Intelligent road patrol equipment based on three dimensions

Abstract

The invention relates to the technical field of road surface detection, and provides intelligent road patrol equipment based on three dimensions. The device comprises an index sensing module used for acquiring pavement appearance precision three-dimensional point cloud data; the re-checking data sensing module is used for acquiring image data in front of and behind a road; the data processing module is used for detecting a road condition index based on the precise three-dimensional point cloud data and detecting a sign label based on front and rear image data; the road condition decay analysis module is used for calculating the road condition decay speed based on the road condition index detection result; the re-checking data sensing module is further used for providing front and rear image data for manual work for abnormity re-checking according to the abnormity of the detection result. According to the invention, precise three-dimensional point cloud data and road surface front and rear image data can be combined, road detection precision is improved, detection of multiple indexes is realized, single detection index is avoided, equipment acquisition cost and maintenance difficulty are reduced through integration and simplification of the detection module, and data processing efficiency is improved through real-time data processing.

Description

Technical Field

[0001] The present application relates to the technical field of road surface detection, and in particular to a three-dimensional intelligent road inspection equipment. Background Art

[0002] At present, road inspection equipment can quickly detect road conditions and find road problems in a timely manner. Compared with traditional manual inspections, it can quickly detect road defects, thereby improving detection efficiency. In addition, road inspection equipment can also provide favorable support for road operation and maintenance. After timely detection of road problems, effective maintenance can be carried out, which can significantly reduce maintenance costs and ensure the safety of vehicles and pedestrians on the road.

[0003] However, existing road inspection equipment usually uses industrial cameras to obtain image data along the road, and then combines it with artificial intelligence algorithms to detect abnormal targets on the road. This method has the problems of insufficient detection accuracy and single detection indicators. Although the existing road regular inspection equipment can perform multiple indicator detections, different detection modules need to be installed for different detection indicators, which leads to high equipment purchase costs, difficult system maintenance, and low data processing efficiency. It is only suitable for regular inspections of road technical conditions and is difficult to meet the needs of road inspections. Summary of the invention

[0004] The embodiment of the present application provides a three-dimensional intelligent road inspection equipment to solve the problems of insufficient detection accuracy and single detection index of existing road inspection equipment, as well as the technical problems that the existing road regular inspection equipment has high purchase cost, difficult system maintenance, and low data processing efficiency, and is only suitable for regular inspection of road technical conditions, but difficult to meet the needs of road inspection.

[0005] The embodiment of the present application provides a three-dimensional road intelligent inspection equipment, including: an indicator perception module, a data processing module, a road condition decay analysis module and a review data perception module; The index sensing module is used to obtain precise three-dimensional point cloud data of the road surface of the road to be tested; The review data sensing module is used to obtain the front or rear image data of the road to be tested; The data processing module is used to detect the road condition index of the road to be tested based on the precise three-dimensional point cloud data to obtain the road condition index detection result, and to detect the signs and signboards of the road to be tested based on the front or rear image data to obtain the signs and signboards detection result; The road condition decay analysis module is used to calculate the road condition decay speed of the road to be tested based on the difference between the road condition index detection result and the historical road condition index detection result; The review data perception module is also used to manually provide the front or rear image data for abnormal review based on abnormal conditions of the road condition index detection results, abnormal conditions of the sign detection results, and abnormal conditions of the road condition decay speed.

[0006] In one embodiment, the calculating the road condition decay speed of the road to be tested based on the difference between the road condition index detection result and the historical road condition index detection result includes: The road condition index detection results include rutting detection results, flatness detection results, road surface crack detection results, road surface deformation disease detection results and road surface texture detection results; Calculating a road surface technical condition index of the road to be tested based on the rutting detection result, the flatness detection result, the road surface crack detection result, the road surface deformation disease detection result and the road surface texture detection result; Based on the difference between the pavement technical condition index calculated at multiple adjacent historical moments and the pavement technical condition index calculated at the current moment at adjacent moments, multiple index change speeds are obtained; Based on the median of the multiple exponential change speeds, the road condition decay speed of the road to be tested is obtained.

[0007] In one embodiment, it further includes: an abnormal warning module; The abnormal warning module is used to warn of abnormal conditions of the road condition index detection results, abnormal conditions of the sign detection results, and abnormal conditions of the road condition decay speed.

[0008] In one embodiment, it further includes: a data management module; The data management module is used to: Obtain the pavement technical condition index calculated at multiple adjacent historical moments in the background data management platform; The road condition index detection result obtained at the current moment, the sign and signboard detection result obtained at the current moment, and the road surface technical condition index calculated at the current moment are transmitted back to the background data management platform; Based on the parameter configuration of the current detection task, the road condition index detection results at the current moment, the sign detection results at the current moment, and the road condition decay speed at the current moment, the original data is deleted.

[0009] In one embodiment, the deleting process of the original data based on the parameter configuration of the current detection task, the road condition index detection result at the current moment, the sign detection result at the current moment, and the road condition decay speed at the current moment includes: When the original data can be deleted in the parameter configuration of the current detection task and there are no abnormalities in the road condition index detection results at the current moment, the sign detection results at the current moment, and the road condition decay speed at the current moment, the precise three-dimensional point cloud data of the road surface of the road to be tested and the front or rear image data of the road to be tested are deleted.

[0010] In one embodiment, it also includes: a data acquisition module and a control module; The data acquisition module is used to collect and store the data acquired by the indicator perception module and the review data perception module; The control module is used to collaboratively control the indicator perception module, the data processing module, the road condition decay analysis module, the review data perception module, the abnormal warning module, the data management module and the data acquisition module; the collaborative control includes equipment control, power supply control, acquisition control, data processing control, abnormal warning control and data management control.

[0011] In one embodiment, the method further comprises: measuring the vehicle-carrying platform The measuring vehicle platform comprises a measuring vehicle, a power supply module and a positioning module, wherein the power supply module and the positioning module are arranged on the measuring vehicle; The power supply module includes an integrated power supply unit; The integrated power supply unit is used for: Accepting at least one of the power supply from the mains, the generator and the battery, and outputting the power supply to each module of the three-dimensional road intelligent inspection equipment; Monitor the power system operating parameters of the three-dimensional road intelligent inspection equipment, and send the operating parameters to the control module, so that the control module can control the power system to disconnect when the operating parameters are abnormal, and control the abnormal warning module to issue an abnormal warning; The positioning module includes a photoelectric encoder and a global navigation satellite system GNSS receiver; The photoelectric encoder is used to obtain the detection mileage data of the measurement vehicle; The GNSS receiver is used to obtain the GNSS signal of the measurement vehicle.

[0012] In one embodiment, the indicator sensing module includes a line scan three-dimensional sensor; The line scanning three-dimensional sensor is used to obtain precise three-dimensional point cloud data of the road surface of the road to be tested, and the data acquisition range of the line scanning three-dimensional sensor covers the lane width of the road to be tested along the width direction of the road to be tested.

[0013] In one embodiment, the line scan 3D sensor includes a posture measurement sensor; The posture measurement sensor is used to compensate for the measurement posture error of the line scanning three-dimensional sensor.

[0014] In one embodiment, the data processing module, the data acquisition module, the road condition decay analysis module, the abnormality warning module and the data management module are arranged in an industrial computer.

[0015] The three-dimensional road intelligent inspection equipment provided by the present application includes an indicator perception module, a data processing module, a road condition decay analysis module and a review data perception module. The indicator perception module is used to obtain precise three-dimensional point cloud data of the road surface of the road to be tested. The review data perception module is used to obtain the front or rear image data of the road to be tested. The data processing module is used to detect the road condition indicators of the road to be tested based on the precise three-dimensional point cloud data to obtain the road condition indicator detection results. Based on the front or rear image data, the signs and signboards of the road to be tested are detected to obtain the sign and signboard detection results. The road condition decay analysis module is used to calculate the road condition decay speed of the road to be tested based on the difference between the road condition indicator detection results and the historical road condition indicator detection results. The review data perception module is also used to manually provide the front or rear image data for abnormal review for abnormal conditions of the road condition indicator detection results, abnormal conditions of the sign and signboard detection results, and abnormal conditions of the road condition decay speed. On the one hand, the present application uses the precise three-dimensional point cloud data of the road surface of the road to be tested to detect road condition indicators, and then calculates the road condition decay speed, which can effectively ensure the detection accuracy of the road condition indicator detection results and the road condition decay speed. At the same time, the front or rear image data of the road to be tested is used to detect signs and signboards, and the front or rear image data is further used to review the abnormal road condition indicator detection results, abnormal sign and signboard detection and abnormal road condition decay speed, which can further improve the detection accuracy of road condition indicator detection results, sign and signboard detection and road condition decay speed; on the other hand, the present application can detect multiple indicators such as road condition indicators, signs and signboards, and road condition decay speed, avoiding the problem of single detection indicators; on the other hand, the present application integrates the detection of multiple indicators in one data processing module, and the detection of road condition decay speed only requires one road condition decay analysis module, which can avoid the installation of too many detection modules, thereby reducing the equipment purchase cost and maintenance difficulty, and the data processing module can be used to process data in real time to improve data processing efficiency, which is not only suitable for regular detection of road technical conditions, but also can meet the needs of road inspections. To sum up, the present application can combine precise three-dimensional point cloud data of the road surface and image data of the front and rear of the road surface to improve the accuracy of road detection, realize detection of multiple indicators, avoid the problem of single detection indicator, reduce equipment purchase cost and maintenance difficulty by integrating and simplifying detection modules, improve data processing efficiency through real-time data processing, and meet the needs of regular inspection of road technical conditions and road inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of a three-dimensional road intelligent inspection equipment provided in an embodiment of the present application; Figure 2 It is one of the schematic diagrams of the detection flow chart of the three-dimensional road intelligent inspection equipment provided in the embodiment of the present application; Figure 3 This is the second schematic diagram of the detection flow chart of the three-dimensional road intelligent inspection equipment provided in the embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] It should be noted that in the description of the embodiments of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article 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, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0020] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0021] Figure 1 Schematic diagram of the structure of the three-dimensional intelligent road inspection equipment provided by the embodiment of the present application. Figure 1 , the embodiment of the present application provides a three-dimensional road intelligent inspection equipment, which may include: an indicator perception module, a data processing module, a road condition decay analysis module and a review data perception module; The indicator perception module is used to obtain precise three-dimensional point cloud data of the road surface of the road to be tested; A review data perception module is used to obtain the front or rear image data of the road to be tested; A data processing module is used to detect the road condition index of the road to be tested based on the precise three-dimensional point cloud data to obtain the road condition index detection result, and to detect the signs and signboards of the road to be tested based on the front or rear image data to obtain the signs and signboards detection result; A road condition decay analysis module, used to calculate the road condition decay speed of the road to be tested based on the difference between the road condition index detection result and the historical road condition index detection result; The review data perception module is also used to provide front or rear image data for manual review of abnormalities in road condition index detection results, abnormalities in sign and signboard detection results, and abnormalities in road condition decay speed.

[0022] Among them, the data processing module can perform real-time detection of rutting, flatness, pavement cracks, pavement deformation and disease, and pavement texture on the road to be tested based on precise three-dimensional point cloud data; it can also perform real-time detection of signs and signboards on the road to be tested based on image data from the front or rear.

[0023] The review data perception module includes an image perception unit, such as an industrial camera, which can be used to obtain the front or rear image data of the road to be tested; if the road condition index detection results or the sign detection results of the data processing module are abnormal, or the road condition decay speed of the road condition decay analysis module is abnormal, the reviewer can review these abnormal conditions based on the front or rear image data to confirm whether the abnormality actually exists, on the one hand to avoid false detection, on the other hand to deal with the real abnormalities in a timely manner.

[0024] The three-dimensional road intelligent inspection equipment provided in this embodiment includes an indicator perception module, a data processing module, a road condition decay analysis module and a data verification perception module. The indicator perception module is used to obtain precise three-dimensional point cloud data of the road surface of the road to be tested. The data verification perception module is used to obtain the front or rear image data of the road to be tested. The data processing module is used to detect the road condition indicators of the road to be tested based on the precise three-dimensional point cloud data to obtain the road condition indicator detection results. Based on the front or rear image data, the signs and signboards of the road to be tested are detected to obtain the sign and signboard detection results. The road condition decay analysis module is used to calculate the road condition decay speed of the road to be tested based on the difference between the road condition indicator detection results and the historical road condition indicator detection results. The data verification perception module is also used to manually provide the front or rear image data for abnormal review for abnormal conditions of the road condition indicator detection results, abnormal conditions of the sign and signboard detection results, and abnormal conditions of the road condition decay speed. On the one hand, the present embodiment uses the precise three-dimensional point cloud data of the road surface of the road to be tested to detect road condition indicators, and then calculates the road condition decay speed, which can effectively ensure the detection accuracy of the road condition indicator detection results and the road condition decay speed. At the same time, the front or rear image data of the road to be tested is used to detect signs and signboards, and the front or rear image data is further used to review the abnormal road condition indicator detection results, abnormal sign and signboard detection and abnormal road condition decay speed, which can further improve the detection accuracy of road condition indicator detection results, sign and signboard detection and road condition decay speed; on the other hand, the present embodiment can detect multiple indicators such as road condition indicators, signs and signboards, and road condition decay speed, avoiding the problem of single detection indicators; on the other hand, the detection of multiple indicators in the present embodiment is integrated into one data processing module, and the detection of road condition decay speed only requires one road condition decay analysis module, which can avoid the installation of too many detection modules, thereby reducing the equipment acquisition cost and maintenance difficulty, and the real-time processing of data by the data processing module can improve the data processing efficiency, which is not only suitable for regular detection of road technical conditions, but also can meet the needs of road inspections. To sum up, this embodiment can combine the precise three-dimensional point cloud data of the road surface and the front and rear image data of the road surface to improve the road detection accuracy, realize multiple indicator detection, avoid the problem of single detection indicator, reduce equipment purchase cost and maintenance difficulty by integrating and simplifying detection modules, improve data processing efficiency through real-time data processing, and meet the needs of regular inspection of road technical conditions and road inspections.

[0025] Figure 2 This is one of the schematic diagrams of the detection flow chart of the three-dimensional road intelligent inspection equipment provided in the embodiment of the present application. Figure 2 In one embodiment, calculating the road condition decay speed of the road to be tested based on the difference between the road condition index detection result and the historical road condition index detection result may include: The road condition index test results include rutting test results, flatness test results, road surface crack test results, road surface deformation disease test results and road surface texture test results; 201. Calculate the pavement technical condition index of the road to be tested based on the rutting detection results, the flatness detection results, the pavement crack detection results, the pavement deformation disease detection results and the pavement texture detection results; 202. Based on the difference between the pavement technical condition index calculated at multiple adjacent historical moments and the pavement technical condition index calculated at the current moment at adjacent moments, obtain multiple index change speeds; 203. Based on the median of multiple exponential change speeds, obtain the road condition decay speed of the road to be tested.

[0026] In step 201, when calculating the road surface technical condition index of the road to be tested, the road surface structure strength index can be preset to 100.

[0027] In step 202 to step 203, the pavement technical condition index calculated at multiple adjacent historical moments can be used to Indicates that the pavement technical condition index calculated at the current moment can be used If we express to The difference between adjacent moments, that is, calculation , Wait until the calculation , thus obtaining multiple exponential change speeds. If the road condition decay speed is normal, these exponential change speeds should be very close, and the median value can be taken to represent the road condition decay speed.

[0028] Furthermore, the road condition decay speed may be compared with a preset road condition decay speed threshold, so as to determine whether there is an abnormal situation of the road condition decay speed on the road to be tested.

[0029] This embodiment calculates the pavement technical condition index of the road to be tested based on the detection results of multiple road condition indicators, and uses the pavement technical condition index at historical moments and the current moment to calculate the index change rate within multiple identical time differences, and then selects the median value to represent the road condition decay rate. This can more accurately obtain the actual situation of road condition decay and promptly discover anomalies therein.

[0030] Reference Figure 1 ,In one embodiment, the three-dimensional road intelligent inspection equipment further includes: an abnormal warning module; The abnormal warning module is used to warn of abnormal conditions in the detection results of road condition indicators, abnormal conditions in the detection results of signs and signboards, and abnormal conditions in the decay speed of road conditions.

[0031] Among them, abnormal conditions of road condition index detection results may include at least one of abnormal rutting detection results, abnormal flatness detection results, abnormal pavement crack detection results, abnormal pavement deformation disease detection results, and abnormal pavement texture detection results. Abnormal sign and signboard detection results include damaged signs and signboards, missing signs and signboards, etc.

[0032] In this embodiment, the abnormal warning module can issue a warning when abnormalities occur in the road condition index detection results and / or sign detection results and / or road condition decay speed, or it can issue a warning after reviewing and confirming the abnormal situation, thereby realizing early warning monitoring of various abnormal situations through flexible early warning methods.

[0033] Figure 3 This is the second schematic diagram of the detection flow chart of the three-dimensional road intelligent inspection equipment provided in the embodiment of the present application. Figure 1 and Figure 3 ,In one embodiment, the three-dimensional road intelligent inspection equipment further includes: a data management module; Data management module for: 301. Obtain the pavement technical condition index calculated at multiple adjacent historical moments in the background data management platform; 302. Transmitting the road condition index detection result obtained at the current moment, the sign and signboard detection result obtained at the current moment, and the road surface technical condition index calculated at the current moment back to the background data management platform; 303. Based on the parameter configuration of the current detection task, the road condition index detection result at the current moment, the sign detection result at the current moment, and the road condition decay speed at the current moment, the original data is deleted.

[0034] In step 301, based on the GNSS signal of the road to be tested, the road surface technical condition index calculated at multiple adjacent historical moments in the background data management platform can be obtained using the mobile communication network.

[0035] Step 303 specifically includes: When the original data can be deleted in the parameter configuration of the current detection task and there are no abnormalities in the road condition index detection results at the current moment, the sign detection results at the current moment, and the road condition decay speed at the current moment, the precise three-dimensional point cloud data of the road surface to be tested and the front or rear image data of the road to be tested are deleted.

[0036] That is, when the original data is not needed for data review and deletion of the original data is allowed, the original data can be deleted to better utilize the data storage space and effectively reduce data management requirements.

[0037] The data management module of this embodiment can achieve efficient use of data in the background data management platform and clean up current detection data by acquiring historical detection results, transmitting current detection results and deleting original data, thereby improving data processing efficiency and ensuring stable operation of patrol equipment.

[0038] Reference Figure 1 ,In one embodiment, the three-dimensional road intelligent inspection equipment further includes: a data acquisition module and a control module; A data collection module, used to collect and store data obtained by the indicator perception module and the review data perception module; The control module is used to coordinate the control of the indicator perception module, the data processing module, the road condition decay analysis module, the review data perception module, the abnormal warning module, the data management module and the data acquisition module; the coordinated control includes equipment control, power supply control, acquisition control, data processing control, abnormal warning control and data management control.

[0039] Among them, the data acquisition module can use data acquisition software to collect and store data.

[0040] In collaborative control, equipment control and power supply control are hardware-level controls, which can be implemented by buttons and are uniformly controlled by a synchronous controller; acquisition control, data processing control, abnormal warning control and data management control are software-level controls, which use the main control software in the control module to send and receive control instructions. After the equipment is started, all modules are in the data acquisition state, and the main control software needs to issue control instructions to control whether each module processes and saves the collected data.

[0041] In addition, after the acquisition control is started, that is, after the detection task is started, the control module controls the data processing module, the road condition decay analysis module, the abnormal warning module and the data management module to start.

[0042] This embodiment uses the control module to perform collaborative control of other modules at the hardware level and the software level, thereby ensuring the stability of each module working independently and collaboratively.

[0043] Reference Figure 1 ,In one embodiment, the three-dimensional road intelligent inspection equipment further includes: a measuring vehicle platform; The measuring vehicle platform comprises a measuring vehicle, a power supply module and a positioning module, wherein the power supply module and the positioning module are arranged on the measuring vehicle; The power supply module includes an integrated power supply unit; Integrated power supply unit for: Accepting at least one of the power supply from the mains, the generator and the battery, and outputting the power supply to each module of the three-dimensional road intelligent inspection equipment; Monitor the power system operating parameters of the three-dimensional road intelligent inspection equipment, and send the operating parameters to the control module, so that the control module can control the power system to disconnect when the operating parameters are abnormal, and control the abnormal warning module to issue an abnormal warning, and further control the integrated power supply unit to re-complete the selection, conversion and distribution of electric energy; the control module can be set on the workbench inside the measuring vehicle; The positioning module includes a photoelectric encoder and a global navigation satellite system GNSS receiver; Photoelectric encoder, used to obtain the mileage data of the measured vehicle; GNSS receiver, used to obtain GNSS signals from the measurement vehicle.

[0044] The measurement vehicle may be a small or medium-sized passenger car, a small or medium-sized truck, or a sports utility vehicle, which is not limited here.

[0045] The output of the integrated power supply unit is divided into a DC part and an AC part, which are output to the corresponding junction boxes respectively, providing a reliable and stable source of power for different modules.

[0046] The photoelectric encoder can be installed on the wheel of the measuring vehicle, and the GNSS receiver can be installed on the top of the measuring vehicle. The mileage data and GNSS signal of the measuring vehicle can be fused and input into the synchronization controller to generate a time reference and a space reference, so that subsequent data processing has the same time and space reference, thereby improving the accuracy of data processing.

[0047] In this embodiment, the various components of the measurement vehicle platform work in coordination to ensure the stable operation of the measurement vehicle platform, thereby meeting the mobile detection requirements, power supply positioning requirements, and data processing requirements of various modules on the platform.

[0048] Reference Figure 1 ,In one embodiment, the indicator sensing module includes a line scan 3D sensor; The line scanning 3D sensor is used to obtain precise 3D point cloud data of the road surface of the road to be tested, and the data acquisition range of the line scanning 3D sensor covers the lane width of the road to be tested along the width direction of the road to be tested.

[0049] Specifically, the line scanning 3D sensor includes a line laser and a high-frequency 3D camera, wherein the line laser is used to project the line laser along the width direction of the road to be measured, and the high-frequency 3D camera is used to obtain precise 3D point cloud data of the road surface in the line laser projection area using the triangulation principle.

[0050] It should be noted that the indicator perception module may include one line scanning three-dimensional sensor or multiple line scanning three-dimensional sensors, which is not limited here. In addition, the indicator perception module can be installed at the rear of the measurement vehicle through a connector, and the image perception unit in the verification perception module can also be installed at the front or rear of the measurement vehicle through a connector, or inside the cockpit of the measurement vehicle.

[0051] Furthermore, in order to improve the accuracy of the line scanning 3D sensor in acquiring precise 3D point cloud data of the road surface, a posture measurement sensor can be added to the line scanning 3D sensor to compensate for the measurement posture error of the line scanning 3D sensor. The measurement width of the line scanning 3D sensor can be 3800 mm, the sampling interval in the cross-sectional direction can be 2 mm, the sampling interval in the driving direction can be 3 mm, and the measurement range in the elevation direction can be greater than 300 mm.

[0052] Furthermore, the data processing module, data acquisition module, road condition decay analysis module, abnormal warning module and data management module are set in an industrial computer, and can be set in the same industrial computer at the same time or in different industrial computers respectively, which is not limited here.

[0053] In this embodiment, each module is installed on a measuring vehicle to form an integrated patrol equipment, which can realize high-precision and high-efficiency detection of multiple detection indicators through the mutual cooperation between the modules, reduce the equipment purchase cost and maintenance difficulty, and meet the needs of regular inspection of road technical conditions and road patrol.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A three-dimensional intelligent road inspection equipment, characterized in that: include: Index perception module, data processing module, road condition decay analysis module and review data perception module; The index sensing module is used to obtain precise three-dimensional point cloud data of the road surface of the road to be tested; The review data sensing module is used to obtain the front or rear image data of the road to be tested; The data processing module is used to detect the road condition index of the road to be tested based on the precise three-dimensional point cloud data to obtain the road condition index detection result, and to detect the signs and signboards of the road to be tested based on the front or rear image data to obtain the signs and signboards detection result; The road condition decay analysis module is used to calculate the road condition decay speed of the road to be tested based on the difference between the road condition index detection result and the historical road condition index detection result; The review data perception module is also used to manually provide the front or rear image data for abnormal review based on abnormal conditions of the road condition index detection results, abnormal conditions of the sign detection results, and abnormal conditions of the road condition decay speed.

2. The three-dimensional intelligent road inspection equipment according to claim 1 is characterized in that: The calculating the road condition decay speed of the road to be tested based on the difference between the road condition index detection result and the historical road condition index detection result includes: The road condition index detection results include rutting detection results, flatness detection results, road surface crack detection results, road surface deformation disease detection results and road surface texture detection results; Calculating a road surface technical condition index of the road to be tested based on the rutting detection result, the flatness detection result, the road surface crack detection result, the road surface deformation disease detection result and the road surface texture detection result; Based on the difference between the pavement technical condition index calculated at multiple adjacent historical moments and the pavement technical condition index calculated at the current moment at adjacent moments, multiple index change speeds are obtained; Based on the median of the multiple exponential change speeds, the road condition decay speed of the road to be tested is obtained.

3. The three-dimensional intelligent road inspection equipment according to claim 1 is characterized in that: Also includes: Abnormal warning module; The abnormal warning module is used to warn of abnormal conditions of the road condition index detection results, abnormal conditions of the sign detection results, and abnormal conditions of the road condition decay speed.

4. The three-dimensional intelligent road inspection equipment according to claim 3 is characterized in that: Also includes: Data management module; The data management module is used to: Obtain the pavement technical condition index calculated at multiple adjacent historical moments in the background data management platform; The road condition index detection result obtained at the current moment, the sign and signboard detection result obtained at the current moment, and the road surface technical condition index calculated at the current moment are transmitted back to the background data management platform; Based on the parameter configuration of the current detection task, the road condition index detection results at the current moment, the sign detection results at the current moment, and the road condition decay speed at the current moment, the original data is deleted.

5. The three-dimensional intelligent road inspection equipment according to claim 4 is characterized in that: The original data is deleted based on the parameter configuration of the current detection task, the road condition index detection result at the current moment, the sign detection result at the current moment, and the road condition decay speed at the current moment, including: When the original data can be deleted in the parameter configuration of the current detection task and there are no abnormalities in the road condition index detection results at the current moment, the sign detection results at the current moment, and the road condition decay speed at the current moment, the precise three-dimensional point cloud data of the road surface of the road to be tested and the front or rear image data of the road to be tested are deleted.

6. The three-dimensional intelligent road inspection equipment according to claim 4 is characterized in that: Also includes: Data acquisition module and control module; The data acquisition module is used to collect and store the data acquired by the indicator perception module and the review data perception module; The control module is used to collaboratively control the indicator perception module, the data processing module, the road condition decay analysis module, the review data perception module, the abnormal warning module, the data management module and the data acquisition module; the collaborative control includes equipment control, power supply control, acquisition control, data processing control, abnormal warning control and data management control.

7. The three-dimensional intelligent road inspection equipment according to claim 6 is characterized in that: Also includes: Measuring vehicle loading platform; The measuring vehicle platform comprises a measuring vehicle, a power supply module and a positioning module, wherein the power supply module and the positioning module are arranged on the measuring vehicle; The power supply module includes an integrated power supply unit; The integrated power supply unit is used for: Accepting at least one of the power supply from the mains, the generator and the battery, and outputting the power supply to each module of the three-dimensional road intelligent inspection equipment; Monitor the power system operating parameters of the three-dimensional road intelligent inspection equipment, and send the operating parameters to the control module, so that the control module can control the power system to disconnect when the operating parameters are abnormal, and control the abnormal warning module to issue an abnormal warning; The positioning module includes a photoelectric encoder and a global navigation satellite system GNSS receiver; The photoelectric encoder is used to obtain the detection mileage data of the measurement vehicle; The GNSS receiver is used to obtain the GNSS signal of the measurement vehicle.

8. The three-dimensional intelligent road inspection equipment according to claim 1 is characterized in that: The indicator sensing module includes a line scanning three-dimensional sensor; The line scanning three-dimensional sensor is used to obtain precise three-dimensional point cloud data of the road surface of the road to be tested, and the data acquisition range of the line scanning three-dimensional sensor covers the lane width of the road to be tested along the width direction of the road to be tested.

9. The three-dimensional intelligent road inspection equipment according to claim 8, characterized in that: The line scanning three-dimensional sensor includes a posture measurement sensor; The posture measurement sensor is used to compensate for the measurement posture error of the line scanning three-dimensional sensor.

10. The three-dimensional intelligent road inspection equipment according to claim 6, characterized in that: The data processing module, the data acquisition module, the road condition decay analysis module, the abnormality warning module and the data management module are arranged in an industrial computer.

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