Implementation method of pavement state real-time detection system in severe weather

Abstract

The invention provides an implementation method of a road surface state real-time detection system in severe weather, the system comprises a server, a plurality of robot nodes, a plurality of vehicle nodes and a plurality of access nodes, the access nodes send registration information to the server to create an access table, and after the robot nodes create data, the access table is sent to the server; and sending an uploading message to a server to establish a data table. According to the method, real-time parameters of the target road can be collected in real time, such as multidimensional data of a water accumulation condition, a road surface icing condition and the like, the driving safety under an atrocious weather condition is ensured, and the method has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a method for implementing a real-time detection system for road conditions in severe weather. Background Art

[0002] In harsh weather conditions, traditional pavement physical condition monitoring relies primarily on manual inspections, a method with significant limitations. These include low detection accuracy, single-dimensional data, poor real-time performance, and high safety risks for inspectors. Accident rates are high in snowy or rainy weather, and low temperatures can easily lead to frostbite.

[0003] This system aims to overcome the above limitations, quickly obtain the physical status of the road surface under adverse weather conditions, and achieve all-weather real-time monitoring. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to provide a method for realizing a real-time detection system of road conditions in severe weather in view of the deficiencies of the existing technology.

[0005] Technical solution: The present invention discloses a method for implementing a real-time road condition detection system under severe weather conditions. The system comprises a server, multiple robot nodes, multiple vehicle nodes, and multiple access nodes. The access node sends a registration message to the server to create an access table; after the robot node creates data, it sends an upload message to the server to establish a data table; the vehicle node sends a detection message to obtain the real-time physical status of the road surface; If the distance between the coordinates of the vehicle node receiving the detection message and the destination coordinates in the detection message is less than the distance between the source coordinates and the destination coordinates in the detection message, then the source coordinates of the detection message are set as the vehicle node's own coordinates and the detection message is forwarded; If the access node receiving the detection message does not have a road segment table entry whose destination coordinate tuple and source coordinate tuple are respectively equal to the destination coordinate tuple and source coordinate tuple in the detection message, then create a road segment table entry and forward the detection message from the wired interface; The server that receives the detection message sends a road surface message from the interface that received the detection message. If the access node that receives the road surface message has a road segment table entry whose destination coordinate tuple matches any data table entry in the road segment message, the access node selects the entry and performs the following operations for each selected matching road segment table entry: sets the destination coordinates of the road segment message to the coordinates in the source coordinate tuple of the road segment table entry that are not equal to the access node's own coordinates, and forwards the road segment message. If the distance between the coordinates of the vehicle node receiving the road surface message and the destination coordinates in the road surface message is less than the distance between the source coordinates and the destination coordinates in the road surface message, then the source coordinates of the road surface message are set as the vehicle node's own coordinates and the road surface message is forwarded; If the vehicle node that sends the detection message receives the road surface message, the data table in the road surface message is saved.

[0006] The method further comprises: The server that receives the detection message selects all data table items whose coordinate tuples are equal to the destination coordinate tuples in the detection message, selects an access table item, and the interface ID of the access table item is equal to the interface ID of the interface that received the detection message. In the road surface message sent by the server, the data table contains all selected data table items, the source coordinates are the coordinates of the selected access table item, and the destination coordinates are empty.

[0007] The method further comprises: If the distance between the coordinates of the robot node that receives the upload message and the destination coordinates in the upload message is less than the distance between the source coordinates and the destination coordinates in the upload message, and there is no sequence table item with a sequence number equal to the sequence number in the upload message, the robot node sets a time variable, the initial value of the time variable is equal to the current time t1, sets a message variable, the value of which is equal to the received upload message, creates a sequence table item, the sequence number of which is equal to the sequence number in the upload message, and sets the life cycle of the item to the maximum value. If, within the time period from time t1 to time t1+T×d1 / d2, the robot node does not receive an upload message with a sequence number equal to the sequence number in the message variable, the source coordinates of the received upload message are set to its own coordinates, and the upload message is forwarded. T is the preset time, d1 is the distance between the robot coordinates and the destination coordinates in the upload message, and d2 is the distance between the source coordinates and the destination coordinates in the upload message.

[0008] The method further comprises: The access node receiving the upload message forwards the upload message through the wired interface; If the server that receives the upload message has a data table item whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier in the upload message, the server sets the data of the data table item to the data in the upload message and sets the life cycle to the maximum value. Otherwise, the server creates a data table item whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier in the upload message, sets the data of the data table item to the data in the upload message, and sets the life cycle to the maximum value.

[0009] The method further comprises: Each access node stores a road segment table. A road segment table entry contains a target coordinate tuple, a source coordinate tuple, and a life cycle. The initial value of the road segment table is an empty table. The detection message contains the message ID, the destination coordinate tuple, the source coordinate tuple, the source coordinates, and the destination coordinates; The road surface message contains the message ID, data table, source coordinates and destination coordinates; In the detection message sent by the vehicle node, the message ID is 3, the destination coordinate tuple is pre-set, the source coordinate tuple is the coordinate tuple of the road section where the vehicle node is located, the source coordinates are equal to the current coordinates of the vehicle node, and the destination coordinates are set to any one of the coordinates in the source coordinate tuple.

[0010] The method further comprises: In the road segment table entry created by the access node that receives the detection message, the destination coordinate tuple and the source coordinate tuple are respectively equal to the destination coordinate tuple and the source coordinate tuple in the detection message, and the life cycle is equal to the maximum value.

[0011] The method further comprises: The access node that receives the road surface message selects all road segment table entries whose destination coordinate tuples are equal to the coordinate tuples of any data table entry in the road surface message, and deletes these road segment table entries; The vehicle node that receives the road surface message performs the following operations for each data table item DE1 in the road surface message: determines whether its own data table contains a data table item whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier of the data table item DE1; if so, updates the data of the data table item to the data in the data table item DE1, and sets the life cycle to the maximum value; otherwise, creates a data table item whose coordinate tuple, identifier, and data are respectively equal to the coordinate tuple, identifier, and data in the data table item DE1, and sets the life cycle to the maximum value.

[0012] The method further comprises: Each type of data is uniquely identified by an identifier; The server, each robot, and each vehicle node stores a data table. A data table entry contains a coordinate tuple, an identifier, data, and a life cycle. Each robot node stores a sequence table, and a sequence table item contains a sequence number and life cycle; The upload message contains the message ID, sequence number, coordinate tuple, data, identifier, source coordinates and destination coordinates; The robot node creates data and a random number. In the upload message sent, the message ID is 2, the sequence number is the created random number, the coordinate tuple is the coordinate tuple of the section where the robot node is located, the data is the created data, the identifier is the identifier that identifies the created data, the source coordinate is its current coordinate, and the destination coordinate is set to any coordinate in the coordinate tuple.

[0013] The method further comprises: Access nodes are evenly distributed on both sides of the road, and each access node has unique coordinates. The road between two adjacent access nodes is called a road segment, and the road segment is uniquely identified by a coordinate tuple of the two adjacent access nodes, where the coordinate tuple consists of the coordinates of the two connected access nodes. The access node is configured with a wired interface and a wireless interface, the wired interface is connected to the server, and the wireless interface is connected to the vehicle node or the robot node; the server is configured with multiple wired interfaces, the number of which is greater than the total number of all access nodes included in the system, and each access node is connected to a wired interface; each interface is uniquely identified by an interface ID; The vehicle node is configured with a wireless interface to connect with other vehicle nodes or access nodes; the robot node is configured with a wireless interface to connect with other robot nodes or access nodes; each message is uniquely identified by a message ID; the server saves an access table, and an access table entry contains the interface ID, coordinates and life cycle.

[0014] The method further comprises: The registration message includes a message ID and coordinates; in the registration message sent by the access node from the wired interface, the message ID is 1 and the coordinates are the coordinates of the access node; after the server receives the registration message, if there is an access table entry whose interface ID is equal to the interface ID of the interface that received the registration message, the coordinates of the access table entry are set to the coordinates in the registration message, and the life cycle is set to the maximum value; otherwise, an access table entry is created, whose interface ID is equal to the interface ID of the interface that received the registration message, the coordinates of the access table entry are set to the coordinates in the registration message, and the life cycle is set to the maximum value.

[0015] Beneficial Effects: This invention proposes a method for implementing a real-time road condition detection system in adverse weather conditions. This method can collect multi-dimensional data on target road parameters, such as water accumulation and icing conditions, in real time. This method effectively overcomes the limitations of existing manual inspections, ensures driving safety in adverse weather conditions, and has broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0017] Figure 1 This is a flow chart of the real-time detection system for road surface physical status of the present invention.

[0018] Figure 2 Create a flow chart for the access table.

[0019] Figure 3 This is a flowchart for real-time data collection of road physical status.

[0020] Figure 4 This is a flow chart for real-time data detection of road surface physical status. DETAILED DESCRIPTION

[0021] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It is apparent that the described embodiments are only a portion of the embodiments of the present invention, rather than all of them. Based on the described embodiments of the present invention, all other embodiments obtained by those skilled in the art without requiring creative effort are within the scope of protection of the present invention.

[0022] Figure 1 This is a flow chart of the real-time detection system for road surface physical conditions of the present invention; Figure 2 A flow chart is established for the access table. The system includes a robot node, a vehicle node, an access node and a server; the system includes only one server; Access nodes are evenly distributed on both sides of the road, and each access node has unique coordinates; The road between two adjacent access nodes is called a road segment, which is composed of the coordinate tuples of the two adjacent access nodes.<CO0, CO00> Unique identifier, CO0 is the coordinate of one access node, CO00 is the coordinate of another access node; The robot nodes are evenly distributed on the road section that needs to be inspected, and can establish a continuous path to any access node on the road section. There are no vehicle nodes traveling on the monitoring section. Vehicle nodes are evenly distributed on the road sections that can be driven normally, and can establish a continuous path to any access node on the road section. The road sections that can be driven normally do not include robot nodes. The access node is configured with a wired interface and a wireless interface, the wired interface is connected to the server, and the wireless interface is connected to the vehicle node or the robot node; The server is configured with multiple wired interfaces, the number of which is greater than the total number of all access nodes in the system, and each access node is connected to a wired interface; each interface is uniquely identified by an interface ID, and an interface with an interface ID of x is abbreviated as interface x; The vehicle node is configured with a wireless interface to connect with other vehicle nodes or access nodes; The robot node is equipped with a wireless interface to connect with other robot nodes or access nodes; Each message is uniquely identified by a message ID; The server stores an access table. An access table entry contains the interface ID, coordinates, and lifecycle. The registration message contains the message ID and coordinates; The coordinates of access node AP3 are CO3, and the following operations are performed periodically: Step 101: Start; Step 102: Access node AP3 sends a registration message from the wired interface, the message ID of the message is 1, and the coordinate is CO3; Step 103: After receiving the registration message from interface x0, the server determines whether there is an access entry with the interface ID equal to x0. If so, the server sets the coordinates of the entry to the coordinates in the registration message and the lifetime to the maximum value. Otherwise, the server creates an access entry with the interface ID equal to x0, sets the coordinates of the entry to the coordinates in the registration message, and sets the lifetime to the maximum value. Step 104: End.

[0023] The access node sends a registration message through the above process to establish an access table on the server. In this way, the server can obtain the coordinates of the connected access node based on the interface ID of each access table entry, thereby realizing the correct transmission of real-time data on the physical state of the road surface and achieving safe driving. The above process ensures the validity of the access table through the life cycle, thereby ensuring the validity and correctness of the access table.

[0024] Figure 3 Flowchart for real-time data collection of road surface physical conditions. Each type of data is uniquely identified by an identifier, such as icing conditions; The server, each robot, and each vehicle node stores a data table. A data table entry contains a coordinate tuple, an identifier, data, and a life cycle. Each robot node stores a sequence table, and a sequence table item contains a sequence number and life cycle; The upload message contains the message ID, sequence number, coordinate tuple, data, identifier, source coordinates and destination coordinates; The robot node R1 is located on the detection segment RS1, which is identified by the coordinate tuple TP1. If the robot node R1 creates data identified by the identifier NA1, the following operations are performed: Step 201: Start; Step 202: Robot node R1 creates a random number RN1 and sends an upload message with a message ID of 2, a sequence number of RN1, a coordinate tuple of TP1, the data of the message, an identifier of NA1, the source coordinates of the robot node being its current coordinates, and the destination coordinates being any coordinate in the coordinate tuple TP1. Step 203: If the access node receives the upload message, execute step 208; otherwise, execute step 204; Step 204: The robot node that receives the uploaded message determines whether the distance between its own coordinates and the destination coordinates in the message is less than the distance between the source coordinates and the destination coordinates in the message. If so, execute step 205; otherwise, execute step 209. Step 205: The robot node that receives the uploaded message determines whether there is a sequence table entry whose sequence number is equal to the sequence number in the uploaded message. If so, step 209 is executed; otherwise, step 206 is executed. Step 206: The robot node that receives the uploaded message sets a time variable, the initial value of which is equal to the current time t1, sets a message variable, the initial value of which is equal to the received uploaded message, creates a sequence table entry, the sequence number of which is equal to the sequence number in the uploaded message, and sets the life cycle of the entry to a maximum value, for example, 500ms. If the robot node does not receive an uploaded message with a sequence number equal to the sequence number in the message variable within the time period from time t1 to time t1+T×d1 / d2, then execute step 207; otherwise, execute step 209, where T is a preset time, for example, 1s, d1 is the distance between the robot coordinates and the destination coordinates in the uploaded message, and d2 is the distance between the source coordinates and the destination coordinates in the uploaded message. Step 207: The robot node that receives the uploaded message sets the source coordinates of the message as its own coordinates, forwards the uploaded message, and executes step 203; Step 208: The access node that receives the upload message forwards the upload message from the wired interface. The server that receives the upload message determines whether there is a data table entry whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier in the upload message. If so, the server sets the data of the table entry to the data in the message and sets the lifecycle to the maximum value. Otherwise, the server creates a data table entry whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier in the upload message, sets the data of the table entry to the data in the message, and sets the lifecycle to the maximum value. Step 209: End.

[0025] After the robot node creates the real-time data of the road surface physical state, it sends an upload message through the above process to upload the real-time data of the road surface physical state to the server for storage, so that the server can provide the real-time data of the road surface physical state to other vehicle nodes. The innovations of the above process include: (1) the robot node selects the shortest routing path through the coordinates to transmit the data to the server; (2) the sequence table is used to effectively prevent repeated forwarding of messages, thereby improving the efficiency of uploading the real-time data of the road surface physical state; (3) the robot coordinates are used to set the time variable to ensure that the robot node closest to the access node transmits data, reduce the number of robot nodes transmitting data, ensure the real-time nature of the real-time data of the road surface physical state, and reduce the transmission of redundant data.

[0026] Figure 4 This is a flowchart for real-time data detection of the road surface physical state. Each access node stores a road segment table. A road segment table entry contains a target coordinate tuple, a source coordinate tuple, and a life cycle. The initial value of the road segment table is an empty table. The detection message contains the message ID, the destination coordinate tuple, the source coordinate tuple, the source coordinates and the destination coordinates; The road surface message contains the message ID, data table, source coordinates and destination coordinates; Road segment RS1 is identified by the coordinate tuple TP1. Vehicle node V2 is located on the normal road segment RS2, which is identified by the coordinate tuple TP2. If the server has a data table entry with the coordinate tuple equal to TP1, vehicle node V2 performs the following process to obtain the data table for road segment RS1: Step 301: Start; Step 302: Vehicle node V2 sends a detection message with a message ID of 3, a destination coordinate tuple of TP1, and a source coordinate tuple of TP2. The source coordinates are equal to the current coordinates of the vehicle node, and the destination coordinates are equal to any coordinate in the coordinate tuple TP2. Step 303: If the access node receives the detection message, execute step 306; otherwise, execute step 304; Step 304: The vehicle node that receives the detection message determines whether the distance between its own coordinates and the destination coordinates in the message is less than the distance between the source coordinates and the destination coordinates in the message. If so, execute step 305; otherwise, execute step 318. Step 305: The vehicle node that receives the detection message sets the source coordinates of the message as its own coordinates, forwards the detection message, and executes step 303; Step 306: The access node that receives the detection message determines whether there is a road segment table entry whose destination coordinate tuple and source coordinate tuple are respectively equal to the destination coordinate tuple and source coordinate tuple in the detection message. If so, step 309 is executed; otherwise, step 307 is executed. Step 307: The access node that receives the detection message creates a road segment table entry, where the destination coordinate tuple and source coordinate tuple of the road segment table entry are respectively equal to the destination coordinate tuple and source coordinate tuple in the detection message, and sets the lifecycle to a maximum value. The maximum lifecycle value is preset, for example, 1 second. The access node forwards the detection message from the wired interface. Step 308: The server that receives the detection message from interface x1 selects all data table entries whose coordinate tuples are equal to the destination coordinate tuple in the detection message, selects an access table entry whose interface ID is equal to x1, and sends a road surface message from interface x1. The message ID of this message is 4. The data table contains all selected data table entries, the source coordinates are equal to the coordinates of the selected access table entry, and the destination coordinates are empty. Step 309: If the access node receives the road surface message, execute step 310; otherwise, execute step 313; Step 310: The access node that receives the road surface message determines whether there is a road segment table entry whose destination coordinate tuple is equal to the coordinate tuple of any data table entry in the message. If so, step 311 is executed; otherwise, step 318 is executed. Step 311: The access node that receives the road surface message selects all road segment table entries whose destination coordinate tuples are equal to the coordinate tuples of any data table entry in the data table in the message, and performs the following operations for each selected road segment table entry: selects a coordinate from the source coordinate tuple of the road segment table entry that is not equal to its own coordinates, sets the destination coordinates of the road surface message to the selected coordinates, and forwards the road surface message; Step 312: The access node that receives the road surface message selects all road segment table entries whose destination coordinate tuples are equal to the coordinate tuples of any data table entry in the message, deletes these road segment table entries, and executes step 309; Step 313: If the vehicle node V2 receives the road surface message, execute step 317, otherwise execute step 314; Step 314: The vehicle node that receives the road surface message performs the following operation for each data table entry DE1 in the road surface message: the vehicle node determines whether there is a data table entry in its own data table, whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier of data table entry DE1; if so, the data of the table entry is updated to the data in data table entry DE1, and the life cycle is set to the maximum value; otherwise, a data table entry is created, whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier of data table entry DE1, the data of the table entry is set to the data in data table entry DE1, and the life cycle is set to the maximum value; Step 315: The vehicle node that receives the road surface message determines whether the distance between its own coordinates and the destination coordinates in the message is less than the distance between the source coordinates and the destination coordinates in the message. If so, step 316 is executed; otherwise, step 318 is executed. Step 316: The vehicle node that receives the road surface message sets the source coordinates of the message as its own coordinates, forwards the road surface message, and executes step 309; Step 317: The vehicle node V2 that receives the road surface message saves the data table in the road surface message; Step 318: End.

[0027] Through the above process, the vehicle node sends detection messages and road surface messages to obtain real-time data on the physical state of the road surface from the server. In the above process, data sharing between multiple vehicle nodes is achieved through the road section table, thereby realizing real-time monitoring of the physical state of the road surface. The specific innovations include: (1) The access node uses the road section table to achieve aggregation, avoiding repeated forwarding of detection messages, greatly improving the detection efficiency; (2) The vehicle can obtain real-time data on the physical state of the road surface of any detection section, realizing remote monitoring; (3) The number of vehicle nodes forwarding data is reduced by using coordinates, minimizing the delay of forwarding data; (4) All vehicles on the source section can obtain the real-time data table of the physical state of the target road surface, realizing multi-dimensional data monitoring and improving detection efficiency; (5) The access node coordinates are used to transmit real-time data on the physical state of the road surface, thereby avoiding the problem of data acquisition failure caused by the mobility of vehicle nodes and ensuring that vehicle nodes obtain data.

[0028] Example 1 Based on the simulation parameters in Table 1, this embodiment simulates a method for implementing a real-time road condition detection system in severe weather conditions according to the present invention. The performance analysis is as follows: When the vehicle is far away from the access node, the success rate of the vehicle node in acquiring road physical condition data decreases. When the vehicle is close to the access node, the success rate of the vehicle node in acquiring real-time road physical condition data increases. The average success rate of vehicles acquiring road physical condition data is 97.9%.

[0029] Table 1 Parameter Description Parameter value MAC protocol IEEE 802.11 Number of simulations 50 Transmission radius 250 meters Simulation time 6 hours

[0030] The present invention provides a method for implementing a real-time road condition detection system in severe weather. While there are numerous methods and approaches for implementing this technical solution, the above-described preferred embodiments of the present invention are merely exemplary. It should be noted that those skilled in the art may make improvements and modifications without departing from the principles of the present invention, and such improvements and modifications are also within the scope of protection of the present invention. Any components not specified in this embodiment may be implemented using existing technologies.

Claims

1. A method for implementing a real-time road condition detection system in severe weather, characterized in that: The system includes a server, multiple robot nodes, multiple vehicle nodes and multiple access nodes; The access node sends a registration message to the server to create an access table; after the robot node creates data, it sends an upload message to the server to create a data table; The vehicle node sends a detection message to obtain real-time data on the physical state of the road surface; If the distance between the coordinates of the vehicle node receiving the detection message and the destination coordinates in the detection message is less than the distance between the source coordinates and the destination coordinates in the detection message, then the source coordinates of the detection message are set as the vehicle node's own coordinates and the detection message is forwarded; If the access node receiving the detection message does not have a road segment table entry whose destination coordinate tuple and source coordinate tuple are respectively equal to the destination coordinate tuple and source coordinate tuple in the detection message, then create a road segment table entry and forward the detection message from the wired interface; The server that receives the detection message sends a road surface message from the interface that received the detection message. If the access node that receives the road surface message has a road segment table entry whose destination coordinate tuple matches any data table entry in the road segment message, the access node selects the entry and performs the following operations for each selected matching road segment table entry: sets the destination coordinates of the road segment message to the coordinates in the source coordinate tuple of the road segment table entry that are not equal to the access node's own coordinates, and forwards the road segment message. If the distance between the coordinates of the vehicle node receiving the road surface message and the destination coordinates in the road surface message is less than the distance between the source coordinates and the destination coordinates in the road surface message, then the source coordinates of the road surface message are set as the vehicle node's own coordinates and the road surface message is forwarded; If the vehicle node that sends the detection message receives the road surface message, the data table in the road surface message is saved.

2. The method for implementing a real-time road condition detection system in severe weather according to claim 1, characterized in that: The method further comprises: The server that receives the detection message selects all data table items whose coordinate tuples are equal to the destination coordinate tuples in the detection message, selects an access table item, and the interface ID of the access table item is equal to the interface ID of the interface that received the detection message. In the road surface message sent by the server, the data table contains all selected data table items, the source coordinates are the coordinates of the selected access table item, and the destination coordinates are empty.

3. The method for implementing a real-time road condition detection system in severe weather according to claim 1, characterized in that: The method further comprises: If the distance between the coordinates of the robot node that receives the upload message and the destination coordinates in the upload message is less than the distance between the source coordinates and the destination coordinates in the upload message, and there is no sequence table item with a sequence number equal to the sequence number in the upload message, the robot node sets a time variable, the initial value of the time variable is equal to the current time t1, sets a message variable, the value of the message variable is equal to the received upload message, creates a sequence table item, the sequence number of the item is equal to the sequence number in the upload message, and sets the life cycle of the item to the maximum value. If, within the time period from time t1 to time t1+T×d1 / d2, the robot node does not receive an upload message with a sequence number equal to the sequence number in the message variable, the source coordinates of the received upload message are set to its own coordinates, and the upload message is forwarded. T is the preset time, d1 is the distance between the robot coordinates and the destination coordinates in the upload message, and d2 is the distance between the source coordinates and the destination coordinates in the upload message.

4. The method for implementing a real-time road condition detection system in severe weather according to any one of claims 1 to 3, characterized in that: The access node that receives the upload message forwards the upload message from the wired interface; if the server that receives the upload message has a data table item, and the coordinate tuple and identifier of the data table item are respectively equal to the coordinate tuple and identifier in the upload message, then the data of the data table item is set to the data in the upload message, and the life cycle is set to the maximum value; otherwise, the server creates a data table item, the coordinate tuple and identifier of the data table item are respectively equal to the coordinate tuple and identifier in the upload message, sets the data of the data table item to the data in the upload message, and sets the life cycle to the maximum value.

5. The method for implementing a real-time road condition detection system in severe weather according to any one of claims 1 to 3, characterized in that: The method further comprises: Each access node stores a road segment table. A road segment table entry contains a target coordinate tuple, a source coordinate tuple, and a life cycle. The initial value of the road segment table is an empty table. The detection message contains the message ID, the destination coordinate tuple, the source coordinate tuple, the source coordinates, and the destination coordinates; The road surface message contains the message ID, data table, source coordinates and destination coordinates; In the detection message sent by the vehicle node, the message ID is 3, the destination coordinate tuple is pre-set, the source coordinate tuple is the coordinate tuple of the road section where the vehicle node is located, the source coordinates are equal to the current coordinates of the vehicle node, and the destination coordinates are set to any one of the coordinates in the source coordinate tuple.

6. A method for implementing a real-time road condition detection system in severe weather according to any one of claims 1 to 3, characterized in that: The method further comprises: In the road segment table entry created by the access node that receives the detection message, the destination coordinate tuple and the source coordinate tuple are respectively equal to the destination coordinate tuple and the source coordinate tuple in the detection message, and the life cycle is equal to the maximum value.

7. The method for implementing a real-time road condition detection system in severe weather according to any one of claims 1 to 3, characterized in that: The access node that receives the road surface message selects all road segment table entries whose destination coordinate tuples are equal to the coordinate tuples of any data table entry in the road surface message, and deletes these road segment table entries; The vehicle node that receives the road surface message performs the following operations for each data table item DE1 in the road surface message: determines whether its own data table contains a data table item whose coordinate tuple and identifier are respectively equal to the coordinate tuple and identifier of the data table item DE1; if so, updates the data of the data table item to the data in the data table item DE1, and sets the life cycle to the maximum value; otherwise, creates a data table item whose coordinate tuple, identifier, and data are respectively equal to the coordinate tuple, identifier, and data in the data table item DE1, and sets the life cycle to the maximum value.

8. The method for implementing a real-time road condition detection system in severe weather according to any one of claims 1 to 3, characterized in that: The method further comprises: Each type of data is uniquely identified by an identifier; the server, each robot, and each vehicle node each store a data table, where a data table entry contains a coordinate tuple, an identifier, data, and a lifecycle; each robot node stores a sequence table, where a sequence table entry contains a sequence number and a lifecycle; an uploaded message contains a message ID, a sequence number, a coordinate tuple, data, an identifier, source coordinates, and destination coordinates; The robot node creates data and a random number. In the upload message sent, the message ID is 2, the sequence number is the created random number, the coordinate tuple is the coordinate tuple of the section where the robot node is located, the data is the created data, the identifier is the identifier that identifies the created data, the source coordinate is its current coordinate, and the destination coordinate is set to any coordinate in the coordinate tuple.

9. The method for implementing a real-time road condition detection system in severe weather according to any one of claims 1 to 3, characterized in that: The method further comprises: Access nodes are evenly distributed on both sides of the road, and each access node has unique coordinates. The road between two adjacent access nodes is called a road segment, and the road segment is uniquely identified by a coordinate tuple of the two adjacent access nodes, where the coordinate tuple consists of the coordinates of the two connected access nodes. The access node is configured with a wired interface and a wireless interface, the wired interface is connected to the server, and the wireless interface is connected to the vehicle node or the robot node; the server is configured with multiple wired interfaces, the number of which is greater than the total number of all access nodes included in the system, and each access node is connected to a wired interface; each interface is uniquely identified by an interface ID; The vehicle node is configured with a wireless interface to connect with other vehicle nodes or access nodes; the robot node is configured with a wireless interface to connect with other robot nodes or access nodes; each message is uniquely identified by a message ID; the server saves an access table, and an access table entry contains the interface ID, coordinates and life cycle.

10. The method for implementing a real-time road condition detection system in severe weather according to any one of claims 1 to 3, characterized in that: The method further comprises: The registration message includes a message ID and coordinates; in the registration message sent by the access node from the wired interface, the message ID is 1 and the coordinates are the coordinates of the access node; after the server receives the registration message, if there is an access table entry whose interface ID is equal to the interface ID of the interface that received the registration message, the coordinates of the access table entry are set to the coordinates in the registration message, and the life cycle is set to the maximum value; otherwise, an access table entry is created, whose interface ID is equal to the interface ID of the interface that received the registration message, the coordinates of the access table entry are set to the coordinates in the registration message, and the life cycle is set to the maximum value.

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