Road management method based on Beidou positioning equipment and related device

Abstract

The invention provides a road management method based on Beidou positioning equipment and a related device, and the method comprises the steps: recording a vibration signal generated when a moving object passes through a target road section in a sampling period, and obtaining a plurality of vibration signals; analyzing the signal intensity of the plurality of vibration signals, and determining that abnormal signals exist in the plurality of vibration signals; determining a road cavity condition according to the abnormal signal; determining positioning information of the vibration sensor receiving the abnormal signal; and generating an early warning message according to the road cavity condition and the positioning information, and sending the early warning message to the terminal equipment. Therefore, according to the method and the device, the early warning information is generated by determining the positioning position information of the road cavity and the condition of the road cavity, and the early warning information is sent to the terminal equipment used by the road management personnel, so that the position of the road cavity is accurately locked, and comprehensive road cavity information is provided for the road management personnel in time; and the road maintenance can be timely and efficiently completed by workers.

Description

Technical Field

[0001] The present application relates to the field of data processing, and particularly to a road management method and related device based on a Beidou positioning device. Background Art

[0002] In recent years, with the development of urban roads in China, construction management activities for roads have increased significantly. When the road geology is affected by extreme weather, such as heavy rainstorms, it is easy to cause an increase in underground soil erosion, resulting in the generation of road cavities and increasing the probability of road collapse accidents.

[0003] Currently, existing road cavity detection methods mostly involve manual inspection with a ground penetrating radar or sampling monitoring of accident-prone sections. It is impossible to accurately obtain the specific location and other information of underground road cavities. The labor cost is high and the efficiency is low. At the same time, due to the large traffic flow in the city, large-scale manual inspection of road cavities is likely to interfere with urban traffic and cause traffic jams. Therefore, accurately locating the position of road cavities and timely and efficiently completing road maintenance work is particularly important in the field of road construction management. Summary of the Invention

[0004] The present application provides a road management method and related device based on a Beidou positioning device. By determining the positioning position information and road cavity conditions of road cavities, generating warning information, and sending the warning information to the terminal device used by road management personnel, the position of road cavities can be accurately locked and comprehensive road cavity information can be provided to road management personnel in a timely manner, facilitating manual road maintenance in a timely and efficient manner.

[0005] In a first aspect, the present application provides a road management method based on a Beidou positioning device, which is applied to a road management system. The road management system includes a server, a plurality of vibration sensors, and a terminal device of road management personnel; the method includes:

[0006] Recording vibration signals generated by moving objects passing through a target section within a sampling period to obtain a plurality of vibration signals. The plurality of vibration sensors are respectively installed at a plurality of monitoring points, and the plurality of monitoring points are equally spaced on the same side of the target section;

[0007] Analyzing the signal intensities of the plurality of vibration signals to determine that there are abnormal signals among the plurality of vibration signals. The plurality of vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signal is less than the signal intensity of the normal signal;

[0008] Determining the road cavity conditions according to the abnormal signals. The road cavity conditions include: cavity depth, cavity shape, and cavity radius;

[0009] Determining the positioning information of the vibration sensor that receives the abnormal signal;

[0010] Generate a warning message based on the road cavity condition and positioning information, and send the warning message to the terminal device.

[0011] In a possible embodiment, analyze the signal intensities of multiple vibration signals to determine that there are abnormal signals among the multiple vibration signals, including: comparing the signal intensities of the multiple vibration signals to determine that there is at least one target vibration signal among the multiple vibration signals whose signal intensity is within a first intensity range, and the signal intensities of the pre-signal and post-signal of the target vibration signal are within a second intensity range. The pre-signal of the target vibration signal refers to the set of signals that are prior to the target vibration signal in the order of acquisition time of the multiple vibration signals, and the post-signal of the target vibration signal refers to the set of signals that are after the target vibration signal in the order of acquisition time of the multiple vibration signals. Any intensity in the first intensity range is less than any intensity in the second intensity range, and the second intensity range is the range of normal signals; determine the target vibration signal as an abnormal signal.

[0012] In a possible embodiment, determine the road cavity condition according to the abnormal signal, including: determine the cavity depth according to the frequency components of the abnormal signal. The greater the proportion of low-frequency components in the frequency components, the deeper the cavity depth; determine the cavity radius according to the signal amplitude change and signal duration of the abnormal signal. The greater the signal amplitude change and the longer the signal duration, the larger the cavity radius; determine the set of adjacent vibration signals of the abnormal signal, and determine the cavity shape according to the abnormal signal and the distribution characteristics of the set of adjacent vibration signals. The set of adjacent vibration signals includes one or more vibration signals before the generation of the abnormal signal and one or more vibration signals after the generation of the abnormal signal.

[0013] In a possible embodiment, after determining that there is at least one target vibration signal among the multiple vibration signals, the method further includes: determining the average signal intensity of the pre-signal and post-signal of the target vibration signal; determining the intensity difference between the signal intensity of the target vibration signal and the average signal intensity; determining the road cavity degree according to the intensity difference and the road cavity condition. The road cavity degree is used to characterize the likelihood of road collapse.

[0014] In a possible embodiment, generate a warning message according to the road cavity condition and positioning information, including: determining the traffic flow of moving objects passing through the target section within the sampling period. The moving objects include pedestrians or vehicles; and determining the road condition of the target section. The road condition includes: weather condition and road type. The weather condition includes at least one of the following: rainy day, snowy day, and foggy day. The road type includes at least one of the following: highway section, bridge section, and tunnel section; determine the danger index according to the traffic flow, road condition, and road cavity degree; generate a warning message according to the danger index and positioning information.

[0015] In a possible embodiment, generating a warning message based on a danger index and positioning information includes: when it is determined that the danger index is less than a first threshold, no warning message needs to be generated; when it is determined that the danger index is greater than the first threshold and less than a second threshold, generating a first warning message based on the danger index and the positioning information, where the first warning message is used to display the positioning information on a terminal device to instruct a road management personnel to carry a detection device to conduct on-site detection at a monitoring point indicated by the positioning information, and the detection device is used to determine whether there is a cavity in the space under the road, and the first threshold is less than the second threshold; when it is determined that the danger index is greater than or equal to the second threshold, generating a second warning message based on the danger index and the positioning information, where the second warning message is used to display the positioning information and the danger index on the terminal device to instruct the road management personnel to implement traffic control for a target road section and at the same time instruct the road management personnel to perform road maintenance with reference to the road section indicated by the positioning information.

[0016] In a possible embodiment, the road management system further includes a 3D radar; before recording the vibration signals generated by a moving object passing through a target road section, the method further includes: detecting the underground pipelines in a target area through the 3D radar to determine the 3D point cloud structure data of the underground pipelines, where the 3D point cloud structure data includes at least one of the following: pipeline alignment arrangement information, pipeline 3D dimension information, pipeline local morphology information, and pipeline adjacent relationship information; determining the geological information of the target area, where the geological information includes at least one of the following: formation structure information, groundwater distribution, and geotechnical type; comparing and analyzing the 3D point cloud structure data of the underground pipelines with the geological information to determine whether the underground pipelines are located in a groundwater gushing zone or a soft soil layer distribution; if so, determining the location where the underground pipelines are located as the target road section.

[0017] In a second aspect, the present application provides a road management device based on a Beidou positioning device, which is applied to a road management system. The road management system includes a server, a plurality of vibration sensors, and a terminal device of a road management personnel; the device includes: a recording unit, an analysis unit, a determination unit, a positioning unit, and a sending unit; the recording unit is configured to record the vibration signals generated by a moving object passing through a target road section within a sampling period to obtain a plurality of vibration signals, where the plurality of vibration sensors are respectively installed at a plurality of monitoring points, and the plurality of monitoring points are equally spaced on the same side of the target road section; the analysis unit is configured to analyze the signal intensities of the plurality of vibration signals to determine that there are abnormal signals among the plurality of vibration signals, where the plurality of vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signals is less than that of the normal signals; the determination unit is configured to determine the road cavity condition according to the abnormal signals, where the road cavity condition includes: cavity depth, cavity shape, and cavity radius; the positioning unit is configured to determine the positioning information of the vibration sensor that receives the abnormal signal; the sending unit is configured to generate a warning message based on the road cavity condition and the positioning information and send the warning message to the terminal device.

[0018] In a third aspect, the present application provides a road management system, which is characterized by including a server, a plurality of vibration sensors, and a terminal device of road management personnel. The server is configured to execute the step instructions in any one of the methods in the first aspect.

[0019] In a fourth aspect, a server is provided, which is characterized by including a processor and a memory. One or more programs are stored on the memory, and the one or more programs are called by the processor to execute the step instructions in any one of the methods in the first aspect.

[0020] It can be seen that in the present application, first, within a sampling period, vibration sensors record vibration signals generated by a moving object passing through a target section of the road. The server obtains a plurality of vibration signals. The plurality of vibration sensors are respectively installed at a plurality of monitoring points, and the plurality of monitoring points are equally spaced on the same side of the target section. Secondly, the server analyzes the signal intensities of the plurality of vibration signals to determine that there are abnormal signals among the plurality of vibration signals. The plurality of vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signal is less than that of the normal signal. Then, the server determines the road cavity condition according to the abnormal signal. The road cavity condition includes: cavity depth, cavity shape, and cavity radius. Next, the server determines the positioning information of the vibration sensor that receives the abnormal signal. Finally, the server generates a warning message according to the road cavity condition and the positioning information, and sends the warning message to the terminal device. This warning message can, when a potential road cavity hazard is detected, promptly notify the road management personnel and provide the road management personnel with accurate positioning location information of the cavity hazard, avoiding time-consuming and laborious large-scale manual road inspections. At the same time, the warning message can also provide the road management personnel with relevant parameters of the cavity, so as to facilitate the road management personnel to pre-know the road repair difficulty, danger level, etc., and reduce the probability of safety accidents occurring during the maintenance process by the management personnel. Therefore, in the present application, by determining the positioning location information of the road cavity and the road cavity condition, generating a warning message, and sending the warning message to the terminal device used by the road management personnel, the road cavity position is accurately locked, and comprehensive road cavity information is promptly provided to the road management personnel, facilitating the road management personnel to complete road maintenance in a timely and efficient manner manually. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a system architecture diagram of the road management system provided by the embodiment of the present application;

[0023] Figure 2 It is a schematic structural diagram of a server provided by an embodiment of the present application;

[0024] Figure 3 It is a schematic flowchart of a road management method based on a Beidou positioning device provided by an embodiment of the present application;

[0025] Figure 4 It is a schematic diagram of an application scenario for collecting vibration signals provided by an embodiment of the present application;

[0026] Figure 5 It is another schematic diagram of an application scenario for collecting vibration signals provided by an embodiment of the present application;

[0027] Figure 6 It is a schematic diagram of an application scenario for determining the shape of a cavity provided by an embodiment of the present application;

[0028] Figure 7 It is a schematic diagram of the interface of a terminal device provided by an embodiment of the present application;

[0029] Figure 8 It is a block diagram of the functional units of a road management device based on a Beidou positioning device provided by an embodiment of the present application. Detailed implementation manners

[0030] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.

[0031] The terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0032] References to "embodiments" in this document mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase may not necessarily refer to the same embodiment when it appears in various places in the specification, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] The "and / or" in the embodiments of this application describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0034] In the embodiments of this application, the symbol " / " can indicate that the associated objects before and after are in an "or" relationship. Additionally, the symbol " / " can also represent a division sign, that is, perform a division operation. For example, A / B can represent A divided by B.

[0035] The "at least one (item)" or its similar expressions in the embodiments of this application refer to any combination of these items, including any combination of single items (pieces) or plural items (pieces), referring to one or more, and multiple referring to two or more. For example, at least one (item) of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0036] The "equal to" in the embodiments of this application can be used in conjunction with "greater than" and is applicable to the technical solutions adopted when it is greater than, or can also be used in conjunction with "less than" and is applicable to the technical solutions adopted when it is less than. When "equal to" is used in conjunction with "greater than", it is not used in conjunction with "less than"; when "equal to" is used in conjunction with "less than", it is not used in conjunction with "greater than".

[0037] In recent years, with the development of domestic urban roads, construction management activities for roads have increased significantly. When road geology is affected by extreme weather, such as powerful rainstorms, it is easy to cause an increase in underground soil erosion, leading to the generation of road cavities and increasing the probability of road collapse accidents. Currently, existing road cavity detection methods mostly involve manual inspections with ground-penetrating radar or sampling monitoring of high-frequency accident sections, and it is impossible to accurately obtain the specific locations and other information of underground road cavities. The labor cost is high and the efficiency is low. At the same time, due to the large traffic flow in the city, large-scale manual inspections of road cavities are likely to interfere with urban traffic and cause traffic jams. Therefore, accurately locating the positions of road cavities and completing road maintenance work in a timely and efficient manner is particularly important in the field of road construction management.

[0038] To solve the above problems, the present application provides a road management method and related device based on a Beidou positioning device. By determining the positioning position information and the situation of road cavities, an early warning message is generated and sent to the terminal device used by road management personnel, accurately locking the position of the road cavity and timely providing comprehensive road cavity information to road management personnel, facilitating the timely and efficient completion of road maintenance by manual labor.

[0039] The following uses specific embodiments to elaborate in detail on the technical solution of the present application and how the technical solution of the present application solves the above technical problems. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0040] Please refer to Figure 1 , Figure 1 which is the system architecture diagram of the road management system provided by the embodiment of the present application. The road management system 10 includes a server 100, a plurality of vibration sensors 110, and the terminal device 120 of road management personnel. Among them, the server 100 is communicatively connected to the plurality of vibration sensors 110 and the terminal device 120 respectively.

[0041] Among them, the server 100 can specifically include a server responsible for data processing on the side of the network platform, which can implement functions such as data transmission and data processing. It can be a physical server, or a server cluster or distributed system composed of multiple physical servers. In this embodiment, the number of the server 100 is not specifically limited. Or, it can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.

[0042] Among them, the vibration sensor 110 can be, for example, a piezoelectric vibration sensor. The piezoelectric vibration sensor works using the piezoelectric effect of piezoelectric materials. When a vibration signal is transmitted to the piezoelectric vibration sensor, the piezoelectric material inside the sensor is subjected to stress. According to the piezoelectric equation, charges will be generated on the surface of the piezoelectric material. The magnitude of the charges is proportional to the stress, and the stress is related to the acceleration of the vibration. The sensor can convert the above charges into an electrical signal and output it to the server 100.

[0043] Among them, the terminal device 120 of the road management personnel can be a smart wearable device, which can include a front-end device applied to the user side and capable of realizing functions such as positioning, data collection, and data transmission. It can be a user device such as a mobile phone with positioning function, a handheld device, or a wearable device. Preferably, Figure 1 As shown in the smart watch.

[0044] Specifically, please refer to Figure 2 , Figure 2 is a schematic structural diagram of the server provided by an embodiment of the present application. As Figure 2 shown, the server 100 includes a processor 101, a memory 103, a communication interface 102, and one or more programs 1031. Among them, the one or more programs 1031 are stored in the memory 103 and are configured to be executed by the above-mentioned processor 101. The one or more programs 1031 include instructions for executing any step in the following method embodiments.

[0045] Specifically, the road management system 10 may further include a 3D radar, which uses high-frequency electromagnetic waves, generally in the frequency range of 10 MHz - 1000 MHz, for detection. The radar emits electromagnetic waves underground. When the electromagnetic waves encounter the interface between different media (such as the interface between soil and cavity, between different soil layers, etc.), due to the differences in the electromagnetic characteristics of the media (such as conductivity, dielectric constant, etc.), part of the electromagnetic waves will be reflected back to the ground and captured by the radar receiving antenna. The greater the difference in the electromagnetic characteristics of different media, the more obvious the changes in the intensity and characteristics of the reflected wave.

[0046] Among them, the collected original radar data is a series of voltage signals that change with time. First, filtering processing is performed to remove noise and interference signals and improve the data quality; then, the depth of the reflection interface is calculated through the travel time of the reflected wave. According to the propagation speed of electromagnetic waves in the underground medium, using the formula depth = propagation speed × travel time / 2 (round-trip propagation), the depth information of the underground reflection interface is obtained; then, data imaging processing is performed to present the processed data in the form of a 3D point cloud. The position of each point in the 3D space represents a position on the underground reflection interface, thereby constructing a 3D point cloud model of the underground structure to visually display the underground structural form, such as the distribution of underground pipelines and the distribution characteristics of different soil layers. So that the server 100 can determine the target section through the 3D point cloud presented by the 3D radar.

[0047] Please refer to Figure 3 , Figure 3 is a schematic flowchart of a road management method based on a Beidou positioning device provided by an embodiment of the present application, which is applied to a server 100 as Figure 1 shown. As Figure 3 shown, the method includes the following steps:

[0048] Step S310, within a sampling period, record vibration signals generated by a moving object passing through a target road section to obtain a plurality of vibration signals.

[0049] Among them, a plurality of vibration sensors are respectively installed at a plurality of monitoring points, and the plurality of monitoring points are arranged at equal intervals on the same side of the target road section. Please refer to Figure 4 , Figure 4 which is a schematic diagram of an application scenario for collecting vibration signals provided by an embodiment of the present application. As Figure 4 shown, the moving object is exemplarily an automobile 200, and a plurality of vibration sensors 110 are respectively installed on the same side of the target road 20 and arranged at equal intervals. When the automobile 200 presses on the target road section 20, it will cause slight deformation of the road due to its own weight. Immediately after the automobile 200 passes, the road will rebound to its normal shape and vibrate in the air in the form of sound waves, becoming vibration signals 210. In addition, as Figure 4 shown, when the automobile 200 passes through the target road 20, different vibration sensors 110 will all receive vibration signals. Specifically, it can be judged according to the signal attenuation degree of the vibration signals received by the vibration sensors. The vibration sensor with the least signal attenuation is determined to be the vibration sensor closest to the automobile 200 at the moment of passing. For example, if the vibration signal 210 received by the vibration sensor 1101 has the least signal attenuation, then the vibration sensor 1101 is the vibration sensor with the shortest straight-line distance from the automobile 200.

[0050] Specifically, the target road is composed of different materials, such as asphalt, concrete, soil, etc. These materials have different elastic moduli and densities. Therefore, the propagation speed and attenuation characteristics of vibration signals in these materials are different. For example, in a rigid concrete road surface, the vibration propagation speed is relatively fast, but the attenuation is also small; in a softer soil base layer, the propagation speed is slow and the attenuation is large.

[0051] Step S320, analyze the signal intensities of the plurality of vibration signals to determine that there are abnormal signals among the plurality of vibration signals.

[0052] Among them, the plurality of vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signals is less than the signal intensity of the normal signals. A normal signal refers to a vibration signal corresponding to the normal deformation generated when a moving object passes through a normal road, and a normal road refers to a road without cavities underground.

[0053] In a possible embodiment, the signal intensities of multiple vibration signals are analyzed to determine that there are abnormal signals among the multiple vibration signals, including: comparing the signal intensities of the multiple vibration signals to determine that the signal intensity of at least one target vibration signal among the multiple vibration signals is within a first intensity range, and the signal intensities of the pre-signal and post-signal of the target vibration signal are within a second intensity range. The pre-signal of the target vibration signal refers to the set of signals that precede the target vibration signal in the order of acquisition time of the multiple vibration signals, and the post-signal of the target vibration signal refers to the set of signals that follow the target vibration signal in the order of acquisition time of the multiple vibration signals. Any intensity in the first intensity range is less than any intensity in the second intensity range, and the second intensity range is the range of normal signals; the target vibration signal is determined as an abnormal signal.

[0054] Among them, there are differences in the vibration signals of the underground cavity points on the road and the road deformation of the non-cavity points: in the non-cavity road section, the underground soil is evenly distributed, and the signal reception conditions at each point are similar, and the signal intensities of the vibration signals received by multiple vibration sensors are also within the second intensity range; in the cavity road section, because the vibration propagation ability of the gas medium is much lower than that of the solid medium, the high-frequency vibration signals are filtered by the air, and the low-frequency vibration signals are received by peripheral diffusion, resulting in a smaller overall amplitude, and the signal waterfall diagram presents a strip shape, and the vibration signal intensity is within the first intensity range.

[0055] Specifically, the intensity of the vibration signal can usually be measured by acceleration (unit: m / s 2 ). For example, the intensity of the vibration signal generated when a car passes through a normal road is affected by various factors, including the characteristics of the car itself (such as vehicle type, tire condition, suspension system), the microscopic texture of the road surface, and the driving speed, etc.; the first intensity range in this embodiment is used to characterize the intensity range of the vibration signal when there is an underground cavity on the road, and the specific reference data can be 0.1 - 0.5 m / s 2 , the second intensity range in this embodiment is used to characterize the intensity range of the vibration signal generated when a normal road passes through a car, and the specific reference data can be 0.6 - 2 m / s 2 . It should be understood that the data in this embodiment is only for reference and does not have a restrictive effect, but it can still be determined that when there is a road cavity, the intensity of the vibration signal generated when a car passes through is lower than that of the normal road.

[0056] Please refer to Figure 5 , Figure 5 which is a schematic diagram of another application scenario for collecting vibration signals provided by the embodiment of the present application. As Figure 5 shown, when a car passes through a target section with an underground cavity, the vibration sensor 300, as the sensor closest to the cavity, receives an abnormal signal, while Figure 5The preamble signal 310 shown is a set of signals collected by multiple vibration sensors before the vibration sensor 300. Similarly, the subsequent signal 320 is a set of signals collected by multiple vibration sensors after the vibration sensor 300. Since the signal attenuation is severe due to too long a distance, it is preferably that the data of the preamble signal and the subsequent signal are about 2 - 3, that is, the signals received by the first 2 - 3 vibration sensors before the vibration sensor 300 and the signals received by the last 2 - 3 vibration sensors after the vibration sensor 300.

[0057] It can be seen that in this embodiment, by comparing the signal intensities of multiple vibration signals, it is determined that at least one target vibration signal among the multiple vibration signals has a signal intensity in the first intensity range, and the signal intensities of the preamble signal and the postamble signal of the target vibration signal are in the second intensity range; the target vibration signal is determined as an abnormal signal. In this way, by analyzing multiple vibration signals collected by vibration sensors installed on the same side of the road, it is determined that the signal with a significantly lower signal intensity than the other vibration signals is an abnormal signal. Without manual on-site detection, by analyzing the signals collected by the vibration sensors, the location of the road cavity can be accurately determined, saving labor consumption, and at the same time facilitating the rapid discovery of potential road cavity hazards and improving safety.

[0058] Step S330, determining the road cavity condition according to the abnormal signal.

[0059] Among them, the road cavity condition includes: cavity depth, cavity shape, and cavity radius.

[0060] In a possible embodiment, determining the road cavity condition according to the abnormal signal includes: determining the cavity depth according to the frequency components of the abnormal signal. The larger the proportion of low-frequency components in the frequency components, the deeper the cavity depth; determining the cavity radius according to the signal amplitude change and signal duration of the abnormal signal. The larger the signal amplitude change and the longer the signal duration, the larger the cavity radius; determining the set of adjacent vibration signals of the abnormal signal, and determining the cavity shape according to the distribution characteristics of the abnormal signal and the set of adjacent vibration signals. The set of adjacent vibration signals includes one or more vibration signals before the generation of the abnormal signal and one or more vibration signals after the generation of the abnormal signal.

[0061] Among them, during the propagation of the vibration signal, it will attenuate as the propagation distance increases. When a moving object generates vibrations above the cavity, during the propagation of the vibration signal to the ground, the presence of the cavity will change the propagation characteristics of the vibration. Generally speaking, the deeper the cavity, the more obvious the attenuation of the vibration signal when it reaches the ground, and the frequency components of the signal will also change, with the relative increase in low-frequency components. By analyzing the characteristics such as the amplitude attenuation degree and frequency component change of the received vibration signal, and combining mathematical models and algorithms, the depth of the cavity is estimated.

[0062] Among them, the distribution characteristics of the vibration signals collected by multiple sensors can be used to infer the shape of the cavity to a certain extent. For example, if the abnormal vibration signals detected by multiple sensors present a certain specific distribution pattern, such as an elliptical distribution, it may imply that the cavity shape is close to an ellipse; if the signal distribution is more concentrated in a certain area, the cavity may be more regular. Please refer to Figure 6 , Figure 6 which is a schematic diagram of a scenario application for determining the cavity shape provided by an embodiment of the present application. As Figure 6 shown, it should be understood that Figure 6 the moving object and the road are not shown in Figure 6 to more intuitively illustrate how to comprehensively determine the cavity shape through multiple vibration signals. The vibration sensor 500, as the vibration sensor closest to the underground cavity of the road, can determine the depth L1 of the underground cavity of the road through the abnormal signals received. In addition, the vibration signals received by the front vibration sensor 510 and the rear vibration sensor 520 of the vibration sensor 500 are exactly normal vibration signals. From this, it can be determined that the length of the underground cavity of the road is approximately the distance between the vibration sensor 510 and the vibration sensor 520. It should be understood that the vibration sensor 510 and the vibration sensor 520 are not Figure 6 the one vibration sensor in front of and behind the vibration sensor 500 restricted in The vibration sensor 510 can be the previous one or several previous ones. Similarly, the vibration sensor 520 can also be the next one or several next ones.

[0063] Among them, when the cavity radius is different, the characteristics of the vibration signals generated by the moving object also vary. A larger cavity will make the vibration response of the moving object more obvious, the amplitude change of the vibration signal larger, and the duration may also be longer. In addition, the cavity radius size will also affect the spectral characteristics of the vibration signals. The larger the cavity, the more significant the influence on certain frequency components. By studying the amplitude change range, spectral characteristics, and signal duration of the vibration signals, and using empirical formulas or models obtained through a large number of experimental trainings, the approximate size of the cavity can be inferred.

[0064] It can be seen that in this embodiment, the cavity depth is determined according to the frequency components of the abnormal signals; the cavity radius is determined according to the signal amplitude change and signal duration of the abnormal signals; the set of adjacent vibration signals to the abnormal signals is determined, and the cavity shape is determined according to the distribution characteristics of the abnormal signals and the set of adjacent vibration signals. In this way, by obtaining the abnormal signals, each parameter information of the underground cavity of the road is determined, so as to provide comprehensive and detailed road cavity information to the road management personnel in the future, which is convenient for the road management personnel to make repair preparations and safety measures suitable for the cavity size in advance, and is conducive to carrying out the repair work for road cavities.

[0065] Step S340, determine the positioning information of the vibration sensor that receives the abnormal signal.

[0066] Among them, multiple vibration sensors are equipped with Beidou positioning functions. When the server receives an abnormal signal, it determines the positioning location information of the vibration sensor by means of the device ID of the vibration sensor corresponding to the received signal.

[0067] Step S350: Generate a warning message according to the road cavity condition and the positioning information, and send the warning message to the terminal device.

[0068] Among them, the terminal device of the road management personnel is equipped with an electronic display screen. After receiving the warning message, the terminal device displays an interface diagram as Figure 7 shown. Please refer to Figure 7 , Figure 7 which is a schematic diagram of the interface of a terminal device provided by an embodiment of the present application. The interface 600 includes the displayed road hazard type 610, the road cavity condition 620, and the positioning information 630 of the abnormal vibration sensor. The road management personnel can learn about the actual situation of the road cavity, and according to the radius size, depth, shape, etc. of the road cavity. Further, according to the road cavity condition, it is also possible to generate recommended tool 640, repair raw material 650 for the road management personnel to determine, and determine whether to take traffic control measures 660 and other advice information, which is convenient for subsequent maintenance management of the road.

[0069] Specifically, when the server sends a warning message to the terminal device, it can determine the nearest road maintenance station according to the location of the target section, and send relevant information to the terminal device of the staff of the maintenance station, so as to more quickly and timely notify the personnel to go to carry out road maintenance work.

[0070] It can be seen that in this embodiment, first, during the sampling period, the vibration sensor records the vibration signals generated by the moving object passing through the target section, and the server obtains multiple vibration signals. The multiple vibration sensors are respectively installed at multiple monitoring points, and the multiple monitoring points are equally spaced on the same side of the target section. Secondly, the server analyzes the signal intensities of the multiple vibration signals and determines that there are abnormal signals among the multiple vibration signals. The multiple vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signal is less than that of the normal signal. Then, the server determines the road cavity situation according to the abnormal signal. The road cavity situation includes: cavity depth, cavity shape, and cavity radius. Next, the server determines the positioning information of the vibration sensor that receives the abnormal signal. Finally, the server generates a warning message based on the road cavity situation and the positioning information and sends the warning message to the terminal device. This warning message can notify the road management personnel in time when a potential road cavity hazard is found and provide the accurate positioning position information of the cavity hazard to the road management personnel, avoiding time-consuming and laborious large-area manual road inspections. At the same time, the warning message can also provide the relevant parameters of the cavity to the road management personnel, so as to facilitate the road management personnel to pre-estimate the road repair difficulty, danger level, etc., and reduce the probability of safety accidents occurring during the maintenance process. Therefore, in this application, by determining the positioning position information of the road cavity and the road cavity situation, generating a warning message, and sending the warning message to the terminal device used by the road management personnel, the position of the road cavity is accurately locked, and comprehensive road cavity information is provided to the road management personnel in time, facilitating the road management personnel to complete road maintenance efficiently and in a timely manner.

[0071] In a possible embodiment, after determining that there is at least one target vibration signal among the multiple vibration signals, the method further includes: determining the average signal intensity of the pre-order signal and the post-order signal of the target vibration signal; determining the intensity difference between the signal intensity of the target vibration signal and the average signal intensity; and determining the road cavity degree according to the intensity difference and the road cavity situation. The road cavity degree is used to characterize the likelihood of road collapse.

[0072] Specifically, determining the average signal intensity of the pre-order and post-order signals is achieved by dividing the signal interval. First, a complete vibration signal containing the target vibration signal (the vibration generated when the vehicle passes through the suspected cavity area) is divided, and the intensity calculations are respectively performed on the pre-order signal and the post-order signal. The intensity can be the root mean square value (RMS) of the vibration acceleration, and the calculation formula is:

[0073]

[0074] where α i is the discrete sample value of the vibration acceleration, and N is the number of samples. By calculating all the samples in the pre-order signal and the post-order signal, the average intensity I of the pre-order signal is obtained前 and the subsequent signal average intensity I 后 Then calculate their average value:

[0075]

[0076] It is easy to obtain that ΔI = I 目标 - I 平均 , thereby determining the intensity difference.

[0077] Specifically, through a large number of vehicle tests on a test section with known cavity sizes (such as determined by excavation verification or high-precision detection equipment) and shapes, obtain the intensity difference data under different cavity conditions, and establish a corresponding relationship database between the intensity difference and the cavity degree (cavity size, depth, etc.). According to the database and actual experience, divide the cavity degree into different levels. For example, when ΔI < 0.3m / S 2 , it is determined as a slight cavity, and the possibility of road collapse is relatively low; when 0.3m / S 2 ≤ΔI < 0.6m / S 2 , it is a moderate cavity, and the road has a certain risk of collapse; when ΔI≥0.6m / S 2 , it is a severe cavity, and the possibility of road collapse is relatively high. At the same time, other factors of the cavity also need to be considered, such as the shape of the cavity (circular, elliptical or irregular shape). If it is a long and narrow cavity, even if the intensity difference is small, it may have a greater impact on road stability. In addition, the depth of the cavity is also a key factor. For cavities with a deeper depth, the risk of road collapse may be higher under the same intensity difference. The determination criteria for the cavity degree can be further refined by combining comprehensive factors such as the size, depth, and shape of the cavity to more accurately assess the possibility of road collapse.

[0078] It can be seen that in this embodiment, by determining the average signal intensity of the pre-signal and the subsequent signal of the target vibration signal; determining the intensity difference between the signal intensity and the average signal intensity of the target vibration signal; and determining the road cavity degree according to the intensity difference and the road cavity situation. In this way, through multiple vibration signals, the road cavity degree is determined to judge the risk degree of possible road collapse. If the risk is too high, the section is blocked in time or the surrounding pedestrians are reminded to avoid great safety hazards when road management personnel are maintaining, surrounding pedestrians are passing by, or vehicles are passing through, thereby improving safety.

[0079] In a possible embodiment, an early warning message is generated based on the road cavity condition and positioning information, including: determining the traffic flow of moving objects passing through the target section within the sampling period, where the moving objects include pedestrians or vehicles; and determining the road condition of the target section, where the road condition includes: weather condition and road type, the weather condition includes at least one of the following: rainy day, snowy day, and foggy day, and the road type includes at least one of the following: highway section, bridge section, and tunnel section; determining a danger index based on the traffic flow, road condition, and road cavity degree; and generating an early warning message based on the danger index and positioning information.

[0080] Among them, the danger index has the following linear model:

[0081] W = Q × H + a + b;

[0082] Among them, W is the danger index, which is used to evaluate the danger possibility and consequence severity caused by the road cavity to pedestrians or vehicles; Q is the traffic flow of the target section; H is the above-mentioned road cavity degree; a is the weather condition; b is the road type.

[0083] Among them, when the vehicles on the road are dense, it is difficult for drivers to detect the road cavity in time. For example, on the main roads of the city or in the busy sections of the highway, the vehicles are driving at a high speed and the spacing is small. If there is a road cavity, the driver may not have enough reaction time to brake or avoid, thus increasing the risk of accidents such as vehicle collisions and flat tires. In areas with dense pedestrians, such as commercial streets and school gates, people's attention is easily distracted and they ignore the road condition. Once encountering a road cavity, it is very easy to fall and get injured.

[0084] Among them, rainwater will fill the road cavity, making its surface look the same as the normal road surface. It is very difficult for drivers and pedestrians to visually detect the existence of the cavity. At the same time, the rainwater will make the road surface slippery, increasing the braking distance of the vehicle during driving. When encountering a road cavity, the vehicle is more likely to get out of control, such as skidding or fishtailing. In snowy days, the road is covered with snow, which will also cover the cavity. Moreover, the road friction is smaller in snowy days, making it more difficult for vehicles and pedestrians to move. The vehicle may get stuck in the road cavity when passing through it, resulting in vehicle damage, and pedestrians may also be injured due to stepping into the void.

[0085] Among them, vehicles drive at a high speed on the highway. Once encountering a road cavity, the consequences will be very serious; on the bridge, the road cavity may affect the structural safety of the bridge. If the vehicle frequently impacts the cavity part, it may cause damage to the load-bearing structure of the bridge.

[0086] It can be seen that in this embodiment, the traffic flow of the moving object passing through the target road section within the sampling period is determined; and the road condition of the target road section is determined; according to the traffic flow, road condition and road cavity degree, the danger index is determined; and an early warning message is generated according to the danger index and positioning information. In this way, the comprehensiveness of the information contained in the early warning message sent to the terminal device of the road management personnel is improved, which provides convenience for the road management personnel to maintain the road cavity, is conducive to quickly and efficiently completing the repair work of the road cavity, and at the same time recommends closing the road when the danger level is too high, which can provide a comprehensive and reliable guarantee for the safety of pedestrians and vehicles.

[0087] In a possible embodiment, generating an early warning message according to the danger index and positioning information includes: when it is determined that the danger index is less than the first threshold, no early warning message needs to be generated; when it is determined that the danger index is greater than the first threshold and less than the second threshold, a first early warning message is generated according to the danger index and positioning information, and the first early warning message is used to display the positioning information on the terminal device to instruct the road management personnel to carry a detection device to the monitoring point indicated by the positioning information for on-site detection, and the detection device is used to judge whether the space under the road is hollow, and the first threshold is less than the second threshold; when it is determined that the danger index is greater than or equal to the second threshold, a second early warning message is generated according to the danger index and positioning information, and the second early warning message is used to display the positioning information and the danger index on the terminal device to instruct the road management personnel to implement traffic control for the target road section and at the same time instruct the road management personnel to perform road maintenance with reference to the road section indicated by the positioning information.

[0088] Among them, if the danger index is less than the first threshold, it means that the traffic flow of people / vehicles on this road section is small, the danger to pedestrians or vehicles is not high, and at the same time it means that the road cavity is small and it is not easy to cause personal injury; if the danger index is greater than the first threshold and less than the second threshold, it means that the traffic flow of people / vehicles on this road section is large, the existence of the road cavity poses a certain danger to pedestrians or vehicles, and at the same time it means that the road cavity is large and it is easy to cause personal injury; when it is determined that the danger index is greater than or equal to the second threshold, it means that the traffic flow of people / vehicles on this road section is extremely large, the existence of the road cavity poses a serious danger to pedestrians or vehicles, and at the same time it means that the road cavity is large and it is extremely easy to cause personal injury.

[0089] Specifically, for the above-mentioned ranges of different danger indices, different warning messages are generated to ensure the smooth flow of traffic without congestion to the greatest extent while protecting the safety of personnel. The first warning message only displays the positioning information, instructing road management personnel to carry detection equipment to the site for detection to accurately determine whether there is a real cavity. Specifically, the detection equipment can be a ground-penetrating radar, which can accurately detect the position, depth, and size of underground cavities. The second warning message is used to inform road management personnel of the actual degree of danger, basically confirming the existence of the cavity, eliminating the need for on-site judgment by personnel, and at the same time, it can notify road management personnel to carry out traffic control on relevant sections to avoid accidents to pedestrians or vehicles during road maintenance.

[0090] It can be seen that in this embodiment, when it is determined that the danger index is less than the first threshold, no warning message needs to be generated; when it is determined that the danger index is greater than the first threshold and less than the second threshold, the first warning message is generated according to the danger index and the positioning information; when it is determined that the danger index is greater than or equal to the second threshold, the second warning message is generated according to the danger index and the positioning information. In this way, for different judged danger indices, different types of warning messages are determined. When the danger index is relatively high, a general warning plan is adopted. Since the risk is relatively low and it is not yet certain whether there is a cavity, traffic order is given priority. When the danger index is extremely high, an emergency and comprehensive warning plan is adopted to give priority to ensuring the personal safety of personnel, reflecting the flexibility and intelligence of road management.

[0091] In a possible embodiment, the road management system further includes a 3D radar. Before recording the vibration signals generated by the moving object passing through the target section, the method further includes: detecting the underground pipelines in the target area through the 3D radar to determine the 3D point cloud structure data of the underground pipelines. The 3D point cloud structure data includes at least one of the following: pipeline layout information, pipeline 3D dimension information, pipeline local morphology information, and pipeline adjacent relationship information; determining the geological information of the target area. The geological information includes at least one of the following: formation structure information, groundwater distribution, and rock and soil type; comparing and analyzing the 3D point cloud structure data of the underground pipelines with the geological information to determine whether the underground pipelines are located in a groundwater gushing zone or a soft soil layer distribution; if so, determining the location of the underground pipelines as the target section.

[0092] Among them, the 3D radar emits high-frequency electromagnetic waves, and the electromagnetic waves propagate in the underground medium. When encountering the interface of different media (such as the interface between the underground pipeline and the surrounding soil), reflection and scattering will occur. The radar receives these reflected electromagnetic wave signals and, based on information such as the time delay and intensity of the signals, constructs the 3D spatial position information of the underground pipelines through algorithm processing to form 3D point cloud structure data. Among them, determining the geological information of the target area can be obtained by connecting to the network to obtain geological monitoring reports and other documents of the target area.

[0093] Specifically, the pipeline routing layout information shows the laying direction of the pipeline underground, whether it is laid in a straight line or there are bends, turns, etc. For example, the water supply pipeline may be laid in a straight line along the street, while the gas pipeline may detour when encountering the building foundation; the pipeline three-dimensional dimension information includes key dimension parameters such as the diameter and wall thickness of the pipeline. For pipelines with different uses, there are significant differences in their dimensions; the pipeline local morphology information covers whether there are damages, deformations, corrosion, etc. on the pipeline surface. For example, long-term used metal pipelines may have corrosion pits locally, resulting in a thinner wall thickness of the pipeline, or due to reasons such as ground settlement, the pipeline may undergo local bending deformation; the pipeline adjacent relationship information clarifies the relative position relationship between different pipelines, such as parallel, cross, etc.

[0094] Specifically, understanding the stratum structure is the basis for accurately detecting underground cavities. Only by determining the stratum structure first can we better identify which of the radar reflection waves are reflections from the normal interfaces of the stratum and which are abnormal reflections caused by cavities. Because the existence of cavities will cause obvious abnormalities in the radar reflection waves, such as the advance of the reflection wave time (the inside of the cavity is generally air, and the electromagnetic wave propagation speed is faster than that in the soil mass) and the enhancement of the reflection wave intensity. By comparing with the reflection wave characteristics of the known stratum structure, the cavity can be accurately detected; understanding the flow of groundwater is a key factor leading to the generation of underground cavities in the road. When the pipeline ruptures, groundwater will flow into the soil around the rupture under the action of the pressure difference. For example, under a certain hydraulic gradient, groundwater will scour the soil particles. If it is sandy soil, the seepage of groundwater is likely to carry away the soil particles, causing the pores in the soil to continuously expand and gradually form cavities.

[0095] It can be seen that in this embodiment, by using a three-dimensional radar to detect the underground pipelines in the target area, the three-dimensional point cloud structure data of the underground pipelines is determined; the geological information of the target area is determined; the three-dimensional point cloud structure data of the underground pipelines is compared and analyzed with the geological information to judge whether the underground pipelines are in the groundwater gushing zone or the soft soil layer distribution; if so, the location of the underground pipelines is determined as the target section. In this way, it is possible to accurately locate the hidden danger sections of road cavities in accident-prone areas, ensure road safety, and avoid large-scale road inspections, which are not only inefficient but also affect traffic. This solution can target the target sections in the target area and take monitoring measures to improve the pertinence of road cavity monitoring, and at the same time facilitate the subsequent timely and efficient implementation of road repair tasks.

[0096] The above mainly introduced the solutions of the embodiments of the present application from the perspective of the execution process on the method side. It can be understood that in order for the server to implement the above functions, it includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware 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 the present application.

[0097] The embodiments of the present application can divide the functional units of the server according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated units can be implemented in the form of hardware or in the form of software program modules. It should be noted that the division of units in the embodiments of the present application is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0098] In the case of adopting integrated units, please refer to Figure 8 , Figure 8 is the functional unit structure block diagram of a road management device based on a Beidou positioning device provided by the embodiments of the present application. The road management device 800 includes: a recording unit 810, an analysis unit 820, a determination unit 830, a positioning unit 840, and a sending unit 850; the recording unit 810 is used to record the vibration signals generated by the moving object passing through the target section within the sampling period to obtain a plurality of vibration signals. A plurality of vibration sensors are respectively installed at a plurality of monitoring points, and the plurality of monitoring points are equally spaced on the same side of the target section; the analysis unit 820 is used to analyze the signal intensities of the plurality of vibration signals and determine that there are abnormal signals among the plurality of vibration signals. The plurality of vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signal is less than the signal intensity of the normal signal; the determination unit 830 is used to determine the road cavity condition according to the abnormal signal. The road cavity condition includes: cavity depth, cavity shape, and cavity radius; the positioning unit 840 is used to determine the positioning information of the vibration sensor that receives the abnormal signal; the sending unit 850 is used to generate a warning message according to the road cavity condition and the positioning information, and send the warning message to the terminal device.

[0099] It can be seen that in the present application, first, within the sampling period, a vibration sensor records vibration signals generated by a moving object passing through a target section, and a server obtains a plurality of vibration signals. A plurality of vibration sensors are respectively installed at a plurality of monitoring points, and the plurality of monitoring points are equally spaced on the same side of the target section. Secondly, the server analyzes the signal intensities of the plurality of vibration signals and determines that there are abnormal signals among the plurality of vibration signals. The plurality of vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signal is less than the signal intensity of the normal signal. Then, the server determines the road cavity condition according to the abnormal signal. The road cavity condition includes: cavity depth, cavity shape, and cavity radius. Next, the server determines the positioning information of the vibration sensor that receives the abnormal signal. Finally, the server generates a warning message according to the road cavity condition and the positioning information and sends the warning message to the terminal device. The warning message can, when a potential road cavity hazard is detected, promptly notify road management personnel and provide them with accurate positioning information of the location with the cavity hazard, avoiding time-consuming and laborious large-scale manual road inspections. At the same time, the warning message can also provide relevant parameters of the cavity to road management personnel, so as to enable road management personnel to pre-estimate the road repair difficulty, danger level, etc., and reduce the probability of safety accidents occurring during the maintenance process by management personnel. Therefore, in the present application, by determining the positioning information of the road cavity and the road cavity condition, a warning message is generated and sent to the terminal device used by road management personnel, accurately locking the location of the road cavity and promptly providing comprehensive road cavity information to road management personnel, facilitating the timely and efficient completion of road maintenance by manual labor.

[0100] In a possible embodiment, in terms of analyzing the signal intensities of the plurality of vibration signals and determining that there are abnormal signals among the plurality of vibration signals, the analysis unit 820 is specifically configured to: compare the signal intensities of the plurality of vibration signals, and determine that there is at least one target vibration signal among the plurality of vibration signals whose signal intensity is within a first intensity range, and the signal intensities of the pre-order signal and the post-order signal of the target vibration signal are within a second intensity range. The pre-order signal of the target vibration signal refers to the set of signals that are prior to the target vibration signal when the plurality of vibration signals are arranged in the order of acquisition time, and the post-order signal of the target vibration signal refers to the set of signals that are after the target vibration signal when the plurality of vibration signals are arranged in the order of acquisition time. Any intensity in the first intensity range is less than any intensity in the second intensity range, and the second intensity range is the range of normal signals; determine the target vibration signal as an abnormal signal.

[0101] In a possible embodiment, in terms of determining the road cavity condition based on the abnormal signal, the specific reasons of the determination unit 830 are as follows: based on the frequency components of the abnormal signal, determine the cavity depth. The larger the proportion of the low-frequency components in the frequency components, the deeper the cavity depth; based on the signal amplitude change and the signal duration of the abnormal signal, determine the cavity radius. The larger the signal amplitude change and the longer the signal duration, the larger the cavity radius; determine the set of adjacent vibration signals of the abnormal signal, and based on the abnormal signal and the distribution characteristics of the set of adjacent vibration signals, determine the cavity shape. The set of adjacent vibration signals includes one or more vibration signals before the generation of the abnormal signal and one or more vibration signals after the generation of the abnormal signal.

[0102] In a possible embodiment, after determining that there is at least one target vibration signal among multiple vibration signals, the analysis unit 820 is further specifically configured to: determine the average signal intensity of the pre-signal of the target vibration signal and the post-signal of the target vibration signal; determine the intensity difference between the signal intensity of the target vibration signal and the average signal intensity; determine the road cavity degree based on the intensity difference and the road cavity condition, and the road cavity degree is used to characterize the likelihood of road collapse.

[0103] In a possible embodiment, in terms of generating a warning message based on the road cavity condition and the positioning information, the sending unit 850 is specifically configured to: determine the traffic flow of moving objects passing through the target section within the sampling period, and the moving objects include pedestrians or vehicles; and determine the road condition of the target section, where the road condition includes: weather condition and road type. The weather condition includes at least one of the following: rainy day, snowy day, and foggy day. The road type includes at least one of the following: highway section, bridge section, and tunnel section; determine the danger index based on the traffic flow, road condition, and road cavity degree; generate a warning message based on the danger index and the positioning information.

[0104] In a possible embodiment, in terms of generating a warning message based on the danger index and the positioning information, the sending unit 850 is specifically configured to: when determining that the danger index is less than the first threshold, no warning message needs to be generated; when determining that the danger index is greater than the first threshold and less than the second threshold, generate a first warning message based on the danger index and the positioning information. The first warning message is used to display the positioning information on the terminal device to instruct the road management personnel to go to the monitoring point indicated by the positioning information with detection equipment for on-site detection. The detection equipment is used to determine whether the space under the road is hollow. The first threshold is less than the second threshold; when determining that the danger index is greater than or equal to the second threshold, generate a second warning message based on the danger index and the positioning information. The second warning message is used to display the positioning information and the danger index on the terminal device to instruct the road management personnel to implement traffic control for the target section and at the same time instruct the road management personnel to perform road maintenance with reference to the section indicated by the positioning information.

[0105] In a possible embodiment, the road management system further includes a 3D radar; before recording the vibration signals generated by the moving object passing through the target section, the road management device 800 is further specifically configured to: detect the underground pipelines in the target area through the 3D radar to determine the 3D point cloud structure data of the underground pipelines, where the 3D point cloud structure data includes at least one of the following: pipeline alignment arrangement information, pipeline 3D dimension information, pipeline local morphology information, and pipeline adjacent relationship information; determine the geological information of the target area, where the geological information includes at least one of the following: formation structure information, groundwater distribution, and geotechnical type; compare and analyze the 3D point cloud structure data of the underground pipelines with the geological information to determine whether the underground pipelines are located in a groundwater upwelling zone or a soft soil layer distribution; if so, determine the location of the underground pipelines as the target section.

[0106] The embodiments of the present application provide a computer-readable storage medium, on which a computer program / instructions are stored, and when the computer program / instructions are executed by a processor, the steps of the method according to any possible embodiment are implemented.

[0107] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0108] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0109] In several embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the above division of units is only a logical function division. In actual implementation, there may 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 mutual coupling or direct coupling or communication connection can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0110] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to 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.

[0111] In addition, each functional unit in various embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0112] The above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The above-mentioned software functional unit stored in a storage medium includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the methods in various embodiments of the present invention. The foregoing storage medium includes: USB flash drive, mobile hard disk, magnetic disk, optical disk, volatile memory or non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM), etc., and various media that can store program codes.

[0113] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various modifications and alterations, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, all within the protection scope of the present invention.

Claims

1. A road management method based on Beidou positioning equipment, characterized in that: Applied to a road management system, the road management system includes a server, a plurality of vibration sensors and a terminal device of a road management personnel; the method includes: Recording vibration signals generated by a moving object passing through a target road section during a sampling period to obtain a plurality of vibration signals, wherein the plurality of vibration sensors are respectively installed at a plurality of monitoring points, and the plurality of monitoring points are arranged at equal intervals on the same side of the target road section; Analyzing signal strengths of the multiple vibration signals to determine that an abnormal signal exists in the multiple vibration signals, the multiple vibration signals include the abnormal signal and a normal signal, and the signal strength of the abnormal signal is less than the signal strength of the normal signal; Determine the road hole condition according to the abnormal signal, wherein the road hole condition includes: hole depth, hole shape and hole radius; Determining positioning information of a vibration sensor that receives the abnormal signal; A warning message is generated according to the road hole condition and the positioning information, and the warning message is sent to the terminal device.

2. The method according to claim 1, characterized in that: The analyzing the signal strengths of the multiple vibration signals to determine whether an abnormal signal exists in the multiple vibration signals includes: Comparing the signal strengths of the multiple vibration signals, determining that there is at least one target vibration signal among the multiple vibration signals whose signal strength is within a first strength range, and that the signal strengths of a preceding signal and a subsequent signal of the target vibration signal are within a second strength range, the preceding signal of the target vibration signal refers to a signal set of the multiple vibration signals that precedes the target vibration signal in order of acquisition time, the subsequent signal of the target vibration signal refers to a signal set of the multiple vibration signals that follows the target vibration signal in order of acquisition time, any intensity in the first intensity range is less than any intensity in the second intensity range, and the second intensity range is the range of the regular signal; The target vibration signal is determined as the abnormal signal.

3. The method according to claim 1 or 2, characterized in that: The determining of the road hole condition according to the abnormal signal comprises: Determine the cavity depth according to the frequency components of the abnormal signal, the greater the proportion of low-frequency components in the frequency components, the deeper the cavity depth; Determine the hole radius according to the signal amplitude change and signal duration of the abnormal signal, the greater the signal amplitude change and the longer the signal duration, the larger the hole radius; Determine a set of adjacent vibration signals to the abnormal signal, and determine the shape of the cavity according to the distribution characteristics of the abnormal signal and the set of adjacent vibration signals, wherein the set of adjacent vibration signals includes one or more vibration signals before the abnormal signal is generated and one or more vibration signals after the abnormal signal is generated.

4. The method according to claim 3, characterized in that After determining that at least one target vibration signal exists among the plurality of vibration signals, the method further includes: Determining average signal strengths of a preceding signal of the target vibration signal and a subsequent signal of the target vibration signal; Determining a strength difference between a signal strength of the target vibration signal and the average signal strength; The road pothole degree is determined according to the intensity difference and the road pothole condition, and the road pothole degree is used to characterize the possibility of road collapse.

5. The method according to claim 4, characterized in that The generating of a warning message according to the road hole condition and the positioning information includes: Determining the flow rate of the moving objects passing through the target road section within the sampling period, the moving objects including pedestrians or vehicles; and, Determine the road condition of the target road section, the road condition includes: weather conditions and road types, the weather condition includes at least one of the following: rainy day, snowy day and foggy day, the road type includes at least one of the following: expressway section, bridge section and tunnel section; Determining a hazard index according to the traffic volume, the road condition, and the road pothole degree; The warning message is generated according to the danger index and the positioning information.

6. The method according to claim 5, characterized in that The generating the warning message according to the danger index and the positioning information includes: When it is determined that the risk index is less than the first threshold, there is no need to generate the warning message; When it is determined that the danger index is greater than the first threshold and less than the second threshold, a first warning message is generated according to the danger index and the positioning information, and the first warning message is used to display the positioning information on the terminal device to instruct the road management personnel to carry a detection device to the monitoring point indicated by the positioning information for on-site detection, and the detection device is used to determine whether the space under the road is empty, and the first threshold is less than the second threshold; When it is determined that the danger index is greater than or equal to the second threshold, a second warning message is generated based on the danger index and the positioning information. The second warning message is used to display the positioning information and the danger index on the terminal device to instruct the road management personnel to implement traffic control for the target section and at the same time instruct the road management personnel to perform road maintenance with reference to the section indicated by the positioning information.

7. The method according to any one of claims 1 to 6, characterized in that: The road management system further includes a three-dimensional radar; before recording the vibration signal generated by the moving object passing through the target road section, the method further includes: Detecting the underground pipelines in the target area by the three-dimensional radar to determine the three-dimensional point cloud structure data of the underground pipelines, wherein the three-dimensional point cloud structure data includes at least one of the following: pipeline direction layout information, pipeline three-dimensional size information, pipeline local shape information, and pipeline adjacent relationship information; Determine geological information of the target area, wherein the geological information includes at least one of the following: stratum structure information, groundwater distribution, and rock and soil type; Comparing and analyzing the three-dimensional point cloud structure data of the underground pipeline with the geological information to determine whether the underground pipeline is located in a groundwater spring zone or a soft soil layer; If so, the location of the underground pipeline is determined as the target section.

8. A road management device based on Beidou positioning equipment, characterized in that: Applied to a road management system, the road management system includes a server, a plurality of vibration sensors and a terminal device of a road management personnel; the device includes: a recording unit, an analyzing unit, a determining unit, a positioning unit and a sending unit; The recording unit is used to record the vibration signal generated by the moving object passing through the target road section within a sampling period to obtain multiple vibration signals, the multiple vibration sensors are respectively installed at multiple monitoring points, and the multiple monitoring points are arranged at equal intervals on the same side of the target road section; The analyzing unit is used to analyze the signal strengths of the multiple vibration signals to determine that there is an abnormal signal in the multiple vibration signals, the multiple vibration signals include the abnormal signal and a normal signal, and the signal strength of the abnormal signal is less than the signal strength of the normal signal; The determining unit is used to determine the road hole condition according to the abnormal signal, and the road hole condition includes: hole depth, hole shape and hole radius; The positioning unit is used to determine the positioning information of the vibration sensor that receives the abnormal signal; The sending unit is used to generate a warning message according to the road hole situation and the positioning information, and send the warning message to the terminal device.

9. A road management system, characterized in that: The method comprises a server, a plurality of vibration sensors and a terminal device of a road management personnel, wherein the server is used to execute the step instructions in the method as claimed in any one of claims 1 to 7.

10. A server, characterized in that: The method comprises a processor and a memory, wherein one or more programs are stored in the memory, and the one or more programs are called by the processor to execute the step instructions in the method according to any one of claims 1 to 7.

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