Road management method based on beidou positioning device and related device

Abstract

The application provides a road management method based on a Beidou positioning device and related devices, and the method comprises the following steps: recording vibration signals generated by a moving object passing through a target road section in a sampling period to obtain a plurality of vibration signals; analyzing the signal strength of the plurality of vibration signals to determine that there are abnormal signals in the plurality of vibration signals; determining a road cavity condition according to the abnormal signals; determining positioning information of a vibration sensor receiving the abnormal signals; generating an early warning message according to the road cavity condition and the positioning information, and sending the early warning message to a terminal device. Therefore, in the application, the positioning position information and the road cavity condition of the road cavity are determined, the early warning message is generated, the early warning message is sent to a terminal device used by a road management personnel, the road cavity position is accurately locked, the road management personnel is provided with comprehensive road cavity information in time, and manual road maintenance is timely and efficient.

Description

Technical Field

[0001] This application relates to the field of data processing, and in particular to a road management method and related apparatus based on BeiDou positioning equipment. Background Technology

[0002] In recent years, with the development of urban roads in China, construction and management activities related to roads have increased significantly. When road geology is affected by extreme weather, such as heavy rain, it can easily lead to increased soil erosion and the formation of road cavities, increasing the probability of road collapse accidents.

[0003] Currently, existing methods for detecting road cavities mostly involve manual inspections using ground-penetrating radar or sampling monitoring of high-accident sections. These methods cannot accurately determine the specific location and other information of underground cavities, are labor-intensive and inefficient, and large-scale manual inspections of road cavities in cities can disrupt traffic and cause congestion. Therefore, accurately locating road cavities and completing road maintenance work promptly and efficiently is particularly important in the field of road construction and management. Summary of the Invention

[0004] This application provides a road management method and related device based on Beidou positioning equipment. By determining the location information and condition of road cavities, the method generates early warning information and sends the early warning information to the terminal equipment used by road management personnel. This method accurately locates the road cavities and provides comprehensive road cavity information to road management personnel in a timely manner, facilitating timely and efficient manual road maintenance.

[0005] In a first aspect, this application provides a road management method based on BeiDou positioning equipment, applied to a road management system, which includes a server, multiple vibration sensors, and terminal equipment for road management personnel; the method includes:

[0006] Vibration signals generated by moving objects passing through the target road section are recorded during the sampling period, resulting in multiple vibration signals. Multiple vibration sensors are installed at multiple monitoring points, and the multiple monitoring points are set at equal intervals on the same side of the target road section.

[0007] By analyzing the signal intensity of multiple vibration signals, it was determined 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 signals is less than that of the normal signals.

[0008] The road cavity situation is determined based on abnormal signals. The road cavity situation includes: cavity depth, cavity shape and cavity radius.

[0009] Determine the location information of the vibration sensor that received the abnormal signal;

[0010] Based on the road cavity situation and location information, an early warning message is generated and sent to the terminal device.

[0011] In one possible embodiment, analyzing the signal intensity of multiple vibration signals to determine the presence of an abnormal signal among the multiple vibration signals includes: comparing the signal intensity of the multiple vibration signals to determine that at least one target vibration signal has a signal intensity within a first intensity range, and the signal intensities of its preceding and following signals are within a second intensity range. The preceding signal of the target vibration signal refers to the set of signals preceding the target vibration signal arranged in the order of acquisition time among the multiple vibration signals, and the following signal of the target vibration signal refers to the set of signals following the target vibration signal arranged in the order of acquisition time among the multiple vibration signals. Any intensity within the first intensity range is less than any intensity within the second intensity range, and the second intensity range is the range of normal signals; the target vibration signal is then identified as an abnormal signal.

[0012] In one possible embodiment, determining the road cavity condition based on the abnormal signal includes: determining the cavity depth based on the frequency components of the abnormal signal, wherein the greater the proportion of low-frequency components in the frequency components, the deeper the cavity; determining the cavity radius based on the signal amplitude change and signal duration of the abnormal signal, wherein the greater the signal amplitude change and the longer the signal duration, the larger the cavity radius; determining the set of adjacent vibration signals to the abnormal signal, and determining the cavity shape based on 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 generated before the abnormal signal is generated, and one or more vibration signals generated after the abnormal signal is generated.

[0013] In one possible embodiment, after determining that at least one target vibration signal exists among a plurality of vibration signals, the method further includes: determining the average signal intensity of the preceding signal and the following 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 degree of road void based on the intensity difference and the road void condition, the degree of road void being used to characterize the likelihood of road collapse.

[0014] In one possible embodiment, a warning message is generated based on road cavity conditions and location information, including: determining the flow of moving objects through the target road segment within the sampling period, the moving objects including pedestrians or vehicles; and determining the road conditions of the target road segment, the road conditions including: weather conditions and road type, the weather conditions including at least one of the following: rainy days, snowy days, and foggy days, the road type including at least one of the following: highway sections, bridge sections, and tunnel sections; determining a hazard index based on flow, road conditions, and the degree of road cavities; and generating a warning message based on the hazard index and location information.

[0015] In one possible embodiment, generating a warning message based on a hazard index and location information includes: determining that if the hazard index is less than a first threshold, no warning message needs to be generated; determining that if the hazard index is greater than the first threshold and less than a second threshold, generating a first warning message based on the hazard index and location information, the first warning message being used to display location information on a terminal device to instruct road management personnel to carry detection equipment to the monitoring point indicated by the location information for on-site detection, the detection equipment being used to determine whether the space under the road is hollow, the first threshold being less than the second threshold; determining that if the hazard index is greater than or equal to the second threshold, generating a second warning message based on the hazard index and location information, the second warning message being used to display location information and hazard index on a terminal device to instruct road management personnel to implement traffic control for the target road segment, and simultaneously instructing road management personnel to perform road maintenance with reference to the road segment indicated by the location information.

[0016] In one possible embodiment, the road management system further includes a 3D radar; before recording the vibration signal generated by a moving object passing through the target road segment, the method further includes: detecting underground pipelines in the target area using the 3D radar to determine the 3D point cloud structure data of the underground pipelines, the 3D point cloud structure data including at least one of the following: pipeline routing information, pipeline 3D size information, pipeline local morphology information, and pipeline adjacency information; determining the geological information of the target area, the geological information including at least one of the following: stratigraphic structure information, groundwater distribution, and soil and rock 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 spring zone or a soft soil layer; if so, the location of the underground pipelines is determined as the target road segment.

[0017] Secondly, this application provides a road management device based on BeiDou positioning equipment, applied to a road management system. The road management system includes a server, multiple vibration sensors, and terminal equipment for road management personnel. The device includes: a recording unit, an analysis unit, a determination unit, a positioning unit, and a transmission unit. The recording unit is used to record vibration signals generated by moving objects passing through a target road segment within a sampling period, obtaining multiple vibration signals. Multiple vibration sensors are installed at multiple monitoring points, and the monitoring points are equally spaced on the same side of the target road segment. The analysis unit is used to analyze the signal strength of the multiple vibration signals and determine the presence of abnormal signals among the multiple vibration signals. The multiple vibration signals include abnormal signals and normal signals, and the signal strength of the abnormal signals is less than that of the normal signals. The determination unit is used to determine the road cavity situation based on the abnormal signals. The road cavity situation includes: cavity depth, cavity shape, and cavity radius. The positioning unit is used to determine the positioning information of the vibration sensor receiving the abnormal signals. The transmission unit is used to generate an early warning message based on the road cavity situation and positioning information, and send the early warning message to the terminal equipment.

[0018] Thirdly, this application provides a road management system, characterized in that it includes a server, multiple vibration sensors, and a terminal device for road management personnel, wherein the server is used to execute step instructions as in any of the methods in the first aspect.

[0019] Fourthly, a server, characterized in that it includes a processor and a memory, the memory storing one or more programs, the one or more programs being invoked by the processor to execute step instructions as in any of the methods in the first aspect.

[0020] As can be seen, in this application, firstly, vibration signals generated by moving objects passing through the target road segment are recorded by vibration sensors during the sampling period. The server obtains multiple vibration signals, and multiple vibration sensors are installed at multiple monitoring points, which are set at equal intervals on the same side of the target road segment. Secondly, the server analyzes the signal intensity of the multiple vibration signals to determine the presence of abnormal signals. The multiple vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signals is less than that of the normal signals. Then, the server determines the road cavity situation based on the abnormal signals. The road cavity situation includes: cavity depth, cavity shape, and cavity radius. Next, the server determines the positioning information of the vibration sensor receiving the abnormal signal. Finally, the server generates an early warning message based on the road cavity situation and positioning information, and sends the early warning message to the terminal device. This early warning message can promptly notify road management personnel when a potential cavity is discovered in the road, providing them with accurate location information of the cavity. This avoids large-scale, time-consuming, and labor-intensive manual road inspections. Furthermore, the early warning message provides road management personnel with relevant cavity parameters, allowing them to anticipate the difficulty and danger of road repairs, thus reducing the probability of accidents during maintenance. Therefore, in this application, by determining the location and condition of road cavities, an early warning message is generated and sent to the terminal equipment used by road management personnel. This accurately pinpoints the location of the cavity and provides comprehensive information on road cavities in a timely manner, facilitating efficient and timely road maintenance. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a system architecture diagram of the road management system provided in the embodiments of this application;

[0023] Figure 2 This is a schematic diagram of the server structure provided in an embodiment of this application;

[0024] Figure 3 This is a flowchart illustrating a road management method based on BeiDou positioning equipment provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of an application scenario for collecting vibration signals provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of another application scenario for collecting vibration signals provided in the embodiments of this application;

[0027] Figure 6 This is a schematic diagram illustrating a scenario application for determining the shape of a cavity, provided in an embodiment of this application.

[0028] Figure 7 This is a schematic diagram of the interface of a terminal device provided in an embodiment of this application;

[0029] Figure 8 This is a functional unit structure block diagram of a road management device based on Beidou positioning equipment provided in an embodiment of this application. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0031] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] In the embodiments of this application, "and / or" describes the relationship between associated objects, indicating 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 this embodiment, the symbol " / " can indicate that the preceding and following objects are in an "or" relationship. Alternatively, the symbol " / " can also represent a division sign, i.e., performing a division operation. For example, A / B can mean A divided by B.

[0035] In the embodiments of this application, "at least one item" or its similar expression refers to any combination of these items, including any combination of a single item or a plurality of items. "One or more" means one or more, while "multiple" means two or more. For example, "at least one item" of a, b, or c can represent the following seven cases: a, b, c; a and b; a and c; b and c; a, b, and c. Each of a, b, and c can be an element or a set containing one or more elements.

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

[0037] In recent years, with the development of urban roads in China, road construction and management activities have increased significantly. When road geology is affected by extreme weather, such as heavy rainstorms, it can easily lead to increased groundwater and soil erosion, resulting in road cavities and increasing the probability of road collapse accidents. Currently, existing methods for detecting road cavities mostly involve manual inspections using ground-penetrating radar or sampling monitoring of high-frequency accident sections. These methods cannot accurately determine the specific location and other information of underground cavities, are costly and inefficient, and large-scale manual inspections of road cavities in cities can disrupt traffic and cause congestion. Therefore, accurately locating road cavities and completing road maintenance work in a timely and efficient manner is particularly important in the field of road construction and management.

[0038] To address the aforementioned issues, this application provides a road management method and related apparatus based on BeiDou positioning equipment. By determining the location information and condition of road cavities, the method generates early warning information and sends it to the terminal equipment used by road management personnel. This accurately locates the road cavities and provides comprehensive road cavity information to road management personnel in a timely manner, facilitating efficient and timely road maintenance.

[0039] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0040] Please see Figure 1 , Figure 1 This is a system architecture diagram of the road management system provided in the embodiments of this application. The road management system 10 includes a server 100, multiple vibration sensors 110, and a terminal device 120 for road management personnel. The server 100 is communicatively connected to the multiple vibration sensors 110 and the terminal device 120.

[0041] Specifically, server 100 may include a backend server responsible for data processing, applied on the network platform side, capable of data transmission, data processing, and other functions. It can be a physical server, a server cluster consisting of multiple physical servers, or a distributed system. In this embodiment, the number of servers 100 is not specifically limited. Alternatively, it may be a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0042] The vibration sensor 110 can be, for example, a piezoelectric vibration sensor. Piezoelectric vibration sensors operate based on 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, an electric charge is generated on the surface of the piezoelectric material. The magnitude of the charge is proportional to the stress, and the stress is related to the acceleration of the vibration. The sensor can convert this charge into an electrical signal and output it to the server 100.

[0043] The terminal device 120 for road management personnel can be a smart wearable device, which may include a front-end device applied to the user side that can realize functions such as positioning, data collection, and data transmission. It can be a user device such as a mobile phone, handheld device, or wearable device with positioning capabilities. Preferably, Figure 1 The image shown is of a smartwatch.

[0044] For details, please refer to Figure 2 , Figure 2 This is a schematic diagram of the server structure provided in the embodiments of this application, as shown below. Figure 2 As shown, server 100 includes processor 101, memory 103, communication interface 102, and one or more programs 1031. The one or more programs 1031 are stored in memory 103 and configured to be executed by processor 101. The one or more programs 1031 include instructions for performing any step in the method embodiments described below.

[0045] Specifically, the road management system 10 may also include a three-dimensional radar. This three-dimensional radar utilizes high-frequency electromagnetic waves, typically in the range of 10MHz-1000MHz, for detection. The radar emits electromagnetic waves into the ground. When these waves encounter interfaces between different media (such as soil and cavities, or between different soil layers), due to differences in the electromagnetic properties of the media (such as conductivity and dielectric constant), some of the electromagnetic waves are reflected back to the ground and captured by the radar receiving antenna. The greater the difference in the electromagnetic properties of the different media, the more pronounced the changes in the intensity and characteristics of the reflected waves.

[0046] The acquired raw radar data consists of a series of voltage signals that vary over time. First, filtering is performed to remove noise and interference, improving data quality. Then, the depth of the reflecting interface is calculated using the travel time of the reflected waves. Based on the propagation speed of electromagnetic waves in the underground medium, the depth information of the underground reflecting interface is obtained using the formula: Depth = Propagation Speed ​​× Travel Time / 2 (round trip propagation). Next, data imaging processing is performed, presenting the processed data as a 3D point cloud. Each point in 3D space represents a location on the underground reflecting interface, thus constructing a 3D point cloud model of the underground structure. This model visually displays the underground structural morphology, such as the distribution of underground pipelines and the distribution characteristics of different soil layers. This allows the server 100 to determine the target road segment using the 3D point cloud presented by the 3D radar.

[0047] Please see Figure 3 , Figure 3 This is a flowchart illustrating a road management method based on BeiDou positioning equipment provided in an embodiment of this application, applicable to, for example... Figure 1 Server 100 shown, as Figure 3 As shown, the method includes the following steps:

[0048] Step S310: Record the vibration signal generated by the moving object passing through the target road section within the sampling period to obtain multiple vibration signals.

[0049] Multiple vibration sensors are installed at multiple monitoring points, which are evenly spaced on the same side of the target road section. Please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram of an application scenario for collecting vibration signals provided in an embodiment of this application, such as... Figure 4 As shown, the moving object is exemplarily a car 200. Multiple vibration sensors 110 are installed on the same side of the target road 20 and arranged at equal intervals. When the car 200 passes over the target road section 20, its weight causes a slight deformation of the road. Immediately after the car 200 passes, the road rebounds back to its normal shape, vibrating in the air and propagating as sound waves, becoming a vibration signal 210. Furthermore, as... Figure 4 As shown, when the car 200 passes through the target road 20, different vibration sensors 110 will receive vibration signals. Specifically, the vibration sensor can be judged according to the signal attenuation of the vibration signal received by the vibration sensor. The vibration sensor with the least signal attenuation is the one that is closest to the car 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 that is closest to the car 200 in a straight line.

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

[0051] Step S320: Analyze the signal intensity of multiple vibration signals to determine the presence of abnormal signals among the multiple vibration signals.

[0052] The vibration signals include both abnormal and normal signals, with the signal strength of abnormal signals being lower than that of normal signals. Normal signals refer to the vibration signals corresponding to normal deformation caused by a moving object passing through a normal road, where the road surface is free of cavities.

[0053] In one possible embodiment, analyzing the signal intensity of multiple vibration signals to determine the presence of an abnormal signal among the multiple vibration signals includes: comparing the signal intensity of the multiple vibration signals to determine that at least one target vibration signal has a signal intensity within a first intensity range, and the signal intensities of its preceding and following signals are within a second intensity range. The preceding signal of the target vibration signal refers to the set of signals preceding the target vibration signal arranged in the order of acquisition time among the multiple vibration signals, and the following signal of the target vibration signal refers to the set of signals following the target vibration signal arranged in the order of acquisition time among the multiple vibration signals. Any intensity within the first intensity range is less than any intensity within the second intensity range, and the second intensity range is the range of normal signals; the target vibration signal is then identified as an abnormal signal.

[0054] Among them, the vibration signals at locations with underground cavities differ from those at locations without cavities in terms of road deformation: in non-cavity road sections, the underground soil is evenly distributed, and the signal reception at each location is nearly consistent, with the vibration signal intensity received by multiple vibration sensors also falling within the second intensity range; in cavity road sections, because the vibration propagation capability of gaseous media is much lower than that of solid media, higher frequency vibration signals are filtered out by the air, and low frequency vibration signals are received through diffusion from the surrounding area, resulting in a smaller overall amplitude, and the signal waterfall diagram shows a strip-like pattern, with the vibration signal intensity falling within the first intensity range.

[0055] Specifically, the intensity of a vibration signal can usually be expressed as acceleration (in m / s²). 2 The intensity of vibration signals generated by a car traveling on a normal road is influenced by various factors, including the characteristics of the car itself (such as vehicle model, tire condition, and suspension system), the microscopic texture of the road surface, and the driving speed. In this embodiment, the first intensity range is used to characterize the range of vibration signal intensity when there are cavities in the roadbed, and the specific reference data can be 0.1-0.5 m / s. 2 In this embodiment, the second intensity range is used to characterize the intensity range of vibration signals generated when a car passes over a normal road. Specific reference data can be 0.6-2 m / s². 2 It should be understood that the data in this embodiment is for reference only and is not intended to limit the scope of the data. However, it can still be determined that when there are potholes in the road, the intensity of the vibration signal generated when a car passes over them is lower than that of a normal road.

[0056] Please see Figure 5 , Figure 5 This is a schematic diagram of another application scenario for collecting vibration signals provided in the embodiments of this application, such as... Figure 5 As shown, when a car passes through a target road section containing an underground cavity, the vibration sensor 300, being the sensor closest to the cavity, receives an abnormal signal. Figure 5The preceding signal 310 shown is a set of signals collected by multiple vibration sensors before vibration sensor 300. Similarly, the subsequent signal 320 is a set of signals collected by multiple vibration sensors after vibration sensor 300. Since the distance is too far, the signal will be severely attenuated. Therefore, it is best to have about 2-3 sets of preceding and subsequent signals, that is, signals received by the first 2-3 vibration sensors and the last 2-3 vibration sensors of vibration sensor 300.

[0057] As can be seen, in this embodiment, by comparing the signal intensities of multiple vibration signals, it is determined that at least one target vibration signal has a signal intensity within a first intensity range, and the signal intensities of its preceding and following signals are within a second intensity range; the target vibration signal is then identified as an abnormal signal. Thus, by combining the analysis of multiple vibration signals from vibration sensors installed on the same side of the road, signals with significantly lower intensity than the others are identified as abnormal signals. This eliminates the need for manual on-site detection; by analyzing the signals collected by vibration sensors, the location of road cavities can be accurately determined, saving manpower and facilitating the rapid detection of potential road cavity hazards, thereby improving safety.

[0058] Step S330: Determine the road cavity situation based on the abnormal signal.

[0059] The information regarding road cavities includes: cavity depth, cavity shape, and cavity radius.

[0060] In one possible embodiment, determining the road cavity condition based on the abnormal signal includes: determining the cavity depth based on the frequency components of the abnormal signal, wherein the greater the proportion of low-frequency components in the frequency components, the deeper the cavity; determining the cavity radius based on the signal amplitude change and signal duration of the abnormal signal, wherein the greater the signal amplitude change and the longer the signal duration, the larger the cavity radius; determining the set of adjacent vibration signals to the abnormal signal, and determining the cavity shape based on 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 generated before the abnormal signal is generated, and one or more vibration signals generated after the abnormal signal is generated.

[0061] During propagation, vibration signals attenuate with increasing distance. When a moving object vibrates above a cavity, the presence of the cavity alters the propagation characteristics of the vibration signal as it reaches the ground. Generally, the deeper the cavity, the more significant the attenuation of the vibration signal upon reaching the ground, and the more the frequency components of the signal change, with a relative increase in low-frequency components. By analyzing the amplitude attenuation and frequency component changes of the received vibration signal, the depth of the cavity is estimated using mathematical models and algorithms.

[0062] The distribution characteristics of vibration signals collected by multiple sensors can be used to infer the shape of the cavity to some extent. For example, if the abnormal vibration signals detected by multiple sensors exhibit a specific distribution pattern, such as an elliptical distribution, it may suggest that the cavity shape is approximately elliptical; if the signal distribution is concentrated in a certain area, the cavity may be more regular. Please refer to [link / reference]. Figure 6 , Figure 6 This is a schematic diagram illustrating a scenario application for determining the shape of a cavity, as provided in an embodiment of this application. Figure 6 As shown, it should be understood that Figure 6 The absence of moving objects and roads in the diagram is to more intuitively illustrate how the shape of a cavity can be determined by integrating multiple vibration signals. Vibration sensor 500, being the closest vibration sensor to the underground cavity, can determine the depth L1 of the cavity by receiving abnormal signals. Furthermore, the vibration signals received by vibration sensors 510 in front of and 520 behind vibration sensor 500 are precisely normal vibration signals. Therefore, the length of the underground cavity can be determined to be approximately the distance between vibration sensors 510 and 520. It should be understood that vibration sensors 510 and 520 are not exactly... Figure 6 The vibration sensor 500 has one vibration sensor before and one before it. Vibration sensor 510 can be one or several before it, and similarly, vibration sensor 520 can be one or several after it.

[0063] The characteristics of the vibration signal produced by a moving object vary depending on the radius of the cavity. A larger cavity makes the vibration response of the moving object more pronounced, with greater amplitude variations and potentially longer durations. Furthermore, the cavity radius also affects the spectral characteristics of the vibration signal; the larger the cavity, the more significant its impact on certain frequency components. By studying the amplitude variation range, spectral characteristics, and duration of the vibration signal, and using empirical formulas or models trained through extensive experiments, the approximate size of the cavity can be estimated.

[0064] As can be seen, in this embodiment, the cavity depth is determined based on the frequency components of the abnormal signal; the cavity radius is determined based on the signal amplitude variation and signal duration of the abnormal signal; the set of adjacent vibration signals is determined, and the cavity shape is determined based on the distribution characteristics of the abnormal signal and the set of adjacent vibration signals. Thus, by acquiring the abnormal signal to determine various parameter information of the road's underground cavity, comprehensive and detailed information on road cavities can be provided to road management personnel. This facilitates road management personnel in making advance preparations for maintenance and safety measures appropriate to the cavity size, and is beneficial for carrying out maintenance work on the road cavity.

[0065] Step S340: Determine the location information of the vibration sensor that received the abnormal signal.

[0066] Among them, many vibration sensors are equipped with Beidou positioning function. When the server receives an abnormal signal, it can determine the positioning information of the vibration sensor by using the vibration sensor device ID corresponding to the received signal.

[0067] Step S350: Based on the road cavity situation and location information, generate an early warning message and send the early warning message to the terminal device.

[0068] The terminal equipment for road management personnel has an electronic display screen. After receiving a warning message, the terminal equipment displays the following on the electronic display screen: Figure 7 Please refer to the interface diagram shown. Figure 7 , Figure 7 This is a schematic diagram of the interface of a terminal device provided in an embodiment of this application. The interface 600 includes the displayed road hazard type 610, road cavity status 620, and abnormal vibration sensor location information 630. Road management personnel can know the actual situation of the road cavities. Based on the radius, depth, shape, etc. of the road cavities, further, it can also generate suggestions such as the tools 640 recommended for road management personnel to carry, repair materials 650, and whether to take traffic control measures 660, to facilitate subsequent road maintenance and management.

[0069] Specifically, when the server sends an early warning message to the terminal device, it can determine the nearest road maintenance station based on the location of the target road section, and send relevant information to the terminal devices of the staff at that maintenance station, so as to notify the personnel to carry out road maintenance work more quickly and in a timely manner.

[0070] As can be seen, in this embodiment, firstly, vibration signals generated by a moving object passing through the target road segment are recorded by vibration sensors during the sampling period. The server obtains multiple vibration signals, and multiple vibration sensors are installed at multiple monitoring points, which are equally spaced on the same side of the target road segment. Secondly, the server analyzes the signal strength of the multiple vibration signals to determine the presence of abnormal signals. The multiple vibration signals include both abnormal and normal signals, with the signal strength of the abnormal signals being less than that of the normal signals. Then, the server determines the road cavity situation based on the abnormal signals, including the cavity depth, cavity shape, and cavity radius. Next, the server determines the location information of the vibration sensor receiving the abnormal signal. Finally, the server generates an early warning message based on the road cavity situation and the location information, and sends the early warning message to the terminal device. This early warning message can promptly notify road management personnel when a potential cavity is discovered in the road, providing them with accurate location information of the cavity. This avoids large-scale, time-consuming, and labor-intensive manual road inspections. Furthermore, the early warning message provides road management personnel with relevant cavity parameters, allowing them to anticipate the difficulty and danger of road repairs, thus reducing the probability of accidents during maintenance. Therefore, in this application, by determining the location and condition of road cavities, an early warning message is generated and sent to the terminal equipment used by road management personnel. This accurately pinpoints the location of the cavity and provides comprehensive information on road cavities in a timely manner, facilitating efficient and timely road maintenance.

[0071] In one possible embodiment, after determining that at least one target vibration signal exists among a plurality of vibration signals, the method further includes: determining the average signal intensity of the preceding signal and the following 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 degree of road void based on the intensity difference and the road void condition, the degree of road void being used to characterize the likelihood of road collapse.

[0072] Specifically, the average signal intensity of the preceding and following signals is determined by dividing the signal into intervals. First, a complete segment of the vibration signal containing the target vibration signal (vibration generated by the vehicle passing through a suspected cavity area) is divided, and the intensity of the preceding and following signals is calculated separately. The intensity can be the root mean square (RMS) value of the vibration acceleration, calculated using the following formula:

[0073]

[0074] Where, α i Here, N represents the discrete sample values ​​of vibration acceleration, and N is the number of samples. The average intensity I of the preceding signal is obtained by calculating from all samples in both the preceding and following signals.前 and the average intensity I of the subsequent signal 后 Then calculate their average:

[0075]

[0076] It is easy to see that ΔI = I 目标 -I 平均 This allows us to determine the strength difference.

[0077] Specifically, extensive vehicle tests are conducted on test road sections with known cavity sizes (e.g., determined through excavation verification or high-precision detection equipment) and shapes to obtain strength difference data under different cavity conditions, establishing a database of the correspondence between strength differences and cavity severity (cavity size, depth, etc.). Based on the database and practical experience, the severity of cavities is classified into different levels. For example, when ΔI < 0.3 m / s 2 The cavity was determined to be minor, and the possibility of road collapse was low; when 0.3 m / s 2 ≤ΔI<0.6m / S 2 At this time, the cavity is moderate, and the road has a certain risk of collapse; when ΔI ≥ 0.6m / S 2 At this stage, a severe cavity indicates a high probability of road collapse. Other factors related to the cavity also need to be considered, such as its shape (circular, elliptical, or irregular). For example, a long, narrow cavity, even with a small strength difference, can significantly impact road stability. Furthermore, the depth of the cavity is a crucial factor; deeper cavities may pose a higher risk of road collapse for the same strength difference. By combining factors such as cavity size, depth, and shape, the criteria for determining the degree of cavity collapse can be further refined, leading to a more accurate assessment of the likelihood of road collapse.

[0078] As can be seen, in this embodiment, the average signal intensity of the preceding and following signals of the target vibration signal are determined; the intensity difference between the signal intensity of the target vibration signal and the average signal intensity is determined; and the degree of road void is determined based on the intensity difference and the road void condition. Thus, by using multiple vibration signals, the degree of road void is determined to assess the risk of road collapse. If the risk is too high, the road section is promptly closed or nearby pedestrians are alerted, avoiding significant safety hazards during road maintenance, pedestrian crossings, and vehicle traffic, thereby improving safety.

[0079] In one possible embodiment, a warning message is generated based on road cavity conditions and location information, including: determining the flow of moving objects through the target road segment within the sampling period, the moving objects including pedestrians or vehicles; and determining the road conditions of the target road segment, the road conditions including: weather conditions and road type, the weather conditions including at least one of the following: rainy days, snowy days, and foggy days, the road type including at least one of the following: highway sections, bridge sections, and tunnel sections; determining a hazard index based on flow, road conditions, and the degree of road cavities; and generating a warning message based on the hazard index and location information.

[0080] The risk index follows a linear model:

[0081] W = QxH + a + b;

[0082] Where W is the danger index, used to evaluate the likelihood and severity of danger posed by road cavities to pedestrians or vehicles; Q is the traffic flow of the target road segment; H is the degree of road cavity as mentioned above; a is the weather condition; and b is the road type.

[0083] In situations with heavy traffic, drivers may find it difficult to spot potholes in the road. For example, on busy urban roads or highways, vehicles travel at high speeds with limited spacing. If a pothole appears, drivers may not have enough reaction time to brake or avoid it, increasing the risk of collisions, tire blowouts, and other accidents. In areas with high pedestrian traffic, such as commercial streets and school entrances, people's attention is easily diverted, and they may overlook road conditions. Encountering a pothole can easily lead to falls and injuries.

[0084] Rainwater fills in road cavities, making their surfaces appear normal. Drivers and pedestrians have difficulty visually detecting them. Simultaneously, rainwater makes the road surface slippery, increasing braking distance for vehicles. When encountering a road cavity, vehicles are more likely to lose control, such as skidding or fishtailing. Snowfall also covers roads, concealing cavities. Furthermore, snow reduces road friction, making movement even more difficult for vehicles and pedestrians. Vehicles may get stuck in cavities, causing damage, and pedestrians may be injured by stepping into them.

[0085] On highways, vehicles traveling at high speeds are particularly vulnerable to serious consequences if they encounter potholes. On bridges, potholes can compromise structural safety. Frequent impacts with potholes can damage the bridge's load-bearing structure.

[0086] As can be seen, in this embodiment, the flow rate of moving objects through the target road segment within the sampling period is determined; the road conditions of the target road segment are determined; a danger index is determined based on the flow rate, road conditions, and the degree of road cavities; and an early warning message is generated based on the danger index and location information. This improves the comprehensiveness of the information contained in the early warning message sent to the terminal equipment of road management personnel, provides convenience for road management personnel to maintain road cavities, facilitates the rapid and efficient completion of road cavity repair work, and recommends road closure when the danger level is too high, thus providing comprehensive and reliable protection for the safety of pedestrians and vehicles.

[0087] In one possible embodiment, generating a warning message based on a hazard index and location information includes: determining that if the hazard index is less than a first threshold, no warning message needs to be generated; determining that if the hazard index is greater than the first threshold and less than a second threshold, generating a first warning message based on the hazard index and location information, the first warning message being used to display location information on a terminal device to instruct road management personnel to carry detection equipment to the monitoring point indicated by the location information for on-site detection, the detection equipment being used to determine whether the space under the road is hollow, the first threshold being less than the second threshold; determining that if the hazard index is greater than or equal to the second threshold, generating a second warning message based on the hazard index and location information, the second warning message being used to display location information and hazard index on a terminal device to instruct road management personnel to implement traffic control for the target road segment, and simultaneously instructing road management personnel to perform road maintenance with reference to the road segment indicated by the location information.

[0088] If the danger index is less than the first threshold, it indicates that the pedestrian / vehicle traffic volume on the road section is low, the danger to pedestrians or vehicles is not high, and the road cavity is small, making it unlikely to cause injury. If the danger index is greater than the first threshold but less than the second threshold, it indicates that the pedestrian / vehicle traffic volume on the road section is high, the presence of the road cavity poses a certain danger to pedestrians or vehicles, and the road cavity is large, making it easy to cause injury. If the danger index is greater than or equal to the second threshold, it indicates that the pedestrian / vehicle traffic volume on the road section is extremely high, the presence of the road cavity poses a serious danger to pedestrians or vehicles, and the road cavity is large, making it extremely easy to cause injury.

[0089] Specifically, different warning messages are generated based on the range of the aforementioned different danger indices to ensure smooth traffic flow and prevent congestion while protecting personnel safety. The first warning message only displays location information, instructing road management personnel to carry detection equipment to the site to accurately determine whether a cavity actually exists. Specifically, the detection equipment can be ground-penetrating radar, which can accurately detect the location, depth, and size of underground cavities. The second warning message informs road management personnel of the actual degree of danger, which can basically confirm the existence of the cavity without the need for on-site judgment. At the same time, it can notify road management personnel to implement traffic control on the relevant road sections to prevent accidents to pedestrians or vehicles during road maintenance.

[0090] As can be seen, in this embodiment, when the danger index is determined to be less than the first threshold, no warning message needs to be generated; when the danger index is determined to be greater than the first threshold and less than the second threshold, a first warning message is generated based on the danger index and location information; when the danger index is determined to be greater than or equal to the second threshold, a second warning message is generated based on the danger index and location information. Thus, different warning message types are determined for different danger indices. When the danger index is high, a normal warning plan is adopted, prioritizing traffic order due to the low risk and uncertainty regarding the existence of vulnerabilities. When the danger index is extremely high, an emergency and comprehensive warning plan is adopted, prioritizing the personal safety of personnel, reflecting the flexibility and intelligence of road management.

[0091] In one possible embodiment, the road management system further includes a 3D radar; before recording the vibration signal generated by a moving object passing through the target road segment, the method further includes: detecting underground pipelines in the target area using the 3D radar to determine the 3D point cloud structure data of the underground pipelines, the 3D point cloud structure data including at least one of the following: pipeline routing information, pipeline 3D size information, pipeline local morphology information, and pipeline adjacency information; determining the geological information of the target area, the geological information including at least one of the following: stratigraphic structure information, groundwater distribution, and soil and rock 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 spring zone or a soft soil layer; if so, the location of the underground pipelines is determined as the target road segment.

[0092] The 3D radar works by emitting high-frequency electromagnetic waves. These waves propagate through the underground medium, and when they encounter interfaces between different media (such as the interface between an underground pipeline and the surrounding soil), they are reflected and scattered. The radar receives these reflected electromagnetic wave signals and, based on information such as signal time delay and intensity, processes them using algorithms to construct the 3D spatial location information of the underground pipeline, forming a 3D point cloud structure data. The geological information for determining the target area can be obtained through networked geological monitoring reports and other documents.

[0093] Specifically, the pipeline routing information shows the direction in which the pipelines are laid underground, whether they are laid in a straight line or have bends and turns. For example, water supply pipelines may be laid in a straight line along a street, while gas pipelines may detour when encountering building foundations. The three-dimensional dimensional information of the pipelines includes key dimensional parameters such as the diameter and wall thickness. The dimensions of pipelines vary greatly depending on their purpose. The local morphology information of the pipelines covers whether there is damage, deformation, corrosion, etc. on the pipeline surface. For example, metal pipelines used for a long time may develop corrosion pits, resulting in thinner pipe walls, or the pipeline may undergo local bending deformation due to ground subsidence. The pipeline adjacency information clarifies the relative positional relationship between different pipelines, such as parallel or intersecting.

[0094] Specifically, understanding the geological structure is fundamental to accurately detecting underground cavities. First, determining the geological structure allows for a better identification of which radar reflections are normal geological interfaces and which are abnormal reflections caused by cavities. The presence of cavities causes significant anomalies in radar reflections, such as earlier reflection times (cavities are typically filled with air, where electromagnetic waves travel faster than in soil) and increased reflection intensity. By comparing these reflection characteristics with those of known geological structures, cavities can be accurately located. Understanding groundwater flow is a key factor contributing to underground cavities in roads. When a pipe ruptures, groundwater, under pressure differential, rushes into the soil surrounding the rupture. For example, under a certain hydraulic gradient, groundwater can erode soil particles. In sandy soils, the seepage of groundwater easily carries away soil particles, causing the pores in the soil to expand and gradually form cavities.

[0095] As can be seen, in this embodiment, 3D radar is used to detect underground pipelines in the target area, determining the 3D point cloud structure data of the underground pipelines; the geological information of the target area is determined; the 3D point cloud structure data of the underground pipelines is compared and analyzed with the geological information to determine whether the underground pipelines are located in a groundwater seepage zone or soft soil layer; if so, the location of the underground pipelines is determined as the target road segment. In this way, it is possible to accurately locate road segments with potential cavities in accident-prone areas, ensuring road safety and avoiding large-scale road inspections, which are inefficient and disruptive to traffic. This solution can specifically locate target road segments in target areas and take monitoring measures, improving the targeting of road cavity monitoring, and facilitating timely and efficient subsequent road maintenance tasks.

[0096] The above primarily describes the solutions of the embodiments of this application from the perspective of the method execution process. It is understood that, in order to achieve the above functions, the server includes the corresponding hardware structure and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in the embodiments provided herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0097] This application embodiment can divide the server into functional units according to the above method example. For example, each function can be divided into different functional units, or two or more functions can be integrated into one processing module. The integrated unit can be implemented in hardware or as a software program module. It should be noted that the unit division in this application embodiment is illustrative and only represents a logical functional division, while other division methods may be used in actual implementation.

[0098] In the case of using integrated units, please refer to Figure 8 , Figure 8 This application provides a functional unit structure block diagram of a road management device based on Beidou positioning equipment. 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 vibration signals generated by moving objects passing through the target road section within a sampling period, obtaining multiple vibration signals. Multiple vibration sensors are installed at multiple monitoring points, and the multiple monitoring points are equally spaced on the same side of the target road section. The analysis unit 820 is used to analyze the signal intensity of the multiple vibration signals and determine 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 signals is less than that of the normal signals. The determination unit 830 is used to determine the road cavity situation based on the abnormal signals. The road cavity situation includes: cavity depth, cavity shape, and cavity radius. The positioning unit 840 is used to determine the positioning information of the vibration sensor receiving the abnormal signals. The sending unit 850 is used to generate a warning message based on the road cavity situation and positioning information, and send the warning message to the terminal device.

[0099] As can be seen, in this application, firstly, vibration signals generated by moving objects passing through the target road segment are recorded by vibration sensors during the sampling period. The server obtains multiple vibration signals, and multiple vibration sensors are installed at multiple monitoring points, which are set at equal intervals on the same side of the target road segment. Secondly, the server analyzes the signal intensity of the multiple vibration signals to determine the presence of abnormal signals. The multiple vibration signals include abnormal signals and normal signals, and the signal intensity of the abnormal signals is less than that of the normal signals. Then, the server determines the road cavity situation based on the abnormal signals. The road cavity situation includes: cavity depth, cavity shape, and cavity radius. Next, the server determines the positioning information of the vibration sensor receiving the abnormal signal. Finally, the server generates an early warning message based on the road cavity situation and positioning information, and sends the early warning message to the terminal device. This early warning message can promptly notify road management personnel when a potential cavity is discovered in the road, providing them with accurate location information of the cavity. This avoids large-scale, time-consuming, and labor-intensive manual road inspections. Furthermore, the early warning message provides road management personnel with relevant cavity parameters, allowing them to anticipate the difficulty and danger of road repairs, thus reducing the probability of accidents during maintenance. Therefore, in this application, by determining the location and condition of road cavities, an early warning message is generated and sent to the terminal equipment used by road management personnel. This accurately pinpoints the location of the cavity and provides comprehensive information on road cavities in a timely manner, facilitating efficient and timely road maintenance.

[0100] In one possible embodiment, in analyzing the signal intensity of multiple vibration signals and determining that there is an abnormal signal among the multiple vibration signals, the analysis unit 820 is specifically configured to: compare the signal intensity of the multiple vibration signals, 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 whose preceding and following signals are within a second intensity range, wherein the preceding signal of the target vibration signal refers to the set of signals preceding the target vibration signal arranged in the order of acquisition time, and the following signal of the target vibration signal refers to the set of signals following the target vibration signal arranged in the order of acquisition time, wherein 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; and determine the target vibration signal as an abnormal signal.

[0101] In one possible embodiment, the determination unit 830 determines the road cavity condition based on the abnormal signal by: determining the cavity depth based on the frequency components of the abnormal signal, wherein the greater the proportion of low-frequency components in the frequency components, the deeper the cavity; determining the cavity radius based on the signal amplitude change and signal duration of the abnormal signal, wherein the greater the signal amplitude change and the longer the signal duration, the larger the cavity radius; and determining the set of adjacent vibration signals to the abnormal signal, and determining the cavity shape based on 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.

[0102] In one possible embodiment, after determining that at least one target vibration signal exists among multiple vibration signals, the analysis unit 820 is further configured to: determine the average signal intensity of the preceding signal and the following signal of the target vibration signal; determine the intensity difference between the signal intensity of the target vibration signal and the average signal intensity; and determine the degree of road void based on the intensity difference and the road void condition, wherein the degree of road void is used to characterize the likelihood of road collapse.

[0103] In one possible embodiment, in generating a warning message based on road cavity conditions and location information, the sending unit 850 is specifically configured to: determine the flow rate of moving objects passing through the target road segment within the sampling period, the moving objects including pedestrians or vehicles; and determine the road conditions of the target road segment, the road conditions including: weather conditions and road type, the weather conditions including at least one of the following: rainy days, snowy days, and foggy days, the road type including at least one of the following: highway sections, bridge sections, and tunnel sections; determine a hazard index based on the flow rate, road conditions, and road cavity degree; and generate a warning message based on the hazard index and location information.

[0104] In one possible embodiment, regarding the generation of a warning message based on a hazard index and location information, the sending unit 850 is specifically configured to: determine that when the hazard index is less than a first threshold, no warning message needs to be generated; determine that when the hazard index is greater than the first threshold and less than a second threshold, generate a first warning message based on the hazard index and location information, the first warning message being used to display location information on a terminal device to instruct road management personnel to carry detection equipment to the monitoring point indicated by the location information for on-site detection, the detection equipment being used to determine whether the space below the road is hollow, the first threshold being less than the second threshold; and determine that when the hazard index is greater than or equal to the second threshold, generate a second warning message based on the hazard index and location information, the second warning message being used to display location information and hazard index on a terminal device to instruct road management personnel to implement traffic control for the target road segment, and simultaneously instruct road management personnel to perform road maintenance with reference to the road segment indicated by the location information.

[0105] In one possible embodiment, 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 segment, the road management device 800 is specifically used to: detect underground pipelines in the target area using the three-dimensional radar, determine the three-dimensional point cloud structure data of the underground pipelines, the three-dimensional point cloud structure data including at least one of the following: pipeline routing information, pipeline three-dimensional size information, pipeline local morphology information, and pipeline adjacency relationship information; determine the geological information of the target area, the geological information including at least one of the following: stratigraphic structure information, groundwater distribution, and soil and rock type; compare and analyze the three-dimensional point cloud structure data of the underground pipelines with the geological information to determine whether the underground pipelines are located in a groundwater spring zone or a soft soil layer; if so, the location of the underground pipelines is determined as the target road segment.

[0106] This application provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of the method described in any possible embodiment.

[0107] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0109] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0110] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0111] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0112] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute partial steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, volatile memory, or non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be 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 RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDR SDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DR RAM), etc., which are various media capable of storing program code.

[0113] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can easily conceive of variations or substitutions without departing from the spirit and scope of the present invention, and various modifications and alterations can be made, including combinations of the different functions and implementation steps described above, as well as software and hardware implementation methods, all of which are within the protection scope of the present invention.

Claims

1. A road management method based on BeiDou positioning equipment, characterized in that, The method is applied to a road management system, which includes a server, multiple vibration sensors, and terminal equipment for road management personnel; the method includes: Vibration signals generated by moving objects passing through the target road section are recorded during the sampling period to obtain multiple vibration signals. The multiple vibration sensors are installed at multiple monitoring points, and the multiple monitoring points are set at equal intervals on the same side of the target road section. By comparing the signal intensities of the plurality of vibration signals, it is determined that at least one target vibration signal has a signal intensity within a first intensity range, and the signal intensities of its preceding and following signals are within a second intensity range. The plurality of vibration signals includes abnormal signals and normal signals. The signal intensity of the abnormal signal is less than that of the normal signal. The preceding signal of the target vibration signal refers to the set of signals preceding the target vibration signal arranged in the order of acquisition time, and the following signal of the target vibration signal refers to the set of signals following the target vibration signal arranged in the order of acquisition time. Any intensity within the first intensity range is less than any intensity within the second intensity range, and the second intensity range is the range of the normal signal. The target vibration signal is then identified as the abnormal signal. Determining road cavities based on the abnormal signal includes: determining the cavity depth based on the frequency components of the abnormal signal, wherein a higher proportion of low-frequency components indicates a deeper cavity; the road cavity condition includes the cavity depth, cavity shape, and cavity radius; determining the cavity radius based on the signal amplitude variation and signal duration of the abnormal signal, wherein a larger signal amplitude variation and a longer signal duration indicate a larger cavity radius; and determining a set of adjacent vibration signals to the abnormal signal, and determining the cavity shape based on 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 generated before the abnormal signal occurred and one or more vibration signals generated after the abnormal signal occurred. Determine the location information of the vibration sensor that received the abnormal signal; Based on the road cavity situation and the location information, an early warning message is generated and sent to the terminal device.

2. The method according to claim 1, characterized in that, After determining that at least one target vibration signal exists among the plurality of vibration signals, the method further includes: Determine the average signal intensity of the preceding signal and the following signal of the target vibration signal; Determine the intensity difference between the signal intensity of the target vibration signal and the average signal intensity; The degree of road voids is determined based on the strength difference and the road void condition, and the degree of road voids is used to characterize the likelihood of road collapse.

3. The method according to claim 2, characterized in that, The step of generating an early warning message based on the road cavity situation and the location information includes: Determine the flow rate of the moving objects (including pedestrians or vehicles) through the target road segment during the sampling period; and Determine the road conditions of the target road segment, including weather conditions and road type. The weather conditions include at least one of the following: rainy, snowy, and foggy. The road type includes at least one of the following: highway segment, bridge segment, and tunnel segment. The danger index is determined based on the traffic flow, road conditions, and the degree of road potholes. The warning message is generated based on the danger index and the location information.

4. The method according to claim 3, characterized in that, The step of generating the warning message based on the danger index and the location information includes: If the danger index is determined to be less than the first threshold, there is no need to generate the warning message; When the danger index is determined to be greater than the first threshold and less than the second threshold, a first warning message is generated based on the danger index and the location information. The first warning message is used to display the location information on the terminal device to instruct the road management personnel to carry a detection device to the monitoring point indicated by the location information for on-site detection. The detection device is used to determine whether there is a cavity in the space below the road. The first threshold is less than the second threshold. When the danger index is determined to be greater than or equal to the second threshold, a second warning message is generated based on the danger index and the location information. The second warning message is used to display the location information and the danger index on the terminal device to instruct the road management personnel to implement traffic control for the target road segment and to instruct the road management personnel to carry out road maintenance with reference to the road segment indicated by the location information.

5. The method according to any one of claims 1-4, characterized in that, The road management system further includes a three-dimensional radar; prior to recording the vibration signals generated by a moving object passing through the target road segment, the method further includes: The three-dimensional radar is used to detect underground pipelines in the target area and determine the three-dimensional point cloud structure data of the underground pipelines. The three-dimensional point cloud structure data includes at least one of the following: pipeline routing information, pipeline three-dimensional size information, pipeline local morphology information, and pipeline adjacency relationship information. Determine the geological information of the target area, wherein the geological information includes at least one of the following: stratigraphic structure information, groundwater distribution, and soil and rock types; The three-dimensional point cloud structure data of the underground pipeline is compared and analyzed 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 road segment.

6. A road management device based on BeiDou positioning equipment, characterized in that, The device is applied to a road management system, which includes a server, multiple vibration sensors, and terminal equipment for road management personnel; the device includes a recording unit, an analysis unit, a determination unit, a positioning unit, and a transmission unit. The recording unit is used to record the vibration signal generated by the moving object passing through the target road section within the sampling period, and obtain 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 road section. The analysis unit is used to compare the signal intensities of the plurality of vibration signals, determine that at least one target vibration signal among the plurality of vibration signals has a signal intensity within a first intensity range, and the signal intensities of its preceding and following signals are within a second intensity range. The plurality of vibration signals includes abnormal signals and normal signals. The signal intensity of the abnormal signal is less than that of the normal signal. The preceding signal of the target vibration signal refers to the set of signals preceding the target vibration signal arranged in the order of acquisition time among the plurality of vibration signals. The following signal of the target vibration signal refers to the set of signals following the target vibration signal arranged in the order of acquisition time among the plurality of vibration signals. Any intensity within the first intensity range is less than any intensity within the second intensity range, and the second intensity range is the range of the normal signal. The target vibration signal is then identified as the abnormal signal. The determining unit is configured to determine the road cavity condition based on the abnormal signal, including: determining the cavity depth based on the frequency components of the abnormal signal, wherein the greater the proportion of low-frequency components in the frequency components, the deeper the cavity; the road cavity condition includes the cavity depth, cavity shape, and cavity radius; determining the cavity radius based on the signal amplitude change and signal duration of the abnormal signal, wherein the greater the signal amplitude change and the longer the signal duration, the larger the cavity radius; determining a set of adjacent vibration signals to the abnormal signal, and determining the cavity shape based on 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 generated before the abnormal signal was generated, and one or more vibration signals generated after the abnormal signal was generated; 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 based on the road cavity situation and the location information, and send the warning message to the terminal device.

7. A road management system, characterized in that, The method includes a server, multiple vibration sensors, and a terminal device for road management personnel, wherein the server is used to execute the step instructions in the method as described in any one of claims 1-5.

8. A server, characterized in that, It includes a processor and a memory, wherein one or more programs are stored in the memory, and the one or more programs are invoked by the processor to execute the step instructions in the method as described in any one of claims 1-5.

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