high-energy light source 8.Road surface breakage detects phase
Machine 2 can obtain high-resolution pavement of road image, can intuitively show the breakage on road surface, and utilize analysis software, energy
The complete damaged area for marking road surface, according to all standard, provides Pavement distress.In order to improve the essence of detection
Exactness, more preferable way are that optical filter is adapted on line-scan digital camera 7, optical filter enable to line-scan digital camera gather image cleaning,
Brightness uniformity, contrast.The interference of maskable street lamp or other light simultaneously, reduce the difficulty of image information post-processing.
The multifunction laser profiler 1 of car body leading portion opens laser sensor when working, collection surface evenness, rut,
Construction depth data, the data of collection by the post-processing of software, and according to the segment length of setting can fast, accurately to being engaged in this profession
Road Measuring Several Indexes：Left and right flatness, left and right rut, left construction depth data.Multifunction laser profiler 1 is commonly equipped with
13 laser sensors and 2 acceleration transducers, car body can be expert at by the acceleration information that acceleration transducer gathers
Error caused by being shaken during sailing is corrected.
The illuminance sensor 5 that the utility model is located at roof center section can gather the spectrum of present road both sides, color
The information such as degree, usual illuminance sensing 5 are also equipped with two and are arranged symmetrically.The data transfers of the collection of illuminance sensing 5 are to right
The slave computer answered, data processed result is formed, USB connections are used between slave computer and host computer.Local operation pattern can be used,
Data are preserved to corresponding slave computer, form spectrogram, and show current illumination；Also teleoperation mode can be used, is preserved extremely
Host computer positioned at inspection center station.Illuminance sensor 5 generally detects an illuminance at interval of 1m.Then according to setting
Distance parameter, present road illuminance situation is counted, and according to corresponding algorithm, with reference to the symmetrical data of illuminance sensor 5,
Both sides of the road light source situation is analyzed, forms road light source analysis report.
In order to further improve the accuracy of the utility model positioning, more preferable way is that GPS of the present utility model is used
Differential GPS, the GPS device on car body enables the GPS communication with inspection center website afterwards, by inspection center's website as base station
Correction is sent, is received by roof gps antenna 4 and its measurement result is corrected, to obtain accurate positioning result.Car body
The equipment of GPR 3 of rear end part installation mainly completes the detection of road thickness, cavity, pipeline；Can be according to different demands
The antenna of different frequency is equipped with, such as：2000MHz, 1500MHz, 900MHz, 400MHz etc..High frequency antenna completes thickness detection, low
Frequency antenna completes cavity, the detection of pipeline, and the analysis software of rear end can be analyzed to obtain thickness, marks cavity, the position of pipeline
Put.Because influence of the car body vibrations when driving to radar system is relatively large, in order to further improve the accurate of detection
Property, more preferable way is, the bottom of the body rear end sets glass fibre reinforced plastic support 9, certainly using stainless steel or other materials
Support replaces being also feasible, but the relative flexibility of glass fibre reinforced plastic support 9 is more preferable, more preferable to the buffering effect of vibrations.The spy land mine
It is arranged on up to 3 on glass fibre reinforced plastic support 9, the projecting end of the glass fibre reinforced plastic support 9 is by drag-line 10 and at the top of body rear end
Fixed seat 11 connects.Because drag-line 10 possesses certain flexibility, influence of the vehicle shake to GPR 3 can be further buffered,
The accuracy for the data for making to detect further is lifted.It is meanwhile logical positioned at the frictional factor test device 40 of body rear end
Directly it can also often be installed by glass fibre reinforced plastic support 9.
The utility model gathers surface evenness, rut, construction depth data by multifunction laser profiler 1, passes through
Road surface breakage detection camera 2 gathers high-resolution pavement of road image, and the light of both sides of the road is gathered by illuminance sensor 5
Spectrum, chrominance information, by the thickness inside the collection road of GPR 3, hole, pipeline information, with reference to later stage software to each number
According to integrated treatment, realize in the surface appearances such as road surface breakage, flatness, rut, construction depth, thickness, hole, pipeline etc.
Portion's situation, the comprehensive detection of both sides of the road illuminating position, function are more comprehensively and diversified.Installed in car body front lower portion
Multifunction laser profiler 1, the GPR 3 of rear end lower, the illuminance sensor 5 and gps antenna 4 at top, and tilt
It is arranged on the road surface breakage detection camera 2 of car body front top so that layout of the present utility model is more reasonable, compact, whole
Body is stronger, improves the security of driving.
Operating platform of the present utility model is located at interior, and with reference to shown in Fig. 2 and 3, the car body compartment includes being located at
The workspace of leading portion and positioned at the battery limits of back segment.Workbench 12, operations chair 13 are set in the workspace and are linked with multiple
The display wall 14 of display, the quantity of the display is usually 4, and four displays are arranged in arrays, corresponds to display respectively
Bottom out the detection information of radar 3, laser cross section instrument 1, road surface breakage detection camera 2 and illuminance sensor 5.In the battery limits
Rack 15 is set, and installation system host computer, profiler slave computer, radar slave computer, camera slave computer, line swash in the rack 15
Light main frame, illuminance slave computer, differential GPS main frame and power-supply system control device, the display, profiler slave computer, thunder
Up to slave computer, camera slave computer, line laser main frame, illuminance slave computer, differential GPS main frame and power-supply system control device with
Host computer connects.The operating platform that the utility model is located in compartment is rationally distributed, compact.By each slave computer to each subsystem
Individually controlled, and planned as a whole by host computer, fault rate is low, and detection is in stable condition., can also be in rack 15 with reference to shown in Fig. 6 and 7
Top dividing wall is set, realize the separation of battery limits and workspace, hook 30, string bag 31 etc. can be set on dividing wall and be easy to text
The storage of part, instrument etc. picks and places, the also settable locker 35 in both sides of rack 15, it can in addition contain be set in the side of workbench 12
Put saucer for placing tea water cup etc..
As illustrated in figs. 8-12, road surface breakage detection camera 2 of the present utility model removes line-scan digital camera 7 and line laser high-energy light
Outside source, a shell is generally also fitted with, the shell includes the box body 24 and lid 25 being adapted, and the lid 25 passes through spiral shell
Bolt and box body 24 are affixed.The end face of box body 24 sets two through holes 26, and two through holes 26 respectively with line-scan digital camera 7 and line
Laser high-energy light source 8 is engaged, and transmission lens are usually provided with through hole 26, after the completion of box body 24 and lid 25 combine,
Form space in a closed box.The installing plate 27 that setting is engaged with box body 24 in box body 24, the one of the installing plate 27
Side sets the mounting hole being engaged with the emitting head of line laser high-energy light source 8, and opposite side sets perpendicular with installing plate 27
Bent plate 28, the bent plate 28 are connected by bolt with installing plate 27.The line-scan digital camera 7 is connected by bent plate 28 and installing plate 27
Connect, the emitting head of the line laser high-energy light source 8 is connected through mounting hole with installing plate 27.The both sides of the installing plate 27 with
It is arranged on the bolt connection of floor 29 of 24 liang of madial walls of box body.Pass through bolt between installing plate 27 and bent plate 28 of the present utility model
Connection, when the light that the light and line laser high-energy light source 8 gathered in line-scan digital camera 7 is launched is misfitted, can by unscrewing or
Tighten the fine setting that the bolt that bent plate 28 is connected with installing plate 27 carries out angle.
Because road surface breakage detection camera 2 usually requires to carry out certain angular adjustment according to actual conditions, with reference to Figure 13
Shown, more preferable way is that the road surface breakage detection camera 2 is arranged on car body top, the rotation bottom by rotating base 16
Seat 16 includes detecting the rotating part being connected of camera 2 and the fixed part being connected with car body, the rotating part and fixation with road surface breakage
Portion is made up of two pieces of first otic placodes 17 being parallel to each other and the second otic placode 18 respectively.Two pieces of second otic placodes 18 are connected to two pieces
Formed between first otic placode 17 and by jointed shaft be hinged.The opening 19 of one arc is set on first otic placode 17, it is described
Place relative with opening 19 sets a clamping screw 20 vertical with the second otic placode 18, first otic placode 17 on second otic placode 18
With the second otic placode 18 by clamping screw 20 with tight.When needing to carry out angular adjustment, unscrewing clamping screw 20 can be turned
It is dynamic, tighten clamping screw 20 and can complete to lock.Clamping screw 20 has the function of being oriented to and lock concurrently, and simple in construction, is easy to
The utility model is because road surface breakage camera 2 is obliquely installed, even if after positioning, still having in an inclined direction
The trend of rotation, therefore, preferably way is, as shown in figure 13, set below described 2 relatively low one end of road surface breakage detection camera
Buffer spring 21 is equipped with, the upper end of the buffer spring 21 is in contact with road surface breakage detection camera 2, road pavement damage testing phase
Machine 2 forms flexible support, and the lower end of buffer spring 21 sets adjusting nut 22, and the adjusting nut 22 is set in outside adjustable column 23,
The adjustable column 23 is affixed with car body and coordinates with the screw thread of adjusting nut 22；That is buffer spring 21 is to pass through adjusting nut
22 are connected with adjustable column 23.The position of buffer spring 21 in the height direction is can adjust by rotating adjusting nut 22, is realized
The regulation of the overall height of buffer spring 21, certain branch is carried out using the end of the road pavement damage testing camera 2 of buffer spring 21
Support, influence caused by one side available buffer shakes, it on the other hand can offset road surface breakage detection camera 2 and become to what low side rotated
Gesture, after the completion of road surface breakage detection camera 2 positions, can effectively avoid the clamping screw 20 of rotating base 16 from loosening causes
Error.On this basis, in order to ensure road surface breakage camera 2 when various angles are arrived in regulation, buffer spring 21 can be to it
Effective support is formed, more preferable way is that the position that the road surface breakage detection camera 2 contacts with buffer spring 21 is nearby set
A lead is put, one end of lead is stretched into buffer spring 21, and the other end detects phase by universal ball end and road surface breakage
Machine 2 connects, and so by lead excessively, can preferably ensure the effect of support.Meanwhile under described adjustable column 23
End is not direct to be fixed with car body, but a guide rail is set on car body, and the lower end of adjustable column 23 sets a sliding block, guide rail and cunning
Block can be achieved locking or be slidably matched, so as to realize that position of the adjustable column 23 on car body fore-and-aft direction is adjusted using guide rail and sliding block
It is whole, so as to realize that buffer spring 21 can form effective support when road surface breakage detection camera 2 is in any angle to it.