Road disease detection method, device, system and medium based on dynamic frame acquisition

Abstract

The embodiment of the present invention discloses a road disease detection method, device, system and medium based on dynamic frame acquisition. In the method, after receiving a road disease detection signal, the road disease acquisition end obtains the wheel speed data collected by the wheel speed sensor; determines whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold; if the result of the judgment is yes, the road disease acquisition end controls to stop collecting road images; if the result of the judgment is no, the road disease acquisition end controls the camera to collect road images; according to a preset dynamic frame acquisition strategy, the road image is sent to the central end; the central end performs road disease recognition on the received road image to obtain disease information on the inspection road. The present invention saves computing resources and reduces unnecessary duplicate data generation by taking dynamic frames while ensuring the reliability of the detection results. The present invention realizes automatic detection of road diseases with high efficiency and low cost, and is suitable for popularization and application.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of intelligent transportation technology, and in particular, to a road defect detection method, device, system and medium based on dynamic frame mapping. Background Art

[0002] Road damage refers to the phenomenon that the structure or function of a road is damaged or its performance is degraded due to various internal and external factors during its use. Road damage not only affects the safety and comfort of driving, but also shortens the service life of the road and increases maintenance costs. With the acceleration of urbanization, the road traffic network is becoming increasingly complex, and the rapid and accurate detection of road damage is crucial to ensure traffic safety. However, the existing road damage detection scheme still uses manual methods to detect road damage. This method not only has low detection efficiency and low accuracy, but is also not conducive to the centralized statistics and analysis of road damage. It is also costly and can easily affect normal road traffic during the detection process.

[0003] The above problems need to be solved urgently. Summary of the invention

[0004] In order to solve the related technical problems, the present invention provides a road disease detection method, device, system and medium based on dynamic frame acquisition to solve the problems mentioned in the above background technology part.

[0005] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a road disease detection method based on dynamic frame acquisition, the method comprising:

[0007] Sending a road disease detection signal to a road disease collection terminal through the vehicle-mounted control terminal;

[0008] After receiving the road defect detection signal, the road defect collection terminal obtains the wheel speed data collected by the wheel speed sensor;

[0009] Determining whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold;

[0010] If the result of the judgment is yes, the road damage collection terminal controls to stop collecting road images;

[0011] If the result of the judgment is no, the road damage collection terminal controls the camera to collect road images;

[0012] Sending the road image to the central end according to a preset dynamic frame image acquisition strategy;

[0013] The central end performs road damage recognition on the received road image to obtain damage information on the inspected road.

[0014] As an optional implementation, sending the road image to the central end according to a preset dynamic frame acquisition strategy includes:

[0015] The wheel speed data collected by the wheel speed sensor is processed to obtain the current speed of the road defect collection vehicle; according to the matching relationship between the preset image acquisition frame rate and the vehicle speed, the image acquisition frame rate corresponding to the vehicle speed is calculated, and the image acquisition action is performed according to the image acquisition frame rate.

[0016] As an optional implementation, the preset matching relationship between the image acquisition frame rate and the vehicle speed includes: setting a proportional coefficient between the image acquisition frame rate and the vehicle speed, and calculating the image acquisition frame rate corresponding to the vehicle speed based on the real-time vehicle speed data and the proportional coefficient.

[0017] As an optional implementation, the preset dynamic frame image acquisition strategy also includes: constructing an adaptive dynamic frame image acquisition model based on road damage type and vehicle speed data; wherein the road damage type is a damage type preliminarily identified based on existing road acquisition images.

[0018] As an optional implementation, the road defect detection method based on dynamic frame acquisition also includes: the vehicle-mounted control terminal sets the positioning data acquisition frequency, odometer data acquisition frequency, wheel speed data acquisition frequency, speeding threshold, trigger vehicle speed and image storage time.

[0019] In a second aspect, an embodiment of the present invention provides a road damage detection device based on dynamic frame image acquisition, which adopts the road damage detection method based on dynamic frame image acquisition provided by the embodiment of the first aspect, including:

[0020] A road damage detection control module is used to send a road damage detection signal to a road damage collection terminal through a vehicle-mounted control terminal;

[0021] The wheel speed data acquisition module is used to obtain the wheel speed data collected by the wheel speed sensor after the road damage collection terminal receives the road damage detection signal;

[0022] A wheel speed determination module, used to determine whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold;

[0023] A road image acquisition control module is used to control the road image acquisition end to stop acquiring the road image when the wheel speed data acquired by the wheel speed sensor is lower than a preset wheel speed threshold value according to the judgment result of the wheel speed judgment module; and to control the camera to acquire the road image through the road disease acquisition end when the wheel speed data acquired by the wheel speed sensor is not lower than the preset wheel speed threshold value;

[0024] A dynamic frame image acquisition module, used for sending the road image to the central end according to a preset dynamic frame image acquisition strategy;

[0025] The road damage identification module is used to identify road damage on the road image received through the central end to obtain the damage information on the inspection road.

[0026] As an optional implementation, the dynamic frame acquisition module is specifically used for:

[0027] The wheel speed data collected by the wheel speed sensor is processed to obtain the current speed of the road defect collection vehicle; according to the matching relationship between the preset image acquisition frame rate and the vehicle speed, the image acquisition frame rate corresponding to the vehicle speed is calculated, and the image acquisition action is performed according to the image acquisition frame rate.

[0028] As an optional implementation, the preset matching relationship between the image acquisition frame rate and the vehicle speed includes: setting a proportional coefficient between the image acquisition frame rate and the vehicle speed, and calculating the image acquisition frame rate corresponding to the vehicle speed based on the real-time vehicle speed data and the proportional coefficient.

[0029] In the third aspect, an embodiment of the present invention provides a road defect detection system based on dynamic frame imaging. The system adopts the road defect detection device based on dynamic frame imaging provided by the embodiment of the second aspect, and completes road defect detection through the road defect detection device based on dynamic frame imaging.

[0030] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the road damage detection method based on dynamic frame imaging as described in the embodiment of the first aspect above.

[0031] The technical solution proposed in the embodiment of the present invention sends a road disease detection signal to the road disease collection end through the vehicle-mounted control end; after receiving the road disease detection signal, the road disease collection end obtains the wheel speed data collected by the wheel speed sensor; determines whether the wheel speed data collected by the wheel speed sensor is lower than the preset wheel speed threshold; if the result of the judgment is yes, the road disease collection end controls to stop collecting road images; if the result of the judgment is no, the road disease collection end controls the camera to collect road images; the road image is sent to the central end according to the preset dynamic frame acquisition strategy; the central end performs road disease recognition on the received road image to obtain the disease information on the inspection road. The technical solution proposed in the embodiment of the present invention uses the preset dynamic frame acquisition strategy to perform dynamic frame rate acquisition in road disease detection, which saves computing resources and reduces unnecessary repeated data generation while ensuring the reliability of the detection results. The technical solution proposed in the embodiment of the present invention realizes automatic detection of road diseases, with high efficiency and low cost, and is suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following briefly introduces the background technology of the present invention and the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the contents of the embodiments of the present invention and these drawings without paying any creative work.

[0033] Figure 1 A flow chart of a road damage detection method based on dynamic frame acquisition provided by an embodiment of the present invention;

[0034] Figure 2 This is a structural block diagram of a road defect detection device based on dynamic frame acquisition provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0037] Embodiment 1

[0038] Please refer to Figure 1 As stated, Figure 1 A flow chart of a road damage detection method based on dynamic frame acquisition provided by an embodiment of the present invention. As shown in the figure, the road damage detection method 100 based on dynamic frame acquisition in this embodiment includes the following steps:

[0039] S101. Sending a road disease detection signal to a road disease collection terminal through the vehicle control terminal;

[0040] S102. After receiving the road damage detection signal, the road damage collection terminal obtains the wheel speed data collected by the wheel speed sensor;

[0041] S103. Determine whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold;

[0042] S104. If the result of the judgment is yes, the road damage collection terminal controls to stop collecting road images;

[0043] S105. If the result of the judgment is no, the road damage collection terminal controls the camera to start collecting road images;

[0044] S106. Sending the road image to the central end according to a preset dynamic frame acquisition strategy;

[0045] S107. The central end performs road damage identification on the received road image to obtain damage information on the inspected road.

[0046] Exemplarily, the road image is sent to the central end according to a preset dynamic frame image acquisition strategy, including: processing the wheel speed data collected by the wheel speed sensor to obtain the current speed of the road defect collection vehicle; calculating the image acquisition frame rate corresponding to the vehicle speed according to a matching relationship between a preset image acquisition frame rate and the vehicle speed, and executing the image acquisition action according to the image acquisition frame rate.

[0047] Exemplarily, the matching relationship between the preset image acquisition frame rate and the vehicle speed includes: setting a proportional coefficient between the image acquisition frame rate and the vehicle speed, and calculating the image acquisition frame rate corresponding to the vehicle speed based on the real-time vehicle speed data and the proportional coefficient.

[0048] Exemplarily, the preset dynamic frame image acquisition strategy also includes: constructing an adaptive dynamic frame image acquisition model according to the road damage type and vehicle speed data; wherein the road damage type is the damage type preliminarily identified based on the existing road acquisition image.

[0049] Exemplarily, the road damage detection method based on dynamic frame image acquisition also includes: the vehicle-mounted control terminal sets the positioning data acquisition frequency, the odometer data acquisition frequency, the wheel speed data acquisition frequency, the speeding threshold, the trigger vehicle speed and the image storage time.

[0050] The road disease detection method 100 based on dynamic frame acquisition proposed in this embodiment uses a preset dynamic frame acquisition strategy to perform dynamic frame rate acquisition in road disease detection, which saves computing resources and reduces unnecessary repeated data generation while ensuring reliable detection results. The road disease detection method 100 based on dynamic frame acquisition proposed in the embodiment of the present invention realizes automatic detection of road diseases, has high efficiency, low cost, and is suitable for promotion and application.

[0051] Embodiment 2

[0052] The road damage detection method based on dynamic frame acquisition in this embodiment includes the following steps:

[0053] S201. Sending a road disease detection signal to a road disease collection terminal through the vehicle control terminal;

[0054] S202. After receiving the road damage detection signal, the road damage collection terminal obtains the wheel speed data collected by the wheel speed sensor;

[0055] S203. Determine whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold;

[0056] S204. If the result of the judgment is yes, the road damage collection terminal controls to stop collecting road images;

[0057] S205. If the result of the judgment is no, the road damage collection terminal controls the camera to start collecting road images;

[0058] S206. Sending the road image to the central end according to a preset dynamic frame acquisition strategy;

[0059] S207. The central end performs road damage identification on the received road image to obtain damage information on the inspection road.

[0060] Exemplarily, the road image is sent to the central end according to a preset dynamic frame image acquisition strategy, including: processing the wheel speed data collected by the wheel speed sensor to obtain the current speed of the road defect collection vehicle; calculating the image acquisition frame rate corresponding to the vehicle speed according to a matching relationship between a preset image acquisition frame rate and the vehicle speed, and executing the image acquisition action according to the image acquisition frame rate.

[0061] In this embodiment, the matching relationship between the preset image acquisition frame rate and the vehicle speed includes: setting a proportional coefficient between the image acquisition frame rate and the vehicle speed, and calculating the image acquisition frame rate corresponding to the vehicle speed based on the real-time vehicle speed data and the proportional coefficient.

[0062] Specifically, in this embodiment, when the vehicle is traveling at a high speed, the image acquisition frame rate is high, and the image sequence obtained at the high frame rate is subjected to preprocessing operations including denoising and contrast enhancement to ensure that the extracted road image can identify road damage and effectively avoid missed or misdetected road damage. When the vehicle is traveling at a low speed, the image acquisition frame rate is low, which reduces the extraction of repeated images and saves computing power.

[0063] Exemplarily, the preset dynamic frame image acquisition strategy also includes: constructing an adaptive dynamic frame image acquisition model according to the road damage type and vehicle speed data; wherein the road damage type is the damage type preliminarily identified based on the existing road acquisition image.

[0064] Specifically, in this embodiment, the possibility of the existence of road defects is preliminarily judged on the road image data collected by the camera. If the possibility of the existence of defects is greater than a preset threshold, the image acquisition frame rate is controlled to increase dynamically, thereby achieving accurate judgment of road defects and greatly reducing the storage resources and computing resources occupied by invalid image acquisition.

[0065] Exemplarily, the road damage detection method based on dynamic frame image acquisition also includes: the vehicle-mounted control terminal sets the positioning data acquisition frequency, the odometer data acquisition frequency, the wheel speed data acquisition frequency, the speeding threshold, the trigger vehicle speed and the image storage time.

[0066] The road disease detection method based on dynamic frame acquisition proposed in this embodiment uses a preset dynamic frame acquisition strategy to perform dynamic frame rate acquisition in road disease detection, which saves computing resources and reduces unnecessary repeated data generation while ensuring the reliability of the detection results. The road disease detection method based on dynamic frame acquisition proposed in the embodiment of the present invention realizes automatic detection of road diseases, has high efficiency, low cost, and is suitable for promotion and application.

[0067] Embodiment 3

[0068] Embodiment 3

[0069] like Figure 2 As shown, Figure 2 The structure block diagram of the road disease detection device based on dynamic frame acquisition provided by an embodiment of the present invention. In this embodiment, the road disease detection device based on dynamic frame acquisition 200 adopts the road disease detection method based on dynamic frame acquisition provided by any one of the above-mentioned embodiments 1 or 2, and the device includes:

[0070] The road damage detection control module 201 is used to send a road damage detection signal to a road damage collection terminal through a vehicle-mounted control terminal;

[0071] The wheel speed data collection module 202 is used to obtain the wheel speed data collected by the wheel speed sensor after the road damage collection terminal receives the road damage detection signal;

[0072] The wheel speed determination module 203 is used to determine whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold;

[0073] The road image acquisition control module 204 is used to control the road damage acquisition end to stop acquiring road images when the wheel speed data acquired by the wheel speed sensor is lower than a preset wheel speed threshold value according to the judgment result of the wheel speed judgment module 203; and to control the camera to acquire road images through the road damage acquisition end when the wheel speed data acquired by the wheel speed sensor is not lower than the preset wheel speed threshold value;

[0074] The dynamic frame image acquisition module 205 is used to send the road image to the central end according to a preset dynamic frame image acquisition strategy;

[0075] The road damage identification module 206 is used to identify road damage on the road image received through the central end to obtain damage information on the inspection road.

[0076] In this embodiment, the dynamic frame acquisition module 205 is specifically used to process the wheel speed data collected by the wheel speed sensor to obtain the current speed of the road defect collection vehicle; according to the matching relationship between the preset image acquisition frame rate and the vehicle speed, the image acquisition frame rate corresponding to the vehicle speed is calculated, and the image acquisition action is performed according to the image acquisition frame rate.

[0077] In this embodiment, the matching relationship between the preset image acquisition frame rate and the vehicle speed includes: setting a proportional coefficient between the image acquisition frame rate and the vehicle speed, and calculating the image acquisition frame rate corresponding to the vehicle speed based on the real-time vehicle speed data and the proportional coefficient.

[0078] Specifically, in this embodiment, when the vehicle is traveling at a high speed, the image acquisition frame rate is high, and the image sequence obtained at the high frame rate is subjected to preprocessing operations including denoising and contrast enhancement to ensure that the extracted road image can identify road damage and effectively avoid missed or misdetected road damage. When the vehicle is traveling at a low speed, the image acquisition frame rate is low, which reduces the extraction of repeated images and saves computing power.

[0079] Exemplarily, the preset dynamic frame image acquisition strategy also includes: constructing an adaptive dynamic frame image acquisition model according to the road damage type and vehicle speed data; wherein the road damage type is the damage type preliminarily identified based on the existing road acquisition image.

[0080] Specifically, in this embodiment, the possibility of the existence of road defects is preliminarily judged on the road image data collected by the camera. If the possibility of the existence of defects is greater than a preset threshold, the image acquisition frame rate is controlled to increase dynamically, thereby achieving accurate judgment of road defects and greatly reducing the storage resources and computing resources occupied by invalid image acquisition.

[0081] Exemplarily, the road damage detection method based on dynamic frame image acquisition also includes: the vehicle-mounted control terminal sets the positioning data acquisition frequency, the odometer data acquisition frequency, the wheel speed data acquisition frequency, the speeding threshold, the trigger vehicle speed and the image storage time.

[0082] In this embodiment, the vehicle-mounted control terminal is, but not limited to, a tablet computer. The road disease collection terminal can be integrated into a vehicle-mounted control box and installed on the top of the inspection vehicle. The central terminal is responsible for the identification of road diseases and can realize remote control of the road disease collection terminal.

[0083] The road disease detection device 200 based on dynamic frame acquisition proposed in this embodiment performs dynamic frame rate acquisition in road disease detection through a preset dynamic frame acquisition strategy, which saves computing resources and reduces unnecessary repeated data generation under the premise of ensuring reliable detection results. The road disease detection device 200 based on dynamic frame acquisition proposed in the embodiment of the present invention realizes automatic detection of road diseases, has high efficiency, low cost, and is suitable for promotion and application.

[0084] Embodiment 4

[0085] This embodiment provides a road damage detection system based on dynamic frame image acquisition. The system adopts the road damage detection device based on dynamic frame image acquisition provided in Example 3, and completes road damage detection through the road damage detection device based on dynamic frame image acquisition.

[0086] Embodiment 5

[0087] An embodiment of the present invention provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the road damage detection method based on dynamic frame acquisition as described in the first aspect of the embodiment above.

[0088] It should be noted that the above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0089] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A road disease detection method based on dynamic frame acquisition, characterized in that: include: Sending a road disease detection signal to a road disease collection terminal through the vehicle-mounted control terminal; After receiving the road damage detection signal, the road damage collection terminal obtains the wheel speed data collected by the wheel speed sensor; Determining whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold; If the result of the judgment is yes, the road damage collection terminal controls to stop collecting road images; If the result of the judgment is no, the road damage collection terminal controls the camera to collect road images; Sending the road image to the central end according to a preset dynamic frame image acquisition strategy; The central end performs road damage recognition on the received road image to obtain damage information on the inspection road.

2. The road damage detection method based on dynamic frame acquisition according to claim 1 is characterized in that: The road image is sent to the central end according to a preset dynamic frame acquisition strategy, including: The wheel speed data collected by the wheel speed sensor is processed to obtain the current speed of the road defect collection vehicle; according to the matching relationship between the preset image acquisition frame rate and the vehicle speed, the image acquisition frame rate corresponding to the vehicle speed is calculated, and the image acquisition action is performed according to the image acquisition frame rate.

3. The road disease detection method based on dynamic frame acquisition according to claim 2 is characterized in that: The matching relationship between the preset image acquisition frame rate and the vehicle speed includes: setting a proportional coefficient between the image acquisition frame rate and the vehicle speed, and calculating the image acquisition frame rate corresponding to the vehicle speed according to the real-time vehicle speed data and the proportional coefficient.

4. The road damage detection method based on dynamic frame acquisition according to claim 3 is characterized in that: The preset dynamic frame image acquisition strategy also includes: constructing an adaptive dynamic frame image acquisition model according to the road damage type and vehicle speed data; wherein the road damage type is the damage type preliminarily identified based on the existing road acquisition image.

5. The road damage detection method based on dynamic frame acquisition according to any one of claims 1 to 4, characterized in that: Also includes: The vehicle control terminal sets the positioning data acquisition frequency, odometer data acquisition frequency, wheel speed data acquisition frequency, speeding threshold, trigger vehicle speed and image storage time.

6. A road disease detection device based on dynamic frame acquisition, characterized in that: The device adopts the road disease detection method based on dynamic frame acquisition as described in claim 1, comprising: A road damage detection control module is used to send a road damage detection signal to a road damage collection terminal through a vehicle-mounted control terminal; The wheel speed data acquisition module is used to obtain the wheel speed data collected by the wheel speed sensor after the road damage collection terminal receives the road damage detection signal; A wheel speed determination module, used to determine whether the wheel speed data collected by the wheel speed sensor is lower than a preset wheel speed threshold; A road image acquisition control module is used to control the road image acquisition end to stop acquiring the road image when the wheel speed data acquired by the wheel speed sensor is lower than a preset wheel speed threshold value according to the judgment result of the wheel speed judgment module; and to control the camera to acquire the road image through the road disease acquisition end when the wheel speed data acquired by the wheel speed sensor is not lower than the preset wheel speed threshold value; A dynamic frame image acquisition module, used for sending the road image to the central end according to a preset dynamic frame image acquisition strategy; The road damage identification module is used to identify road damage on the road image received through the central end to obtain the damage information on the inspection road.

7. The road disease detection device based on dynamic frame acquisition according to claim 6 is characterized in that: The dynamic frame acquisition module is specifically used for: The wheel speed data collected by the wheel speed sensor is processed to obtain the current speed of the road defect collection vehicle; according to the matching relationship between the preset image acquisition frame rate and the vehicle speed, the image acquisition frame rate corresponding to the vehicle speed is calculated, and the image acquisition action is performed according to the image acquisition frame rate.

8. The road disease detection device based on dynamic frame acquisition according to claim 7 is characterized in that: The matching relationship between the preset image acquisition frame rate and the vehicle speed includes: setting a proportional coefficient between the image acquisition frame rate and the vehicle speed, and calculating the image acquisition frame rate corresponding to the vehicle speed according to the real-time vehicle speed data and the proportional coefficient.

9. A road disease detection system based on dynamic frame acquisition, characterized in that: The system adopts the road damage detection device based on dynamic frame image acquisition as described in claim 6, and completes road damage detection through the road damage detection device based on dynamic frame image acquisition.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the road damage detection method based on dynamic frame acquisition as claimed in claim 1.

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