Road surface layer disease detection system and method

Abstract

According to the road surface layer disease detection system and method provided by the invention, the road surface layer of the target road section is subjected to large-range scanning detection through the aerial detection equipment, so that the position coordinates of a plurality of road surface disease points such as upheaval, pits and cracks of the road surface layer are obtained, and the road surface layer disease detection speed is increased; further refined detection is carried out on each pavement disease point position through pavement detection equipment, so that the road pavement disease risk degrees such as surface layer looseness, surface layer subsidence, lower layer void, extrusion deformation, surface layer cracking and water content enrichment and the actual influence range are determined, the road pavement disease detection precision is effectively improved, and the road pavement disease detection efficiency is improved. Tiny or hidden road surface layer diseases can be effectively identified; therefore, the technical problems of low detection efficiency, poor detection precision, high detection cost and poor adaptability of an existing road surface layer disease detection method are solved.

Description

Technical Field

[0001] The present application relates to the field of road detection technology, and in particular to a road surface disease detection system and method. Background Art

[0002] The road surface is the topmost layer of the road, typically 10 to 30 cm thick, and is the primary site for common pavement defects. Therefore, detecting road surface defects is a critical component of road operation, maintenance, and management. If surface defects such as bumps, potholes, and cracks are not promptly detected and repaired, they can lead to more serious structural damage, directly impacting driving safety, road lifespan, and maintenance costs.

[0003] The main methods for detecting road surface defects currently are manual inspection and vehicle-based inspection. Manual inspection relies primarily on visual inspection by inspectors or handheld devices, which is inefficient and highly dangerous, especially when inspecting highways. Furthermore, inspection results are easily influenced by the inspectors' subjective experience, making it difficult to achieve large-scale, high-precision road surface quality inspections. Vehicle-based inspection, on the other hand, relies on onboard sensors (such as lidar and cameras) for high-precision inspections. However, these methods are often limited by traffic conditions and cannot be used on closed roads. Furthermore, they are expensive, poorly adaptable to complex terrain (such as ramps and tunnels), and their speed is insufficient for large-scale roadway measurements.

[0004] In recent years, existing road surface defect detection methods have also included drones. While drones can quickly acquire large-scale road surface inspection data, they are limited by flight stability, endurance, and detection accuracy. They struggle to identify tiny cracks or hidden road surface defects, and are unable to obtain internal data on the road surface structure.

[0005] Therefore, existing road surface disease detection methods still have technical defects such as low detection efficiency, poor detection accuracy, high detection cost and poor adaptability. Summary of the Invention

[0006] In view of the shortcomings of the existing technology mentioned above, the purpose of this application is to provide a road surface disease detection system and method to solve the technical problems of low detection efficiency, poor detection accuracy, high detection cost and poor adaptability of existing road surface disease detection methods.

[0007] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a road surface disease detection system, which includes: an aerial detection device, which is used to plan a flight path based on the detection requirements of a target road section, and perform scanning detection on the road surface of the target road section according to the flight path to obtain road surface disease scanning detection data of the target road section; a road surface detection device, which is communicatively connected to the aerial detection device and is used to determine one or more fine detection points based on the road surface disease scanning detection data sent by the aerial detection device, and move to each fine detection point in turn, and perform fine detection on the road surface at each fine detection point to obtain fine detection data of road surface diseases of the target road section.

[0008] In some embodiments of the first aspect of the present application, the method for the aerial detection equipment to obtain the road surface disease scanning detection data of the target road section includes: controlling the aerial detection equipment to fly at a low altitude over the target road section, and scanning the target road section to obtain the flight position data and scanning distance data of the aerial detection equipment; establishing a three-dimensional coordinate system for the target road section; according to the flight position data and the scanning distance data, obtaining multiple flight position coordinates of the aerial detection equipment during scanning and the scanning distances between the multiple scanning detection points generated by the scanning, and calculating the distance between the aerial detection equipment and each scanning detection point accordingly. vertical height and horizontal distance; according to the flight position coordinates of the aerial detection equipment and the vertical height from each scanning detection point, respectively calculate the contour vertical height of each scanning detection point, and calculate the average contour vertical height of the target road section; according to the average contour vertical height of the target road section and the contour vertical height of each scanning detection point, respectively judge the road surface flatness of each scanning detection point, and screen one or more road surface defect points; according to the flight position coordinates of the aerial detection equipment and the horizontal distance from each scanning detection point, calculate the position coordinates of each road surface defect point to obtain the road surface defect scanning detection data of the target road section.

[0009] In some embodiments of the first aspect of the present application, the aerial detection equipment includes: a first control module, a first navigation module, a scanning detection module and a first communication module; wherein, the first control module is communicatively connected to the first navigation module, the scanning detection module and the first communication module respectively; the first communication module is communicatively connected to the road surface detection equipment; the working mode of the aerial detection equipment includes: the first control module controls the first navigation module to plan a flight path based on the detection requirements of the target road section, and controls the aerial detection equipment to fly at a low altitude along the flight path at the target road section; the first control module controls the scanning detection module to perform a scanning detection on the road surface layer of the target road section, and the scanning detection module generates road surface disease scanning detection data of the target road section and sends it to the first control module; the first control module sends the road surface disease scanning detection data to the road surface detection equipment through the first communication module.

[0010] In some embodiments of the first aspect of the present application, the scanning and detection module includes: a flight positioning unit, which is arranged in the aerial detection equipment and is used to position the aerial detection equipment to obtain the flight position data of the aerial detection equipment; a road surface ranging unit, which is arranged in the aerial detection equipment and is used to scan the target road section when the aerial detection equipment is flying, generate multiple scanning detection points, and measure the scanning distance between the aerial detection equipment and each scanning detection point to obtain the scanning distance data of the aerial detection equipment; a road surface flatness calculation unit, which is arranged in the aerial detection equipment and is communicated with the flight positioning unit and the road surface ranging unit respectively, and is communicated with the first control module, and is used to judge the road surface flatness and road surface disease condition of the target road section based on the flight position data and the scanning distance data, and generate road surface disease scanning detection data of the target road section and send it to the first control module.

[0011] In some embodiments of the first aspect of the present application, the first communication module is also respectively connected to the flight remote control device and the external operation management center, and is used to receive one or more flight instructions to the aerial detection device sent by the flight remote control device and one or more flight instructions to the aerial detection device sent by the operation management center and the three-dimensional map of the target road section, and send each flight instruction and the three-dimensional map of the target road section to the first control module and the first navigation module, so that the first navigation module plans and updates the flight path of the aerial detection device according to each flight instruction and the three-dimensional map of the target road section.

[0012] In some embodiments of the first aspect of the present application, the road surface detection equipment includes: a second control module, a second navigation module, a fine detection module and a second communication module; wherein, the second control module is respectively communicated with the second navigation module, the fine detection module and the second communication module, and the second communication module is communicated with the aerial detection equipment; the working method of the road surface detection equipment includes: the second communication module receives the road surface disease scanning detection data sent by the aerial detection equipment, and sends it to the second control module, so that the second control module can determine one or more fine detection points based on this; the second control module controls the second navigation module to plan a moving path according to each fine detection point, and controls the road surface detection equipment to move to each fine detection point in sequence along the moving path; the second control module controls the fine detection module to perform fine detection on the road surface at each fine detection point, and the fine detection module generates fine detection data of road surface diseases of the target section and sends it to the second control module.

[0013] In some embodiments of the first aspect of the present application, the fine detection module includes: a walking positioning unit, which is arranged on the road surface detection equipment and is used to locate the road surface detection equipment to obtain the mobile position data of the road surface detection equipment; a road surface disease detection unit, which is arranged on the road surface detection equipment and is communicated with the walking positioning unit and the second control module respectively, and is used to perform fine detection of the road surface layer at each fine detection point when the road surface detection equipment moves to each fine detection point, determine the road surface disease type, road surface disease degree and road surface disease range of each fine detection point, and combine the mobile position data to generate the road surface disease fine detection data of the target section and send it to the second control module.

[0014] In some embodiments of the first aspect of the present application, the second communication module is also communicated with the road remote control device and the external operation management center respectively, for receiving one or more movement instructions to the road detection device sent by the road remote control device and the operation management center, and sending each movement instruction to the second control module and the second navigation module, so that the second navigation module plans and updates the movement path of the road detection device according to each movement instruction.

[0015] In some embodiments of the first aspect of the present application, the road surface disease detection system further includes: two or more aerial detection equipment; two or more road surface detection equipment, each road surface detection equipment is respectively communicated with each aerial detection equipment; wherein each aerial detection equipment and each road surface detection equipment adopts a collaborative manner to detect road surface diseases on the target road section, and the specific method includes: setting an aerial detection equipment as the main aerial detection equipment, and the remaining aerial detection equipment as auxiliary aerial detection equipment, and setting a road surface detection equipment as the main road surface detection equipment, and the remaining road surface detection equipment as auxiliary road surface detection equipment; the main aerial detection equipment divides the target road section into multiple scanning areas, and generates multiple scanning detection tasks and distributes them to each auxiliary aerial detection equipment; the main aerial detection equipment The main control road surface detection equipment and each auxiliary road surface detection equipment respectively perform each scanning and detection task, generate road surface disease scanning and detection data of the corresponding scanning area, and transmit it back to the main control road surface detection equipment, so that the main control road surface detection equipment can generate road surface disease scanning and detection data of the target section and send it to the main control road surface detection equipment; the main control road surface detection equipment generates multiple fine detection tasks based on the road surface disease scanning and detection data of the target section and distributes them to each auxiliary road surface detection equipment; the main control road surface detection equipment and each auxiliary road surface detection equipment respectively perform each fine detection task, generate road surface disease fine detection data of the corresponding scanning area, and transmit it back to the main control road surface detection equipment, so that the main control road surface detection equipment can generate road surface disease fine detection data of the target section.

[0016] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides a road surface disease detection method, which is applied to a road surface disease detection system, wherein the road surface disease detection system includes an aerial detection device and a road surface detection device that are communicatively connected. The road surface disease detection method includes: the aerial detection device plans a flight path based on the detection requirements of the target road section, and performs a scanning detection on the road surface of the target road section according to the flight path to obtain the road surface disease scanning detection data of the target road section and send it to the road surface detection device; the road surface detection device determines one or more fine detection points based on the road surface disease scanning detection data sent by the aerial detection device, and moves to each fine detection point in turn, and performs fine detection on the road surface at each fine detection point to obtain the fine detection data of road surface diseases of the target road section.

[0017] As described above, the present application provides a road surface disease detection system and method, which has the following beneficial effects: through aerial detection equipment, a large-scale scanning detection of the road surface of the target section is carried out to obtain the position coordinates of multiple road surface disease points such as road surface ridges, potholes and cracks, thereby improving the speed of road surface disease detection; and through pavement detection equipment, go to the location of each pavement disease point to conduct further refined detection, determine the risk level and actual impact range of road surface disease such as loose surface layer, surface layer subsidence, lower layer voiding, extrusion deformation, surface layer cracking and water-rich road surface disease, effectively improve the accuracy of road surface disease detection, and effectively identify small or hidden road surface diseases; thereby solving the technical problems of low detection efficiency, poor detection accuracy, high detection cost and poor adaptability of existing road surface disease detection methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shown is a structural schematic diagram of a road surface disease detection system in one embodiment of the present application.

[0019] Figure 2 Shown is a flowchart of the working method of the aerial detection equipment in one embodiment of the present application.

[0020] Figure 3 Shown is a flow chart of a method for generating road surface disease scanning and detection data in one embodiment of the present application.

[0021] Figure 4 Shown is a schematic diagram of the road surface flatness calculation process in one embodiment of the present application.

[0022] Figure 5 Shown is a schematic diagram of road surface smoothness in one embodiment of the present application.

[0023] Figure 6 Shown is a flowchart of the working method of the road surface detection equipment in one embodiment of the present application.

[0024] Figure 7 Shown is a connection diagram of multiple aerial detection devices and multiple road detection devices in one embodiment of the present application.

[0025] Figure 8 It shows a flowchart of the working mode of multiple aerial detection equipment and multiple road detection equipment in one embodiment of the present application.

[0026] Figure 9 Shown is a flow chart of a road surface disease detection method in one embodiment of the present application. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0028] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the terms "first control module" and "second control module" are used solely to distinguish between different control modules and do not define their order. Those skilled in the art will understand that terms such as "first" and "second" do not define the number or execution order of the items, and do not necessarily define differences between the items.

[0029] A road structure generally consists of a surface layer, base layer, subbase layer, cushion layer, and subgrade. The surface layer is the topmost layer of the road, typically 10 to 30 cm thick. Road surface defects primarily include bumps, pits, and cracks. These defects directly impact driving safety, road lifespan, and maintenance costs.

[0030] In order to solve the problems in the above-mentioned background technology, the present application provides a road surface disease detection system and method, which aims to perform road surface disease detection on the target section in a collaborative manner through aerial detection equipment and road surface detection equipment, thereby solving the technical problems of low detection efficiency, poor detection accuracy, high detection cost and poor adaptability of existing road surface disease detection methods, ensuring detection efficiency while ensuring detection accuracy, and reducing detection costs.

[0031] In order to make the purpose, technical solutions and advantages of this application more clear, the following embodiments and the accompanying drawings are used to further explain the technical solutions in the embodiments of this application. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0032] like Figure 1 FIG2 is a block diagram of a road surface defect detection system according to an embodiment of the present application. The road surface defect detection system according to the embodiment includes: an aerial detection device and a road surface detection device connected in communication.

[0033] The aerial detection equipment and the pavement detection equipment use a collaborative approach to perform road surface defect detection on the target road section. On the one hand, the aerial detection equipment performs a large-scale scanning detection on the road surface of the target road section to obtain the position coordinates of multiple pavement defect points such as road surface ridges, potholes, and cracks, thereby improving the speed of road surface defect detection. On the other hand, the pavement detection equipment is used to go to each pavement defect point on site to conduct further refined detection to determine whether the surface is loose, the surface is subsided, the lower layer is hollow, the extrusion deformation, the surface is cracked, and it is rich in water, thereby effectively improving the accuracy of road surface defect detection.

[0034] Specifically, the aerial inspection equipment is used to plan a flight path based on the inspection requirements of the target road section, and perform a scanning inspection of the road surface of the target road section according to the flight path to obtain scanning inspection data of road surface defects of the target road section. Preferably, the aerial inspection equipment can be a drone.

[0035] In one embodiment, if Figure 1 As shown, the aerial detection device includes: a first control module, a first navigation module, a scanning detection module, and a first communication module. The first control module is respectively connected to the first navigation module, the scanning detection module, and the first communication module; the first communication module is connected to the road detection device.

[0036] Specifically, such as Figure 2 As shown, the working method of the aerial detection equipment includes steps S110 to S130.

[0037] Step S110: the first control module controls the first navigation module to plan a flight path based on the detection requirements of the target road section, and controls the aerial detection equipment to fly at a low altitude over the target road section along the flight path.

[0038] In one embodiment, the first navigation module includes one or more low-altitude obstacle monitoring units and a flight path planning unit. The low-altitude obstacle monitoring unit may include one or more combinations of cameras, radars, ultrasonic devices, and infrared devices, and is used to monitor the flight environment of the aerial detection equipment in real time when the aerial detection equipment is flying, and identify one or more low-altitude obstacles in the flight environment, such as trees, wires, towers, lamp poles, and birds, and obtain low-altitude obstacle position data. Preferably, each low-altitude obstacle monitoring unit can be installed on the aerial detection equipment, such as the front side or all around the drone. The flight path planning unit is communicatively connected to each low-altitude obstacle monitoring unit, and is used to plan a flight path based on the detection requirements of the target section, and update the flight path according to the obtained low-altitude obstacle position data.

[0039] It should be noted that the first navigation module can use existing path planning algorithms, such as traditional graph search algorithms, ant colony algorithms, or genetic algorithms, to plan the flight path of the aerial detection equipment, and use existing dynamic obstacle avoidance algorithms, such as a fusion algorithm of RRT (rapidly expanding random trees) and DWA (dynamic window method), to update the flight path in real time based on the obtained low-altitude obstacle position data, thereby autonomously avoiding obstacles and ensuring the flight safety of the aerial detection equipment. This application does not limit the specific path planning algorithm and dynamic obstacle avoidance algorithm used by the first navigation module, and users can select them according to their needs.

[0040] In one embodiment, the first communication module is further connected to an external operation management center to receive a three-dimensional map of the target road section from the operation management center and transmit the three-dimensional map to the first control module and the first navigation module, so that the first navigation module can plan and update the flight path of the aerial detection device based on the three-dimensional map of the target road section. In this embodiment, the aerial detection device autonomously plans the optimal flight path based on the obtained three-dimensional map of the target road section and autonomously executes the flight mission.

[0041] At the same time, the first communication module is also used to receive one or more flight instructions for the aerial detection equipment sent by the operation management center, and send each flight instruction to the first control module and the first navigation module, so that the first navigation module can plan and update the flight path of the aerial detection equipment according to each flight instruction.

[0042] In one embodiment, the first communication module is further configured to communicate with a remote control flight device to receive one or more flight instructions for the aerial inspection device from the remote control flight device, and to transmit each flight instruction to the first control module and the first navigation module, so that the first navigation module can plan and update the flight path of the aerial inspection device based on the flight instructions. In this embodiment, an inspection personnel can manually control the aerial inspection device to fly along a specific flight path using the remote control flight device.

[0043] Step S120: the first control module controls the scanning detection module to perform scanning detection on the road surface of the target road section, and the scanning detection module generates road surface disease scanning detection data of the target road section and sends it to the first control module.

[0044] In one embodiment, if Figure 3 As shown, the method of generating the road surface disease scanning detection data of the target road section includes steps S121 to S126.

[0045] Step S121: controlling the aerial detection device to fly at a low altitude over the target road section, and scanning the target road section to obtain flight position data and scanning distance data of the aerial detection device.

[0046] In one specific embodiment, the scanning and detection module includes a flight positioning unit provided on the aerial detection device. The flight positioning unit is used to locate the aerial detection device to obtain flight position data of the aerial detection device. Preferably, the aerial detection device is equipped with a Beidou Satellite Navigation System (BDS) or a Global Positioning System (GPS) as the flight positioning unit to locate the aerial detection device.

[0047] The scanning and detection module also includes: a road ranging unit provided on the aerial detection device. The road ranging unit is used to scan the target road section when the aerial detection device is flying, generate multiple scanning detection points, and measure the scanning distance between the aerial detection device and each scanning detection point to obtain the scanning distance data of the aerial detection device. Preferably, a radar device is installed on the bottom of the aerial detection device as the road ranging unit, and the radar device can be a millimeter wave radar, a laser radar, a small phased array radar, etc. The radar device emits electromagnetic waves based on a certain frequency to scan the target road section. When each electromagnetic wave reaches the road surface, a corresponding scanning detection point is generated and an echo is reflected. The radar device emits multiple electromagnetic waves each time, each electromagnetic wave forms a scanning plane, and each electromagnetic wave has a specific emission angle, thereby scanning and measuring the distance of multiple lanes of the target road section to achieve large-scale detection.

[0048] The scanning and detection module also includes a road surface roughness calculation unit, which is located within the aerial detection equipment. The road surface roughness calculation unit is in communication with the flight positioning unit and the road surface distance measurement unit, respectively, and is also in communication with the first control module. The road surface roughness calculation unit is configured to determine the road surface roughness and road surface damage of the target road section based on the flight position data and the scanning distance data, and to generate road surface damage scanning and detection data for the target road section, which is then transmitted to the first control module. This specifically includes steps S122 to S126.

[0049] Step S122: Establishing a three-dimensional coordinate system of the target road segment.

[0050] In one embodiment, the origin of the three-dimensional coordinate system is set at the starting section side of the target road segment, the x-axis of the three-dimensional coordinate system is the width direction of the target road segment, the y-axis is the length direction of the target road segment, and the z-axis is the vertical direction. Figure 4 It should be noted that this application does not specifically limit the method for establishing the three-dimensional coordinate system.

[0051] Step S123: Based on the flight position data and the scanning distance data, obtain multiple flight position coordinates of the aerial detection equipment during scanning and the scanning distances between the multiple scanning detection points generated by the scanning, and calculate the vertical height and horizontal distance of the aerial detection equipment from each scanning detection point accordingly.

[0052] Specifically, the calculation formula for the vertical height of the aerial detection equipment from a certain scanning detection point is:

[0053] h i =l i cosα; Formula (1)

[0054] Among them, such as Figure 4 As shown, h i is the vertical height of the aerial detection equipment from the scanning detection point; i is the scanning distance between the aerial detection device and the scanning detection point; α is the measurement angle of the road ranging unit, i.e., the angle between the corresponding scanning line and the vertical direction, which can be determined based on the emission angle of the electromagnetic wave emitted by the radar device and has a value range of [0°, 90°]. It should be noted that in this embodiment, the radar device scans along the length of the target road section, i.e., along the y-axis of the three-dimensional coordinate system. The scanning plane formed by each electromagnetic wave emission is perpendicular to the yz plane of the three-dimensional coordinate system. α is the angle between the scanning line corresponding to the scanning detection point and the yz plane.

[0055] The calculation formula for the horizontal distance between the aerial detection equipment and a certain scanning detection point is:

[0056] d i =l i sinα; formula (2)

[0057] Among them, such as Figure 4 As shown, d i is the horizontal distance between the aerial detection equipment and the scanning detection point, l i is the scanning distance between the aerial detection device and the scanning detection point, and α is the measurement angle of the road surface distance measurement unit.

[0058] Step S124: Calculate the contour vertical height of each scanning detection point according to the flight position coordinates of the aerial detection equipment and the vertical height from each scanning detection point, and calculate the average contour vertical height of the target road section.

[0059] The calculation formula for the vertical height of a certain scanning detection point is:

[0060] H i =hi +Δz i =h i +(z0-z i ); Formula (3)

[0061] Among them, H i h is the vertical height value of the scanning detection point, that is, the vertical height value of the aerial detection equipment from the scanning detection point; i is the vertical height of the aerial detection equipment from the scanning detection point; (x i ,y i ,z i ) is the flight position coordinate of the aerial detection device when scanning the scanning detection point; (x0, y0, z0) is the starting position coordinate of the aerial detection device when it starts flying.

[0062] It should be noted that the flight position coordinates and the starting position coordinates are based on the three-dimensional coordinate system. When obtaining the flight position coordinates of each flight position during the scanning of the aerial detection equipment based on the flight position data obtained by the Beidou Satellite Navigation System BDS or the Global Positioning System GPS, a coordinate system conversion is required to obtain the starting position coordinates (x0, y0, z0) and the flight position coordinates (x i ,y i ,z i ).

[0063] Since the flight altitude of the aerial detection equipment will fluctuate during actual flight, such as Figure 5 In this embodiment, by calculating the vertical height of the equal height, the height value of the aerial detection equipment relative to the equal height can be obtained, thereby preventing the ups and downs of the flight altitude from affecting the judgment of the road surface flatness, ensuring the accuracy of the road surface flatness calculation, and thus ensuring the accuracy of the road surface disease detection.

[0064] The calculation formula for the average contour vertical height of the target section is:

[0065]

[0066] Wherein, H is the average vertical height value of the target road section, H i is the vertical height value of each scanning detection point, and n is the number of scanning detection points obtained on the target road section.

[0067] Step S125: According to the average contour vertical height of the target road section and the contour vertical height of each scanning detection point, the road surface flatness of each scanning detection point is determined respectively, and one or more road surface defect points are screened.

[0068] Specifically, determine the vertical height value H of each scanning detection point i The height difference from the average vertical height value H of the target section is as follows: Figure 5 As shown, if the height difference is within the preset flatness threshold range, that is, greater than the preset minimum flatness threshold and less than the preset maximum flatness threshold, then the road surface flatness of the target road section is judged to be good; if the height difference is less than the preset minimum flatness threshold, then the road surface layer corresponding to the scanning detection point position is judged to be bulging, and the scanning detection point is regarded as a road surface defect point; if the height difference is greater than the preset maximum flatness threshold, then the road surface layer corresponding to the scanning detection point position is judged to be sunken, and there may be potholes or cracks, and the scanning detection point is regarded as a road surface defect point.

[0069] Step S126: Calculate the position coordinates of each road surface defect point based on the flight position coordinates of the aerial detection equipment and the horizontal distance from each scanning detection point to obtain the road surface defect scanning detection data of the target road section.

[0070] Specifically, the calculation formula for the position coordinates of each road surface defect point is:

[0071] x j =x i ±d i ; Formula (5)

[0072] y j =y i ; Formula (6)

[0073] Among them, (x j ,y j ) is the position coordinate of each road surface defect point, and each coordinate value is based on the three-dimensional coordinate system constructed by itself; (x i ,y i ,z i ) is the coordinate of the flight position when the aerial inspection equipment scans the corresponding road surface defect point, that is, the corresponding scanning inspection point; d i It is the horizontal distance between the aerial detection equipment and the corresponding road surface defect point, that is, the corresponding scanning detection point.

[0074] It should be noted that if Figure 5 As shown, when the radar device of the aerial detection device is performing scanning ranging, if the scanning detection point is closer to the y-axis of the three-dimensional coordinate system relative to the aerial detection device, then x j =x i -d i If the scanning detection point is farther away from the y-axis of the three-dimensional coordinate system relative to the aerial detection device, then x j =xi +d i .

[0075] The position coordinates of each road surface defect point are calculated to obtain road surface defect scanning detection data for the target road section. The road surface defect scanning detection data includes at least: the position coordinates of each road surface defect point, one or more initial road surface defect areas determined by the position coordinates of each road surface defect point, and the road surface defect type and area range of each initial road surface defect area.

[0076] Step S130: The first control module sends the road surface disease scanning detection data to the road surface detection equipment through the first communication module.

[0077] The road surface inspection device is configured to determine one or more fine inspection points based on the road surface disease scanning detection data transmitted by the aerial inspection device, and sequentially move to each fine inspection point to perform fine inspection of the road surface at each fine inspection point, thereby obtaining fine inspection data of road surface disease defects at the target road section. Preferably, the road surface inspection device can be an intelligent walking device such as a robot dog or a robot equipped with a road surface disease detection device. Users can select the device based on their needs, and this application does not limit this.

[0078] In one embodiment, if Figure 1 As shown, the road detection device includes: a second control module, a second navigation module, a fine detection module, and a second communication module. The second control module is communicatively connected to the second navigation module, the fine detection module, and the second communication module respectively; the second communication module is communicatively connected to the aerial detection device, specifically, the second communication module is communicatively connected to the first communication module.

[0079] like Figure 6 As shown, the working method of the road surface detection equipment includes steps S210 to S230.

[0080] Step S210: The second communication module receives the road surface disease scanning detection data sent by the aerial detection equipment and sends it to the second control module so that the second control module can determine one or more fine detection points based on the data.

[0081] Specifically, the method of determining each fine detection point includes: obtaining each initial road surface disease area based on the road surface disease scanning detection data, thereby determining the area and position that needs further fine detection, and thus determining one or more fine detection points, so that the second control module can control the road surface detection equipment to move to each fine detection point in turn.

[0082] Step S220: the second control module controls the second navigation module to plan a moving path according to each fine detection point, and controls the road surface detection device to move to each fine detection point in sequence along the moving path.

[0083] This application moves the road surface inspection equipment to various fine inspection points for fine inspection, avoiding the need for inspectors to perform manual inspections with handheld equipment, ensuring safety during road surface disease inspections, and being adaptable to disease inspections on various types of roads, including highway road surface disease inspections.

[0084] In one embodiment, the second navigation module includes one or more road obstacle monitoring units and a mobile path planning unit. The road obstacle monitoring unit may include one or more combinations of cameras, radars, ultrasonic devices, and infrared devices, for real-time monitoring of the road environment of the road detection device, and identifying one or more road obstacles in the road environment, such as vehicles, pedestrians, and bumps and potholes on the road, to obtain road obstacle position data for the second navigation module to update the moving path of the road detection device. Preferably, each road obstacle monitoring unit can be installed on the road detection device, such as the bottom, front side, or all around the robot dog. The mobile path planning unit is communicatively connected with each road obstacle monitoring unit, for planning a moving path according to each fine detection point, and updating the moving path according to the obtained road obstacle position data,

[0085] It should be noted that the second navigation module can use existing path planning algorithms, such as traditional graph search algorithms, ant colony algorithms, or genetic algorithms, to plan the movement path of the road detection device. It can also use existing dynamic obstacle avoidance algorithms, such as a fusion of RRT (Rapidly Expanding Random Trees) and DWA (Dynamic Windowing Algorithm), to update the movement path in real time based on the acquired road obstacle position data, thereby autonomously avoiding obstacles and ensuring the safety of the road detection device. This application does not limit the specific path planning algorithm and dynamic obstacle avoidance algorithm used by the second navigation module; users can select them according to their needs.

[0086] In this embodiment, the road surface detection equipment can autonomously plan a moving path to perform mobile tasks, and has the ability to autonomously avoid obstacles to prevent the road surface detection equipment from colliding with various road obstacles, ensuring the safety of the road surface detection equipment during movement, and ensuring the safety of vehicles and pedestrians on the road, so that the road surface disease detection system can be applied to disease detection of various types of roads, including closed roads and complex terrains such as ramps and tunnels, etc., with stronger adaptability and wider applicability.

[0087] In one embodiment, the second communication module is further connected to a road surface remote control device and an external transportation management center, respectively, to receive one or more movement instructions for the road surface detection device from the road surface remote control device and the transportation management center, and transmit each movement instruction to the second control module and the second navigation module, so that the second navigation module can plan and update the movement path of the road surface detection device based on each movement instruction. In this embodiment, the road surface detection device can execute movement tasks through manual remote control. Patrol personnel can autonomously control the movement of the road surface detection device along a specific movement path through the transportation management center or the road surface remote control device.

[0088] Step S230: the second control module controls the fine detection module to perform fine detection on the road surface at each fine detection point respectively, and the fine detection module generates fine detection data of road surface diseases of the target road section and sends it to the second control module.

[0089] In one embodiment, the fine detection module includes: a travel positioning unit and a road surface defect detection unit respectively provided on the road surface detection device, wherein the road surface defect detection unit is in communication with the travel positioning unit and the second control module respectively.

[0090] Specifically, the walking positioning unit is used to locate the road surface detection device to obtain the mobile position data of the road surface detection device. In one embodiment, the road surface detection device is equipped with a Beidou satellite navigation system BDS or a global positioning system GPS as the walking positioning unit to locate the road surface detection device. At this time, the mobile position data obtained includes at least: a plurality of position coordinates during the movement of the road surface detection device. Each position coordinate is obtained by converting the positioning coordinates of the road surface detection device based on the Beidou satellite navigation system BDS or the global positioning system GPS into a coordinate system, and is based on the position coordinates in the three-dimensional coordinate system constructed by itself.

[0091] The pavement disease detection unit is used to perform fine-grained detection of the road surface layer at each fine detection point when the pavement detection equipment moves to each fine detection point, determine the pavement disease type, pavement disease degree and pavement disease range at each fine detection point, and combine the moving position data to generate fine-grained detection data of road surface diseases of the target section and send it to the second control module.

[0092] In one embodiment, the pavement inspection equipment may be equipped with a ground-penetrating radar (GPR) as the pavement defect detection unit. It should be understood that GPR is a non-destructive detection technology that uses high-frequency electromagnetic waves to detect the distribution of media within the road surface. Its core principle is to transmit electromagnetic waves underground via a transmitting antenna, capture the reflected signals via a receiving antenna, and infer the position, structure, and depth of the road surface based on the waveform, amplitude, and time differences. This allows detection of surface defects such as looseness, subsidence, lower layer voids, extrusion deformation, surface cracking, and water content, thereby obtaining detailed detection data for the target road section's surface defects.

[0093] Among them, the road surface disease fine detection data at least includes: the position coordinates of each fine detection point, one or more target road surface disease areas determined by fine detection, the road surface disease type of each target road surface disease area, the road surface disease degree and the road surface disease range.

[0094] Preferably, the ground penetrating radar can be installed at the bottom of the road surface detection equipment. The specific model of the ground penetrating radar can be configured by the user according to the needs and is not limited by this application.

[0095] In addition, in one embodiment, the road surface detection equipment may be further equipped with temperature sensors, gas sensors, and water depth sensors, etc., and may cooperate with the ground-penetrating radar to further determine whether there are risks such as abnormal temperature, leakage of harmful gases, and depth of accumulated water in the road surface, so as to remind inspection personnel to eliminate these risks in a timely manner and ensure the driving safety of the road and the safety of pedestrians.

[0096] The purpose of the design of this application in this embodiment is to obtain the location of road surface defects such as ridges, potholes, cracks, etc. on the road surface by performing large-scale scanning detection based on the aerial detection equipment, so as to control the road surface detection equipment to go to the field for further refined detection, determine the risk level of road surface defects and the actual impact range, etc., effectively improve the detection accuracy of road surface defects, and be more conducive to identifying small or hidden road surface defects.

[0097] In one embodiment, the road surface disease scanning detection data generated by the aerial detection equipment can be sent to an external transportation management center through its first communication module, and the road surface disease fine detection data generated by the second control module can be sent to an external transportation management center through the second communication module, so that inspection personnel can monitor the road surface disease fine detection process of the aerial detection equipment and the road surface detection equipment through the transportation management center.

[0098] In one embodiment, the road surface disease detection system also includes two or more aerial detection equipment and two or more road surface detection equipment, so that the road surface disease detection of the target section can be quickly performed in a collaborative manner by each aerial detection equipment and each road surface detection equipment, thereby further improving the speed of road surface disease detection.

[0099] Among them, such as Figure 7 As shown, each road surface detection device is connected to each aerial detection device in communication. The method of each road surface detection device and each aerial detection device using a collaborative approach to detect road surface defects on a target road section includes steps S310 to S350. Figure 8 shown.

[0100] Step S310: Set an aerial detection device as the main aerial detection device, and the other aerial detection devices as auxiliary aerial detection devices, and set a road detection device as the main road detection device, and the other road detection devices as auxiliary road detection devices.

[0101] Step S320: the master aerial detection device divides the target road section into multiple scanning areas, and generates multiple scanning detection tasks and distributes them to each auxiliary aerial detection device.

[0102] Step S330: The main aerial inspection device and each auxiliary aerial inspection device respectively perform each scanning and inspection task, generate road surface disease scanning and inspection data of the corresponding scanning area, and transmit it back to the main aerial inspection device, so that the main aerial inspection device can generate road surface disease scanning and inspection data of the target section and send it to the main road surface inspection device.

[0103] Step S340: The master pavement inspection device generates a plurality of detailed inspection tasks based on the road surface disease scanning inspection data of the target road section and distributes them to each auxiliary pavement inspection device.

[0104] Step S350: The main control road surface detection equipment and each auxiliary road surface detection equipment respectively perform each fine detection task, generate fine detection data of road surface diseases in the corresponding scanning area, and transmit it back to the main control road surface detection equipment so that the main control road surface detection equipment can generate fine detection data of road surface diseases in the target section.

[0105] In a specific embodiment, if Figure 7As shown, each aerial detection device is further provided with a first collaborative control module, and each road detection device is further provided with a second collaborative control module. The first collaborative control module is respectively connected to the first control module and the first communication module, and the first communication modules of each aerial detection device are interconnected; the second collaborative control module is respectively connected to the second control module and the second communication module, and the second communication modules of each road detection device are interconnected and respectively connected to the first communication modules of each aerial detection device.

[0106] In this embodiment, the cooperation between the aerial detection devices and the road detection devices specifically includes the following steps.

[0107] ① Set up one aerial detection device as the main aerial detection device, and the other aerial detection devices as auxiliary aerial detection devices, and set up one road detection device as the main road detection device, and the other road detection devices as auxiliary road detection devices.

[0108] ② The first cooperative control module of the master aerial detection device divides the target road section into multiple scanning areas, generates multiple scanning detection tasks, and distributes them to each auxiliary aerial detection device through the corresponding first communication module.

[0109] ③ After the first collaborative control module of each auxiliary aerial detection device confirms the collaboration, the main aerial detection device and each auxiliary aerial detection device respectively perform each scanning and detection task, generate road surface disease scanning and detection data of the corresponding scanning area, and transmit it back to the main aerial detection device.

[0110] The specific manner in which the main aerial detection device and each auxiliary aerial detection device perform each scanning detection task is the same as that described in steps S110 to S130, and for the sake of brevity, this application will not elaborate on it.

[0111] ④ The first control module of the master control aerial detection device generates the road surface disease scanning detection data of the target road section based on the road surface disease scanning detection data and sends it to the master control road surface detection device through the corresponding first communication module.

[0112] ⑤ The second collaboration module of the main control road surface detection device generates multiple fine detection tasks based on the road surface disease scanning detection data of the target road section, and distributes them to each auxiliary road surface detection device through the corresponding second communication module.

[0113] ⑥ After the second collaborative control module of each auxiliary road surface detection equipment confirms the collaboration, the main control road surface detection equipment and each auxiliary road surface detection equipment respectively perform each fine detection task, generate fine detection data of road surface diseases in the corresponding scanning area, and transmit it back to the main control road surface detection equipment so that the main control road surface detection equipment can generate fine detection data of road surface diseases in the target section.

[0114] Among them, the specific manner in which each road surface detection device performs each fine detection task is the same as described in steps S210 to S230. For the sake of brevity, this application will not go into details.

[0115] It should be noted that the road surface disease detection system described in the present application can also complete the road surface disease detection of the target road section by using a single aerial detection device and multiple road surface detection devices in a collaborative manner, or complete the road surface disease detection of the target road section by using multiple aerial detection devices and a single road surface detection device in a collaborative manner. The collaborative method is the same as the above steps. Users can select the number of aerial detection equipment and road surface detection equipment according to their specific needs, and this application does not limit it.

[0116] It should be understood that the division of modules and units in the embodiments of the present application is schematic and is only a logical functional division. In actual implementation, other division methods may be used. In addition, the functional modules and functional units in the various embodiments of the present application can be integrated into a processor, or can exist physically separately, or two or more modules or units can be integrated into a module. The above-mentioned integrated modules and units can be implemented in the form of hardware or in the form of software functional modules and functional units.

[0117] like Figure 9 FIG. 1 is a flow chart showing a method for detecting road surface defects in an embodiment of the present application. The method for detecting road surface defects is applied to the road surface defect detection system provided in each of the above embodiments.

[0118] The road surface disease detection system includes: aerial detection equipment and road surface detection equipment that are communicatively connected.

[0119] like Figure 9 As shown, the road surface disease detection method includes steps S1 to S2.

[0120] Step S1: The aerial inspection equipment plans a flight path based on the inspection requirements of the target road section, and performs a scanning inspection on the road surface of the target road section according to the flight path to obtain the road surface disease scanning inspection data of the target road section and send it to the road surface inspection equipment.

[0121] Step S2: The road surface detection equipment determines one or more fine detection points based on the road surface disease scanning detection data sent by the aerial detection equipment, and moves to each fine detection point in turn to perform fine detection on the road surface at each fine detection point to obtain fine detection data of road surface diseases on the target road section.

[0122] It should be understood that the road surface disease detection method and the road surface disease detection system belong to the same concept, and the specific process of executing each step has been described in detail in the above system embodiment. For the sake of brevity, it will not be repeated here.

[0123] Those skilled in the art will appreciate that the implementation methods of the road surface disease detection system provided in the above embodiments of the present application can be implemented on the terminal side or the server side, or completed through hardware related to the computer program.

[0124] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0125] In summary, the present application provides a road surface disease detection system and method, which uses aerial detection equipment to conduct large-scale scanning detection of the road surface of the target section, obtains the position coordinates of multiple road surface disease points such as road surface ridges, potholes and cracks, and improves the speed of road surface disease detection; and uses road surface detection equipment to go to the location of each road surface disease point to conduct further refined detection, determine the risk level and actual impact range of road surface disease such as loose surface layer, surface layer subsidence, lower layer voiding, extrusion deformation, surface layer cracking and water-rich road surface disease, effectively improve the accuracy of road surface disease detection, and effectively identify small or hidden road surface diseases; thereby solving the technical problems of low detection efficiency, poor detection accuracy, high detection cost and poor adaptability of existing road surface disease detection methods.

[0126] Therefore, the present invention effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0127] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A road surface disease detection system, characterized in that: include: Aerial inspection equipment, the aerial inspection equipment is used to plan a flight path based on the inspection requirements of the target road section, and perform a scanning inspection of the road surface of the target road section according to the flight path to obtain road surface disease scanning inspection data of the target road section; A road surface detection device is communicatively connected with the aerial detection device, and is used to determine one or more fine detection points based on the road surface disease scanning detection data sent by the aerial detection device, and move to each fine detection point in turn to perform fine detection on the road surface at each fine detection point to obtain fine detection data of road surface diseases on the target road section.

2. The road surface disease detection system according to claim 1, characterized in that: The method for the aerial detection equipment to obtain the road surface disease scanning detection data of the target road section includes: Controlling the aerial detection device to fly at a low altitude over the target road section and scan the target road section to obtain flight position data and scanning distance data of the aerial detection device; Establishing a three-dimensional coordinate system of the target road section; According to the flight position data and the scanning distance data, a plurality of flight position coordinates of the aerial detection device during scanning and scanning distances between the plurality of scanning detection points generated by the scanning are obtained, and the vertical height and horizontal distance of the aerial detection device from each scanning detection point are calculated accordingly; Calculate the contour vertical height of each scanning detection point according to the flight position coordinates of the aerial detection equipment and the vertical height from each scanning detection point, and calculate the average contour vertical height of the target road section; According to the average contour vertical height of the target road section and the contour vertical height of each scanning detection point, the road surface flatness of each scanning detection point is determined, and one or more road surface defect points are screened; The position coordinates of each road surface defect point are calculated based on the flight position coordinates of the aerial detection equipment and the horizontal distance from each scanning detection point to obtain the road surface defect scanning detection data of the target road section.

3. The road surface disease detection system according to claim 1, characterized in that: The aerial detection equipment includes: a first control module, a first navigation module, a scanning detection module, and a first communication module; Wherein, the first control module is respectively connected to the first navigation module, the scanning detection module and the first communication module; the first communication module is connected to the road surface detection device; The working mode of the aerial detection equipment includes: The first control module controls the first navigation module to plan a flight path based on the detection requirements of the target road section, and controls the aerial detection device to fly at a low altitude along the flight path at the target road section; The first control module controls the scanning detection module to perform scanning detection on the road surface of the target road section, and the scanning detection module generates road surface disease scanning detection data of the target road section and sends it to the first control module; The first control module sends the road surface disease scanning detection data to the road surface detection equipment through the first communication module.

4. The road surface disease detection system according to claim 3, characterized in that: The scanning detection module includes: a flight positioning unit, the flight positioning unit being provided on the aerial detection device and being used to position the aerial detection device to obtain flight position data of the aerial detection device; a road surface distance measuring unit, the road surface distance measuring unit being provided in the aerial detection device and configured to scan the target road section when the aerial detection device is in flight, generate a plurality of scanning detection points, and measure the scanning distance between the aerial detection device and each scanning detection point to obtain scanning distance data of the aerial detection device; A road surface flatness calculation unit is provided in the aerial detection equipment, and is respectively communicated with the flight positioning unit and the road surface ranging unit, and is communicated with the first control module, and is used to judge the road surface flatness and road surface disease conditions of the target road section based on the flight position data and the scanning distance data, and generate road surface disease scanning detection data of the target road section and send it to the first control module.

5. The road surface disease detection system according to claim 3, characterized in that: The first communication module is also respectively connected to the flight remote control device and the external operation management center, and is used to receive one or more flight instructions for the aerial detection device sent by the flight remote control device and one or more flight instructions for the aerial detection device sent by the operation management center and the three-dimensional map of the target road section, and send each flight instruction and the three-dimensional map of the target road section to the first control module and the first navigation module, so that the first navigation module can plan and update the flight path of the aerial detection device according to each flight instruction and the three-dimensional map of the target road section.

6. The road surface disease detection system according to claim 1, characterized in that: The road surface detection equipment includes: a second control module, a second navigation module, a fine detection module, and a second communication module; Wherein, the second control module is respectively connected to the second navigation module, the fine detection module and the second communication module, and the second communication module is connected to the aerial detection equipment; The working mode of the road surface detection equipment includes: The second communication module receives the road surface disease scanning detection data sent by the aerial detection equipment and sends it to the second control module so that the second control module can determine one or more fine detection points based on the data; The second control module controls the second navigation module to plan a moving path according to each fine detection point, and controls the road surface detection device to move to each fine detection point in sequence along the moving path; The second control module controls the fine detection module to perform fine detection on the road surface at each fine detection point respectively. The fine detection module generates fine detection data of road surface defects on the target road section and sends it to the second control module.

7. The road surface disease detection system according to claim 6, characterized in that: The fine detection module includes: a walking positioning unit, the walking positioning unit being provided on the road surface detection device and being used to position the road surface detection device to obtain movement position data of the road surface detection device; A pavement disease detection unit is provided in the pavement detection equipment, and is respectively communicated with the travel positioning unit and the second control module, and is used for performing a refined detection of the road surface layer at each fine detection point when the pavement detection equipment moves to each fine detection point, determining the pavement disease type, pavement disease degree and pavement disease range at each fine detection point, and combining the movement position data to generate the road surface disease refined detection data of the target section and send it to the second control module.

8. The road surface disease detection system according to claim 6, characterized in that: The second communication module is also respectively connected to the road remote control device and the external transportation management center, and is used to receive one or more movement instructions to the road detection device sent by the road remote control device and the transportation management center, and send each movement instruction to the second control module and the second navigation module, so that the second navigation module can plan and update the movement path of the road detection device according to each movement instruction.

9. The road surface disease detection system according to claim 1, characterized in that: Also includes: Two or more aerial detection equipment; Two or more road surface detection equipment, each road surface detection equipment is separately connected to each aerial detection equipment; Among them, the aerial inspection equipment and the road surface inspection equipment use a collaborative approach to detect road surface defects on the target road section. The specific methods include: Set up one aerial detection device as the main aerial detection device, and the other aerial detection devices as auxiliary aerial detection devices, and set up one road detection device as the main road detection device, and the other road detection devices as auxiliary road detection devices; The master aerial detection device divides the target road section into multiple scanning areas and generates multiple scanning detection tasks and distributes them to each auxiliary aerial detection device; The master aerial inspection device and each auxiliary aerial inspection device respectively perform each scanning inspection task, generate road surface disease scanning inspection data of the corresponding scanning area, and transmit the data back to the master aerial inspection device, so that the master aerial inspection device can generate road surface disease scanning inspection data of the target road section and transmit the data to the master road surface inspection device; The main control road surface inspection device generates a plurality of detailed inspection tasks based on the road surface disease scanning inspection data of the target road section and distributes them to each auxiliary road surface inspection device; The main control road surface detection equipment and each auxiliary road surface detection equipment respectively perform each fine detection task, generate fine detection data of road surface diseases in the corresponding scanning area, and transmit it back to the main control road surface detection equipment so that the main control road surface detection equipment can generate fine detection data of road surface diseases in the target section.

10. A method for detecting road surface defects, characterized in that: Applied to a road surface disease detection system, the road surface disease detection system includes an aerial detection device and a road surface detection device connected in communication, and the road surface disease detection method includes: The aerial inspection device plans a flight path based on the inspection requirements of the target road section, and performs a scanning inspection on the road surface of the target road section according to the flight path to obtain road surface disease scanning inspection data of the target road section and send it to the road surface inspection device; The road surface detection equipment determines one or more fine detection points based on the road surface disease scanning detection data sent by the aerial detection equipment, and moves to each fine detection point in turn to perform fine detection on the road surface at each fine detection point to obtain fine detection data of road surface diseases of the target section.

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