Control method and device of pavement detection robot, storage medium and electronic equipment

Abstract

Embodiments of the present application provide a control method and device of a pavement detection robot, a storage medium and an electronic device. The control method can include: when the pavement detection robot needs to be replaced to a new detection path, obtaining a current position of the pavement detection robot; if the current position is in a first area, the pavement detection robot first translates from a current detection path to the new detection path, and then turns on the new detection path; if the current position is in a second area, the pavement detection robot first turns on the current detection path, and then translates to the new detection path. The present application can improve the safety of the pavement detection robot in pavement detection.

Description

Technical Field

[0001] This application relates to the field of pavement inspection technology, and in particular to a control method, device, storage medium and electronic equipment for a pavement inspection robot. Background Technology

[0002] After the construction of pavements such as motor vehicle lanes, non-motor vehicle lanes, and aircraft take-off and landing runways, it is necessary to regularly inspect the pavement condition in order to ensure traffic safety. Pavement inspection robots have gradually begun to be used in pavement inspection work. However, there are usually obstacles on the outer edge of the pavement along the extension direction of the pavement. During the inspection process, pavement inspection robots are prone to hitting obstacles on the outer edge of the pavement due to turning. Therefore, the safety of pavement inspection robots in pavement inspection is poor. Summary of the Invention

[0003] This application provides a pavement inspection robot that can improve the safety of pavement inspection during pavement inspection.

[0004] In a first aspect, embodiments of this application provide a pavement detection and control method, comprising:

[0005] When the pavement inspection robot needs to change to a new inspection path, obtain the current position of the pavement inspection robot;

[0006] If the current position is in the first area, the pavement inspection robot first moves from the current inspection path to the new inspection path, and then turns on the new inspection path;

[0007] If the current position is in the second region, the pavement inspection robot first turns on the current inspection path and then moves to the new inspection path.

[0008] Secondly, embodiments of this application provide a control device for a pavement inspection robot, the device comprising:

[0009] The acquisition module is used to acquire the current position of the pavement inspection robot when the pavement inspection robot needs to change to a new inspection path;

[0010] The first control module is configured to, if the current position is in the first region, first move the pavement inspection robot from the current inspection path to the new inspection path, and then turn on the new inspection path;

[0011] The second control module is used to, if the current position is in the second region, first turn the pavement inspection robot on the current inspection path and then move it to the new inspection path.

[0012] Thirdly, embodiments of this application provide a storage medium storing a computer program thereon, which, when executed on a computer, causes the computer to perform the method provided in embodiments of this application.

[0013] Fourthly, embodiments of this application also provide an electronic device, including a memory and a processor, wherein the processor executes the method provided in embodiments of this application by calling a computer program stored in the memory.

[0014] In this embodiment, the pavement to be inspected can be divided into a first region and a second region. When the pavement inspection robot performs pavement inspection, it starts from the inspection path in the first region and ends the inspection in the inspection path in the second region to complete the inspection of the entire pavement. Along the pavement's extension direction, there are usually obstacles on both sides of the outer boundary. Therefore, the outer boundaries of the first region near the start of the inspection and the second region near the end of the inspection usually have obstacles. When the pavement inspection robot is in the first region, it performs inspection along the inspection path within that region. When the robot ends its current inspection path and needs to switch to a new one, the current path is closer to the obstacles outside the boundary of the first region, while the new path is further away. Therefore, the robot first moves from the current path to the new path, away from the obstacles outside the boundary of the first region, and then turns on the new path to perform inspection. This avoids the robot colliding with the outer boundary of the first region due to turning when changing to a new path. To prevent collisions with obstacles on the sides of the pavement, when the pavement inspection robot is in the second area, it performs inspections along the inspection path within that area. When the robot ends its current inspection path and needs to switch to a new one, the current path is further away from obstacles outside the second area boundary, while the new path is closer. Therefore, the robot first turns on the current path, further away from the obstacles outside the second area boundary, and then moves to the new path to perform inspections. This avoids collisions with obstacles outside the second area boundary due to turning when switching to a new path. This ensures that the pavement inspection robot avoids colliding with obstacles on both sides of the pavement along its direction of extension, improving the safety of pavement inspection. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the first process of the pavement inspection robot control method provided in the embodiments of this application.

[0017] Figure 2 This is a second flowchart illustrating the pavement inspection robot control method provided in an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of a scenario for the pavement inspection robot control method provided in an embodiment of this application.

[0019] Figure 4 This is another schematic diagram of the pavement inspection robot control method provided in the embodiments of this application.

[0020] Figure 5 This is a schematic diagram of the first structure of the pavement inspection robot control device provided in the embodiments of this application.

[0021] Figure 6 This is a schematic diagram of a second structure of the pavement inspection robot control device provided in an embodiment of this application.

[0022] Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application.

[0023] Figure 8 This is another structural schematic diagram of the electronic device provided in the embodiments of this application. Detailed Implementation

[0024] Please refer to the illustrations, where the same component symbols represent the same components. The principles of this application are illustrated by example in a suitable computing environment. The following description is based on the specific embodiments of this application illustrated, and should not be construed as limiting other specific embodiments not detailed herein.

[0025] Please see Figure 1 , Figure 1 This is a flowchart illustrating the control method for a pavement inspection robot provided in an embodiment of this application. The control method for the pavement inspection robot may include:

[0026] In 101, when the pavement inspection robot needs to change to a new inspection path, the current position of the pavement inspection robot is obtained.

[0027] After the construction of pavements such as motor vehicle lanes, non-motor vehicle lanes, and aircraft take-off and landing runways, it is necessary to regularly inspect the pavement condition in order to ensure traffic safety. Pavement inspection robots have gradually begun to be used in pavement inspection work. However, there are usually obstacles on the outer edge of the pavement along the extension direction of the pavement. During the inspection process, pavement inspection robots are prone to hitting obstacles on the outer edge of the pavement due to turning. Therefore, the safety of pavement inspection robots in pavement inspection is poor.

[0028] Understandably, pavements such as lanes and aircraft runways typically have obstacles, such as guardrails or flower beds, along their extension direction (the direction of travel). Before the pavement inspection robot performs its inspection work, the pavement to be inspected can be pre-defined. This area can be a segment of the pavement, for example, a rectangular region. Along the extension direction of the pavement, which is also the direction of the obstacles, multiple inspection paths parallel to the extension direction of the pavement can be created. The width of each inspection path can be set as needed to ensure that the pavement inspection robot can detect the entire condition of the pavement.

[0029] In this embodiment of the application, the pavement inspection robot runs back and forth along multiple inspection paths of the pavement to be inspected to perform inspection work. When the current inspection path of the pavement inspection robot ends, it queries whether a new inspection path needs to be inspected. If a new inspection path needs to be inspected, the pavement inspection robot needs to switch to the new inspection path and obtain the current position of the pavement inspection robot.

[0030] In this embodiment, the pavement inspection robot can be a four-wheel drive robot, thus enabling it to perform in-situ turning and lateral translation. During lateral translation, all four wheels of the pavement inspection robot are adjusted to a lateral position before being driven to rotate, thus completing the lateral translation function. The in-situ turning function is achieved by rotating the robot around a circle with its center as the center and the distance from the wheels to the center as the radius, ensuring the wheel angles are tangent to the circumference of the circle.

[0031] In step 102, if the current position is in the first area, the pavement inspection robot first moves from the current inspection path to the new inspection path, and then turns on the new inspection path.

[0032] The pavement to be inspected can be divided into a first region and a second region. When the pavement inspection robot performs its inspection work, it starts from the inspection path in the first region and ends at the inspection path in the second region, thus completing the inspection of the entire pavement. Along the pavement's extension direction, the outer edges of both sides of the pavement typically have obstacles, such as guardrails or flower beds. That is, the outer edges of both the first region near the start of the inspection and the second region near the end of the inspection usually have obstacles.

[0033] Therefore, when the pavement inspection robot is in the first area, it performs inspection work along the inspection path within the first area. When the pavement inspection robot ends the current inspection path and needs to switch to a new inspection path, the current inspection path is closer to the obstacles outside the boundary of the first area, while the new inspection path is farther away from the obstacles outside the boundary of the first area. Therefore, the pavement inspection robot first moves from the current inspection path to the new inspection path, away from the obstacles outside the boundary of the first area, and then turns on the new inspection path to perform inspection work. This avoids the pavement inspection robot colliding with the obstacles outside the boundary of the first area due to turning when changing to a new inspection path.

[0034] It should be noted that, in this embodiment of the application, if the pavement inspection robot is currently located in the first area, the pavement inspection robot can first move laterally from the current inspection path to a new inspection path, and then turn in place on the new inspection path to continue the inspection work along the new inspection path.

[0035] In step 103, if the current position is in the second area, the pavement inspection robot will first turn on the current inspection path and then move to the new inspection path.

[0036] The second area is located on the side furthest from the start of the detection and closest to the end of the detection, parallel to the detection path. Obstacles typically exist outside the boundary of this second area. When the pavement inspection robot is in this second area, it performs detection work along the detection path within that area. When the robot ends its current detection path and needs to switch to a new one, the current path is further away from the obstacles outside the boundary of the second area, while the new path is closer. Therefore, the robot first turns on the current path, which is further away from the obstacles outside the boundary of the second area, and then moves to the new path to perform its detection work. This avoids collisions with the obstacles outside the boundary of the second area due to turning when switching to a new path, thus improving the robot's safety.

[0037] In one implementation, the centerline of the pavement to be inspected is obtained, which is parallel to the inspection path; the starting position of the pavement inspection robot is obtained; a first region is located on the side of the centerline facing the starting position, and a second region is located on the side of the centerline away from the starting position.

[0038] It should be noted that when the pavement inspection robot is running along the inspection path, if part of the robot is located in the first area or part in the second area, it is understandable that when the robot is only partially located in the first area or part in the second area, the current inspection path of the robot is relatively far away from the obstacles on both sides of the pavement to be inspected. Therefore, when the pavement inspection robot needs to change to a new inspection path, it can be set to either first move from the current inspection path to the new inspection path and then turn on the new inspection path, or first turn on the current inspection path and then move from the current inspection path to the new inspection path.

[0039] It should be noted that, in this embodiment of the application, if the pavement inspection robot is currently located in the second area, the pavement inspection robot can first turn in place on the current inspection path, and then move laterally to the new inspection path, so as to continue the inspection work along the new inspection path.

[0040] It should be noted that the pavement to be inspected can be divided not only into the first and second areas, but also into a third area. The third area can be the middle area of ​​the pavement to be inspected. Understandably, when the pavement inspection robot is located in the third area, the inspection paths within the third area are far away from the obstacles on both sides of the pavement to be inspected. Therefore, when the pavement inspection robot is currently located in the third area and needs to change to a new inspection path, it can choose to first move from the current inspection path to the new inspection path and then turn on the new inspection path, or it can choose to first turn on the current inspection path and then move to the new inspection path.

[0041] The pavement inspection robot can be equipped with road surface defect sampling equipment (area array 2D camera or line array 3D depth camera) and / or underground detection equipment (ground penetrating radar) for analyzing pavement surface defects and internal latent defects. It should be noted that this application does not limit the equipment configured in the pavement inspection robot.

[0042] Since the pavement to be inspected typically has obstacles on both sides of its outer boundary along its extension direction, in this embodiment, the pavement to be inspected is divided into a first region and a second region. Since obstacles typically exist on the outer boundaries of the first and second regions, when the pavement inspection robot is in the first region and needs to switch to a new inspection path after completing its current path, it first moves from the current path to the new path, away from the obstacles on the outer boundary of the first region, and then turns on the new path to perform the inspection work. This avoids the pavement inspection robot colliding with obstacles on the outer boundary of the first region due to turning when switching to a new inspection path. When the pavement inspection robot is in the second region and needs to switch to a new inspection path after completing its current path, it first turns on the current path, further away from the obstacles on the outer boundary of the second region, and then moves to the new path to perform the inspection work. This again avoids the pavement inspection robot colliding with obstacles on the outer boundary of the second region due to turning when switching to a new inspection path. Therefore, when inspecting the pavement, the pavement inspection robot avoids colliding with obstacles on both sides of the pavement along its extension direction, thus improving the robot's safety.

[0043] Please see Figure 2 , Figure 2 Another flowchart illustrating the application management method provided in this application embodiment may include:

[0044] In step 201, obtain the pavement to be inspected and its extension direction.

[0045] In this embodiment of the application, before the pavement inspection robot performs pavement inspection work, the pavement to be inspected can be obtained in advance. The pavement to be inspected can be a section of the pavement, such as a rectangular section.

[0046] Understandably, pavements such as lanes and aircraft runways typically have obstacles, such as guardrails or flower beds, along their extension direction, which is also the direction of travel. In this embodiment, obtaining the extension direction of the pavement to be detected can also be understood as the extension direction of the obstacles.

[0047] In step 202, multiple detection paths parallel to the extension direction are divided on the pavement to be inspected.

[0048] After obtaining the pavement surface to be inspected and its extension direction, the pavement surface can be divided into multiple inspection paths parallel to its extension direction. The width of each inspection path can be set as needed to ensure that the pavement inspection robot can detect the condition of the entire pavement surface.

[0049] The pavement inspection robot can be equipped with road surface defect sampling equipment (area array 2D camera or line array 3D depth camera) and / or underground detection equipment (ground penetrating radar) for analyzing pavement surface defects and internal latent defects. In one embodiment, the width of the detection path can be set based on the pavement width that the equipment configured on the pavement inspection robot can detect in one run. For example, the width of the detection path can be set to be less than or equal to the pavement width that the pavement inspection robot can detect in one run, so that when the pavement inspection robot runs back and forth along multiple detection paths, it can detect the condition of the entire pavement to be inspected. It should be noted that the embodiments of this application do not limit the equipment configured on the pavement inspection robot.

[0050] In section 203, when the pavement inspection robot needs to switch to a new inspection path, the current position of the pavement inspection robot is obtained.

[0051] In this embodiment, the pavement inspection robot runs back and forth along multiple inspection paths along the pavement to be inspected to perform inspection work. In one implementation, when the current inspection path of the pavement inspection robot ends, it queries whether a new inspection path needs to be inspected. If a new inspection path needs to be inspected, the pavement inspection robot needs to switch to the new inspection path.

[0052] In one implementation, when the pavement inspection robot receives a control command, it determines whether the control command includes a detection path switching command; if the control command includes a detection path switching command, the pavement inspection robot determines that it needs to switch to a new detection path.

[0053] The pavement to be inspected can be divided into a first region and a second region. In one embodiment, the centerline of the pavement to be inspected is obtained, which is parallel to the inspection path; the starting position of the pavement inspection robot is obtained; the first region is located on the side of the centerline facing the starting position of the inspection, and the second region is located on the side of the centerline away from the starting position of the inspection, that is, the second region is located on the side of the centerline closer to the ending position of the inspection.

[0054] The pavement inspection robot works by starting its inspection path in the first area and ending its inspection path in the second area, thus completing the inspection of the entire pavement surface to be inspected. Along the pavement's extension direction, the outer edges of both sides of the pavement surface typically have obstacles, such as guardrails or flower beds. That is, the outer edges of the first area near the start of the inspection and the second area near the end of the inspection usually have obstacles.

[0055] It should be noted that the pavement to be inspected can be divided into not only the first and second areas, but also a third area. The third area can be the middle area of ​​the pavement to be inspected. Understandably, when the pavement inspection robot is located in the third area, the inspection path in the third area is far away from the obstacles on both sides of the pavement to be inspected.

[0056] Therefore, in this embodiment of the application, when the pavement inspection robot has not finished inspection and needs to change from the current inspection path to a new inspection path, the current position of the pavement inspection robot is obtained. The current position of the pavement inspection robot can be the first area, the second area, or the third area.

[0057] It should be noted that the current position of the pavement inspection robot may be partially located in the first area, partially in the second area, or partially in the third area.

[0058] In step 204, if the current position is in the first area, the pavement inspection robot first moves from the current inspection path to the new inspection path, and then turns on the new inspection path.

[0059] In this embodiment, when the pavement inspection robot is in the first area, it performs inspection work along the inspection path within the first area. When the pavement inspection robot ends its current inspection path and needs to switch to a new inspection path, the current inspection path is closer to the obstacles outside the boundary of the first area, while the new inspection path is farther away from the obstacles outside the boundary of the first area. Therefore, the pavement inspection robot first moves from the current inspection path to the new inspection path, away from the obstacles outside the boundary of the first area, and then turns on the new inspection path to perform inspection work. This avoids the pavement inspection robot from colliding with the obstacles outside the boundary of the first area due to turning when switching to a new inspection path.

[0060] In this embodiment, the pavement inspection robot can be a four-wheel drive robot, thus enabling it to perform in-situ turning and lateral translation. During lateral translation, all four wheels of the pavement inspection robot are adjusted to a lateral position before being driven to rotate, thus completing the lateral translation function. The in-situ turning function is achieved by rotating the robot around a circle with its center as the center and the distance from the wheels to the center as the radius, ensuring the wheel angles are tangent to the circumference of the circle.

[0061] It should be noted that, in this embodiment of the application, if the pavement inspection robot is currently located in the first area, the pavement inspection robot can first move laterally from the current inspection path to a new inspection path, and then turn in place on the new inspection path to continue the inspection work along the new inspection path.

[0062] Therefore, in one implementation, when the pavement inspection robot is currently in the first area and needs to switch to a new inspection path, the pavement inspection robot first moves from the current inspection path to the new inspection path, and then controls the pavement inspection robot to decelerate until the speed of the pavement inspection robot is lower than a first speed threshold, and then moves laterally to the new inspection path.

[0063] In one implementation, the first speed threshold can be zero, allowing the pavement inspection robot to smoothly translate from the current inspection path to a new inspection path, and then turn on the new inspection path to inspect the new inspection path.

[0064] In one implementation, a preset position at the end of the current detection path can be obtained; the current position of the pavement detection robot and the deceleration distance at the preset position can be obtained; a deceleration strategy can be obtained based on the deceleration distance and the current speed; and the pavement detection robot can be controlled to decelerate according to the deceleration strategy so that the speed of the pavement detection robot when it reaches the preset position is less than a first speed threshold.

[0065] In one implementation, controlling the deceleration of the pavement inspection robot includes gradually reducing the motor speed of the pavement inspection robot and gradually increasing the friction of the braking system of the pavement inspection robot.

[0066] In step 205, if the current position is in the second area, the pavement inspection robot will first turn on the current inspection path and then move to the new inspection path.

[0067] In this embodiment, when the pavement inspection robot is in the second area, it performs inspection work along the inspection path within the second area. When the pavement inspection robot ends its current inspection path and needs to switch to a new inspection path, the current inspection path is farther away from the obstacles outside the boundary of the second area, while the new inspection path is closer to the obstacles outside the boundary of the second area. Therefore, the pavement inspection robot first turns on the current inspection path, which is farther away from the obstacles outside the boundary of the second area, and then moves to the new inspection path to perform inspection work. This avoids the pavement inspection robot from colliding with the obstacles outside the boundary of the second area due to turning when switching to a new inspection path, thereby improving the safety of the pavement inspection robot.

[0068] It should be noted that, in this embodiment of the application, if the pavement inspection robot is currently located in the second area, the pavement inspection robot can first turn in place on the current inspection path, and then move laterally to the new inspection path, so as to continue the inspection work along the new inspection path.

[0069] In one implementation, when the pavement inspection robot is currently in the second area and needs to change to a new inspection path, the pavement inspection robot can be controlled to decelerate before turning on the current inspection path, until the speed of the pavement inspection robot is lower than the second speed threshold, and then it turns on the current inspection path in place.

[0070] In one implementation, the second speed threshold can be zero, allowing the pavement inspection robot to smoothly make in-situ turns on the current inspection path.

[0071] It should be noted that when the pavement inspection robot is running along the inspection path, if part of the robot is located in the first area or part in the second area, it is understandable that when the robot is only partially located in the first area or part in the second area, the current inspection path of the robot is relatively far away from the obstacles on both sides of the pavement to be inspected. Therefore, when the pavement inspection robot needs to change to a new inspection path, it can be set to either first move from the current inspection path to the new inspection path and then turn on the new inspection path, or first turn on the current inspection path and then move from the current inspection path to the new inspection path.

[0072] It should be noted that the pavement to be inspected can be divided not only into the first and second areas, but also into a third area. The third area can be the middle area of ​​the pavement to be inspected. Understandably, when the pavement inspection robot is located in the third area, the inspection paths within the third area are far away from the obstacles on both sides of the pavement to be inspected. Therefore, when the pavement inspection robot is currently located in the third area and needs to change to a new inspection path, it can choose to first move from the current inspection path to the new inspection path and then turn on the new inspection path, or it can choose to first turn on the current inspection path and then move to the new inspection path.

[0073] In 206, as the pavement inspection robot travels along multiple inspection paths, it acquires pavement images and electromagnetic wave information within the pavement along these paths.

[0074] The pavement inspection robot can be equipped with road surface defect sampling equipment such as area array 2D cameras or line array 3D depth cameras, and underground detection equipment such as ground penetrating radar. When traveling along multiple detection paths, the equipment equipped on the pavement inspection robot can simultaneously acquire pavement images and pavement internal electromagnetic wave information within multiple detection paths.

[0075] It should be noted that step 206 is not sequential with steps 204 and 205. When the pavement inspection robot travels along multiple inspection paths, it simultaneously acquires pavement images and electromagnetic wave information inside the pavement within multiple inspection paths.

[0076] In step 207, the detection information of the pavement to be detected is obtained based on the pavement image and the electromagnetic wave information inside the pavement.

[0077] After obtaining the pavement images and electromagnetic wave information inside the pavement within the detection path, comprehensive and accurate detection information of the pavement to be detected is obtained through image stitching and other technologies. This includes information on pavement defects such as cracks and potholes, and subgrade defects such as voids, cavities, settlement, loosening, and water content.

[0078] Before the pavement inspection robot begins its inspection work, the pavement surface to be inspected and its extension direction are obtained. Obstacles typically exist outside the boundaries along both sides of the pavement's extension direction, thus determining the direction of these obstacles. Multiple inspection paths parallel to the extension direction are then defined on the pavement surface. The pavement inspection robot moves back and forth along these paths to perform the inspection. The pavement surface to be inspected can be divided into a first region and a second region. The first region is located on the side of the pavement parallel to the centerline of the inspection path towards the starting position, while the second region is located on the side of the pavement parallel to the centerline of the inspection path away from the starting position. Therefore, obstacles typically exist outside the boundaries of the first and second regions. When the pavement inspection robot is in the first region and needs to change to a new inspection path, it first translates from the current path to the new path, moving away from the obstacles outside the boundary of the first region, before turning on the new path to perform the inspection. This avoids collisions with obstacles outside the boundary of the first region when changing to a new inspection path. When the pavement inspection robot is in the second area and needs to switch to a new inspection path after completing its current path, it first turns away from obstacles on the outer edge of the second area's boundary, then moves to the new path to perform its inspection work. This avoids collisions with obstacles on the outer edge of the second area's boundary due to turning when changing paths. Therefore, when inspecting the pavement, the robot avoids collisions with obstacles on both sides of the pavement along its direction of extension, improving its safety. As the robot travels along multiple inspection paths, it acquires pavement images and electromagnetic wave information within those paths, obtaining comprehensive and accurate inspection information for the pavement.

[0079] Please see Figure 3 , Figure 3 This is a schematic diagram of a scenario illustrating the control method for a pavement inspection robot provided in an embodiment of this application. Figure 4 This is another schematic diagram of the control method for the pavement inspection robot provided in the embodiments of this application.

[0080] Roadways, aircraft runways, and other pavement surfaces require regular inspections. Before a pavement inspection robot can perform its inspection, it can pre-observe the area to be inspected. This area can be a section of the pavement, such as... Figure 3 As shown, the pavement to be inspected can be a rectangular area.

[0081] This is understandable. For example, lanes and aircraft runways, along their direction of travel, usually have obstacles on both sides, such as guardrails and flower beds. Therefore, if... Figure 3 As shown, along the direction of the pavement extension, there are obstacles outside the two side boundaries of this rectangular area.

[0082] After obtaining the pavement surface to be inspected and its extension direction, the pavement surface can be divided into multiple inspection paths parallel to its extension direction. The pavement inspection robot then runs back and forth along these multiple inspection paths to perform the inspection work.

[0083] The pavement to be inspected can be divided into a first region and a second region. When the pavement inspection robot performs its inspection work, it starts from the inspection path in the first region and ends at the inspection path in the second region to complete the inspection of the entire pavement.

[0084] In one implementation, a centerline parallel to the detection path is obtained for the pavement to be inspected; the starting position of the pavement inspection robot is obtained; a first region is located on the side of the centerline facing the starting position, and a second region is located on the side of the centerline away from the starting position, i.e., the second region is located on the side of the centerline closer to the ending position. Since there are usually obstacles outside the boundaries of the pavement to be inspected, there are usually obstacles outside the boundaries of the first region near the starting position and the second region near the ending position.

[0085] In this embodiment, the pavement inspection robot can be a four-wheel drive robot, thus enabling it to perform in-situ turning and lateral translation. For example... Figure 4 As shown, during lateral translation, all four wheels of the pavement inspection robot are adjusted to a lateral position before being driven to rotate, thus completing the lateral translation function. The in-situ turning function is achieved by using a circle with the robot's center as the center and the distance from the wheel to the center as the radius, with the wheel angle tangent to the circumference, and then rotating the wheel to complete the four-wheel in-situ turning.

[0086] When the pavement inspection robot is in the first area, it performs inspection work along the inspection path within the first area. When the pavement inspection robot ends the current inspection path and needs to switch to a new inspection path, it first moves laterally from the current inspection path to the new inspection path, away from the obstacles outside the boundary of the first area, and then turns in place on the new inspection path to perform inspection work. This avoids the pavement inspection robot colliding with the obstacles outside the boundary of the first area due to turning in place when changing to a new inspection path.

[0087] When the pavement inspection robot is in the second area, it performs inspections along the inspection path within that area. When the robot finishes its current inspection path and needs to switch to a new one, it first turns in place along the current path, further away from obstacles outside the boundary of the second area, and then moves laterally to the new inspection path. This avoids collisions with obstacles outside the boundary of the second area due to turning in place when changing to a new path, thus improving the robot's safety.

[0088] As the pavement inspection robot travels along multiple inspection paths, it acquires pavement images and electromagnetic wave information within the pavement along these paths. Based on these images and information, it obtains comprehensive and accurate inspection information for the pavement to be inspected, such as pavement defects like cracks and potholes, and subgrade defects like voids, cavities, settlement, loosening, and water content.

[0089] Please see Figure 5 and Figure 6 , Figure 5 This is a schematic diagram of a first structure of the control device for the pavement inspection robot provided in an embodiment of this application. Figure 6 This is a second structural schematic diagram of the control device for the pavement inspection robot provided in an embodiment of this application. The control device 400 for the pavement inspection robot may include: an acquisition module 401, a first control module 402, and a second control module 403.

[0090] The acquisition module 401 is used to: acquire the current position of the pavement inspection robot when the pavement inspection robot needs to change to a new inspection path;

[0091] The first control module 402 is used to: if the current position is in the first area, the pavement inspection robot first moves from the current inspection path to the new inspection path, and then turns on the new inspection path;

[0092] The second control module 403 is used to: if the current position is in the second area, the pavement inspection robot first turns on the current inspection path and then moves to the new inspection path.

[0093] In one embodiment, the acquisition module 401 is further configured to: acquire the pavement to be inspected and the extension direction of the pavement to be inspected; the control device 400 of the pavement inspection robot may also include a division module 404, which is configured to divide the pavement to be inspected into multiple inspection paths parallel to the extension direction.

[0094] In one implementation, the first control module 401 can also be used to control the pavement inspection robot to decelerate until the speed of the pavement inspection robot is lower than a first speed threshold.

[0095] In one embodiment, the acquisition module 401 can also be used to acquire the centerline of the pavement to be inspected that is parallel to the inspection path; and to acquire the inspection start position of the pavement inspection robot; the division module 404 is also used to have a first region located on the side of the centerline facing the inspection start position, and a second region located on the side of the centerline away from the inspection start position.

[0096] In one embodiment, the control device 400 of the pavement inspection robot further includes a data acquisition module 405, which is used to: acquire pavement images and electromagnetic wave information inside the pavement within the multiple detection paths when the pavement inspection robot travels along multiple detection paths; and obtain detection information of the pavement to be inspected based on the pavement images and electromagnetic wave information inside the pavement.

[0097] This application provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed on a computer, it causes the computer to execute the process in the control method for the pavement inspection robot provided in this embodiment.

[0098] This application also provides an electronic device, including a memory and a processor. The processor executes the process in the control method of the pavement inspection robot provided in this embodiment by calling a computer program stored in the memory.

[0099] See Figure 7 , Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0100] The electronic device 500 may include components such as a memory 501 and a processor 502. Those skilled in the art will understand that... Figure 6 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0101] Memory 501 can be used to store applications and data. The applications stored in memory 501 contain executable code. Applications can be composed of various functional modules. Processor 502 executes various functional applications and data processing by running the applications stored in memory 501.

[0102] The processor 502 is the control center of the electronic device. It connects various parts of the electronic device through various interfaces and lines. By running or executing the application program stored in the memory 501 and calling the data stored in the memory 501, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole.

[0103] In this embodiment, the processor 502 in the electronic device loads the executable code corresponding to the processes of one or more applications into the memory 501 according to the following instructions, and the processor 502 runs the applications stored in the memory 501 to execute:

[0104] When the pavement inspection robot needs to change to a new inspection path, obtain the current position of the pavement inspection robot;

[0105] If the current position is in the first area, the pavement inspection robot will first move from the current inspection path to the new inspection path, and then turn on the new inspection path;

[0106] If the current location is in the second area, the pavement inspection robot will first turn on the current inspection path and then move to the new inspection path.

[0107] Please see Figure 8 The electronic device 500 may include components such as a memory 501, a processor 502, a sampling module 503, a sensor 504, a battery 505, and a display screen 506.

[0108] Memory 501 can be used to store applications and data. The applications stored in memory 501 contain executable code. Applications can be composed of various functional modules. Processor 502 executes various functional applications and data processing by running the applications stored in memory 501.

[0109] The processor 502 is the control center of the electronic device. It connects various parts of the electronic device through various interfaces and lines. By running or executing the application program stored in the memory 501 and calling the data stored in the memory 501, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole.

[0110] The sampling module 503 can be used for image capture and pavement inspection, such as by area array 2D camera or line array 3D depth camera, ground penetrating radar, etc.

[0111] Sensor 504 may include sensors such as gyroscope sensors (e.g., three-axis gyroscope sensors), accelerometers, temperature sensors, and humidity sensors.

[0112] Battery 505 can be used to provide power to various modules and components.

[0113] The display screen 506 can be used to display information such as text and images.

[0114] In this embodiment, the processor 502 in the electronic device loads the executable code corresponding to the processes of one or more applications into the memory 501 according to the following instructions, and the processor 502 runs the applications stored in the memory 501 to execute:

[0115] When the pavement inspection robot needs to change to a new inspection path, obtain the current position of the pavement inspection robot;

[0116] If the current position is in the first area, the pavement inspection robot will first move from the current inspection path to the new inspection path, and then turn on the new inspection path;

[0117] If the current location is in the second area, the pavement inspection robot will first turn on the current inspection path and then move to the new inspection path.

[0118] In one implementation, before acquiring the current position of the pavement inspection robot when it needs to change to a new inspection path, the processor 502 performs the process of acquiring the pavement to be inspected and the direction of extension of the pavement to be inspected.

[0119] Multiple detection paths parallel to the extension direction are divided on the pavement to be inspected.

[0120] In one implementation, the processor 502 performs the action of acquiring the centerline of the track surface to be detected, which is parallel to the detection path;

[0121] Obtain the starting position of the pavement inspection robot;

[0122] The first region is located on the side of the center line facing the starting position of the detection, and the second region is located on the side of the center line away from the starting position of the detection.

[0123] In one implementation, before the pavement inspection robot first translates to a new inspection path and then turns, the processor 502 executes control to decelerate the pavement inspection robot until the speed of the pavement inspection robot is lower than a first speed threshold.

[0124] In one implementation, the processor 502 acquires pavement images and electromagnetic wave information inside the pavement along multiple detection paths when the pavement inspection robot moves along multiple detection paths.

[0125] The detection information of the pavement to be inspected is obtained based on the pavement image and the electromagnetic wave information inside the pavement.

[0126] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed description of the power consumption determination method above, which will not be repeated here.

[0127] The control device for the pavement inspection robot provided in this application embodiment is based on the same concept as the control method for the pavement inspection robot in the above embodiment. Any of the methods provided in the control method embodiment for the pavement inspection robot can be run on the control device for the pavement inspection robot. For details of its implementation process, please refer to the control method embodiment for the pavement inspection robot, which will not be repeated here.

[0128] It should be noted that, regarding the control method for the pavement inspection robot in this application embodiment, those skilled in the art will understand that all or part of the process of implementing the control method for the pavement inspection robot in this application embodiment can be accomplished by controlling related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, such as a memory, and executed by at least one processor. During execution, it can include the process of the embodiment of the control method for the pavement inspection robot. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), etc.

[0129] For the control device of the pavement inspection robot in this application embodiment, its functional modules can be integrated into a processing chip, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

Claims

1. A control method for a pavement inspection robot, characterized in that, include: Obtain the pavement surface to be detected and its extension direction; Multiple detection paths parallel to the extending direction are divided into the surface to be inspected; When the pavement inspection robot needs to change to a new inspection path, obtain the current position of the pavement inspection robot; If the current position is in the first region, the pavement inspection robot first moves from the current inspection path to the new inspection path, and then turns on the new inspection path; the first region is located on the side of the pavement to be inspected that is parallel to the center line of the inspection path and faces the starting position of the pavement inspection robot. If the current position is in the second region, the pavement inspection robot first turns on the current inspection path and then moves to the new inspection path; the second region is located on the side of the centerline away from the starting position of the inspection.

2. The control method for the pavement inspection robot according to claim 1, characterized in that, The method further includes: Obtain the centerline of the track surface to be detected that is parallel to the detection path; Obtain the starting position of the pavement inspection robot.

3. The control method for the pavement inspection robot according to claim 1, characterized in that, Before the pavement inspection robot moves from the current inspection path to the new inspection path, the following steps are also included: Control the pavement inspection robot to decelerate until the speed of the pavement inspection robot is lower than a first speed threshold.

4. The control method for the pavement inspection robot according to claim 1, characterized in that, The method further includes: As the pavement inspection robot travels along the multiple inspection paths, it acquires pavement images and electromagnetic wave information inside the pavement within the multiple inspection paths. The detection information of the pavement to be detected is obtained based on the pavement image and the electromagnetic wave information inside the pavement.

5. A control device for a pavement inspection robot, characterized in that, The device includes: The acquisition module is used to acquire the current position of the pavement inspection robot when the pavement inspection robot needs to change to a new inspection path; The first control module is configured to, if the current position is in the first region, first move the pavement inspection robot from the current inspection path to the new inspection path, and then turn on the new inspection path; the first region is located on the side of the pavement to be inspected that is parallel to the center line of the inspection path and faces the starting position of the pavement inspection robot. The second control module is configured to, if the current position is in the second region, first turn on the current detection path and then translate to the new detection path; the second region is located on the side of the centerline away from the detection starting position; The acquisition module is used for: Obtain the pavement surface to be detected and its extension direction; The device further includes: The segmentation module is used to segment the pavement to be inspected into multiple detection paths parallel to the extension direction.

6. The control device for the pavement inspection robot according to claim 5, characterized in that, The first control module is used for: Control the pavement inspection robot to decelerate until the speed of the pavement inspection robot is lower than a first speed threshold.

7. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed on a computer, it causes the computer to perform the method as described in any one of claims 1 to 4.

8. An electronic device, comprising a memory and a processor, characterized in that, The processor executes the method as described in any one of claims 1 to 4 by invoking a computer program stored in the memory.

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