A bridge deck detection method, device, equipment and storage medium

Abstract

The application relates to a bridge deck detection method, device, equipment and storage medium. The bridge deck detection method comprises the following steps: acquiring a reflection distance of a bridge deck and a distance threshold; comparing the numerical size relationship between the reflection distance and the distance threshold; and starting corresponding bridge deck detection according to the numerical size relationship between the reflection distance and the distance threshold, so as to determine whether the bridge deck is broken. The method can effectively detect the bridge deck, determine whether the bridge deck is broken, enable passengers in a vehicle to take an active risk avoidance strategy in time, and avoid being placed in a dangerous situation.

Description

Technical Field

[0001] This application relates to the field of automotive automatic control technology, and in particular to a bridge deck detection method, device, equipment, and storage medium. Background Technology

[0002] Bridge collapses have occurred frequently in recent years. In response, detection devices installed on bridges are often used to predict in advance whether a bridge is at risk of collapse.

[0003] However, even with the increasing maturity of autonomous driving technology, there is currently no method for recognizing bridge collapse scenarios in self-driving cars. Since vehicles cannot actively identify bridge collapse scenarios, they are unable to take proactive risk avoidance strategies, which would put passengers inside the vehicle in a dangerous situation.

[0004] Therefore, there is still a lack of an effective bridge deck inspection method applicable to vehicles. Summary of the Invention

[0005] Based on this, a bridge deck detection method, device, equipment, and storage medium are provided to solve the problem that vehicles cannot actively identify bridge breakage scenarios.

[0006] In a first aspect, this application provides a bridge deck detection method, which includes: acquiring the reflection distance and a distance threshold of the bridge deck; comparing the numerical relationship between the reflection distance and the distance threshold; and initiating a corresponding bridge deck detection based on the numerical relationship between the reflection distance and the distance threshold to determine whether the bridge deck is broken.

[0007] In conjunction with the first aspect, in a first implementation of the first aspect, the step of initiating a corresponding bridge deck detection based on the numerical relationship between the reflection distance and the distance threshold to determine whether the bridge deck is broken includes: initiating a first detection when the reflection distance is less than the distance threshold to determine whether the bridge deck is broken and the cross-section is visible; and initiating a second detection when the reflection distance is greater than the distance threshold to determine whether the bridge deck is broken and the cross-section is not visible.

[0008] In conjunction with the first implementation of the first aspect, in the second implementation of the first aspect, the first detection includes: acquiring an environmental image including the bridge deck; performing target recognition on the environmental image; and determining that the bridge deck is fractured and the cross-section is visible when the bridge deck is identified to include reinforcing bars.

[0009] In conjunction with the first implementation of the first aspect, in the third implementation of the first aspect, the first detection includes: detecting the inclination of the bridge deck; and determining that the bridge deck is fractured and the cross-section is visible when the inclination of the bridge deck is greater than a preset inclination angle.

[0010] In conjunction with the first implementation of the first aspect, in the fourth implementation of the first aspect, the second detection includes: acquiring an environmental image including the bridge deck; performing image feature recognition on the environmental image; and determining that the bridge deck is broken and the cross-section is not visible when the bridge deck is identified to include several dark pixels with color abrupt changes.

[0011] In conjunction with the first aspect, in the fifth implementation of the first aspect, the step of obtaining the reflection distance of the bridge surface includes: detecting that the road segment ahead is a bridge; activating a lidar device, the lidar device being fixed to the roof of the vehicle in a telescopic manner; obtaining the length of the bridge, and adjusting the height of the lidar device according to the length of the bridge to obtain the reflection distance of the bridge surface.

[0012] In conjunction with the first aspect, in a sixth implementation of the first aspect, the step of obtaining the distance threshold includes: obtaining the ground clearance and emission angle of the lidar device; and determining the distance threshold based on the ground clearance and emission angle.

[0013] Secondly, this application also provides a bridge deck detection device, which includes: an acquisition unit for acquiring the reflection distance and a distance threshold of the bridge deck; a comparison unit for comparing the numerical relationship between the reflection distance and the distance threshold; and a detection unit for initiating corresponding bridge deck detection based on the numerical relationship between the reflection distance and the distance threshold to determine whether the bridge deck is broken.

[0014] In conjunction with the second aspect, in the first implementation of the second aspect, the detection unit is specifically used to: initiate a first detection when the reflection distance is less than the distance threshold to determine whether the bridge deck is broken and the cross-section is visible; and initiate a second detection when the reflection distance is greater than the distance threshold to determine that the bridge deck is broken and the cross-section is not visible.

[0015] In conjunction with the first implementation of the second aspect, in the second implementation of the second aspect, the detection unit is specifically used to: acquire an environmental image including the bridge deck; perform target recognition on the environmental image; and determine that the bridge deck is fractured and the cross-section is visible when the bridge deck is found to contain reinforcing bars.

[0016] In conjunction with the first implementation of the second aspect, in the third implementation of the second aspect, the detection unit is specifically used to: detect the inclination of the bridge deck; and determine that the bridge deck is fractured and the cross-section is visible when the inclination of the bridge deck is greater than a preset inclination angle.

[0017] In conjunction with the first implementation of the second aspect, in the fourth implementation of the second aspect, the detection unit is specifically used to: acquire an environmental image including the bridge surface; perform image feature recognition on the environmental image; and determine that the bridge surface is broken and the cross-section is not visible when the bridge surface is identified to include several dark pixels with color abrupt changes.

[0018] In conjunction with the second aspect, in the fifth implementation of the second aspect, the acquisition unit is specifically used for: detecting that the road section ahead is a bridge; activating the lidar device, which is fixed to the roof of the vehicle in a telescopic manner; acquiring the length of the bridge, and adjusting the height of the lidar device according to the length of the bridge to acquire the reflection distance of the bridge surface.

[0019] In conjunction with the second aspect, in the sixth implementation of the second aspect, the acquisition unit is specifically used to: acquire the ground clearance and emission angle of the lidar device; and determine the distance threshold based on the ground clearance and emission angle.

[0020] Thirdly, this application also provides a bridge deck inspection device, the device including a processor and a memory, the processor and the memory being connected via a bus; the processor being used to execute multiple instructions; and a storage medium being used to store multiple instructions, the instructions being adapted to be loaded by the processor and executed as a bridge deck inspection method as described in the first aspect or any embodiment of the first aspect.

[0021] Fourthly, this application also provides a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor and executing a bridge deck detection method as described in the first aspect or any embodiment of the first aspect.

[0022] In this embodiment, the vehicle's bridge deck detection device first emits a laser towards the bridge deck using a lidar or similar device. It then obtains the reflection distance of the bridge deck based on the laser's propagation delay and speed. This reflection distance is then compared to a distance threshold, and a corresponding bridge deck detection is initiated based on this threshold to further identify whether the bridge deck has fractured and the fracture surface is visible. In summary, this method enables bridge deck detection and determination of whether a bridge deck fracture has occurred, allowing passengers in the vehicle to take timely and proactive risk avoidance strategies to prevent being placed in a dangerous situation. Attached Figure Description

[0023] Figure 1 This is a diagram illustrating the application environment of a bridge deck detection method in one embodiment.

[0024] Figure 2 This is a diagram illustrating the application environment of the bridge deck detection method in another embodiment;

[0025] Figure 3This is a flowchart illustrating a bridge deck detection method in one embodiment;

[0026] Figure 4 This is a flowchart illustrating the initiation of the first detection step in one embodiment;

[0027] Figure 5 This is a flowchart illustrating the initiation of the second detection step in one embodiment;

[0028] Figure 6 A schematic block diagram of a bridge deck inspection device provided in this application;

[0029] Figure 7 This application provides a structural block diagram of a bridge deck inspection device. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components relevant to the present invention and are not drawn according to the actual number, shape, and size of components in implementation. In actual implementation, the form, quantity, and proportion of each component can be arbitrarily changed, and the component layout may be more complex. The structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes to aid those skilled in the art and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives of the present invention, should still fall within the scope of the technical content disclosed in the present invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are only for clarity of description and are not intended to limit the scope of the present invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the present invention.

[0032] It should also be noted that the bridge deck detection device and bridge deck detection equipment mentioned below in this application may include, but are not limited to, the vehicle control system, vehicle drive controller, vehicle control unit (VCU), electronic control unit (ECU), etc. The bridge deck detection equipment can implement the method described in this application, such as obtaining the reflection distance and distance threshold of the bridge deck, and starting the corresponding bridge deck detection according to the numerical relationship between the reflection distance and the distance threshold of the bridge deck, etc. This application will not elaborate further on this.

[0033] Currently, vehicles cannot actively identify bridge collapse scenarios, and therefore cannot take proactive risk avoidance strategies, which puts passengers in danger.

[0034] To address this issue, this application proposes a bridge deck detection method. By comparing the numerical relationships of reflection distance thresholds on the bridge deck, a corresponding bridge deck detection is initiated to determine whether the bridge deck is fractured. Next, this application will use a bridge deck detection device as the executing entity as an example, and combine it with… Figure 1 and Figure 2 The application environment diagram shown illustrates this method. Specifically:

[0035] First, the bridge surface detection device acquires a preset distance threshold and uses a retractable lidar device on the vehicle roof to emit a laser towards the bridge surface to obtain the reflection distance. The distance threshold is the critical value used to determine whether the bridge surface is likely to break; it is the distance the laser travels from the lidar to a non-broken bridge surface. The reflection distance refers to the real-time detected distance from the lidar to the bridge surface in front of the vehicle. The reflection distance may be equal to, greater than, or less than the distance threshold. By comparing the reflection distance and the distance threshold, the smoothness of the bridge surface can be detected. If the bridge surface is smooth, the reflection distance should be equal to the distance threshold; if the bridge surface is broken, the reflection distance should be greater than or less than the distance threshold.

[0036] Furthermore, the reflection distance is detected in real time. After the bridge deck detection device detects that the road segment in front of the vehicle is a bridge, it first determines the height of the lidar device based on the bridge's length (the longer the bridge, the higher the lidar device). Then, the lidar device emits a laser beam towards the bridge deck. The laser beam travels forward until it contacts the surface of the object and reflects back. The bridge deck detection device calculates the round-trip propagation delay of the laser beam and obtains the total propagation distance by multiplying the propagation delay by the propagation speed. Half of the total propagation distance is the reflection distance.

[0037] Then, the bridge deck detection device compares the reflected distance with a distance threshold value. Based on this relationship, it initiates the corresponding bridge deck detection to determine if the bridge deck is fractured. If the reflected distance matches the distance threshold, the bridge deck is flat, and further fracture detection is unnecessary. Conversely, if the reflected distance does not equal the distance threshold, the bridge deck is uneven and may be fractured, requiring further detection.

[0038] As can be seen, the bridge deck inspection method of this application can preliminarily predict whether the bridge deck may be fractured by comparing the numerical relationship between the reflection distance and the distance threshold. Only if fracture is suspected will a more accurate subsequent inspection be initiated. Therefore, the bridge deck inspection method of this application is simple and feasible, improves inspection efficiency, reduces energy consumption, and ensures the accuracy of the inspection through subsequent bridge deck inspection steps.

[0039] Based on the analysis of bridge deck fracture scenarios, bridge deck fractures can be categorized into two types: those with visible fracture surfaces and those with invisible fracture surfaces. To improve detection accuracy, this application separates the detection for these two scenarios. Specifically, when the reflection distance is not equal to a distance threshold, the application analyzes whether the reflection distance is less than or greater than the distance threshold, thereby performing different bridge deck detection procedures.

[0040] Specifically, in the first scenario: if the reflection distance is less than a distance threshold, a first detection is initiated to determine whether the bridge deck is fractured and the fracture surface is visible. In the second scenario: if the reflection distance is greater than the distance threshold, a second detection is initiated to determine whether the bridge deck is fractured and the fracture surface is not visible.

[0041] like Figure 1 As shown, in the first scenario, the side of the broken bridge in front of the vehicle is higher than the side of the broken bridge where the vehicle is located. In this scenario, a first detection is performed, such as using a camera device to identify whether the bridge surface includes reinforcing steel bars; if so, it is determined that the bridge surface is broken and the cross-section is visible. The tilt of the bridge surface is detected using a level; if the tilt of the bridge surface is greater than a preset tilt angle, it is determined that the bridge surface is broken and the cross-section is visible.

[0042] like Figure 2 As shown, in the second scenario, the side of the broken bridge in front of the vehicle is lower than the side of the broken bridge where the vehicle is located. In this scenario, a second detection is performed, for example, by using a camera device to identify whether the bridge surface includes several dark pixels with abrupt color changes; if so, it is determined that the bridge surface is broken and the cross-section is not visible.

[0043] As can be seen, this application simplifies the complex detection problem by subdividing different scenarios and adopting different bridge deck detection methods for each scenario. Based on the characteristics of different scenarios, a simple and effective detection method is proposed for each scenario. Therefore, the efficiency and accuracy of the bridge deck detection method in this application are further improved.

[0044] In summary, this application compares the reflection distance and a distance threshold, and initiates corresponding bridge surface detection based on the numerical relationship between the reflection distance and the distance threshold to determine whether the bridge surface is fractured. As can be seen, the implementation process of this application is simple and efficient. It first compares whether the reflection distance and the distance threshold are equal to quickly determine whether the bridge surface is likely flat. If they are not equal, the bridge surface is uneven and is highly likely to be fractured. Therefore, corresponding bridge surface detection needs to be initiated to further detect whether the bridge surface is fractured. Thus, this application provides an efficient bridge surface detection method. Using this method, the bridge surface can be detected and whether a fracture is found, enabling passengers in the vehicle to take timely and proactive risk avoidance strategies to avoid being placed in a dangerous situation.

[0045] Based on the above detailed description of the application scenarios of this application, this application will combine Figure 3 The flowchart illustrates the bridge deck inspection method of this application in more detail. Specifically:

[0046] 301: Obtain the reflection distance and distance threshold of the bridge surface.

[0047] In this embodiment, a lidar device is installed on the vehicle roof. This device emits a laser beam forward and receives the reflected laser beam. The bridge surface detection device can obtain the reflection distance of the bridge surface based on the propagation of the laser beam emitted by the lidar device. Specifically, the reflection distance refers to the distance from the lidar device to the surface of the reflecting object. The round-trip time of the laser beam is the propagation delay, and the speed of laser propagation is the propagation speed. Half of the product of the propagation delay and the propagation speed is the reflection distance. Notably, when the lidar device does not receive the emitted laser beam, both the propagation delay and the reflection distance are infinitely large values.

[0048] It's important to note that the distance threshold differs from the reflection distance. The distance threshold can be understood as the reflection distance over a normal length, i.e., the reflection distance under conditions of a smooth bridge surface. The reflection distance of the bridge surface is detected in real-time by the bridge surface detection device. This reflection distance may be equal to, greater than, or less than the distance threshold. By comparing the reflection distance and the distance threshold, the smoothness of the bridge surface can be detected. As the vehicle moves forward, the bridge surface detection device detects and updates the reflection distance of the bridge surface according to a preset detection frequency. Therefore, the reflection distance reflects the distance between the LiDAR device and the unknown bridge surface ahead at the vehicle's current position.

[0049] It should also be noted that the distance threshold can be pre-stored in a database or calculated in real time. Real-time calculation means that the bridge deck detection device first obtains the ground clearance and emission angle of the lidar device, and then determines the distance threshold based on the ground clearance and emission angle. Specifically, the bridge deck detection device calculates the distance threshold based on the trigonometric function relationship between the ground clearance and emission angle of the lidar device, that is, the distance threshold is equal to the ground clearance divided by the cosine of the emission angle. Here, the emission angle refers to the angle between the laser beam and the vertical direction of the lidar device.

[0050] In another feasible approach, to obtain the reflection distance of the bridge surface, the bridge surface detection device can first detect the type of the road segment ahead. If the road segment ahead is detected to be a bridge, a lidar device is activated, which is fixed to the roof of the vehicle in a telescopic manner. The length of the bridge is then obtained, and the height of the lidar device is adjusted according to the length of the bridge to obtain the reflection distance of the bridge surface.

[0051] It should be noted that in this embodiment, the height of the lidar device is proportional to the length of the bridge. The longer the bridge, the higher the lidar device. For example, the adjustment method includes raising the height of the lidar to a certain percentage of the total length of the bridge surface, based on the standard that the laser can cover.

[0052] As can be seen, the height of the lidar device in this embodiment can be adjusted according to the length of the bridge. If the bridge is short, the lidar device extends to a shorter length; if the bridge is long, the lidar device extends to a longer length. This adjustment method can improve detection efficiency and detect broken bridge sections earlier. This is because a higher lidar device can emit laser light onto the bridge surface at a greater distance. However, simply increasing the height of the lidar device is detrimental, as it may miss broken sections due to excessive distance. Therefore, this embodiment adapts the height of the lidar device according to the bridge length, thus improving detection efficiency while ensuring detection accuracy.

[0053] In another feasible approach, to obtain the reflection distance of the bridge surface, the bridge surface detection device can first detect the type of the road segment ahead. If the road segment ahead is detected to be a bridge, a lidar device is activated, the emission angle of which can be arbitrarily adjusted. Then, the length of the bridge is obtained, and the emission angle of the lidar device is adjusted according to the length of the bridge to obtain the reflection distance of the bridge surface.

[0054] It should be noted that in this embodiment, the distance of the emitted laser is adjusted by adjusting the emission angle of the lidar device. Similar to the method of adjusting the height of the lidar device in the previous embodiments, the emission angle of the laser is adjusted according to the length of the bridge in this embodiment. The emission angle is directly proportional to the length of the bridge; the longer the bridge, the larger the emission angle.

[0055] In another feasible approach, the height and / or emission angle of the lidar are adjusted based on the length of the remaining untraveled bridge.

[0056] It should be noted that, in this embodiment, since the height and / or emission angle of the lidar are adjusted according to the length of the remaining untraveled bridge, the height and / or emission angle of the lidar are actually dynamically changing. As the vehicle travels from one end of the bridge to the other, the height of the lidar device gradually decreases, or the emission angle gradually shrinks.

[0057] It should also be noted that, unlike the adjustment method in the previous embodiments where the height and / or emission angle of the lidar remained constant, in this embodiment, since the height and / or emission angle of the lidar device changes in real time, the distance threshold also changes in real time. Therefore, in this embodiment, the distance threshold is calculated in real time; that is, the bridge deck detection device recalculates the distance threshold every time the height and / or emission angle of the lidar device changes.

[0058] 302: Compare the numerical relationship between the reflection distance and the distance threshold.

[0059] In this embodiment, the bridge deck detection device makes a preliminary inference about whether the bridge deck is broken by comparing the reflection distance and a distance threshold. If the reflection distance is equal to the distance threshold, the bridge deck is not broken and no further detection is needed; if the reflection distance is less than or greater than the distance threshold, the bridge deck may be broken, and the corresponding bridge deck detection needs to be initiated according to the specific numerical relationship between the reflection distance and the distance threshold to further determine whether the bridge deck is broken, i.e., step 303 is executed.

[0060] 303: Based on the numerical relationship between the reflection distance and the distance threshold, initiate the corresponding bridge deck detection to determine whether the bridge deck is broken.

[0061] In this embodiment, the bridge deck detection device activates corresponding bridge deck detection based on the specific numerical relationship between the reflection distance and the distance threshold to further determine whether the bridge deck is fractured. For example, if the reflection distance is less than the distance threshold, a first detection is activated to determine whether the bridge deck is fractured and the fracture surface is visible; if the reflection distance is greater than the distance threshold, a second detection is activated to determine whether the bridge deck is fractured and the fracture surface is not visible. Specifically:

[0062] If the reflection distance is less than a distance threshold, it indicates that the bridge deck may have fractured and the fracture surface is visible. To further confirm this, the bridge deck detection device initiates a first detection. The first detection can detect the reinforcing steel in the fracture surface and also the inclination of the bridge deck. Detecting the reinforcing steel in the bridge deck involves: first acquiring an environmental image including the bridge deck, then performing target recognition on the environmental image, and finally determining that the bridge deck is fractured and the fracture surface is visible if the reinforcing steel is detected in the bridge deck. Detecting the inclination of the bridge deck involves: detecting the inclination of the bridge deck; if the inclination of the bridge deck is greater than a preset inclination angle, determining that the bridge deck is fractured and the fracture surface is visible.

[0063] If the reflection distance is less than the distance threshold, it indicates that the bridge deck may have fractured and the fracture surface is not visible. To further confirm this, the bridge deck detection device initiates a second detection: first, it acquires an environmental image including the bridge deck, and then performs image feature recognition on the environmental image; if it identifies that the bridge deck includes several dark pixels with abrupt color changes, it determines that the bridge deck is fractured and the fracture surface is not visible.

[0064] In summary, in this embodiment, the bridge deck detection device initially infers whether the bridge deck has fractured by comparing the reflection distance and a distance threshold. If the reflection distance equals the distance threshold, the bridge deck has not fractured; if the reflection distance does not equal the distance threshold, the corresponding bridge deck detection is initiated based on the specific numerical relationship between the reflection distance and the distance threshold to further determine whether the bridge deck has actually fractured. It is evident that this application achieves efficient bridge deck detection by initiating the corresponding bridge deck detection based on the numerical relationship between the reflection distance and the distance threshold. This allows for timely detection of bridge deck fractures, enabling passengers in the vehicle to take proactive risk avoidance strategies and avoid being placed in a dangerous situation.

[0065] To more clearly illustrate the above-mentioned bridge deck inspection method, this application provides a more detailed description of the steps for initiating the first inspection. Next, this application will combine... Figure 4 The flowchart illustrating the first detection step is shown below. Specifically:

[0066] 401: Obtain the reflection distance and distance threshold of the bridge surface.

[0067] 402: Compare the numerical relationship between the reflection distance and the distance threshold.

[0068] In this embodiment, if the reflection distance is equal to the distance threshold, the bridge surface is determined to be flat; if the reflection distance is not equal to the distance threshold, the specific magnitude of the difference between the reflection distance and the distance threshold is determined, and further detection needs to be performed.

[0069] 403: If the reflection distance is less than the distance threshold, initiate the first detection to determine whether the bridge deck is broken and the cross-section is visible.

[0070] In this embodiment, if the reflection distance is less than a distance threshold, it is presumed that the bridge deck may be fractured and the fracture surface may be visible. In this case, the bridge deck detection device initiates a first detection to further verify whether the actual condition of the bridge deck is consistent with the prediction.

[0071] Specifically, the bridge deck inspection device can determine whether the bridge deck is fractured and the cross-section is visible by detecting whether there are exposed steel bars on the bridge deck or by detecting whether the bridge deck is tilted.

[0072] The above method of determining whether a bridge deck is fractured and the cross-section is visible by detecting whether there are exposed steel bars on the bridge deck refers to: acquiring an environmental image including the bridge deck; performing target recognition on the environmental image; and determining that the bridge deck is fractured and the cross-section is visible when steel bars are detected on the bridge deck.

[0073] In this embodiment, the bridge deck detection device first captures an environmental image of the area in front of the vehicle using a camera. This environmental image includes the bridge deck in front of the vehicle. Then, it performs target recognition on the environmental image. If exposed rebar is detected on the bridge deck in the environmental image, it is determined that the bridge deck is fractured and the cross-section is visible. The aforementioned target recognition refers to the bridge deck detection device using target recognition technology to detect whether the environmental image contains exposed rebar. Target recognition technology includes, but is not limited to, target recognition based on sliding windows and target recognition based on convolutional neural networks.

[0074] The above method of determining whether a bridge deck is fractured and the cross-section is visible by detecting whether the bridge deck is tilted refers to: first detecting the tilt of the bridge deck, and then determining that the bridge deck is fractured and the cross-section is visible if the tilt of the bridge deck is greater than a preset tilt angle.

[0075] In the embodiments of this application, such as Figure 1 As shown, since the bridge deck on the side where the vehicle is located is lower than the bridge deck on the opposite side, the bridge deck on the side where the vehicle is located is very likely to have fractured. Therefore, the bridge deck detection device can determine whether the bridge deck has fractured by measuring the bridge deck inclination with a level. The aforementioned preset inclination angle can be zero degrees or any preset value, and this application does not impose any restrictions on it.

[0076] In summary, in this embodiment of the application, the bridge deck detection device initiates a first detection when the reflection distance is less than the distance threshold, in order to determine whether the bridge deck is fractured and the fracture surface is visible. Therefore, this application solves the problem of... Figure 1 The detection problem in the scenario shown where the bridge deck is broken and the cross-section is visible.

[0077] To more clearly illustrate the above-mentioned bridge deck inspection method, this application provides a more detailed explanation of the steps for initiating the second inspection. Next, this application will combine... Figure 5The flowchart illustrating the initiation of the second detection step is provided below. Specifically:

[0078] 501: Obtain the reflection distance and distance threshold of the bridge surface.

[0079] 502: Compare the numerical relationship between the reflection distance and the distance threshold.

[0080] In this embodiment, if the reflection distance is equal to the distance threshold, the bridge surface is determined to be flat; if the reflection distance is not equal to the distance threshold, the specific magnitude of the difference between the reflection distance and the distance threshold is determined, and further detection needs to be performed.

[0081] 503: If the reflection distance is greater than the distance threshold, initiate a second detection to determine if the bridge deck is broken and the cross-section is not visible.

[0082] In this embodiment, if the reflection distance is greater than a distance threshold, it is presumed that the bridge deck may be fractured and the fracture surface may not be visible. In this case, the bridge deck detection device initiates a second detection to further verify whether the actual condition of the bridge deck is consistent with the prediction.

[0083] Specifically, in order to detect whether the bridge deck is broken and the cross-section is not visible, the bridge deck detection device first acquires an environmental image including the bridge deck, then performs image feature recognition on the environmental image, and finally determines that the bridge deck is broken and the cross-section is not visible when the bridge deck is identified to include several dark pixels with color abrupt changes.

[0084] In this embodiment, the bridge deck detection device first captures an environmental image of the area in front of the vehicle using a camera device. This environmental image includes the bridge deck in front of the vehicle. Then, it identifies dark pixels with abrupt color changes in the environmental image. If several dark pixels with abrupt color changes are identified, it is determined that the bridge deck is broken and the cross-section is not visible. Figure 2 As shown, when the bridge deck is broken and the cross-section is not visible, the broken part of the bridge deck will appear a darker color than the original bridge deck. Therefore, when the bridge deck detection device detects several dark pixels with color abrupt changes in the bridge deck in the environmental image, it can be determined that the bridge deck has broken and the cross-section is not visible.

[0085] In summary, in this embodiment of the application, when the reflection distance is greater than the distance threshold, the bridge deck detection device initiates a second detection to determine whether the bridge deck is fractured and the fracture surface is not visible. Therefore, this application solves the problem of... Figure 2 The problem of detection in a scenario where the bridge deck is broken and the cross-section is not visible.

[0086] See Figure 6This invention also provides a schematic block diagram of a bridge deck inspection device. Embodiments of this invention can divide the device into functional units based on the above method examples. For example, each function can be divided into separate functional units, or two or more functions can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. It should be noted that the unit division in this embodiment is illustrative and only represents one logical functional division; in actual implementation, other division methods may be used. Figure 3 As shown, the bridge deck inspection device includes an acquisition unit 610, a comparison unit 620, and a detection unit 630, specifically:

[0087] The acquisition unit 610 is used to acquire the reflection distance and distance threshold of the bridge surface; the comparison unit 620 is used to compare the numerical relationship between the reflection distance and the distance threshold; the detection unit 630 is used to initiate the corresponding bridge surface detection based on the numerical relationship between the reflection distance and the distance threshold to determine whether the bridge surface is broken.

[0088] Optionally, the detection unit 630 is specifically configured to initiate a first detection when the reflection distance is less than the distance threshold to determine whether the bridge deck is broken and the cross-section is visible; and to initiate a second detection when the reflection distance is greater than the distance threshold to determine whether the bridge deck is broken and the cross-section is not visible.

[0089] Optionally, the detection unit 630 is specifically used to acquire an environmental image including the bridge deck; perform target recognition on the environmental image; and determine that the bridge deck is fractured and the cross-section is visible when the bridge deck is found to contain reinforcing bars.

[0090] Optionally, the detection unit 630 is specifically used to detect the inclination of the bridge deck; if the inclination of the bridge deck is greater than a preset inclination angle, it is determined that the bridge deck is fractured and the cross-section is visible.

[0091] Optionally, the detection unit 630 is specifically used to acquire an environmental image including the bridge surface; perform image feature recognition on the environmental image; and determine that the bridge surface is broken and the cross-section is not visible when the bridge surface is identified to include several dark pixels with color abrupt changes.

[0092] Optionally, the acquisition unit 610 is specifically used to detect that the road section ahead is a bridge; activate the lidar device, which is fixed to the roof of the vehicle in a telescopic manner; acquire the length of the bridge, and adjust the height of the lidar device according to the length of the bridge to acquire the reflection distance of the bridge surface.

[0093] Optionally, the acquisition unit 610 is specifically used to acquire the ground clearance and emission angle of the lidar device; and to determine the distance threshold based on the ground clearance and emission angle.

[0094] In summary, the bridge deck detection device first acquires the reflection distance and distance threshold of the bridge deck through the acquisition unit 610, then compares the numerical relationship between the reflection distance and the distance threshold through the comparison unit 620, and finally initiates the corresponding bridge deck detection based on the numerical relationship through the detection unit 630 to determine whether the bridge deck is fractured. It is evident that this method can detect the bridge deck and determine whether it is fractured, enabling passengers in the vehicle to take timely and proactive risk avoidance strategies to prevent being placed in a dangerous situation.

[0095] See Figure 7 This application also provides a structural block diagram of a bridge deck inspection device. As shown in the figure, the bridge deck inspection device in this embodiment may include a processor 710 and a memory 720. The processor 710 and the memory 720 are connected via a bus 730.

[0096] The processor 710 can be a central processing unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 710 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. In this embodiment, the processor 710 can be a microcontroller. By programming the microcontroller, various control functions can be implemented. For example, in this embodiment, the processor can acquire, process, and demodulate battery data signals and level signals. The processor has the advantages of powerful computing capabilities and fast processing speed. The processor 710 can execute the above methods by calling the program code stored in the memory 720. Specifically:

[0097] The processor 710 is used to acquire the reflection distance and distance threshold of the bridge surface; compare the numerical relationship between the reflection distance and the distance threshold; and initiate corresponding bridge surface detection based on the numerical relationship between the reflection distance and the distance threshold to determine whether the bridge surface is broken.

[0098] Optionally, the processor 710 is further configured to initiate a first detection when the reflection distance is less than the distance threshold to determine whether the bridge deck is broken and the cross-section is visible; and to initiate a second detection when the reflection distance is greater than the distance threshold to determine whether the bridge deck is broken and the cross-section is not visible.

[0099] Optionally, the processor 710 is further configured to acquire an environmental image including the bridge deck; perform target recognition on the environmental image; and, if the bridge deck is found to contain reinforcing bars, determine that the bridge deck is fractured and the cross-section is visible.

[0100] Optionally, the processor 710 is further configured to detect the inclination of the bridge deck; and if the inclination of the bridge deck is greater than a preset inclination angle, determine that the bridge deck is fractured and the cross-section is visible.

[0101] Optionally, the processor 710 is further configured to acquire an environmental image including the bridge deck; perform image feature recognition on the environmental image; and determine that the bridge deck is broken and the cross-section is not visible when the bridge deck is identified to include several dark pixels with color abrupt changes.

[0102] Optionally, the processor 710 is further configured to detect that the road ahead is a bridge; activate the lidar device, which is fixed to the roof of the vehicle in a telescopic manner; obtain the length of the bridge; and adjust the height of the lidar device according to the length of the bridge to obtain the reflection distance of the bridge surface.

[0103] Optionally, the processor 710 described above is further configured to acquire the ground clearance and emission angle of the lidar device; and determine the distance threshold based on the ground clearance and emission angle.

[0104] This application also provides a computer-readable storage medium storing a plurality of instructions adapted for loading by a processor and executing the methods in any of the foregoing embodiments.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A bridge deck inspection method, characterized in that, include: Obtain the reflection distance and distance threshold of the bridge surface; Compare the numerical relationship between the reflection distance and the distance threshold; If the reflection distance is less than the distance threshold, a first detection is initiated to determine whether the bridge deck is fractured and the cross-section is visible. If the reflection distance is greater than the distance threshold, a second detection is initiated to determine whether the bridge deck is fractured and the fracture surface is not visible.

2. The method according to claim 1, characterized in that, The first detection includes: Acquire environmental images including the bridge deck; Target recognition is performed on the environmental image; If the bridge deck is found to contain reinforcing steel bars, it is determined that the bridge deck is fractured and the cross-section is visible.

3. The method according to claim 1, characterized in that, The first detection includes: Detect the inclination of the bridge deck; If the inclination of the bridge deck is greater than a preset inclination angle, it is determined that the bridge deck is fractured and the cross-section is visible.

4. The method according to claim 1, characterized in that, The second detection includes: Acquire environmental images including the bridge deck; Perform image feature recognition on the environmental image; If the bridge surface is found to contain several dark pixels with abrupt color changes, it is determined that the bridge surface is broken and the cross-section is not visible.

5. The method according to claim 1, characterized in that, The step of obtaining the reflection distance of the bridge deck includes: The road ahead has been detected as a bridge. The lidar device is activated; the lidar device is fixed to the roof of the vehicle in a telescopic manner. The length of the bridge is obtained, and the height of the lidar device is adjusted according to the length of the bridge to obtain the reflection distance of the bridge surface.

6. The method according to claim 1, characterized in that, The step of obtaining the distance threshold includes: Obtain the ground clearance and emission angle of the lidar device; The distance threshold is determined based on the ground clearance and launch angle.

7. A bridge deck inspection device, characterized in that, The device includes: The acquisition unit is used to acquire the reflection distance and distance threshold of the bridge surface; A comparison unit is used to compare the numerical relationship between the reflection distance and the distance threshold. The detection unit is used to initiate corresponding bridge deck detection based on the numerical relationship between the reflection distance and the distance threshold to determine whether the bridge deck is broken; wherein, if the reflection distance is less than the distance threshold, a first detection is initiated to determine whether the bridge deck is broken and the cross-section is visible; if the reflection distance is greater than the distance threshold, a second detection is initiated to determine whether the bridge deck is broken and the cross-section is not visible.

8. A bridge deck inspection device, characterized in that, The device includes a processor and a memory connected via a bus; the processor is used to execute multiple instructions; the memory is used to store the multiple instructions, which are adapted to be loaded by the processor and executed as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted for loading by a processor and executing the bridge deck detection method as described in any one of claims 1-6.

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