Four-dimensional integrated road inspection equipment

Abstract

The invention relates to the technical field of road inspection, and discloses four-dimensional integrated road inspection equipment, which comprises an inspection vehicle body, a vehicle-mounted three-dimensional geological radar detection assembly, a display screen, RTK equipment, an image acquisition assembly and a pull connecting piece, the inspection vehicle body and the vehicle-mounted three-dimensional geological radar detection assembly are detachably connected through a pull connecting piece, the image acquisition assembly is mounted on the roof of the inspection vehicle body, the RTK equipment is integrally mounted on the vehicle-mounted three-dimensional geological radar detection assembly, a geological radar is further mounted on the vehicle-mounted three-dimensional geological radar detection assembly, and the image acquisition assembly is mounted on the vehicle-mounted three-dimensional geological radar detection assembly. The geological radar detects underground diseases by collecting a radar map of the underground of a road. According to the invention, overground and underground synchronous detection is carried out on the road, the geological radar detects the underground damage, the image acquisition assembly carries out real-time image acquisition on the pavement damage, and the real-time dynamic positioning technology of the RTK equipment is combined, so that the use condition of the road, the pavement damage and the underground damage are accurately recorded and analyzed.

Description

Technical Field

[0001] The present invention relates to the field of road inspection, and more specifically, to a four-dimensional road inspection device. Background Art

[0002] Regular road inspections can promptly detect road safety hazards, such as road holes, road gaps, road cracks, and road damage. If these hazards are not dealt with in a timely manner, they may pose a threat to driving safety and even lead to traffic accidents. At the same time, through inspections, we can understand the usage status of roads and their facilities, and promptly detect road wear and aging, so that we can carry out timely repairs and maintenance to keep the roads in good condition.

[0003] Road inspection equipment refers to special equipment used for regular or irregular road inspections. Existing inspections can only inspect the road surface above and below ground separately. At the same time, during the inspection, the inspection sections do not correspond, and during the inspection process, the inspection vehicle has high requirements for the running route, which makes the environmental applicability of the inspection low. Summary of the invention

[0004] The present invention provides a four-dimensional road inspection device to solve the technical problems in related technologies.

[0005] The present invention provides a four-dimensional integrated road inspection device, including an inspection vehicle body, a vehicle-mounted three-dimensional geological radar detection component, a display screen, an RTK device, an image acquisition component and a towing connection;

[0006] The inspection vehicle body and the vehicle-mounted 3D geological radar detection component are detachably connected through a towing connector, wherein the image acquisition component is installed on the roof of the inspection vehicle body, the RTK equipment is integrated and installed on the vehicle-mounted 3D geological radar detection component, and a 3D geological radar is also installed on the vehicle-mounted 3D geological radar detection component. The 3D geological radar detects underground diseases by collecting radar maps under the road. A data acquisition room is provided in the compartment of the inspection vehicle body, and the display screen is installed in the data acquisition room;

[0007] The vehicle-mounted three-dimensional geological radar detection component also includes a geological radar installation outer frame, the three-dimensional geological radar is installed in the geological radar installation outer frame, and the detection end of the three-dimensional geological radar is set parallel to the road surface;

[0008] The image acquisition assembly includes a mounting bracket, an arm rotating platform, a first rotating arm, a rear camera, a first camera rotating platform, a second rotating arm, a front camera, and a second camera rotating platform;

[0009] The mounting bracket is installed on the roof of the inspection vehicle body, and the mounting bracket is perpendicular to the central axis of the inspection vehicle body. Arm rotating platforms are installed at both ends of the mounting bracket, and the first rotating arm and the second rotating arm are respectively installed on the two arm rotating platforms. The first rotating arm and the second rotating arm are respectively installed with the first camera rotating platform and the second camera rotating platform, and the movable ends of the first camera rotating platform and the second camera rotating platform are respectively installed with the rear camera and the front camera.

[0010] Furthermore, the vehicle-mounted three-dimensional geological radar detection component also includes a connecting frame, a connecting bracket, and an adjusting frame. The connecting bracket is installed on the outer walls on both sides of the geological radar installation outer frame, the connecting frame is installed between two groups of connecting brackets, the adjusting frame is movably installed on the outer wall of the connecting frame, and one end of the towing connector is set on the bottom outer wall of the adjusting frame.

[0011] Furthermore, it also includes a Doppler rangefinder and a vehicle warning light, both of which are installed on the outer wall of one end of the connecting frame away from the inspection vehicle body.

[0012] Furthermore, a mounting rod is provided at the bottom end of the RTK device, and the mounting rod is mounted on an outer wall of one side of the adjustment frame.

[0013] Furthermore, the image acquisition assembly also includes a work light, which is installed on the middle top of the mounting bracket.

[0014] Furthermore, auxiliary cameras are installed on the outer walls at both ends of the mounting bracket, and the auxiliary cameras are used to assist the inspection vehicle body and the vehicle-mounted three-dimensional geological radar detection component in observing the detection environment around the inspection vehicle body and the vehicle-mounted three-dimensional geological radar detection component.

[0015] Furthermore, the initial state of the structure composed of the first rotating arm, the second rotating arm and the mounting bracket in the image acquisition component is a Z-shaped structure, wherein the front camera and the rear camera are both located on the central axis of the inspection vehicle body.

[0016] Furthermore, the rotation angles of the first rotating arm and the second rotating arm are adjusted by rotating the arm rotating table, and the first camera rotating table and the second camera rotating table at the ends of the first rotating arm and the second rotating arm are adjusted, driving the rear camera and the front camera to rotate and adjust themselves, and both are adjusted simultaneously to cover the monitoring range of the inspection equipment.

[0017] Furthermore, the RTK device is a real-time dynamic differential positioning device, and the RTK device is used to locate and record vehicle trajectory data.

[0018] Furthermore, the three-dimensional geological radar transmits and receives high-frequency electromagnetic waves underground through a transmitting antenna, and detects underground diseases based on the signals reflected by the electromagnetic waves in different media.

[0019] The beneficial effects of the present invention are:

[0020] The present invention performs simultaneous detection of the road above and below the ground, detects underground defects through geological radar, and simultaneously collects real-time images of road surface defects through image acquisition components. Combined with the real-time dynamic positioning technology of RTK equipment, it can accurately record and analyze the road usage status, road surface defects, underground damage, etc.

[0021] The image acquisition component of the equipment is adjustable to cover a wider monitoring range and can be used as a blind spot detection device for vehicles, thereby improving the safety and efficiency of the detection process and making the inspection environment more suitable. This brings great convenience to road maintenance work and reduces duplication of work and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a four-dimensional integrated road inspection device proposed by the present invention;

[0023] Figure 2 The present invention Figure 1 The structural diagram of the image acquisition component in FIG.

[0024] Figure 3 The present invention Figure 1 Schematic diagram of the structure of the vehicle-mounted three-dimensional geological radar detection component;

[0025] Figure 4 It is a side view of a four-dimensional integrated road inspection device proposed by the present invention;

[0026] Figure 5 It is a top view of a four-dimensional road inspection device proposed by the present invention;

[0027] Figure 6 The present invention Figure 2 Schematic diagram of the camera adjustment structure;

[0028] Figure 7 The present invention Figure 1 Schematic diagram of the operating range of the geological radar and image acquisition components.

[0029] In the figure: 100, inspection vehicle body; 200, vehicle-mounted three-dimensional geological radar detection component; 210, geological radar installation outer frame; 220, geological radar; 230, Doppler rangefinder; 240, connecting frame; 250, vehicle warning light; 260, connecting bracket; 270, adjustment frame; 300, display screen; 400, RTK equipment; 500, image acquisition component; 510, mounting bracket; 520, support arm rotating platform; 530, first rotating arm; 540, rear camera; 541, first camera rotating platform; 550, work light; 560, auxiliary camera; 570, second rotating arm; 580, front camera; 581, second camera rotating platform; 600, towing connector. DETAILED DESCRIPTION

[0030] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is only to enable those skilled in the art to better understand and implement the subject matter described herein, and the functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the contents of this specification. Each example may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0031] Embodiment 1

[0032] like Figure 1-Figure 7 As shown, a four-dimensional integrated road inspection device includes an inspection vehicle body 100, a vehicle-mounted three-dimensional geological radar detection component 200, a display screen 300, an RTK device 400, an image acquisition component 500 and a towing connection 600;

[0033] The inspection vehicle body 100 and the vehicle-mounted three-dimensional geological radar detection component 200 are detachably connected via a towing connector 600, wherein the image acquisition component 500 is installed on the roof of the inspection vehicle body 100, and the RTK device 400 is integrated and installed on the vehicle-mounted three-dimensional geological radar detection component 200. At the same time, a three-dimensional geological radar 220 is also installed on the vehicle-mounted three-dimensional geological radar detection component 200. The three-dimensional geological radar 220 detects underground diseases by collecting radar maps under the road. A data acquisition room is provided in the compartment of the inspection vehicle body 100, and a display screen 300 is installed in the data acquisition room.

[0034] The vehicle-mounted three-dimensional geological radar detection component 200 includes a geological radar installation outer frame 210, a three-dimensional geological radar 220, a connecting frame 240, a connecting bracket 260, an adjusting frame 270, a Doppler rangefinder 230 and a vehicle warning light 250. The three-dimensional geological radar 220 is installed in the geological radar installation outer frame 210, and the detection end of the three-dimensional geological radar 220 is arranged parallel to the road surface. At the same time, the connecting bracket 260 is installed on the outer walls of both sides of the geological radar installation outer frame 210, the connecting frame 240 is installed between two groups of connecting brackets 260, and the adjusting frame 270 is movably installed on the outer wall of the connecting frame 240. One end of the towing connector 600 is arranged on the outer wall of the bottom end of the adjusting frame 270. The Doppler rangefinder 230 and the vehicle warning light 250 are both installed on the outer wall of the connecting frame 240 away from the inspection vehicle body 100;

[0035] It should be added that the vehicle-mounted three-dimensional geological radar detection component 200 can be disassembled and placed in the compartment of the inspection vehicle 100 when it is not in operation;

[0036] The RTK device 400 is provided with a mounting rod, which is mounted on one side outer wall of the adjustment frame 270. The RTK device 400 (Real-Time Kinematic device) refers to a real-time dynamic differential positioning device, which is mainly used in various fields requiring high-precision position information, and is used to locate and record vehicle trajectory data;

[0037] The image acquisition assembly 500 includes a mounting bracket 510, an arm rotating platform 520, a first rotating arm 530, a rear camera 540, a first camera rotating platform 541, a work light 550, an auxiliary camera 560, a second rotating arm 570, a front camera 580, and a second camera rotating platform 581;

[0038] Specifically, the mounting bracket 510 is mounted on the roof of the inspection vehicle body 100, the mounting bracket 510 is perpendicular to the central axis of the inspection vehicle body 100, and the two ends of the mounting bracket 510 are mounted with arm rotating platforms 520, and the first rotating arm 530 and the second rotating arm 570 are respectively mounted on the two arm rotating platforms 520, and the first rotating arm 530 and the second rotating arm 570 are respectively mounted with the first camera rotating platform 541 and the second camera rotating platform 581, and the movable ends of the first camera rotating platform 541 and the second camera rotating platform 581 are respectively mounted with the rear camera 540 and the front camera 580, and a work light 550 is installed on the middle top of the mounting bracket 510, and auxiliary cameras 560 are installed on the outer walls of both ends of the mounting bracket 510, and the auxiliary cameras 560 are used to assist the inspection vehicle body 100 and the vehicle-mounted three-dimensional geological radar detection component 200 to observe the detection environment around them;

[0039] It should be noted that the initial state of the structure composed of the first rotating arm 530, the second rotating arm 570 and the mounting bracket 510 in the image acquisition component 500 is a Z-shaped structure, wherein the front camera 580 and the rear camera 540 are both located on the central axis of the inspection vehicle body 100. At this time, the front camera 580 detects the road surface disease of the lane directly in front, and the rear camera 540 is used to observe the geological radar situation behind;

[0040] like Figure 6 and Figure 7 As shown, in the initial state, the front camera 580 and the rear camera 540 are both located on the central axis of the inspection vehicle body 100. When it is necessary to detect the road surface of the road ahead, the states of the two cameras can be adjusted, that is, the morphological changes of A and D can be performed. At this time, the two cameras are respectively located on both sides of the end of the roof close to the front of the vehicle. The two cameras can also be adjusted through the first camera rotating platform 541 and the second camera rotating platform 581 to centrally collect images of the road ahead, and intelligently analyze the road surface disease conditions, identify road surface diseases, and transmit the identified road surface disease photos, disease types, coordinates and other data to the system;

[0041] By adjusting the states of the two cameras, that is, executing the morphological changes of B and C, the two cameras are respectively located on both sides of one end of the roof near the rear of the vehicle, and the two cameras can also be adjusted through the first camera rotating platform 541 and the second camera rotating platform 581, so as to centrally collect images of the road surface at the rear to judge the road surface disease condition, and at the same time monitor the working state of the three-dimensional geological radar 220, and assist the rear field of view observation of the inspection vehicle body 100 to avoid being affected by other vehicles on the road during the inspection process;

[0042] Moreover, the image acquisition component 500 can also serve as a blind spot detection device for the vehicle. When it is needed, the image acquisition component 500 is called. For example, when turning, due to the blind spot of the turn, the state of the vehicle-mounted three-dimensional geological radar detection component 200 will not be easy to observe. When turning forward, the front camera 580 can be switched to state A, or the rear camera 540 can be switched to state D. Similarly, when turning in reverse, the camera can be switched to state B, or the rear camera 540 can be switched to state C. Both can cover the blind spot of the turn, ensuring that the vehicle-mounted three-dimensional geological radar detection component 200 will not touch foreign objects or be blocked when turning with the inspection vehicle body 100, thereby improving the safety of the detection process.

[0043] Specifically, during the adjustment process, the rotation angles of the first rotating arm 530 and the second rotating arm 570 are adjusted by rotating the support arm rotating platform 520, and the first camera rotating platform 541 and the second camera rotating platform 581 at the ends of the first rotating arm 530 and the second rotating arm 570 are adjusted, which can drive the rear camera 540 and the front camera 580 to rotate and adjust themselves. The two are adjusted at the same time, which can cover a wider monitoring range;

[0044] It should be noted that the real-time dynamic positioning technology of RTK (Real Time Kinematic) equipment is a real-time differential GPS measurement technology based on carrier phase observation. After integrating RTK technology, it provides coordinate (x, y) data for surface and underground diseases detected by the "four-dimensional" road inspection equipment, which is convenient for later review and repair work. The RTK equipment 400 integrates the CORS system and pre-builds a network that supports 24-hour real-time differential source provision. The mobile station installed on the vehicle can receive the system signal;

[0045] The front camera 580 and the rear camera 540 are used to collect images of road pavement information. While detecting underground cavities, intelligent recognition is performed on surface defects (such as cracks, potholes, spalling, rutting, bulges, etc.) based on intelligent recognition algorithms. The location (coordinates), time, defect type and photos of the defects are recorded and sent to the "Urban Road Safety Hazard Management System" to which the device is connected. Such images can greatly facilitate actual road maintenance work and reduce repetitive work and labor costs. At the same time, the accumulated surface defect database is used for deep learning of the algorithm, and the recognition algorithm is continuously optimized to cope with surface defect recognition work in various complex scenarios.

[0046] The "urban road safety hazard management system" to which the device is connected is an existing technology, which is used to assist in the management of safety hazards on urban roads;

[0047] The damage under the road is detected by 3D geological radar 220. 3D geological radar 220 is a geological radar that uses ground penetrating radar (GPR) technology. The following is a brief description of its working principle:

[0048] Transmitting electromagnetic waves: The 3D geological radar 220 transmits high-frequency electromagnetic waves into the ground through the transmitting antenna;

[0049] Receiving electromagnetic waves: When electromagnetic waves propagate in underground media, they are reflected or scattered when they encounter interfaces with electrical differences. The electromagnetic waves reflected or scattered back to the ground are received by the receiving antenna;

[0050] Generate radar spectrum: Generate radar spectrum according to the received electromagnetic wave signal;

[0051] Data analysis: The spatial position, structure, morphology and burial depth of the underground medium can be inferred based on the waveform, amplitude intensity and time change of the electromagnetic waves in the radar spectrum.

[0052] The above describes an embodiment of the present embodiment, but the present embodiment is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can also make many forms, all of which are within the protection of the present embodiment.

Claims

1. A four-dimensional road inspection device, characterized in that: It comprises an inspection vehicle body (100), a vehicle-mounted three-dimensional geological radar detection component (200), a display screen (300), an RTK device (400), an image acquisition component (500) and a towing connection (600); The inspection vehicle body (100) and the vehicle-mounted three-dimensional geological radar detection component (200) are detachably connected via a towing connection piece (600), wherein the image acquisition component (500) is mounted on the roof of the inspection vehicle body (100), the RTK device (400) is integrated and mounted on the vehicle-mounted three-dimensional geological radar detection component (200), and a three-dimensional geological radar (220) is also mounted on the vehicle-mounted three-dimensional geological radar detection component (200), and the three-dimensional geological radar (220) detects underground diseases by collecting radar maps under the road. A data acquisition room is provided in the compartment of the inspection vehicle body (100), and the display screen (300) is mounted in the data acquisition room; The vehicle-mounted three-dimensional geological radar detection component (200) further comprises a geological radar installation outer frame (210), the three-dimensional geological radar (220) is installed in the geological radar installation outer frame (210), and the detection end of the three-dimensional geological radar (220) is arranged parallel to the road surface; The image acquisition component (500) comprises a mounting bracket (510), an arm rotating platform (520), a first rotating arm (530), a rear camera (540), a first camera rotating platform (541), a second rotating arm (570), a front camera (580), and a second camera rotating platform (581); The mounting bracket (510) is mounted on the roof of the inspection vehicle body (100), the mounting bracket (510) is perpendicular to the central axis of the inspection vehicle body (100), and support arm rotating platforms (520) are mounted on both ends of the mounting bracket (510), a first rotating arm (530) and a second rotating arm (570) are mounted on the two support arm rotating platforms (520), a first camera rotating platform (541) and a second camera rotating platform (581) are mounted on the first rotating arm (530) and the second rotating arm (570), and a rear camera (540) and a front camera (580) are mounted on the movable ends of the first camera rotating platform (541) and the second camera rotating platform (581), respectively.

2. The four-dimensional road inspection device according to claim 1, characterized in that: The vehicle-mounted three-dimensional geological radar detection component (200) further comprises a connecting frame (240), a connecting bracket (260), and an adjusting frame (270), wherein the connecting bracket (260) is mounted on the outer walls on both sides of the geological radar mounting outer frame (210), the connecting frame (240) is mounted between two groups of connecting brackets (260), the adjusting frame (270) is movably mounted on the outer wall of the connecting frame (240), and one end of the towing connecting piece (600) is arranged on the outer wall of the bottom end of the adjusting frame (270).

3. The four-dimensional road inspection device according to claim 2, characterized in that: It also includes a Doppler rangefinder (230) and a vehicle warning light (250), which are both mounted on an outer wall of an end of the connecting frame (240) away from the inspection vehicle body (100).

4. The four-dimensional road inspection device according to claim 3 is characterized in that: A mounting rod is provided at the bottom end of the RTK device (400), and the mounting rod is mounted on an outer wall of one side of the adjustment frame (270).

5. The four-dimensional road inspection device according to claim 4, characterized in that: The image acquisition assembly (500) further comprises a working light, wherein the working light (550) is mounted on the middle top of the mounting bracket (510).

6. The four-dimensional road inspection device according to claim 5, characterized in that: Auxiliary cameras (560) are installed on the outer walls at both ends of the mounting bracket (510), and the auxiliary cameras (560) are used to assist the inspection vehicle body (100) and the on-board three-dimensional geological radar detection component (200) in observing the inspection environment around the inspection vehicle body (100) and the on-board three-dimensional geological radar detection component (200).

7. The four-dimensional road inspection device according to claim 6, characterized in that: The initial state of the structure composed of the first rotating arm (530), the second rotating arm (570) and the mounting bracket (510) in the image acquisition component (500) is a Z-shaped structure, wherein the front camera (580) and the rear camera (540) are both located on the central axis of the inspection vehicle body (100).

8. The four-dimensional road inspection device according to claim 7, characterized in that: The rotation angles of the first rotating arm (530) and the second rotating arm (570) are adjusted by rotating the support arm rotating platform (520), and the first camera rotating platform (541) and the second camera rotating platform (581) at the ends of the first rotating arm (530) and the second rotating arm (570) are adjusted to drive the rear camera (540) and the front camera (580) to rotate and adjust themselves, and the two cameras are adjusted simultaneously to cover the monitoring range of the inspection equipment.

9. The four-dimensional road inspection device according to claim 8, characterized in that: The RTK device (400) is a real-time dynamic differential positioning device, and the RTK device (400) is used to locate and record vehicle trajectory data.

10. The four-dimensional road inspection device according to claim 9, characterized in that: The three-dimensional geological radar (220) transmits and receives high-frequency electromagnetic waves underground through a transmitting antenna, and detects underground diseases based on signals reflected by the electromagnetic waves in different media.

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