A road disease positioning method, device and computer readable storage medium

Abstract

The embodiment of the present application discloses a road disease positioning method, comprising the following steps: determining a road area to be detected and at least one road position marker; setting a mark on the road, the mark containing at least position information represented by the road position marker; collecting road information and real-time positioning information of the road area to be detected, and collecting the mark to obtain a collection result; obtaining relative position relationship information between at least one disease positioning position information and the mark and information contained in the mark according to the collection result; and characterizing the at least one disease through the relative position relationship information between the at least one disease and the mark and the information contained in the mark. The embodiment of the present application also discloses a road disease positioning device and a computer readable storage medium. The present application reduces the difficulty of finding diseases in the field.

Description

Technical Field

[0001] This invention relates to the field of road inspection technology, and in particular to a method, apparatus and computer-readable storage medium for locating road defects. Background Technology

[0002] Roads, especially highways, have long inspection lengths. Without markers, even if inspection equipment locates road defects, it's difficult for workers to pinpoint their exact physical location. Typically, when workers locate defects on-site using GPS coordinates, low-precision GPS devices suffer from significant positioning errors, only locating the vicinity of the defect, not its exact location. High-precision GPS devices are too expensive. Furthermore, some defects are located beneath the road surface; even after locating the vicinity using GPS, workers may find them difficult to visually inspect from the road surface. Summary of the Invention

[0003] The main objective of this invention is to provide a method, apparatus, and computer-readable storage medium for locating road defects, aiming to solve the technical problem in the prior art that it is difficult for workers to find road defects on-site based on detection results.

[0004] To achieve the above objectives, the present invention provides a method for locating road defects, the method comprising the following steps:

[0005] Identify the road area to be inspected and at least one road location marker;

[0006] Markings are placed on the road, the markings containing at least the location information represented by the road location markers;

[0007] The road information and real-time location information of the road area to be detected are collected, and the markers are collected to obtain the collection results;

[0008] Based on the collected results, information on the relative positional relationship between at least one disease and the marker, as well as information contained in the marker, are obtained;

[0009] The at least one disease is characterized by the relative positional relationship between the at least one disease and the marker, and by the information contained in the marker.

[0010] Preferably, the step of determining the road area to be detected and at least one road location marker includes:

[0011] Identify the road area to be detected and at least one road location marker located within the road segment of the road area to be detected; or

[0012] Identify the road area to be detected and at least one road location marker closest to the road area to be detected.

[0013] Preferably, the step of setting markers on the road, wherein the markers at least contain location information represented by the road location markers, includes:

[0014] Markings are applied to the road area to be inspected by spraying and / or carving and / or placing.

[0015] Preferably, the step of setting markers on the road, wherein the markers at least contain location information represented by the road location markers, includes:

[0016] Markings are placed on the road area to be detected, with the line connecting the markings and the road location markers perpendicular to the road traffic direction, and the markings containing the location information represented by the road location markers; or

[0017] A marker is set on the road area to be detected. The line connecting the marker and the road location marker is not perpendicular to the road traffic direction. The marker contains the location information represented by the road location marker, as well as the relative positional relationship information between the marker and the road location marker.

[0018] Preferably, the steps of collecting road information and real-time location information of the road area to be detected, and collecting the markers to obtain the collection results include:

[0019] The system collects road information and real-time location information of the road area to be detected, and collects the markers during the process of collecting the road information and real-time location information of the road area to be detected, thereby obtaining the collection results.

[0020] Preferably, the steps of collecting road information and real-time location information of the road area to be detected, and collecting the markers during the process of collecting the road information and real-time location information of the road area to be detected, to obtain the collection results include:

[0021] The camera is used to acquire road image information of the road area to be detected, and the image of the marker is acquired during the process of acquiring the road image information of the road area to be detected, so as to obtain the image acquisition result;

[0022] Ground-penetrating radar is used to collect internal road information of the road area to be detected, and radar collection results are obtained.

[0023] The positioning device is used to perform real-time positioning during the data collection process to obtain real-time positioning information.

[0024] Preferably, the step of obtaining relative positional information between at least one disease and the marker, and the information contained in the marker, based on the acquisition results, includes:

[0025] Based on real-time positioning information, image acquisition results and / or radar acquisition results, obtain the location information of at least one disease and the location information of the marker, compare the location information of the at least one disease and the location information of the marker, and obtain the relative positional relationship information between the at least one disease and the marker.

[0026] Based on the image acquisition results, the information contained in the marker is obtained.

[0027] Preferably, the step of characterizing the at least one disease using the relative positional relationship information between the at least one disease and the marker, and the information contained in the marker, includes:

[0028] By using the relative positional relationship information between the at least one disease and the marker, and the information contained in the marker, the relative positional relationship information between the at least one disease and the road location marker, and the location information represented by the road location marker, the at least one disease is characterized using the relative positional relationship information between the at least one disease and the road location marker, and the location information represented by the road location marker.

[0029] Furthermore, to achieve the above objectives, the present invention also proposes a road defect location device, the road defect location device comprising:

[0030] The preset module is used to determine the road area to be detected and at least one road location marker;

[0031] A marking module is used to set markings on the road, the markings containing at least the location information represented by the road location markers;

[0032] The acquisition module is used to acquire road information and real-time location information of the road area to be detected, and to acquire the markers to obtain the acquisition results;

[0033] The processing module is used to obtain, based on the acquisition results, information on the relative positional relationship between at least one disease and the marker, and information contained in the marker;

[0034] The characterization module is used to characterize the at least one disease using the relative positional relationship information between the at least one disease and the marker and the information contained in the marker.

[0035] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a control program for road defect characterization, wherein the control program for road defect characterization, when executed by a processor, performs the following steps:

[0036] Identify the road area to be inspected and at least one road location marker;

[0037] Markings are placed on the road, the markings containing at least the location information represented by the road location markers;

[0038] The road information and real-time location information of the road area to be detected are collected, and the markers are collected to obtain the collection results;

[0039] Based on the collected results, information on the relative positional relationship between at least one disease and the marker, as well as information contained in the marker, are obtained;

[0040] The at least one disease is characterized by the relative positional relationship between the at least one disease and the marker, and by the information contained in the marker.

[0041] The proposed solution involves identifying at least one road location marker, setting up a marker on the road, and collecting road information and the marker to obtain the location information of the disease. The disease is then characterized using the information contained in the marker, thereby enabling the characterization and assisted location of the disease using road location markers. This reduces the difficulty for staff to locate the disease on-site. Attached Figure Description

[0042] Figure 1 This is a schematic flowchart illustrating an embodiment of the method for locating road defects according to the present invention.

[0043] Figure 2 This is a schematic diagram of the road inspection site according to the present invention;

[0044] Figure 3 This is another schematic diagram of a road inspection site according to the present invention;

[0045] Figure 4 This is a schematic diagram of the road defect location device involved in an embodiment of the present invention.

[0046] Attached label: 1-Road; 2-Road area to be inspected; 3-Road location marker; 3'-Road location marker; 4-Mark; 5-Disease.

[0047] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0049] The method for locating road defects in this invention can be implemented by a road defect location device alone, or by multiple devices and / or manual labor, such as a road inspection device and a spraying device and / or manual labor working together. For ease of understanding, the defect detection process of the road defect location device / road inspection device will be explained here.

[0050] Taking a road defect location / detection device equipped with a high-precision camera, ground-penetrating radar, and positioning device as an example: After determining the road detection area, the detection path of the road defect location / detection device is planned manually or automatically, such as a "V" shaped path. During the mobile detection process, the real-time positioning information of the road defect location / detection device is acquired. Simultaneously, the high-precision camera takes pictures at fixed intervals, ensuring some overlap between adjacent photos. Ground-penetrating radar collects road surface data, and the positioning device obtains the accurate locations of the high-precision camera's acquisition points and the ground-penetrating radar's acquisition points. This location information is then associated and stored with the corresponding camera images and radar data. The photos are stitched together based on their positions, and overlapping parts are removed. Through recognition algorithms and / or manual identification, the apparent defects in the images acquired by the high-precision camera and the internal defects in the ground-penetrating radar data are obtained to acquire the accurate location information of the defects.

[0051] Reference Figure 1 and 2 In one embodiment of the present invention, the method for locating road defects includes the following steps:

[0052] Step S10: Determine the road area to be detected and at least one road location marker.

[0053] In this embodiment, a detection area is defined in road 1 as the road area to be detected, based on actual detection requirements. Figure 2The road area to be detected (2) can be determined by means of the shaded area in the diagram, or by using a location calibrator or other device to collect the actual location information of the key points of the boundary of the area to be detected. Then, a region is fitted by the key points of the boundary as the road area to be detected. In this embodiment, the specific method of determining the road to be detected is not limited. The final determined road area to be detected can be a closed figure enclosed by any curve and / or straight line, preferably a constant-width figure that conforms to the shape of the actual road. The width of the constant-width figure is the width of the actual road, and the constant-width figure is consistent with the actual road in the extension direction in the length direction. The road area to be detected 2 is a constant-width figure that conforms to the shape of the actual road. This makes it easier for the road defect location device to plan a reasonable collection path, avoids repeated paths in the process of collecting road information, and facilitates subsequent processing such as splicing of the collection results, saving collection and processing time.

[0054] Furthermore, at least one road location marker is determined according to actual representation needs. Specifically, the road location marker 3 can be a station mark, a warning sign with distance information, a boundary marker, a street light, etc. This embodiment does not limit the specific type of road location marker 3, as long as the road location marker 3 has characteristics that distinguish it from other similar road location markers and facilitates on-site location. Preferably, the identification information of the road location marker 3 can indicate its specific location, making it easy for users to find the road section where the road location marker 3 is located based on this identification information.

[0055] Step S20: Set a marker on the road, the marker containing at least the location information represented by the road location marker.

[0056] In this embodiment, the marker 4 is set on road 1. This can be done either within the road segment of the road area 2 to be detected, or outside that segment, as long as the subsequent road defect location device can collect data on the marker 4. The marker 4 is positioned close to the side of road 1; preferably, the distance between the marker 4 and the side of road 1 is a preset distance. Specifically, the marker 4 can be directly placed on road 1 using road 1 itself as the carrier, or it can be placed on another carrier first, and then that carrier is placed on road 1. Specifically, the carrier can be a planar carrier, an electronic device carrier, or any other carrier capable of carrying information; this embodiment does not limit this. Through the above methods, the marker 4 is set on road 1.

[0057] In this embodiment, the marker 4 contains at least the location information represented by the road location marker 3, that is, the location information represented by the road location marker 3 can be read from the marker 4. Specifically, the location information represented by the road location marker 3 can be the location information represented by the number on the station, the location and distance represented by the location on the warning sign, the location information represented by the street light number, etc. The location information represented by the road location marker 3 can be directly recorded on the surface of marker 4. Taking a kilometer marker as the road location marker 3 as an example, the text "100G50" on a certain kilometer marker indicates that this is 100 kilometers away from the starting point of the G50 Shanghai-Chongqing Expressway. The text "①100" on another 100-meter marker indicates that this is 100 kilometers plus 100 meters away from the starting point of the G50 Shanghai-Chongqing Expressway. Therefore, the image and / or text of the road location marker 3 can be directly used as marker 4. Specifically, marker 4 can be abbreviated as "100G50" or "①100", or it can be recorded in detail as "100 kilometers away from the starting point of the G50 Expressway" or "100 kilometers plus 100 meters away from the starting point of the G50 Expressway". This embodiment does not limit the specific text expression method. Alternatively, a correspondence between marker 4 and the location information represented by the road location marker 3 can be preset. The location information represented by the road location marker 3 can be obtained through marker 4 and this correspondence. In the above way, marker 4 can at least contain the location information represented by the road location marker 3.

[0058] Step S30: Collect road information and real-time location information of the road area to be detected, and collect the markers to obtain the collection results.

[0059] In this embodiment, to determine whether defects 5 exist in the road area 2 to be inspected and the location of defects 5, it is necessary to collect road information of the road area to be inspected. The relevant collection methods can include using a high-precision camera to collect road surface information, or using ultrasonic modules, ground-penetrating radar, etc., to collect information about the interior of the road. Simultaneously, real-time positioning information is obtained by synchronously locating each road section during inspection. Specifically, when the implementing entity is a road defect location device, this real-time positioning information can be obtained by measuring the travel distance and orientation of the road defect location device using a gyroscope or similar device. This embodiment does not limit the method of obtaining real-time positioning information, as long as the relative movement position of the road defect location device can be accurately obtained. In this embodiment, the collection of marker 4 can be done in various ways. Specifically, when the carrier of marker 4 is an electronic device, marker 4 can be collected wirelessly via infrared, Bluetooth, WIFI, NFC, etc.; when the carrier of marker 4 is a planar carrier or marker 4 is directly placed on the road, marker 4 can be collected by taking a picture. Through the above methods, road information and marker 4 are collected, and the collection results are obtained.

[0060] Step S40: Based on the acquisition results, obtain information on the relative positional relationship between at least one disease and the marker, as well as information contained in the marker.

[0061] In this embodiment, by analyzing and processing the collected results, it is determined whether there is a defect 5 in the road area 2 to be detected. Simultaneously, based on the real-time positioning information during the collection process, the relative position between at least one defect 5 and marker 4 is determined, obtaining the relative positional relationship information between at least one defect 5 and marker 4. Based on the direct description of marker 4 or the preset correspondence between marker 4 and a given information, the information contained in marker 4 is obtained, including at least the positional information represented by the road location marker 3.

[0062] Step S50: The at least one disease is characterized by the relative positional relationship information between the at least one disease and the marker and the information contained in the marker.

[0063] In this embodiment, at least one defect 5 is characterized by the information contained in the marker 4. Specifically, it can be characterized by the relative positional relationship between at least one defect 5 and the marker 4 and the positional information represented by the road location marker 3 contained in the marker 4, through charts, text, or visualization, thereby establishing the relationship between at least one defect 5 and the marker 4 and the road location marker 3.

[0064] In summary, in this embodiment, a road area 2 to be detected and at least one road location marker 3 are determined. A marker 4 is set on the road 1, and the marker 4 contains at least the location information represented by the road location marker 3. Road information and real-time positioning information of the road area 2 to be detected are collected, and the marker 4 is also collected to obtain the collection results. Based on the collection results, the relative positional relationship information between at least one defect 5 and the marker 4 and the information contained in the marker 4 are obtained. The at least one defect 5 is characterized by the relative positional relationship information between the at least one defect 5 and the marker 4 and the information contained in the marker 4. This allows users to first obtain the information contained in the corresponding marker 4 and the relative positional relationship between the disease 5 and the marker 4 based on the characterized disease 5 when locating the disease 5 in the field. Then, based on the information contained in the marker 4, they can obtain the location information represented by the road location marker 3. Furthermore, based on the location information represented by the road location marker 3, they can easily find the road location marker 3 and the marker 4 in the field. Finally, starting from the road location marker 3 and / or the marker 4, and relying on the relative positional relationship between the disease 5 and the marker 4, they can easily find the disease 5, thus avoiding the inconvenience caused by directly using the GPS location information of the disease for on-site search.

[0065] Optionally, in one embodiment, step S10 above includes:

[0066] Step S11: Determine the road area to be detected and at least one road location marker located within the road segment of the road area to be detected; or determine the road area to be detected and at least one road location marker closest to the road area to be detected.

[0067] In this embodiment, when there are road location markers 3 within the road segment to be detected (Road Area 2), at least one road location marker 3 within that segment can be selected directly for characterizing the road defect 5, as needed. If there are no road location markers 3 within the road segment to be detected (Road Area 2), at least one road location marker 3 closest to the road segment to be detected can be selected for characterizing the road defect 5, as needed. Alternatively, the selection can be flexible, based on actual needs, choosing from the road location markers within the road segment to be detected (Road Area 2) or those closest to it, without following the above priority order. Through step S11, the determined road location markers 3 will be closer to the location of the defect 5, making it easier for users to locate the defect 5 on-site using the road location markers 3.

[0068] Optionally, in one embodiment, step S20 above includes:

[0069] Step S21: Markings are set on the road area to be detected by spraying and / or carving and / or placing.

[0070] In this embodiment, the marker 4 can be directly placed on the road 1 by spraying and / or engraving, or it can be placed on a carrier and then the carrier is placed on the road 1. Specifically, the marker 4 can be set using a road defect location device, or it can be set using a specific device, such as spraying the marker 4 with a sprayer. This embodiment does not limit the method of setting the marker 4. It should be noted that, as an optional implementation, the marker 4 set by spraying and / or engraving and / or placing is removable. After the defect 5 is located or repaired, the marker 4 can be removed, and the process of setting and removing the marker 4 will not damage the use of the road.

[0071] Optionally, in one embodiment, step S20 above includes:

[0072] Step S22: Set a mark on the road area to be detected, wherein the line connecting the mark and the road location marker is perpendicular to the road traffic direction, and the mark contains the location information represented by the road location marker; or set a mark on the road area to be detected, wherein the line connecting the mark and the road location marker is not perpendicular to the road traffic direction, and the mark contains the location information represented by the road location marker, as well as the relative positional relationship information between the mark and the road location marker.

[0073] In this embodiment, setting the marker 4 on the road area 2 to be detected allows the road defect 5 locating device to collect the marker 4 along the path of collecting road information, simplifying the workflow and saving collection time.

[0074] In this embodiment, as Figure 2 As shown, Figure 2 The direction indicated by the middle arrow is the road travel direction. This allows the road segment where road location marker 3 is located to coincide with the road segment where marker 4 is located, meaning the line connecting marker 4 and road location marker 3 is perpendicular to the road travel direction. In this case, marker 4 contains the location information represented by road location marker 3. By default, the relative position difference between marker 4 and road location marker 3 along the road travel direction is 0. Figure 3As shown, the road segment where road location marker 3' is located can also be made to not coincide with the road segment where marker 4 is located, that is, the line connecting marker 4 and road location marker 3' is not perpendicular to the road traffic direction. In this case, marker 4 not only contains the location information represented by road location marker 3', but also the relative positional relationship information between marker 4 and road location marker 3'. The relative positional relationship information between marker 4 and road location marker 3' can be obtained by measuring with a road defect location device, or by other distance measurement methods; this embodiment does not specifically limit this. Setting the relative positional relationship information between marker 4 and road location marker 3' facilitates users in verifying the correctness of the selected road location marker when searching for defects on-site, and also facilitates users in locating the defect 5 from marker 4.

[0075] The two methods of setting the marker 4 can be flexibly selected according to actual needs. For example, when the road location marker 3 is located within the road area 2 to be detected, the line connecting the marker 4 and the road location marker 3 is perpendicular to the road traffic direction. When the road location marker 3' is located outside the road area 2 to be detected, the marker 4 is set within the road area 2 to facilitate the setting and collection of the marker 4. For another example, if there are defects 5, water stains, or other conditions that make it inconvenient to set the marker 4 at the location of the road location marker 3 within the road area 2 to be detected, the marker 4 can be set at other road sections within the road area 2 to be detected for ease of setting. That is, the line connecting the marker 4 and the road location marker 3 may not be perpendicular to the road traffic direction.

[0076] Optionally, in one embodiment, step S30 above includes:

[0077] Step S31: Collect road information and real-time location information of the road area to be detected, and collect the markers during the process of collecting road information and real-time location information of the road area to be detected, and obtain the collection results.

[0078] In this embodiment, the collection of road information and the collection of marker 4 can be performed simultaneously. For example, while the road defect location device is collecting road information according to a preset path, the collection of marker 4 is performed when the road defect location device reaches a preset position. This method avoids the need for an additional separate step to collect marker 4, saving collection time. Preferably, the collection of marker 4 can be performed when the road defect location device passes by marker 4, and real-time location information can be recorded simultaneously to achieve accurate positioning of marker 4.

[0079] Optionally, in one embodiment, step S31 includes:

[0080] Step S32: Use a camera to collect road image information of the road area to be detected, and collect images of the markers during the process of collecting road image information of the road area to be detected, to obtain image collection results; use ground penetrating radar to collect internal road information of the road area to be detected, to obtain radar collection results; use a positioning device to perform real-time positioning during the collection process, to obtain real-time positioning information.

[0081] In this embodiment, marker 4 is placed on the road area to be inspected. The road defect location device uses a high-precision camera to photograph the road area 2 to be inspected. Since marker 4 is placed on this road area, the high-precision camera can photograph marker 4 simultaneously when photographing the road surface. Preferably, in this embodiment, marker 4 is directly placed on the road 1 by spraying and / or engraving.

[0082] This embodiment combines the acquisition of road image information for the road area 2 to be detected with the acquisition of images of marker 4. Compared with the original method of only acquiring road image information, it does not increase the acquisition time, but greatly facilitates the subsequent on-site search for defects 5. In addition, this embodiment only requires the camera needed for the original acquisition to acquire the image of marker 4, without the need to set up an additional acquisition device for marker 4, thus saving costs and time.

[0083] Optionally, in one embodiment, step S40 above includes:

[0084] Step S41: Based on real-time positioning information, image acquisition results and / or radar acquisition results, obtain the location information of at least one disease and the location information of the marker; compare the location information of the at least one disease and the location information of the marker to obtain the relative positional relationship information between the at least one disease and the marker; based on the image acquisition results, obtain the information contained in the marker.

[0085] In this embodiment, by analyzing and processing the road image information acquired by the camera and the internal road information acquired by the radar, it can be determined whether there is at least one defect 5 in the road area 2 to be detected. Combined with real-time positioning information, the specific location information of at least one defect 5 and the location information of the marker 4 can be obtained. The location of defect 5 can be the geometric center of defect 5 or the edge feature point of defect 5. This embodiment does not make a specific limitation. Then, by comparing the location information of at least one defect 5 and the location information of the marker 4, the relative positional relationship information between at least one defect 5 and the marker 4 is obtained. The part of the image acquisition result related to marker 4 is analyzed and processed to obtain the information contained in marker 4.

[0086] For example, when the mark 4 contains the location information represented by the road location marker 3, the mark 4 is symbol information and / or text information. The correspondence between the symbol information and the location information represented by the road location marker 3 is pre-configured. The text information directly records the location information represented by the road location marker 3. Based on the image acquisition results, image recognition and / or manual recognition are performed on the symbol information and / or text recognition and / or manual recognition are performed on the text information to obtain the location information represented by the road location marker 3.

[0087] For example, when the mark 4 contains the location information represented by the road location marker 3 (3') and the relative positional relationship information between the mark 4 and the road location marker 3 (3'), the mark 4 is symbol information and / or text information. The correspondence between the symbol information and the location information represented by the road location marker 3 (3'), and the relative positional relationship information between the symbol information and the road location marker 3 (3') is pre-configured. The text information directly records the location information represented by the road location marker 3 (3') and the relative positional relationship information between the text information and the road location marker 3 (3'). Based on the image acquisition results, image recognition and / or manual recognition and / or text recognition and / or manual recognition are performed on the symbol information to obtain the location information represented by the road location marker 3 (3') and the relative positional relationship information between the symbol information and / or text information and the road location marker 3 (3').

[0088] In this embodiment, by collecting and associating the real-time positioning information of marker 4, the positioning information of marker 4 is obtained. Then, by referring to the positioning information of disease 5, the relative positional relationship between marker 4 and disease 5 is derived. When searching for disease 5 in the field later, disease 5 can be easily located by starting from marker 4 and based on the relative positional relationship between marker 4 and disease 5.

[0089] Furthermore, based on the relative positional relationship between marker 4 and defect 5, as well as the relative positional relationship between marker 4 and road location marker 3 (3'), the relative positional relationship between road location marker 3 (3') and defect 5 can be obtained. When subsequently locating defect 5 on-site, if marker 4 is missing or damaged, defect 5 can be easily located starting from road location marker 3 (3') based on the relative positional relationship between road location marker 3 (3') and defect 5.

[0090] Optionally, based on the previous embodiment, step S50 includes:

[0091] Step S51: Using the relative positional relationship information between the at least one disease and the marker and the information contained in the marker, obtain the relative positional relationship information between the at least one disease and the road location marker and the location information represented by the road location marker, and use the relative positional relationship information between the at least one disease and the road location marker and the location information represented by the road location marker to characterize the at least one disease.

[0092] In this embodiment, when the marker 4 contains the location information represented by the road location marker 3, and the relative position difference between the marker 4 and the road location marker 3 along the travel direction of the road 1 is 0, the relative position relationship information between the at least one defect 5 and the road location marker 3 can be obtained based on the relative position relationship information between the at least one defect 5 and the marker 4; when the marker 4 contains not only the location information represented by the road location marker 3 (3'), but also the relative position relationship information between the marker 4 and the road location marker 3 (3'), the relative position relationship information between the at least one defect 5 and the road location marker 3 (3') can be obtained based on the relative position relationship information between the at least one defect 5 and the marker 4 and the relative position relationship information between the marker 4 and the road location marker 3 (3').

[0093] This embodiment not only characterizes the defect 5 by the location information represented by the road location marker 3 (3'), but also by the relative positional relationship between the road location marker 3 (3') and the defect 5. This method can characterize these defects in an orderly manner when there are multiple defects of the same type in the road area 2 to be detected. At the same time, during subsequent on-site search, the corresponding road location marker 3 (3') can be determined directly based on a defect after characterization, that is, the approximate area range of the defect is obtained. After reaching the area range of the road location marker 3 (3'), the defect can be found based on the relative positional relationship between the road location marker 3 (3') and the defect.

[0094] To achieve the above objectives, the present invention also provides a road defect location device, the road defect location device comprising:

[0095] The preset module is used to determine the road area to be detected and at least one road location marker;

[0096] A marking module is used to set markings on the road, the markings containing at least the location information represented by the road location markers;

[0097] The acquisition module is used to acquire road information and real-time location information of the road area to be detected, and to acquire the markers to obtain the acquisition results;

[0098] The processing module is used to obtain, based on the acquisition results, information on the relative positional relationship between at least one disease and the marker, and information contained in the marker;

[0099] The characterization module is used to characterize the at least one disease using the relative positional relationship information between the at least one disease and the marker and the information contained in the marker.

[0100] The road defect location device can perform the steps of the road defect location method as described in any of the above embodiments.

[0101] To achieve the above objectives, the present invention also provides a computer-readable storage medium storing a control program for road defect characterization, wherein the control program for road defect characterization, when executed by a processor, implements the steps of the road defect location method as described in any of the above embodiments.

[0102] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0103] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0104] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0105] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method of locating road defects, characterized in that The method for characterizing the road disease comprises the following steps: determining a road area to be detected and at least one road position marker; setting a mark on the road, the mark containing at least position information represented by the road position marker; the setting mode of the mark comprises spraying and / or drawing and / or placing; collecting road information and real-time positioning information of the road area to be detected, and collecting the mark to obtain a collection result; obtaining relative position relationship information between at least one disease and the mark and information contained in the mark according to the collection result; characterizing the at least one disease through the relative position relationship information between the at least one disease and the mark and the information contained in the mark to establish a relationship between the at least one disease and the mark and the road position marker.

2. The method of locating road defects as claimed in claim 1, wherein, The step of determining a road area to be detected and at least one road position marker comprises: determining a road area to be detected and at least one road position marker located in a road section of the road area to be detected; or determining a road area to be detected and at least one road position marker closest to the road area to be detected.

3. The method of claim 1, wherein The step of setting a mark on the road, the mark containing at least position information represented by the road position marker comprises: setting a mark on the road area to be detected, the mark being perpendicular to a road passing direction along a line connecting the mark and the road position marker, and the mark containing position information represented by the road position marker; or setting a mark on the road area to be detected, the mark not being perpendicular to a road passing direction along a line connecting the mark and the road position marker, the mark containing position information represented by the road position marker, and the mark containing relative position relationship information with the road position marker.

4. The method of claim 3, wherein The step of collecting road information and real-time positioning information of the road area to be detected, and collecting the mark to obtain a collection result comprises: collecting road information and real-time positioning information of the road area to be detected, and collecting the mark in the process of collecting road information and real-time positioning information of the road area to be detected to obtain a collection result.

5. The method of claim 4, wherein the road defect is located by The step of collecting road information and real-time positioning information of the road area to be detected, and collecting the mark in the process of collecting road information and real-time positioning information of the road area to be detected to obtain a collection result comprises: collecting road image information of the road area to be detected by using a camera, and collecting an image of the mark in the process of collecting road image information of the road area to be detected to obtain an image collection result; collecting internal information of the road of the road area to be detected by using a ground penetrating radar to obtain a radar collection result; collecting real-time positioning information by using a positioning device in the process of collecting to obtain real-time positioning information.

6. The method of claim 5, wherein the road defect is located by The step of obtaining relative position information between at least one disease and the mark and information contained in the mark according to the collection result comprises: According to real-time positioning information, image acquisition results and / or radar acquisition results, positioning position information of at least one disease and positioning position information of the marker are obtained, the positioning position information of the at least one disease and the positioning position information of the marker are compared, and relative position relationship information between the at least one disease and the marker is obtained; According to image acquisition results, information contained in the marker is obtained.

7. The method for locating road defects as described in claim 6, characterized in that, The step of characterizing the at least one disease through the relative position relationship information between the at least one disease and the marker and the information contained in the marker comprises: The step of characterizing the at least one disease through the relative position relationship information between the at least one disease and the marker and the information contained in the marker comprises:

8. A road distress locating apparatus, characterized by, The road disease positioning device comprises: A preset module is configured to determine a road area to be detected and at least one road position marker; A marker module is configured to set a marker on the road, wherein the marker at least contains position information represented by the road position marker, and the setting mode of the marker comprises spraying and / or drawing and / or placing; An acquisition module is configured to acquire road information and real-time positioning information of the road area to be detected, and acquire the marker to obtain acquisition results; A processing module is configured to obtain relative position relationship information between at least one disease and the marker and information contained in the marker according to the acquisition results; A characterization module is configured to characterize the at least one disease through the relative position relationship information between the at least one disease and the marker and the information contained in the marker, so as to establish a relationship between the at least one disease and the marker and the road position marker.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a road disease characterization control program, and the road disease characterization control program is executed by a processor to implement the following steps: Determine a road area to be detected and at least one road position marker; Set a marker on the road, wherein the marker at least contains position information represented by the road position marker, and the setting mode of the marker comprises spraying and / or drawing and / or placing; Acquire road information and real-time positioning information of the road area to be detected, and acquire the marker to obtain acquisition results; Obtain relative position relationship information between at least one disease and the marker and information contained in the marker according to the acquisition results; Characterize the at least one disease through the relative position relationship information between the at least one disease and the marker and the information contained in the marker, so as to establish a relationship between the at least one disease and the marker and the road position marker.

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