Method for detecting pavement collapse, bridge deck collapse and side slope collapse and roadside system

Abstract

The invention is suitable for the technical field of collapse accident detection, and provides a method and a roadside system for detecting road surface collapse, bridge floor collapse and side slope collapse, and the method comprises the steps: determining a difference result between the position information of a structure involved in radar data and the position information of a pre-stored structure, the radar data is data obtained by transmitting an electromagnetic wave signal to a to-be-monitored surface in real time by a radar, a plurality of structures are arranged on the to-be-monitored surface, and the structures arranged on the to-be-monitored surface can be detected by the radar; the pre-stored position information of the structure is the corresponding position information when the structure is on the to-be-monitored surface; determining a difference range when the difference result indicates that there is a difference between the position information of the structure related to the radar data and the pre-stored position information of the structure; and judging that the to-be-monitored surface has a collapse accident in the difference range. Through the method, the timeliness of detecting the collapse accident is improved.

Description

Technical Field

[0001] This application belongs to the technical field of collapse accident detection, and particularly relates to methods and roadside systems for detecting road surface collapse, bridge deck collapse, and slope collapse. Background Art

[0002] With the development of the economy, the road network has covered most provinces, municipalities, and autonomous regions, forming a road network system with expressways as the main trunk and local expressways as supplements. The development of the road network system has brought convenience to people in various places. However, if the road surface collapses and passing vehicles do not timely receive the news of the road surface collapse, serious traffic accidents will occur.

[0003] Currently, it is usually through manual inspection and satellite remote sensing monitoring to determine whether the road surface has collapsed. However, the above methods have too strong hysteresis and it is difficult to detect collapse accidents in a timely manner.

[0004] Therefore, a new method is needed to solve the above technical problems. Summary of the Invention

[0005] The embodiments of this application provide methods and roadside systems for detecting road surface collapse, bridge deck collapse, and slope collapse, which can solve the problem that it is difficult to detect collapse accidents in a timely manner by existing methods.

[0006] In a first aspect, the embodiments of this application provide a method for detecting road surface collapse, bridge deck collapse, and slope collapse, including:

[0007] Determine the difference result between the position information of the structures involved in the radar data and the pre-stored position information of the structures, where the radar data is the data obtained by the radar emitting electromagnetic wave signals to the surface to be monitored in real time, multiple structures are arranged on the surface to be monitored, the structures arranged on the surface to be monitored can be detected by the radar, and the pre-stored position information of the structures is the position information corresponding to the structures when they are on the surface to be monitored;

[0008] When the difference result indicates that there is a difference between the position information of the structures involved in the radar data and the pre-stored position information of the structures, determine the difference range;

[0009] Determine that a collapse accident has occurred on the surface to be monitored within the difference range.

[0010] The beneficial effects of the embodiments of this application compared with the prior art are:

[0011] In the embodiment of the present application, the difference result between the position information of the structure involved in the radar data and the position information of the pre-stored structure is determined. If the difference result indicates that there is a difference between the position information of the structure involved in the radar data and the position information corresponding to the pre-stored structure when it is on the surface to be monitored, the difference range is determined, and it is determined that there is a collapse accident within the difference range. Since the radar data is obtained by the radar monitoring the surface to be monitored in real time, the radar data can reflect the real-time situation of the surface to be monitored. Also, when there is a difference between the position information of the structure involved in the radar data and the position information corresponding to the pre-stored structure when it is on the surface to be monitored, it indicates that the structure has changed, and the change of the structure is usually caused by the collapse accident of the surface to be monitored. Therefore, determining the difference range based on the real-time radar data and determining that there is a collapse accident in the difference range is beneficial to improving the timeliness of discovering the collapse accident.

[0012] In a second aspect, an embodiment of the present application provides a roadside system, including: a roadside computing unit;

[0013] The roadside computing unit is configured to determine the difference result between the position information of the structure involved in the radar data and the position information of the pre-stored structure, where the radar data is the data obtained by the radar emitting electromagnetic wave signals to the surface to be monitored in real time, multiple structures are arranged on the surface to be monitored, the structures arranged on the surface to be monitored can be detected by the radar, and the pre-stored position information of the structure is the position information corresponding to the structure when it is on the surface to be monitored; in the case where the difference result indicates that there is a difference between the position information of the structure involved in the radar data and the position information of the pre-stored structure, determine the difference range; determine that there is a collapse accident on the surface to be monitored within the difference range.

[0014] In a third aspect, an embodiment of the present application provides a roadside device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in the first aspect is implemented.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method described in the first aspect is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on a roadside device, the roadside device is caused to execute the method described in the first aspect above.

[0017] It should be understood that for the beneficial effects of the above second to fifth aspects, reference may be made to the relevant descriptions in the above first aspect, which will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art.

[0019] Figure 1 is a schematic flowchart of a method for detecting road surface collapse, bridge deck collapse, and slope collapse provided by an embodiment of the present application;

[0020] Figure 2 is a schematic diagram of a raised road sign selected after a collapse accident provided by an embodiment of the present application;

[0021] Figure 3 is a schematic structural diagram of a roadside system provided by an embodiment of the present application;

[0022] Figure 4 is a schematic structural diagram of another roadside system provided by an embodiment of the present application;

[0023] Figure 5 is a schematic structural diagram of a roadside device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] In the following description, specific details such as specific system structures and technologies are proposed for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0025] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0026] It should also be understood that the term "and / or" used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0029] The development of the road network system has brought convenience to people in various places. However, after the road construction, if the geology of the road construction is unstable or affected by natural disasters such as rainfall and earthquakes, the road is very likely to collapse.

[0030] For roads with relatively high vehicle speeds or large traffic volumes, once a collapse accident occurs, without any warning, it is often difficult for drivers to detect the collapse accident in time, which may lead to traffic accidents.

[0031] Currently, it is usually judged whether the road surface has collapsed through manual inspection and satellite remote sensing monitoring. When judging collapse by the method of manual inspection, since it is difficult for humans to inspect the road at all times, it is difficult to detect collapse accidents in time when judging collapse by the method of manual inspection. When judging collapse by the method of satellite remote sensing monitoring, since satellite remote sensing data needs to go through satellite overpass, sensor data collection, data transmission to the ground receiving station, and data preprocessing when being acquired and transmitted, when using satellite remote sensing data to judge collapse, the lag is too strong, and it is also difficult to detect collapse accidents in time. In summary, whether it is through the method of manual inspection or through the method of satellite remote sensing monitoring, there is a lag, and it is thus difficult to effectively reduce the probability of serious traffic accidents.

[0032] In order to improve the timeliness of detecting collapse accidents, an embodiment of this application provides a method for detecting road surface collapse, bridge deck collapse, and slope collapse.

[0033] In the method for detecting road surface collapse, bridge deck collapse, and slope collapse, a plurality of communication-enabled structures protruding from the surface to be monitored (such as the road surface, bridge deck, and slope surface to be monitored) are pre-set on the surface to be monitored, and these structures can be detected by radar. When the radar emits an electromagnetic wave signal to the surface to be monitored, if the structure is on the surface to be monitored, the radar will be able to detect the structure on the surface to be monitored, that is, the radar data detected by the radar will include the data corresponding to the structure. If the structure is no longer on the surface to be monitored, the radar data will not include the structure not on the surface to be monitored. Therefore, when it is determined that there is a difference between the position information of the structure involved in the radar data and the pre-stored position information of the structure, it indicates that the structure is likely not on the surface to be monitored. At this time, it is determined that a collapse accident has occurred on the surface to be monitored within the range of the difference, which is beneficial to improving the timeliness of the determination result.

[0034] The following will describe a method for detecting road surface collapse, bridge deck collapse, and slope collapse provided by an embodiment of the present application with reference to the accompanying drawings.

[0035] Figure 1 The flowchart of a method for detecting road surface collapse, bridge deck collapse, and slope collapse provided by an embodiment of the present application is shown. This method for detecting road surface collapse, bridge deck collapse, and slope collapse can be applied to roadside devices and is described in detail as follows:

[0036] S11, determine the difference result between the position information of the structure involved in the radar data and the pre-stored position information of the above-mentioned structure, where the above-mentioned radar data is the data obtained by the radar emitting an electromagnetic wave signal to the surface to be monitored in real time. A plurality of structures are set on the above-mentioned surface to be monitored, and the above-mentioned structures set on the above-mentioned surface to be monitored can be detected by the above-mentioned radar. The pre-stored position information of the above-mentioned structure is the position information corresponding to the above-mentioned structure when it is on the above-mentioned surface to be monitored.

[0037] Among them, the radar data here can be the radar data detected by one radar or the radar data detected by more than one radar, which is not limited here. It should be noted that the radar data here is real-time data obtained by the radar and can reflect the real-time situation of the surface to be monitored.

[0038] Among them, the surface to be monitored here refers to the surface that needs to be monitored for whether a collapse accident occurs, such as a road surface, a bridge deck, and a slope surface. A plurality of structures are set on the surface to be monitored. Optionally, the structures are set on the edge line and / or the demarcation line of the surface to be monitored. For example, when the surface to be monitored is a road surface, the structures can be set on the edge line of the road surface (i.e., the demarcation line at the edge of the road) and / or on the demarcation line on the road surface for distinguishing different lanes.

[0039] Optionally, for the convenience of radar detection, the structure is an object protruding from the road surface or other surfaces to be monitored.

[0040] Optionally, the above-mentioned structure may be at least one of raised road signs, signs, and nameplates, etc.

[0041] When there are multiple structures, the distance between any two adjacent structures may be a fixed preset distance, which may be 5 meters, 10 meters, 20 meters, etc. Of course, it may also be other values, which are not limited here. Optionally, when there are multiple structures, the distance between any two adjacent structures may not be a fixed preset distance, that is, the distance between any two adjacent structures is not necessarily equal. For example, denser structures are set in areas with a higher probability of collapse accidents (that is, in areas with a higher probability of collapse accidents, the distance between two adjacent structures is smaller), while sparser structures are set in areas with a lower probability of collapse accidents (that is, in areas with a lower probability of collapse accidents, the distance between two adjacent structures is larger).

[0042] Optionally, the above-mentioned difference result can be determined by the radar and sent by the radar to the roadside device. At this time, in the above S11, determining the difference result between the position information of the structure involved in the radar data and the position information of the above-mentioned structure stored in advance includes:

[0043] Obtain the above-mentioned difference result sent by the radar, and the above-mentioned difference result is the difference result between the position information of the structure involved in the radar data and the position information of the above-mentioned structure stored in advance.

[0044] Optionally, the above-mentioned difference result can also be determined by the roadside device itself. At this time, in the above S11, the above-mentioned determining the difference result between the position information of the structure involved in the radar data and the position information of the above-mentioned structure stored in advance includes:

[0045] Obtain the radar data; compare the position information of the structure involved in the above-mentioned radar data with the position information of the above-mentioned structure stored in advance to obtain the above-mentioned difference result.

[0046] Specifically, after each structure is set on the surface to be monitored, the position information of each structure that can be detected by the radar can be determined and stored to ensure that the position information of each structure that can be detected by the radar is stored, that is, to ensure the integrity of the position information of the pre-stored structure. For example, assume that radar 1 can detect the position information of structure 1 (since the structure has a certain volume, the position information of the structure usually consists of the position information of multiple position points), the position information of structure 2, and the position information of structure 3, and the radar data in step S11 is the radar data detected by radar 1. Then the pre-stored position information of the structure is the position information corresponding to structure 1, structure 2, and structure 3 when they are on the surface to be monitored. Another example, assume that radar 2 can detect the position information of structure 4, the position information of structure 5, and the position information of structure 6, and the radar data in step S11 is the radar data detected by radar 1 and radar 2. Then the pre-stored position information of the structure is the position information corresponding to structure 1, structure 2, structure 3, structure 4, structure 5, and structure 6 when they are on the surface to be monitored.

[0047] In the embodiment of the present application, after the radar data is obtained, the radar data is analyzed. For example, it is analyzed whether there is data corresponding to a shape that matches the shape of the structure (such as the similarity is greater than a preset similarity threshold) in the radar data. If so, it is determined that the existing data is the data corresponding to the structure, and the position information corresponding to the existing data is the position information corresponding to the structure. Specifically, if the radar data corresponding to radar 1 is radar data 1, the radar data corresponding to radar 2 is radar data 2, and the obtained radar data is radar data 1, then the radar data 1 is compared with the pre-stored position information of structure 1, the position information of structure 2, and the position information of structure 3; if the obtained radar data is radar data 1 and radar data 2, then the radar data (i.e., radar data 1 and radar data 2) is compared with the pre-stored position information of structure 1, the position information of structure 2, the position information of structure 3, the position information of structure 4, the position information of structure 5, and the position information of structure 6.

[0048] S12. When the above difference result indicates that there is a difference between the position information of the structure involved in the above radar data and the pre-stored position information of the above structure, determine the difference range.

[0049] Here, the difference means that the position information of the structure involved in the radar data is not exactly the same as the pre-stored position information of the structure. Of course, if the difference result indicates that there is no difference between the position information of the structure involved in the radar data and the pre-stored position information of the above structure, there is no need to determine the difference range.

[0050] Wherein, the above difference range refers to the regional range corresponding to the position information where the difference exists, and the number of the above difference ranges is greater than or equal to 1.

[0051] Specifically, in the case where it is determined that there is a difference between the position information in the radar data and the pre-stored position information, the difference range is determined according to the position information where the difference exists. For example, when the position information where the difference exists is adjacent (such as when the position information of two adjacent structures both changes, then the position information of these two adjacent structures is the adjacent position information where the difference exists), the adjacent position information where the difference exists is merged, and the obtained regional range after merging is used as a difference range; for another example, when the position information where the difference exists is not adjacent, the regional range corresponding to each position information where the difference exists is used as an independent difference range.

[0052] Optionally, in the above S12, in the case where the above difference result indicates that there is a difference between the position information of the structure involved in the above radar data and the pre-stored position information of the above structure, determining the difference range includes:

[0053] In the case where the above difference result indicates that at least one of the pre-stored position information of the above structure is missing in the position information of the structure involved in the radar data, the above difference range is determined according to the missing position information of each of the above structures.

[0054] And / or,

[0055] In the case where the above difference result indicates that there is at least one position information in the position information of the structure involved in the radar data that is different from the corresponding pre-stored position information of the structure, the above difference range is determined according to the different position information of each of the above structures.

[0056] Specifically, if it is determined that the position information of the structure has changed, the difference range is determined according to the changed position information. If it is determined that the position information of the structure is missing or has moved, the difference range is determined according to the missing position information of the structure or the position information of the structure that has moved. Since when the position information of the structure is missing, it may be due to a collapse accident at the position where the structure is located, resulting in the structure falling, and when the position information of the structure has moved, it may also be due to a collapse accident at the position where the structure is located, resulting in the structure being displaced. Therefore, determining the difference range according to the changed position information is beneficial to improving the accuracy of the determined difference range.

[0057] S13, determine that a collapse accident has occurred on the above monitored surface within the above difference range.

[0058] For example, assume that the surface to be monitored consists of area A, area B, and area C, and the area corresponding to the difference range is area A. Then, it is determined that a collapse accident has occurred in area A on the surface to be monitored.

[0059] In the embodiment of the present application, the difference result between the position information of the structure involved in the radar data and the position information of the pre-stored structure is determined. If the difference result indicates that there is a difference between the position information of the structure involved in the radar data and the position information corresponding to the pre-stored structure when it is on the surface to be monitored, the difference range is determined, and it is determined that a collapse accident exists within the difference range. Since the radar data is obtained by the radar monitoring the surface to be monitored in real time, this radar data can reflect the real-time situation of the surface to be monitored. Also, when there is a difference between the position information of the structure involved in the radar data and the position information corresponding to the pre-stored structure when it is on the surface to be monitored, it indicates that the structure has changed, and the change of the structure is usually caused by a collapse accident on the surface to be monitored. Therefore, determining the difference range based on the real-time radar data and determining that a collapse accident has occurred in the difference range is beneficial to improving the timeliness of discovering collapse accidents.

[0060] In some embodiments, the position information of the pre-stored structure in the embodiment of the present application can be obtained by the radar. That is, before determining the difference result between the position information of the structure involved in the radar data and the position information of the above-mentioned pre-stored structure in S11 above, it further includes:

[0061] A1. Before the above-mentioned surface to be monitored has a collapse accident, obtain the position information of each of the above-mentioned structures arranged on the above-mentioned surface to be monitored through the radar.

[0062] A2. Store the obtained position information of each of the above-mentioned structures.

[0063] Specifically, to ensure that more complete position information is stored, before the surface to be monitored has a collapse accident (such as just after the structure is arranged), obtain the position information of all the structures arranged on the monitoring surface through the radar. For example, when it is difficult to obtain the position information of all the structures on the monitoring surface through 1 radar, 2 or more radars can be used to obtain it, as long as the position information of all the structures arranged on the surface to be monitored is obtained.

[0064] In the embodiment of the present application, since the position information of each structure arranged on the surface to be monitored is obtained and stored through the radar before the surface to be monitored has a collapse accident, the probability of missing the storage of the position information of the structure can be reduced, thereby increasing the probability of obtaining an accurate comparison result subsequently.

[0065] In some embodiments, the above-mentioned structure has a communication function and a position information detection function. The position information detection function is used to detect the position information of the structure. Before the above-mentioned A1, obtaining the position information of each of the above-mentioned structures arranged on the surface to be monitored through radar, the following steps are further included:

[0066] Obtaining the position information reported by each of the above-mentioned structures on the surface to be monitored.

[0067] Correspondingly, the above-mentioned A1, obtaining the position information of each of the above-mentioned structures arranged on the surface to be monitored through radar, includes:

[0068] Performing enhanced energy detection at the positions corresponding to the position information reported by each of the above-mentioned structures arranged on the surface to be monitored through radar, so as to obtain the position information of the above-mentioned structures identified by the radar.

[0069] Specifically, controlling the beam formed by the electromagnetic wave signal of the radar to point to the position corresponding to the position information reported by the above-mentioned structure, so as to increase the detection energy, and then accurately obtaining the position information of each of the above-mentioned structures arranged on the surface to be monitored through the reflected signal of the above-mentioned beam.

[0070] Optionally, considering that the higher the accuracy of the obtained position information, the higher the corresponding cost of the positioning module (the positioning module has a position information detection function), therefore, in order to reduce the cost of the structure, the accuracy of the position information detected by the positioning module that can be set in the structure can be lower than the accuracy of the position information obtained by the radar. For example, the accuracy of the position information obtained by the positioning module of the structure is at the meter level, while the accuracy of the position information obtained by the radar is at the centimeter level. Optionally, the above-mentioned positioning module can adopt the Beidou positioning principle or the Global Positioning System (GPS), which is not limited here. Optionally, when the accuracy of the position information detected by the positioning module set in the structure is relatively high, the position information reported by the structure can also be directly stored, which is not limited here.

[0071] In the embodiments of the present application, the roadside device can request the position information corresponding to the structure from the structure. When the roadside device obtains the position information of the structure, it adjusts the signal phase and amplitude of each unit in the radar antenna array, so that the beam formed by the electromagnetic wave signal emitted by the radar points to the position corresponding to the position information reported by the structure. Since the signal intensity in a specific direction can be significantly increased by focusing the beam, while reducing the signal interference in other directions, therefore, after the radar performs beamforming, it is beneficial to improve the accuracy of the position information obtained by the radar, and further improve the accuracy of the position information of the structure stored by the roadside device.

[0072] In some embodiments, to further improve the accuracy of the judgment result, the structure may be set to have a communication function. After determining the difference range in S12 above, it further includes:

[0073] Detect whether an online signal reported by the structure within the above difference range is obtained.

[0074] Correspondingly, in S13 above, determining that a collapse accident occurs on the surface to be monitored within the above difference range includes:

[0075] In the case where an online signal reported by the structure within the above difference range is not obtained, it is determined that a collapse accident occurs on the surface to be monitored within the above difference range.

[0076] In the embodiments of the present application, the structure has a communication function. Therefore, when the structure is a raised road sign, a sign or a placard, a communication module needs to be set inside the raised road sign, the sign or the placard, such as setting a short-range communication module (such as a Bluetooth communication module, a Near Field Communication (NFC) module), a medium-range communication module (such as a Wireless Fidelity (Wi-Fi) module) or a long-range communication module (such as cellular mobile communication, satellite communication, etc.).

[0077] After the structure has a communication function, it can directly communicate with the roadside device or indirectly communicate with the roadside device through other devices. The roadside device detects whether an online signal reported by the structure within the difference range is obtained according to the communication result.

[0078] Specifically, the roadside device can actively send a request for obtaining an online signal to the structure within the difference range. If the roadside device receives any information sent by the structure, it can be considered that an online signal reported by the structure is obtained.

[0079] Optionally, the roadside device can preset a redundant duration and detect whether an online signal reported by the structure within the difference range is obtained within the redundant duration. Wherein, when the roadside device needs to send a request to the structure to obtain the online signal of the structure, the redundant duration is greater than the duration required for the structure to receive the request and send the online signal to the roadside device.

[0080] In the embodiments of the present application, after determining the difference range, it is detected whether an online signal reported by the structure within the difference range is obtained. If not, it is further determined that a collapse accident occurs in the difference range. Since the radar is not sensitive to static objects, and after the structure changes, for example, its position changes, the structure usually loses power and thus cannot communicate with the roadside device. Therefore, combining the online signal reported by the structure to judge whether a collapse accident occurs in the difference range is beneficial to improving the accuracy of the judgment result.

[0081] In some embodiments, the above-mentioned structure has a position information detection function in addition to the communication function. In the above S13, determining that a collapse accident has occurred on the surface to be monitored within the above-mentioned difference range includes:

[0082] B1. When the online signal reported by the above-mentioned structure within the above-mentioned difference range is obtained, it is detected whether the position information reported by the above-mentioned structure within the above-mentioned difference range is obtained.

[0083] Specifically, when the roadside device obtains the online signal reported by the structure, it indicates that the roadside device can communicate with the structure directly or indirectly. At this time, the roadside device detects whether it has obtained the position information reported by the structure within the difference range in an active or passive manner. Of course, if a collapse accident occurs at the location where the structure is located and the fallen structure will have a power-off phenomenon, the roadside device will not be able to obtain the online signal and position information reported by the structure. That is, the roadside device can usually only obtain the position information reported by the structures in the area where no collapse accident has occurred.

[0084] B2. When the position information reported by the above-mentioned structure within the above-mentioned difference range is obtained, the above-mentioned difference range is adjusted according to the obtained position information reported by the above-mentioned structure, and it is determined that a collapse accident has occurred on the surface to be monitored within the adjusted above-mentioned difference range.

[0085] Specifically, if the roadside device obtains the position information reported by one or more structures within the difference range, it indicates that no collapse accident has occurred at the location where the one or more structures are located. At this time, the position where the one or more structures are located can be removed from the difference range to obtain the adjusted difference range, and the adjusted difference range is the range where the collapse accident has occurred. That is, by filtering out the areas where no collapse accident has occurred within the difference range (i.e., the areas corresponding to the structures that report position information within the difference range), the accuracy of the determined area where the collapse accident has occurred is improved.

[0086] In the embodiments of the present application, since the roadside device determines the difference range and then determines the collapse accident according to the position information reported by the structures within the difference range, the accuracy of the determination result is improved.

[0087] In some embodiments, considering that an acceleration will be generated by the structure after a collapse accident occurs at the location where the structure is located, therefore, it is possible to determine whether a collapse has occurred in the area where the structure is located according to the acceleration of the structure. Specifically, an acceleration detection module is provided in the structure, so that the structure has not only a communication function but also an acceleration detection function, and the acceleration detection function is used to detect the acceleration of the structure. The above method for detecting road surface collapse, bridge deck collapse, and slope collapse further includes:

[0088] C1. When the online signal reported by the structure within the above-mentioned difference range is obtained, it is detected whether the acceleration equal to 0 reported by the structure within the above-mentioned difference range is obtained.

[0089] When the roadside device obtains the online signal reported by the structure, it indicates that the roadside device can communicate directly or indirectly with the structure. At this time, the roadside device detects whether it obtains the acceleration information reported by the structure within the difference range in an active or passive manner. Among them, when the acceleration is equal to 0, it indicates that the corresponding structure has not moved, and vice versa, it indicates that the corresponding structure has moved.

[0090] C2. When the acceleration equal to 0 reported by the structure within the above-mentioned difference range is obtained, the above-mentioned difference range is adjusted according to the obtained acceleration equal to 0 reported by the structure, and it is determined that a collapse accident has occurred in the above-mentioned difference range after adjustment for the surface to be monitored.

[0091] Specifically, if the roadside device obtains the acceleration equal to 0 reported by one or more structures within the difference range, it indicates that no collapse accident has occurred at the location where the one or more structures are located. At this time, the location where the one or more structures are located can be removed from the difference range to obtain the adjusted difference range, and the adjusted difference range is the range where the collapse accident occurs. That is, by filtering out the areas where no collapse accident has occurred within the difference range (i.e., the areas corresponding to the structures that report an acceleration equal to 0 within the difference range), the accuracy of the determined area where the collapse accident occurs is improved.

[0092] In the embodiments of the present application, the acceleration detection module provided in the structure can be an acceleration sensor. Since the acceleration sensor can directly obtain the acceleration of the structure after detecting the acceleration of the structure, that is, the acceleration sensor can obtain the acceleration without communicating with other modules, therefore, the roadside device can obtain the acceleration of the structure at a relatively fast speed, which is beneficial to improving the timeliness of the determined result of the collapse accident.

[0093] In some embodiments, a lighting module is provided inside the above-mentioned structure. The lighting module has at least two lighting colors. After determining in S13 that a collapse accident has occurred on the surface to be monitored within the above-mentioned difference range, it further includes:

[0094] Controlling the lighting color of the raised road signs within a preset distance threshold range from the above-mentioned difference range to be the first color, and controlling the lighting color of the raised road signs outside the preset distance threshold range from the above-mentioned difference range to be the second color, where the first color and the second color are different lighting colors.

[0095] As Figure 2 shown, assume that there are 5 raised road signs on the surface to be monitored, namely raised road sign 1, raised road sign 2, raised road sign 3, raised road sign 4, and raised road sign 5. If a collapse accident occurs in the area where raised road sign 2 and raised road sign 3 are located, and the shortest distance between raised road sign 1 and this area is within the preset distance threshold range, and the shortest distance between raised road sign 4 and this area is within the preset distance threshold range, but the shortest distance between raised road sign 5 and this area is outside the preset distance threshold range, then control the lighting colors of raised road sign 1 and raised road sign 4 to be the first color, and control the lighting color of raised road sign 5 to be the second color.

[0096] The above-mentioned first color can be red, used to indicate no passage, and the second color can be white, used to indicate passage is allowed. Of course, other colors can also be used, as long as the first color and the second color are different, and it is not limited here.

[0097] In the embodiments of the present application, since after determining that a collapse accident has occurred, the raised road signs closer to the collapse accident are controlled to display the first color, and the raised road signs farther from the collapse accident are controlled to display the second color, that is, different colors are used to distinguish the distance from the collapse accident. Therefore, it is beneficial to timely remind the driver, and further beneficial to reduce the probability of serious traffic accidents.

[0098] Optionally, the message of the collapse accident can also be sent to a specified terminal, so that the specified terminal sends a corresponding reminder message to the vehicles that may pass through the area where the collapse accident occurred, which is further beneficial to reducing the probability of serious traffic accidents.

[0099] In some embodiments, when the surface to be monitored is a road surface, after obtaining the position information of each structure set on the road surface, the position information of each structure is matched with the lane lines of the road surface, and the obtained matching result is visualized. For example, the lane lines on the road surface and each structure set on the road surface are displayed on a map. Through the displayed information, the user can intuitively view the relative relationship between each structure and the lane lines. Further, after determining the difference range, the difference range is marked and distinguished on the displayed map so that the user can intuitively view the difference range.

[0100] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0101] Corresponding to the method for detecting road surface collapse, bridge deck collapse, and slope landslide described in the above embodiments, Figure 3 The structural block diagram of the roadside system provided by the embodiments of the present application is shown. For the convenience of description, only the parts related to the embodiments of the present application are shown.

[0102] Referring to Figure 3 , the roadside system 3 includes: a roadside calculation unit 31.

[0103] Among them, the roadside calculation unit 31 is used to determine the difference result between the position information of the structures involved in the radar data and the position information of the above structures stored in advance. Among them, the above radar data is the data obtained by the radar emitting electromagnetic wave signals to the surface to be monitored in real time. A plurality of structures are arranged on the above surface to be monitored, and the above structures arranged on the above surface to be monitored can be detected by the radar. The position information of the above structures stored in advance is the position information corresponding to the above structures when they are on the above surface to be monitored; in the case where the difference result indicates that there is a difference between the position information of the structures involved in the radar data and the position information of the above structures stored in advance, determine the difference range; determine that a collapse accident occurs on the above surface to be monitored within the above difference range.

[0104] Among them, the specific processing process of the roadside calculation unit 31 is the same as the method for detecting road surface collapse, bridge deck collapse, and slope landslide described in the above embodiments, and will not be described in detail here.

[0105] In the embodiments of the present application, since the radar data is obtained by the radar monitoring the surface to be monitored in real time, the radar data can reflect the real-time situation of the surface to be monitored. Also, when it is determined that there is a difference between the position information of the structure involved in the radar data and the position information corresponding to the structure when it is on the surface to be monitored and stored in advance, it indicates that the structure has changed, and the change of the structure is usually caused by a collapse accident on the surface to be monitored. Therefore, determining the difference range based on the real-time radar data and determining that a collapse accident has occurred in the difference range is beneficial to improving the timeliness of discovering the collapse accident.

[0106] In some embodiments, as Figure 4 shown, the above roadside system 3 further includes a radar 32. It should be noted that Figure 4 only one radar is shown. In actual situations, the number of radars can be more than 1, which is not limited here.

[0107] The above radar 32 is used to obtain data by emitting electromagnetic wave signals to the surface to be monitored in real time, and send the above radar data to the above roadside calculation unit 31.

[0108] When the above roadside calculation unit 31 determines the difference result between the position information of the structure involved in the radar data and the position information of the above structure stored in advance, it is specifically used for: comparing the position information of the structure involved in the above radar data with the position information of the above structure stored in advance to obtain the above difference result.

[0109] Optionally, before determining the difference result between the position information of the structure involved in the radar data and the position information of the above structure stored in advance, it further includes:

[0110] Before the above surface to be monitored has a collapse accident, the above roadside calculation unit 31 obtains the position information of each of the above structures arranged on the above surface to be monitored through the radar; stores the obtained position information of each of the above structures.

[0111] Optionally, the above structure has a communication function and a position information detection function. As Figure 4 shown, the roadside system 3 further includes: a roadside communication unit 33. The roadside communication unit 33 can communicate with the structure.

[0112] Before obtaining the position information of each of the above structures arranged on the above surface to be monitored through the radar, it further includes:

[0113] The roadside communication unit 33 receives the position information reported by each of the above structures on the above surface to be monitored, and sends the position information to the roadside calculation unit 31.

[0114] Correspondingly, the above method of obtaining the position information of each of the above-mentioned structures provided on the above-mentioned surface to be monitored through radar includes:

[0115] The roadside computing unit 31 performs enhanced energy detection at the positions corresponding to the position information reported by each of the above-mentioned structures provided on the above-mentioned surface to be monitored through radar, so as to obtain the position information of the above-mentioned structures identified by the above-mentioned radar.

[0116] Optionally, when the above-mentioned difference result indicates that there is a difference between the position information of the structures involved in the above-mentioned radar data and the pre-stored position information of the above-mentioned structures, determining the difference range includes:

[0117] When the above-mentioned difference result indicates that at least one of the pre-stored position information of the above-mentioned structures is missing from the position information of the structures involved in the above-mentioned radar data, determining the above-mentioned difference range according to the position information of each of the missing above-mentioned structures;

[0118] And / or,

[0119] When the above-mentioned difference result indicates that at least one of the position information of the structures involved in the above-mentioned radar data is different from the corresponding pre-stored position information of the above-mentioned structures, determining the above-mentioned difference range according to the different position information of each of the above-mentioned structures.

[0120] Optionally, the above-mentioned structure has a communication function, and the roadside system 3 further includes: a roadside communication unit 33, and the roadside communication unit 33 can communicate with the structure.

[0121] After determining the above-mentioned difference range, it further includes:

[0122] The roadside communication unit 33 receives the online signals reported by the above-mentioned structures within the above-mentioned difference range and sends the online signals to the roadside computing unit 31.

[0123] The roadside computing unit 31 detects whether it has received the online signals reported by the above-mentioned structures within the above-mentioned difference range.

[0124] Correspondingly, the above-mentioned determination that the above-mentioned surface to be monitored has a collapse accident within the above-mentioned difference range includes:

[0125] When the online signals reported by the above-mentioned structures within the above-mentioned difference range are not received, the roadside computing unit 31 determines that the above-mentioned surface to be monitored has a collapse accident within the above-mentioned difference range.

[0126] Optionally, the above-mentioned structure further has a position information detection function, and the above-mentioned determination that the above-mentioned surface to be monitored has a collapse accident within the above-mentioned difference range includes:

[0127] When the roadside computing unit 31 obtains the online signal reported by the above-mentioned structure within the above-mentioned difference range, it detects whether the roadside communication unit 33 obtains the position information reported by the above-mentioned structure within the above-mentioned difference range;

[0128] When it is detected that the roadside communication unit 33 obtains the position information reported by the above-mentioned structure within the above-mentioned difference range, the roadside computing unit 31 adjusts the above-mentioned difference range according to the obtained position information of the above-mentioned structure, and determines that a collapse accident occurs on the above-mentioned monitored surface within the adjusted above-mentioned difference range.

[0129] Optionally, the above-mentioned structure also has an acceleration detection function. Determining that a collapse accident occurs on the above-mentioned monitored surface within the above-mentioned difference range includes:

[0130] When the roadside computing unit 31 obtains the online signal reported by the above-mentioned structure within the above-mentioned difference range, it detects whether the roadside communication unit 33 obtains the acceleration equal to 0 reported by the above-mentioned structure within the above-mentioned difference range;

[0131] When it is detected that the roadside communication unit 33 obtains the acceleration equal to 0 reported by the above-mentioned structure within the above-mentioned difference range, the roadside computing unit 31 adjusts the above-mentioned difference range according to the obtained acceleration equal to 0 of the above-mentioned structure, and determines that a collapse accident occurs on the above-mentioned monitored surface within the adjusted above-mentioned difference range.

[0132] Optionally, the above-mentioned structure is a raised road sign with at least two luminous colors. After determining that a collapse accident occurs on the above-mentioned monitored surface within the above-mentioned difference range, it further includes:

[0133] The roadside computing unit 31 controls, through the roadside communication unit 33, the luminous color of the raised road signs within a preset distance threshold range from the above-mentioned difference range to be the first color, and controls the luminous color of the raised road signs outside the preset distance threshold range from the above-mentioned difference range to be the second color, where the above-mentioned first color and the above-mentioned second color are different luminous colors.

[0134] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units, due to being based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details are not described here again.

[0135] Figure 5 This is a schematic structural diagram of a roadside device provided by an embodiment of the present application. As Figure 5 shown, the roadside device 5 of this embodiment includes: at least one processor 50( Figure 5Only one processor is shown), a memory 51, and a computer program 52 stored in the memory 51 and executable on the at least one processor 50. When the processor 50 executes the computer program 52, the steps in any of the above method embodiments are implemented.

[0136] The above roadside device 5 may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art can understand that Figure 5 This is only an example of the roadside device 5 and does not constitute a limitation on the roadside device 5. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0137] The so-called processor 50 may be a central processing unit (CPU), and the processor 50 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0138] In some embodiments, the memory 51 may be an internal storage unit of the roadside device 5, such as the hard disk or memory of the roadside device 5. In other embodiments, the memory 51 may also be an external storage device of the roadside device 5, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the roadside device 5. Further, the memory 51 may also include both the internal storage unit and the external storage device of the roadside device 5. The memory 51 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program, etc. The memory 51 may also be used to temporarily store data that has been output or will be output.

[0139] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0140] An embodiment of this application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, the steps in any of the foregoing method embodiments are implemented.

[0141] An embodiment of this application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

[0142] An embodiment of this application provides a computer program product. When the computer program product runs on a roadside device, the roadside device can be made to implement the steps in each of the foregoing method embodiments when executed.

[0143] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-mentioned embodiment methods of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / roadside device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0144] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0145] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed in this document can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0146] In the embodiments provided in this application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0147] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] 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 foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for detecting road collapse, bridge deck collapse, and slope collapse, characterized in that: include: Determine a difference between the position information of the structure involved in the radar data and the pre-stored position information of the structure, wherein the radar data is data obtained by the radar transmitting electromagnetic wave signals to the surface to be monitored in real time, a plurality of structures are arranged on the surface to be monitored, the structures arranged on the surface to be monitored can be detected by the radar, and the pre-stored position information of the structure is the position information corresponding to the structure when it is on the surface to be monitored; In a case where the difference result indicates that the position information of the structure involved in the radar data is different from the pre-stored position information of the structure, determining a difference range; It is determined that a collapse accident occurs on the surface to be monitored within the difference range.

2. The method for detecting road collapse, bridge deck collapse, and slope collapse according to claim 1, characterized in that: Before determining the difference between the location information of the structure involved in the radar data and the pre-stored location information of the structure, the method further includes: Before a collapse accident occurs on the surface to be monitored, obtaining position information of each of the structures arranged on the surface to be monitored by radar; The acquired position information of each of the structures is stored.

3. The method for detecting road subsidence, bridge deck collapse, and slope collapse as claimed in claim 2, characterized in that: The structure has a communication function and a position information detection function, and before acquiring the position information of each structure arranged on the surface to be monitored by radar, it also includes: Obtaining position information reported by each of the structures on the surface to be monitored; The step of obtaining the position information of each structure disposed on the surface to be monitored by radar includes: Enhanced energy detection is performed by radar at a position corresponding to the position information reported by each of the structures arranged on the surface to be monitored, so as to obtain the position information of the structure identified by the radar.

4. The method for detecting road collapse, bridge deck collapse, and slope collapse according to claim 1, characterized in that: When the difference result indicates that the position information of the structure involved in the radar data is different from the pre-stored position information of the structure, determining the difference range includes: In the case where the difference result indicates that the position information of at least one of the pre-stored position information of the structures involved in the radar data is missing, determining the difference range according to the missing position information of each of the structures; and / or, When the difference result indicates that at least one of the position information of the structures involved in the radar data is different from the pre-stored position information of the corresponding structure, the difference range is determined according to the different position information of each of the structures.

5. The method for detecting road collapse, bridge deck collapse, and slope collapse according to claim 1, characterized in that: The structure has a communication function, and after determining the difference range, further comprises: detecting whether an online signal reported by the structure within the difference range is obtained; The determining that a collapse accident occurs on the surface to be monitored within the difference range includes: When no online signal reported by the structure within the difference range is obtained, it is determined that a collapse accident occurs on the surface to be monitored within the difference range.

6. The method for detecting road subsidence, bridge deck collapse, and slope collapse as claimed in claim 5, characterized in that: The structure also has a position information detection function, and the determination of the occurrence of a collapse accident on the surface to be monitored within the difference range includes: In case that the online signal reported by the structure within the difference range is obtained, detecting whether the position information reported by the structure within the difference range is obtained; When the position information reported by the structure within the difference range is obtained, the difference range is adjusted according to the obtained position information reported by the structure, and it is determined whether a collapse accident occurs on the monitored surface within the adjusted difference range.

7. The method for detecting road subsidence, bridge deck collapse, and slope collapse as claimed in claim 5, characterized in that: The structure also has an acceleration detection function, and the determination of the occurrence of a collapse accident on the monitored surface within the difference range includes: In the case where an online signal reported by the structure within the difference range is obtained, detecting whether an acceleration equal to 0 reported by the structure within the difference range is obtained; When an acceleration equal to 0 is reported by the structure within the difference range, the difference range is adjusted according to the acceleration equal to 0 reported by the structure, and it is determined that a collapse accident occurs on the monitored surface within the adjusted difference range.

8. The method for detecting road subsidence, bridge deck collapse, and slope collapse according to any one of claims 1 to 7, characterized in that: The structure is a raised road sign with at least two luminous colors, and after determining that the monitored surface has collapsed within the difference range, the method further includes: The luminous color of a raised road sign whose distance from the difference range is within a preset distance threshold range is controlled to be a first color, and the luminous color of a raised road sign whose distance from the difference range is outside the preset distance threshold range is controlled to be a second color, wherein the first color and the second color are different luminous colors.

9. A roadside system, characterized in that: include: Roadside computing unit; The roadside calculation unit is used to determine the difference result between the position information of the structure involved in the radar data and the pre-stored position information of the structure, wherein the radar data is data obtained by the radar emitting electromagnetic wave signals to the surface to be monitored in real time, and a plurality of structures are arranged on the surface to be monitored, and the structures arranged on the surface to be monitored can be detected by the radar, and the pre-stored position information of the structure is the position information corresponding to the structure when it is on the surface to be monitored; when the difference result indicates that there is a difference between the position information of the structure involved in the radar data and the pre-stored position information of the structure, determine the difference range; and determine that a collapse accident occurs on the surface to be monitored within the difference range.

10. The roadside system according to claim 9, characterized in that: The roadside system also includes a radar; The radar is used to transmit electromagnetic wave signals to the surface to be monitored in real time to obtain data, and send the radar data to the roadside computing unit; When determining the difference result between the position information of the structure involved in the radar data and the pre-stored position information of the structure, the roadside calculation unit is specifically used to: compare the position information of the structure involved in the radar data with the pre-stored position information of the structure to obtain the difference result.

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