Municipal road detection system

Abstract

The present invention discloses a municipal road detection system, including a combined frame, a vehicle combined frame is welded and fixedly installed on the right side of the combined frame, and a mounting hole is provided on the vehicle combined frame, a support frame is welded and fixedly installed on the inner side of the frame of the combined frame, and a support wheel frame is installed on the inner central bearing of the support frame, a driving sensor is sleeved and fixedly installed on the outer side of the support wheel frame, and a rolling wheel is welded and fixedly installed on the end of the support wheel frame, and a connecting rod is fixedly installed on the bottom surface of the left end of the combined frame. The municipal road detection system can perform initial rolling on the municipal road surface through the running of the rolling wheel. When the municipal road changes due to the pressure of the rolling wheel, the road flatness is subsequently detected by laser radar, and the crack characteristics of the municipal road surface are detected and analyzed using ultrasonic sensors and high-definition cameras, and the data information generated after the municipal road surface is compressed is detected.

Description

Technical Field

[0001] The present invention relates to the technical field of municipal road detection, in particular to a municipal road detection system. Background Art

[0002] Municipal road inspection is a system for inspecting and evaluating the quality and condition of urban roads. The system includes hardware equipment and data analysis. By collecting road surface and structure information, it conducts comprehensive monitoring and evaluation of roads, thereby timely discovering problems and improving and repairing municipal roads. The hardware equipment used for municipal road inspection includes surveillance cameras, acoustic wave sensors and other equipment.

[0003] Comparative document: A municipal road inspection system, publication number: CN112669453B, which only needs to use nails to make tiny cracks on the road surface, and has almost no negative impact on the quality of the road.

[0004] Data analysis is performed by inserting nails into municipal roads, which is only suitable for testing local municipal roads. When long-distance testing of municipal roads is required, it is necessary to repeat the operation in sections multiple times. The cost and time loss are too high, and the overall data is the market road’s own data. When the municipal roads are affected by vehicle driving, the data cannot be tested.

[0005] At present, municipal roads are inspected by monitoring cameras, which detect road cracks according to changes in video images. Overall, municipal road inspection requires problems to occur on the municipal road surface before it can be monitored. When small cracks occur on the surface of municipal roads, simply installing monitoring cameras on municipal roads cannot detect the problems in time, resulting in the municipal road surface suddenly being compressed and cracking directly during driving, posing a safety hazard. Alternatively, sensors are installed on both sides of the municipal roads, but they can only detect local areas of municipal roads. The cost of laying long-distance municipal road inspections is too high, and inspections can only be carried out on cracks in municipal roads. The strength of local areas of municipal roads may not be high, and problems will only occur after subsequent vehicles apply pressure, making it difficult to prevent in time, posing a safety hazard. Summary of the invention

[0006] The purpose of the present invention is to provide a municipal road detection system to better prevent the problem of cracks caused by sudden pressure on the municipal road surface during the driving of vehicles, so as to reduce safety hazards.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a municipal road detection system, comprising a combined frame, a vehicle combined frame is welded and fixedly installed on the right side of the combined frame, and a mounting hole is provided on the vehicle combined frame, a support frame is welded and fixedly installed on the inner side of the frame of the combined frame, and a support wheel frame is installed on the inner center bearing of the support frame, a driving sensor is sleeved and fixedly installed on the outer side of the bracket of the support wheel frame, and a rolling wheel is welded and fixedly installed on the end of the bracket of the support wheel frame, a connecting rod is fixedly installed on the bottom surface of the left end of the combined frame, and a protective frame is installed on the bottom end of the connecting rod, a laser radar is fixedly installed on the inner top surface of the protective frame, a first ultrasonic sensor and a first high-definition camera are installed on the bottom of the middle end of the combined frame, and a second ultrasonic sensor and a second high-definition camera are installed on the bottom of the right end of the combined frame.

[0008] Furthermore, the driving sensor includes an encoder sensor, a wireless communication system and a battery. The encoder sensor generates a related electrical pulse signal by measuring each rotation of the rolling wheel. The wireless communication system transmits each electrical pulse signal generated by the encoder sensor to a computer terminal through a wireless network. The battery provides power for the encoder sensor and the wireless communication module to operate.

[0009] Furthermore, the rolling wheel is connected to the supporting frame via the supporting wheel frame in a rotational manner, and the rolling wheel, the supporting wheel frame and the supporting frame are symmetrically distributed on the combined frame.

[0010] Furthermore, the protection frame and the connecting rod are connected by welding, and the connecting rods are symmetrically distributed on the protection frame, and the left side frame of the protection frame is set as an inclined structure.

[0011] Furthermore, the laser radar includes a laser transmitter, a light receiver, a time measurement unit, a data processing unit and a communication interface. The laser transmitter transmits through a continuous wave laser. The light receiver receives the laser signal reflected back by the target and converts it into an electrical signal. The time measurement unit calculates the distance by recording the emission and reception time of the laser signal. The data processing unit is used to process the received signal and calculate the distance parameters. The communication interface is used to connect with external equipment, transmit measurement data and power supply. The ranging range of the laser radar is 10CM, so that the distance between the laser radar and the road surface is 5CM.

[0012] Furthermore, the first ultrasonic sensor, the first high-definition camera, the second ultrasonic sensor, and the second high-definition camera are symmetrically distributed on the combined frame.

[0013] Furthermore, the first ultrasonic sensor and the second ultrasonic sensor include a transmitter, a receiver, a circuit processing module, a unit control module and a communication interface. The transmitter generates a high-frequency ultrasonic signal through the transmitter and transmits it in the target direction. The receiver is used to receive the reflected ultrasonic signal and convert it into an electrical signal. The circuit processing module is used to enhance and analyze the received signal. The unit control module is used to control the transmission frequency and timing of the ultrasonic wave as well as data processing and output. The communication interface is used to connect with external devices, transmit measurement data and power supply.

[0014] Furthermore, the first high-definition camera and the second high-definition camera include a lens, an image sensor, an image processing chip, an infrared filter and a shell interface. The lens is used to collect light, the image sensor converts the optical signal into an electrical signal, the image processing chip processes the original signal collected by the sensor, the infrared filter is used to filter out excess infrared light, and the shell interface is used to protect the internal components of the camera and connect the power supply and transmit the signal.

[0015] Another technical solution provided by the present invention is a process of a municipal road detection system, comprising the following steps:

[0016] S1. First, connect the laser radar, the first ultrasonic sensor, the first high-definition camera, the second ultrasonic sensor and the second high-definition camera to the power supply device and the computer terminal on the driving vehicle through the power line and the signal transmission line;

[0017] S2, then assembling and fixing the combined frame with the frame on the driving vehicle through the vehicle combined frame;

[0018] S3, the driving vehicle drives the municipal road detection system to move, the combined frame moves by the rotation of the rolling wheel, the municipal road detection system moves, and the protective frame can block objects on the municipal road during the driving process and discharge them from the side;

[0019] S4. During driving, the driving sensor calculates the distance traveled on the municipal road during the detection process according to the number of circles of the rolling wheel and the diameter of the rolling wheel. The distance = rolling wheel diameter × accumulated number of revolutions. Two driving sensors and rolling wheels are provided to improve the accuracy of calculation. The distance traveled on the municipal road during the detection process is calculated and transmitted to the computer terminal on the driving vehicle through wireless data.

[0020] S5. LiDAR calculates the target distance based on continuous wave laser using phase difference and light wavelength. The formula is as follows: ;

[0021] in, is the target distance, is the phase difference, is the wavelength of the light wave,

[0022] The steps for calculating the distance between the road and the lidar are as follows:

[0023] According to the four laser ranging points evenly distributed along the horizontal straight line of the road, mark , , , , the vertical distance between the laser radar and the road surface, the lateral coordinates of each ranging point are known, respectively , , , , the distance from each point to the ground output by the laser radar is , , , , calculate the road surface flatness based on the height data, and the road surface flatness calculation formula is as follows: ;

[0024] if If the set threshold is exceeded, it means that the road surface in the area is uneven. The laser radar transmits the measured data to the computer terminal on the driving vehicle through the communication interface and signal transmission line;

[0025] S6. After the rolling wheel passes over the municipal road surface for the first time during driving, the first ultrasonic sensor and the first high-definition camera detect the municipal road surface through ultrasonic waves and captured images. Since the municipal road surface is subjected to the pressure of the rolling wheel, the road surface with low strength may crack.

[0026] The first ultrasonic sensor sends ultrasonic waves and receives their echoes to detect cracks in the road surface. The first road crack data is generated by sending ultrasonic waves and recording echo signals.

[0027] At the same time, the first high-definition camera captures the road surface and generates the first road crack image.

[0028] The specific steps of comparing the first road crack image with the first road crack data are:

[0029] By using the relative position of the first ultrasonic sensor and the first high-definition camera, information of the first road crack data and the first road crack image of the same crack is extracted.

[0030] The information extracted from the first road crack data is crack depth, and the information extracted from the first road crack image is crack length and crack width.

[0031] Determine whether the crack depth, crack length and crack width exceed the set depth threshold, length threshold and width threshold respectively,

[0032] S7, when the municipal road detection system continues to drive, the rolling wheel rolls the road surface detected for the first time for the second time, and the second ultrasonic sensor and the second high-definition camera detect the municipal road that has been rolled for the second time through ultrasonic waves and captured images.

[0033] The second ultrasonic sensor and the second high-definition camera generate second road crack data and a second road crack image respectively.

[0034] By using the relative position of the second ultrasonic sensor and the second high-definition camera, information of the second road crack data and the second road crack image of the same crack is extracted.

[0035] The information extracted from the second road crack data is the second crack depth, and the information extracted from the second road crack image is the second crack length and the second crack width.

[0036] Compare the second road crack data and the second road crack image with the first road crack data and the first road crack image respectively to determine whether there are new cracks,

[0037] At the same time, it is determined whether the difference between the second crack depth, the second crack length and the second crack width and the first crack depth, the first crack length and the first crack width exceeds the set crack depth change threshold, crack length change threshold and crack width change threshold, respectively.

[0038] S8. If the road is uneven, or if the first crack depth, the first crack length and the first crack width exceed the set depth threshold, length threshold and width threshold, or if the difference between the second crack depth, the second crack length and the second crack width and the first crack depth, the first crack length and the first crack width exceeds the set crack depth change threshold, crack length change threshold and crack width change threshold, then further generate road health data.

[0039] Compared with the prior art, the beneficial effects of the present invention are: the municipal road detection system;

[0040] 1. The protective frame can push away objects on the municipal road surface to avoid affecting subsequent driving and detection work. The laser radar uses continuous wave laser and phase difference ranging to measure the distance between the road and the laser radar, and detect and analyze the level and inclination of the municipal road.

[0041] 2. The municipal road surface can be initially rolled by the movement of the rolling wheel. When the municipal road changes due to the pressure of the rolling wheel, the first ultrasonic sensor and the first high-definition camera are used to perform initial detection and analysis of cracks in the municipal road surface to detect data information generated after the municipal road surface is compressed.

[0042] 3. After the rolling wheel rolls the municipal road surface for the second time, the second ultrasonic sensor and the second high-definition camera are used to conduct a second detection and analysis of the cracks on the municipal road surface. This can determine whether new cracks have appeared on the municipal road surface and whether the cracks detected by the initial rolling have changed through the secondary rolling. The changes in the road surface crack data are detected in detail, and the safety hazards that exist in municipal roads in advance are analyzed, so that maintenance and repair work can be carried out in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0044] Figure 2 This is a schematic diagram of the overall flip three-dimensional structure of the present invention;

[0045] Figure 3 This is a schematic diagram of the overall three-dimensional structure of the present invention from an upward perspective;

[0046] Figure 4 It is a schematic diagram of the driving sensor of the present invention;

[0047] Figure 5 This is a schematic diagram of the laser radar structure of the present invention;

[0048] Figure 6 It is a schematic diagram of the first ultrasonic sensor and the second ultrasonic sensor of the present invention;

[0049] Figure 7 A schematic diagram of the first high-definition camera and the second high-definition camera of the present invention;

[0050] Figure 8 It is a schematic diagram of the process of the present invention.

[0051] In the figure: 1. Combination frame; 2. Vehicle combination frame; 3. Support frame; 4. Support wheel frame; 5. Driving sensor; 6. Rolling wheel; 7. Connecting rod; 8. Protection frame; 9. LiDAR; 10. First ultrasonic sensor; 11. First high-definition camera; 12. Second ultrasonic sensor; 13. Second high-definition camera. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] See also Figure 1-8The present invention provides a technical solution: a municipal road detection system, comprising a combined frame 1, a vehicle combined frame 2 is welded and fixedly installed on the right side of the combined frame 1, and a mounting hole is provided on the vehicle combined frame 2, a support frame 3 is welded and fixedly installed on the inner side of the frame of the combined frame 1, and a support wheel frame 4 is installed on the inner center bearing of the support frame 3, a driving sensor 5 is sleeved and fixedly installed on the outer side of the bracket of the support wheel frame 4, and a rolling wheel 6 is welded and fixedly installed on the end of the bracket of the support wheel frame 4, a connecting rod 7 is fixedly installed on the bottom surface of the left end of the combined frame 1, and a protective frame 8 is installed on the bottom end of the connecting rod 7, a laser radar 9 is fixedly installed on the inner top surface of the protective frame 8, a first ultrasonic sensor 10 and a first high-definition camera 11 are installed on the bottom of the middle end of the combined frame 1, and a second ultrasonic sensor 12 and a second high-definition camera 13 are installed on the bottom of the right end of the combined frame 1.

[0054] The driving sensor 5 includes an encoder sensor, a wireless communication system and a battery. The encoder sensor generates a related electrical pulse signal by measuring each rotation of the rolling wheel 6. The wireless communication system transmits each electrical pulse signal generated by the encoder sensor to the computer terminal through a wireless network. The battery provides power for the encoder sensor and the wireless communication module to operate.

[0055] The rolling wheel 6 is connected to the supporting frame 3 through the supporting wheel frame 4 in a rotational manner, and the rolling wheel 6, the supporting wheel frame 4 and the supporting frame 3 are symmetrically distributed on the combined frame 1. The rolling wheel 6 can be used to roll the road surface that needs to be inspected later, thereby achieving the inspection work after the initial and secondary rolling.

[0056] The protective frame 8 and the connecting rod 7 are connected by welding, and the connecting rod 7 is symmetrically distributed on the protective frame 8, and the left side frame of the protective frame 8 is set as an inclined structure, which can fix the position of the protective frame 8. Subsequently, the impurities on the municipal road surface can be blocked and pushed away according to the protective frame 8.

[0057] The laser radar 9 includes a laser transmitter, a light receiver, a time measurement unit, a data processing unit and a communication interface. The laser transmitter transmits through a continuous wave laser. The light receiver receives the laser signal reflected back by the target and converts it into an electrical signal. The time measurement unit calculates the distance by recording the emission and reception time of the laser signal. The data processing unit is used to process the received signal and calculate the distance parameters. The communication interface is used to connect with external equipment, transmit measurement data and power supply. The ranging range of the laser radar 9 is 10CM, so that the distance between the laser radar 9 and the road surface is 5CM.

[0058] The first ultrasonic sensor 10, the first high-definition camera 11, the second ultrasonic sensor 12, and the second high-definition camera 13 are symmetrically distributed on the combined frame 1 to improve the accuracy of subsequent road detection and sorting.

[0059] The first ultrasonic sensor 10 and the second ultrasonic sensor 12 include a transmitter, a receiver, a circuit processing module, a unit control module and a communication interface. The transmitter generates a high-frequency ultrasonic signal through the transmitter and transmits it in the target direction. The receiver is used to receive the reflected ultrasonic signal and convert it into an electrical signal. The circuit processing module is used to enhance and analyze the received signal. The unit control module is used to control the transmission frequency and timing of the ultrasonic wave as well as data processing and output. The communication interface is used to connect with external devices, transmit measurement data and power supply.

[0060] The first high-definition camera 11 and the second high-definition camera 13 include a lens, an image sensor, an image processing chip, an infrared filter and a shell interface. The lens is used to collect light, the image sensor converts the optical signal into an electrical signal, the image processing chip processes the original signal collected by the sensor, the infrared filter is used to filter out excess infrared light, and the shell interface is used to protect the internal components of the camera and connect the power supply and transmit the signal.

[0061] In order to better demonstrate the municipal road detection system, the process of the municipal road detection system in this embodiment includes the following steps:

[0062] S1. First, connect the laser radar 9, the first ultrasonic sensor 10, the first high-definition camera 11, the second ultrasonic sensor 12 and the second high-definition camera 13 to the power supply device and the computer terminal on the driving vehicle through the power line and the signal transmission line;

[0063] S2, then assemble and fix the combined frame 1 with the frame on the driving vehicle through the vehicle combined frame 2;

[0064] S3, the driving vehicle drives the municipal road detection system to move, the combined frame 1 moves by the rotation of the rolling wheel 6, the municipal road detection system moves, and the protective frame 8 can block objects on the municipal road during the driving process and discharge them from the side;

[0065] S4, during the driving process, the driving sensor 5 calculates the distance = the diameter of the rolling wheel 6 × the accumulated number of revolutions according to the number of circles of the rolling wheel 6 and the diameter of the rolling wheel 6. The driving sensor 5 and the rolling wheel 6 are provided with two to improve the accuracy of the calculation. The distance traveled on the municipal road during the detection process is calculated and transmitted to the computer terminal on the driving vehicle through wireless data;

[0066] S5, laser radar 9 calculates the target distance based on the continuous wave laser using the phase difference and the wavelength of the light wave, and the formula is as follows: ;

[0067] in, is the target distance, is the phase difference, is the wavelength of the light wave,

[0068] The steps for calculating the distance between the road and the laser radar 9 are as follows:

[0069] According to the four laser ranging points evenly distributed along the horizontal straight line of the road, mark , , , , the laser radar 9 senses the vertical distance between the road surfaces, and the lateral coordinates of each ranging point are known, respectively , , , , the distance from each point to the ground output by the laser radar 9 is , , , , calculate the road surface flatness based on the height data, and the road surface flatness calculation formula is as follows: ;

[0070] if If the set threshold is exceeded, it indicates that the road surface in the area is uneven, and the laser radar 9 transmits the measured data to the computer terminal on the driving vehicle through the communication interface and the signal transmission line;

[0071] S6, after the rolling wheel 6 passes over the municipal road surface for the first time during driving, the first ultrasonic sensor 10 and the first high-definition camera 11 detect the municipal road surface through ultrasonic waves and captured images. Because the municipal road surface is subjected to the pressure of the rolling wheel 6, the road surface with low strength may crack.

[0072] The first ultrasonic sensor 10 sends ultrasonic waves and receives their echoes to detect cracks in the road surface. By sending ultrasonic waves and recording echo signals, first road crack data is generated.

[0073] At the same time, the first high-definition camera 11 photographs the road surface to generate a first road crack image.

[0074] Comparing the first road crack image with the first road crack data, the specific steps are:

[0075] By using the relative position of the first ultrasonic sensor 10 and the first high-definition camera 11, information of the first road crack data and the first road crack image of the same crack is extracted.

[0076] The information extracted from the first road crack data is the crack depth, and the information extracted from the first road crack image is the crack length and crack width.

[0077] Determine whether the crack depth, crack length and crack width exceed the set depth threshold, length threshold and width threshold respectively,

[0078] S7, when the municipal road detection system continues to run, the rolling wheel 6 rolls the road surface detected for the first time for the second time, and the second ultrasonic sensor 12 and the second high-definition camera 13 detect the municipal road that has been rolled for the second time through ultrasonic waves and captured images.

[0079] The second ultrasonic sensor 12 and the second high-definition camera 13 generate second road crack data and a second road crack image, respectively.

[0080] By using the relative position of the second ultrasonic sensor 12 and the second high-definition camera 13, information of the second road crack data and the second road crack image of the same crack is extracted.

[0081] The information extracted from the second road crack data is the second crack depth, and the information extracted from the second road crack image is the second crack length and the second crack width.

[0082] Compare the second road crack data and the second road crack image with the first road crack data and the first road crack image respectively to determine whether there are new cracks.

[0083] At the same time, it is determined whether the difference between the second crack depth, the second crack length and the second crack width and the first crack depth, the first crack length and the first crack width exceeds the set crack depth change threshold, crack length change threshold and crack width change threshold respectively.

[0084] S8. If the road is uneven, or if the first crack depth, the first crack length and the first crack width exceed the set depth threshold, length threshold and width threshold, or if the difference between the second crack depth, the second crack length and the second crack width and the first crack depth, the first crack length and the first crack width exceeds the set crack depth change threshold, crack length change threshold and crack width change threshold, then further generate road health data.

[0085] The working principle of this embodiment is as follows: first, the laser radar 9, the first ultrasonic sensor 10, the first high-definition camera 11, the second ultrasonic sensor 12 and the second high-definition camera 13 are connected to the power supply equipment and the computer terminal on the driving vehicle through the power line and the signal transmission line, and then the combined frame 1 is assembled and fixed with the frame on the driving vehicle through the vehicle combined frame 2, and the driving vehicle drives the municipal road detection system to move, and the combined frame 1 moves and drives by the rotation of the rolling wheel 6. The municipal road detection system moves, and the objects on the municipal road during the driving process can be blocked and discharged from the side according to the protective frame 8. During the driving process, the driving sensor 5 calculates the distance traveled on the municipal road during the detection process according to the number of circles rolled by the rolling wheel 6 and the diameter of the rolling wheel 6, and transmits the data to the computer terminal on the driving vehicle through wireless data;

[0086] According to the laser radar 9, the target distance and the road surface flatness are calculated by using the phase difference and the wavelength of the light wave according to the continuous wave laser. After the rolling wheel 6 passes over the municipal road surface for the first time during driving, the first ultrasonic sensor 10 and the first high-definition camera 11 detect the municipal road that has been passed through by ultrasonic waves and captured images. When the municipal road detection system continues to drive, the rolling wheel 6 rolls over the road surface that has been detected for the first time for the second time, and the second ultrasonic sensor 12 and the second high-definition camera 13 detect the municipal road that has been passed through for the second time by ultrasonic waves and captured images. According to the unevenness of the municipal road surface and the changes in crack data, the road health data can be generated.

[0087] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0088] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A municipal road detection system, comprising a combined frame (1), characterized in that: A vehicle assembly frame (2) is welded and fixedly mounted on the right side of the assembly frame (1), and a mounting hole is provided on the vehicle assembly frame (2); a support frame (3) is welded and fixedly mounted on the inner side of the frame of the assembly frame (1), and a support wheel frame (4) is mounted on the inner central bearing of the support frame (3); a travel sensor (5) is sleeved and fixedly mounted on the outer side of the bracket of the support wheel frame (4), and a rolling wheel (6) is welded and fixedly mounted on the end of the bracket of the support wheel frame (4); a connecting rod (7) is fixedly mounted on the bottom surface of the left end of the assembly frame (1), and the bottom end of the connecting rod (7) is mounted A protective frame (8) is provided, a laser radar (9) is fixedly mounted on the inner top surface of the protective frame (8), a first ultrasonic sensor (10) and a first high-definition camera (11) are mounted on the middle bottom of the combined frame (1), a second ultrasonic sensor (12) and a second high-definition camera (13) are mounted on the right bottom of the combined frame (1), the rolling wheel (6) is connected to the support frame (3) via the support wheel frame (4) in a rotationally connected manner, and the rolling wheel (6), the support wheel frame (4) and the support frame (3) are symmetrically distributed on the combined frame (1). The laser radar (9) is used to measure whether the road is flat, the first ultrasonic sensor and the first high-definition camera are used to initially measure the depth, length and width characteristics of road cracks, and the second ultrasonic sensor and the second high-definition camera are used to secondarily measure the depth, length and width characteristics of road cracks and compare them with the initially measured depth, length and width characteristics of road cracks, and further generate road health data.

2. The municipal road detection system according to claim 1, characterized in that: The driving sensor (5) comprises an encoder sensor, a wireless communication system and a battery. The encoder sensor generates a related electrical pulse signal by measuring each rotation of the rolling wheel (6). The wireless communication system transmits each electrical pulse signal generated by the encoder sensor to a computer terminal via a wireless network. The battery supplies power to the encoder sensor and the wireless communication module for operation.

3. The municipal road detection system according to claim 1, characterized in that: The protective frame (8) and the connecting rod (7) are connected by welding, the connecting rod (7) is symmetrically distributed on the protective frame (8), and the left side frame of the protective frame (8) is arranged in an inclined structure.

4. The municipal road detection system according to claim 1, characterized in that: The laser radar (9) comprises a laser transmitter, a light receiver, a time measurement unit, a data processing unit and a communication interface. The laser transmitter transmits via a continuous wave laser. The light receiver receives the laser signal reflected by the target and converts it into an electrical signal. The time measurement unit calculates the distance by recording the emission and reception time of the laser signal. The data processing unit is used to process the received signal and calculate the distance parameter. The communication interface is used to connect to an external device, transmit measurement data and provide power. The distance measurement range of the laser radar (9) is 10 CM, so that the distance between the laser radar (9) and the road surface is 5 CM.

5. The municipal road detection system according to claim 1, characterized in that: The first ultrasonic sensor (10), the first high-definition camera (11), the second ultrasonic sensor (12), and the second high-definition camera (13) are symmetrically distributed on the combined frame (1).

6. The municipal road detection system according to claim 1, characterized in that: The first ultrasonic sensor (10) and the second ultrasonic sensor (12) comprise a transmitter, a receiver, a circuit processing module, a unit control module and a communication interface. The transmitter generates a high-frequency ultrasonic signal through the transmitter and transmits it in the target direction. The receiver is used to receive the reflected ultrasonic signal and convert it into an electrical signal. The circuit processing module is used to enhance and analyze the received signal. The unit control module is used to control the transmission frequency and timing of the ultrasonic wave as well as data processing and output. The communication interface is used to connect to an external device, transmit measurement data and supply power.

7. The municipal road detection system according to claim 1, characterized in that: The first high-definition camera (11) and the second high-definition camera (13) comprise a lens, an image sensor, an image processing chip, an infrared filter and a housing interface, wherein the lens is used to collect light, the image sensor converts the light signal into an electrical signal, the image processing chip processes the original signal collected by the sensor, the infrared filter is used to filter out excess infrared light, and the housing interface is used to protect the internal components of the camera and to connect a power supply and transmit signals.

8. The municipal road detection system according to claim 1, characterized in that: System detection includes the following steps: S1. First, the laser radar (9), the first ultrasonic sensor (10), the first high-definition camera (11), the second ultrasonic sensor (12), and the second high-definition camera (13) are connected to a power supply device and a computer terminal on a driving vehicle via a power line and a signal transmission line; S2, then assembling and fixing the combined frame (1) with the frame on the driving vehicle through the vehicle combined frame (2); S3, the driving vehicle drives the municipal road detection system to move, the combined frame (1) moves by the rotation of the rolling wheel (6), the municipal road detection system moves, and objects on the municipal road during the driving process can be blocked and discharged from the side according to the protection frame (8); S4, during the driving process, the driving sensor (5) calculates the distance = the diameter of the rolling wheel (6) × the accumulated number of revolutions according to the number of revolutions of the rolling wheel (6). Two driving sensors (5) and two rolling wheels (6) are provided to improve the accuracy of the calculation. The distance traveled on the municipal road during the detection process is calculated and transmitted to the computer terminal on the driving vehicle via wireless data; S5. LiDAR (9) calculates the target distance based on continuous wave laser using phase difference and light wavelength. The formula is as follows: ; in, is the target distance, is the phase difference, is the wavelength of the light wave, The steps for calculating the distance between the road and the laser radar (9) are as follows: According to the four laser ranging points evenly distributed along the horizontal straight line of the road, marked P1, P2, P3, P4, the laser radar (9) senses the vertical distance between the road surfaces. The horizontal coordinates of each ranging point are known, namely X1, X2, X3, X4. The laser radar (9) outputs the distance from each point to the ground as Z1, Z2, Z3, Z4. The road surface flatness is calculated based on the height data. The road surface flatness calculation formula is as follows: ΔZ i =Z i＋1 -Z i , (i=1,2,3); If ΔZ i If the surface roughness exceeds the set threshold, it indicates that the road surface in the area is uneven. The laser radar (9) transmits the measured data to a computer terminal on the driving vehicle through a communication interface and a signal transmission line. S6, after the rolling wheel (6) passes over the municipal road surface for the first time during driving, the first ultrasonic sensor (10) and the first high-definition camera (11) detect the municipal road surface through ultrasonic waves and captured images. Since the municipal road surface is subjected to pressure from the rolling wheel (6), cracks may occur on the road surface with low strength. The first ultrasonic sensor (10) sends ultrasonic waves and receives echoes thereof to detect cracks on the road surface, and generates first road crack data by sending ultrasonic waves and recording echo signals. At the same time, the first high-definition camera (11) photographs the road surface to generate a first road crack image. The specific steps of comparing the first road crack image with the first road crack data are: By using the relative position of the first ultrasonic sensor (10) and the first high-definition camera (11), information of the first road crack data and the first road crack image of the same crack is extracted; The information extracted from the first road crack data is crack depth, and the information extracted from the first road crack image is crack length and crack width. Determine whether the crack depth, crack length and crack width exceed the set depth threshold, length threshold and width threshold respectively, S7, while the municipal road detection system continues to run, the rolling wheel (6) rolls the road surface that was initially detected for a second time, and the second ultrasonic sensor (12) and the second high-definition camera (13) detect the municipal road that was rolled for the second time through ultrasonic waves and captured images. The second ultrasonic sensor (12) and the second high-definition camera (13) respectively generate second road crack data and a second road crack image, By using the relative position of the second ultrasonic sensor (12) and the second high-definition camera (13), information of the second road crack data and the second road crack image of the same crack is extracted. The information extracted from the second road crack data is the second crack depth, and the information extracted from the second road crack image is the second crack length and the second crack width. Compare the second road crack data and the second road crack image with the first road crack data and the first road crack image respectively to determine whether there are new cracks, At the same time, it is determined whether the difference between the second crack depth, the second crack length and the second crack width and the first crack depth, the first crack length and the first crack width exceeds the set crack depth change threshold, crack length change threshold and crack width change threshold, respectively, and further generates a road strength feature; S8. If the road is uneven, or the first crack depth, the first crack length and the first crack width exceed the set depth threshold, length threshold and width threshold, or the difference between the second crack depth, the second crack length and the second crack width and the first crack depth, the first crack length and the first crack width exceeds the set crack depth change threshold, crack length change threshold and crack width change threshold, then further generate road health data.

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