Highway pavement disease positioning device and positioning method

Abstract

The invention provides a highway pavement disease positioning device and positioning method, and belongs to the technical field of pavement disease detection. Comprising a carrier vehicle, an area-array camera, a Beidou differential positioning module, a synchronous control module and an encoder, the synchronous control module is used for controlling acquisition of the area-array camera, external GNSS data storage and output of synchronous information of time acquired by the area-array camera and time acquired by the GNSS according to a pulse signal of the encoder; and the encoder and the wheel are concentrically and coaxially arranged. According to the invention, the synchronous control module is arranged to receive second pulse signals of the GNSS in real time, synchronize the time of the highway pavement disease positioning device and the time of the GNSS, and fuse image data acquired by the area array phase plane machine and position information acquired by the Beidou differential positioning module by taking the time as a reference, so that the positioning accuracy of the highway pavement disease positioning device is improved, and the positioning accuracy of the highway pavement disease positioning device is improved. Therefore, accurate positioning of the highway pavement disease is determined.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of road surface disease detection, and relates to a highway surface disease positioning device and a positioning method. BACKGROUND

[0002] Detecting highway surface diseases is of great significance for ensuring traffic safety, prolonging the service life of highways, improving driving comfort, maintaining the image of highways, and promoting economic development. Therefore, accurately positioning the location of road surface diseases in road detection is crucial for the detection and repair of highway surface diseases and for ensuring the safety and smoothness of highway traffic.

[0003] Current highway surface disease positioning methods include traditional manual visual detection, in which detection personnel walk on the road or sit in a slow-moving vehicle and rely on visual observation to record the disease conditions on the road surface. This method is inefficient, low in accuracy, affects traffic, has safety hazards, and is highly subjective. Later, GPS receivers were installed on detection vehicles for single-point positioning, which receives real-time GPS satellite signals and calculates the driving position of the vehicle. Then, combined with the vehicle's driving trajectory, the specific position of the disease on the road surface can be determined.

[0004] However, the accuracy of single-point positioning technology is affected by various factors such as satellite orbit errors, signal propagation errors, and receiver errors. In complex environments such as urban high-rise areas and mountainous areas, the accuracy of single-point positioning may decrease. Adverse weather conditions such as heavy rain and snow can also affect the reception and propagation of GPS signals, thereby affecting the accuracy and reliability of single-point positioning. Therefore, this paper proposes a method for high-precision positioning of highway surface diseases based on a camera and a Beidou module, which combines image and high-precision positioning coordinates to determine the precise position of the disease, reducing the difficulty of road maintenance work and improving highway maintenance efficiency. SUMMARY

[0005] The application provides a highway surface disease positioning device, which comprises a carrier vehicle and a surface array camera, a Beidou differential positioning module, a synchronous control module and an encoder installed on the carrier vehicle. The surface array camera, the Beidou differential positioning module and the synchronous control module are all installed on the carrier vehicle through a connecting assembly. The surface array camera is used to collect road surface image information. The Beidou differential positioning module is used to obtain high-precision positioning information. The synchronous control module is used to control the collection of the surface array camera, the storage of external GNSS data, and the output of the synchronization information of the time collected by the surface array camera and the time collected by GNSS according to the pulse signal of the encoder. The encoder is mounted on the wheel of the carrier vehicle, and the encoder and the wheel are arranged concentrically and coaxially.

[0006] Furthermore, the connecting assembly includes a fixed bracket, a telescopic bracket, and a base; The Beidou differential positioning module is installed on a fixed bracket, and one end of the fixed bracket is fixedly connected to the top of the rear of the carrier vehicle, while the other end of the fixed bracket extends in the opposite direction to the displacement of the carrier vehicle. One end of the telescopic bracket is movably connected to the extension end of the fixed bracket, and a base is hinged to the other end of the telescopic bracket. The area array camera, BeiDou differential positioning module, and synchronization control module are all mounted on the base.

[0007] Furthermore, the base includes a hinge part, a mounting part, and a detection part. The hinge part is used to hinge with the telescopic bracket. The synchronous control module and the industrial control computer are both embedded in the mounting part. The area scan camera is fixedly mounted on the detection part, and the area scan camera is located at the center of the detection part.

[0008] Furthermore, the telescopic bracket is provided with a plurality of threaded holes arranged in a circumferential array, and the hinge portion of the base is provided with an arc-shaped connecting groove that matches the plurality of threaded holes.

[0009] Furthermore, the hinge portion is provided with two parts arranged symmetrically along the telescopic bracket.

[0010] Furthermore, in addition to the above-mentioned structure, the road surface defect location device also includes a flashlight assembly; The flash unit is mounted on the base and has two sets arranged symmetrically along the area array camera.

[0011] Furthermore, in addition to the above structure, the road surface defect location device also includes a power module; The power module is mounted on the base and is used to provide power to the area array camera, flash assembly, BeiDou differential positioning module, synchronization control module, industrial control computer module and encoder.

[0012] Furthermore, in addition to the above structure, the highway pavement defect location device also includes an industrial control computer module; The industrial control computer module is used to interact with an external host computer and to collect and store the data acquired by the Beidou differential positioning module, area array camera, flash group, synchronization control module, industrial control computer module and encoder.

[0013] The present invention also provides a method for locating road pavement defects, comprising the following steps: Step 1: Assemble the road surface defect location device as described above; Step 2: Activate the road surface defect location device. The synchronization control module receives GNSS signals in real time and synchronizes the GNSS time with the time of the road surface defect location device in real time. Step 3: The carrier vehicle travels on the detection road. As the wheels rotate, the encoder emits a corresponding number of pulse signals and transmits them to the synchronization control module. Based on the received pulse signals, the synchronization control module sends trigger signals to the area array camera and flash assembly according to the set pulse interval. The area array camera then performs data acquisition and generates corresponding synchronization information. The synchronization information includes the GNSS time at each trigger, the encoder pulse count value, and the trigger count information. Step 4: Since the center normal of the area array camera is at an angle to the ground normal, calibration is required before detection. The synchronous control module projects and corrects the image, and then uses existing software to automatically generate a correction parameter file based on the projected image. At the same time, the synchronous control module determines the spatial relative position between the actual ground position corresponding to the center point of the corrected image and the center point detected by the Beidou differential positioning module, and calibrates the offset parameters of the relative coordinate system. Step 5: Based on the synchronization information in Step 3, obtain the time and positioning information corresponding to each road surface image during the acquisition process. Determine the BeiDou differential positioning data at the same moment by using the time corresponding to the road surface defect image. Then, after the corresponding coordinate transformation, obtain the positioning information of the corrected image center based on the correction parameters and offset parameters calibrated in Step 4. Finally, determine the high-precision positioning information of the road surface defect based on the coordinate points of the road surface defect in the plane coordinate system with the image center as the origin.

[0014] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention provides a road surface defect location device, which, by setting a synchronization control module, receives the second pulse signal of GNSS in real time and synchronizes the time of the road surface defect location device with the time of GNSS. Based on the time, the image data collected by the area array camera and the location information collected by the Beidou differential positioning module are fused to determine the accurate location of the road surface defect.

[0015] (2) Compared with the prior art, the method for locating road surface defects provided by the present invention combines an area array camera and a Beidou differential positioning module. By fixing the spatial position relationship between the two, the correction parameters and offset parameters are calibrated. The synchronization control module in the system uses GNSS information to synchronize its own time system with the external GNSS. The hardware triggering method enables each sensor to collect data at a certain trigger interval and to mark the trigger signal with time, so that the data of the area array camera sensor and the time of the synchronization control system are corresponding. Then, the positioning data of the Beidou differential positioning module is combined to perform the corresponding coordinate transformation, thereby obtaining high-precision positioning information of road surface defects.

[0016] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall structure of a road surface defect location device according to an embodiment of the present invention; Figure 2 yes Figure 1 Schematic diagram of the middle base; Figure 3 yes Figure 1 A schematic diagram showing the interconnection of the base plate, area scan camera, flash, power module, synchronization control module, and industrial control computer module.

[0018] in: 1. Carrier vehicle; 2. Fixed bracket; 3. Telescopic bracket; 4. Base; 4.1. Hinge; 4.2. Mounting part; 4.3. Detection part; 5. Beidou differential positioning module; 6. Area array camera; 7. Flash unit; 8. Power supply module; 9. Synchronization control module; 10. Industrial control computer module. Detailed Implementation

[0019] To make the above-mentioned objectives, features, and advantages of the present invention clearer and easier to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the accompanying drawings of the present invention are all in a simplified form and use non-precise proportions, and are only used to facilitate and clearly assist in illustrating the implementation of the present invention; the "several" mentioned in the present invention are not limited to the specific number shown in the examples in the accompanying drawings; the orientations or positional relationships indicated by terms such as "front," "middle," "rear," "left," "right," "up," "down," "top," "bottom," and "center" mentioned in the present invention are all based on the orientations or positional relationships shown in the accompanying drawings of the present invention, and do not indicate or imply that the device or component referred to must have a specific orientation, nor should they be construed as limitations on the present invention.

[0020] Example: See Figures 1 to 3 As shown, the present invention provides a road surface defect location device, which includes a carrier vehicle 1 and an area array camera 6, a flash lamp group 7, a Beidou differential positioning module 5, a power supply module 8, a synchronous control module 9, an industrial control computer module 10 and an encoder installed on the carrier vehicle 1. The area array camera 6, flash group 7, Beidou differential positioning module 5, power module 8, synchronization control module 9, and industrial control computer module 10 are all installed at the rear of the carrier vehicle 1 via connecting components. The area array camera 6 is used to acquire road surface image information; The flash group 7 is used to supplement the light source for image acquisition, so as to ensure that the road image is clear and bright; The Beidou differential positioning module 5 is used to acquire high-precision positioning information; The power module 8 is used to provide power to the area array camera 6, the flash group 7, the Beidou differential positioning module 5, the synchronization control module 9, the industrial control computer module 10, and the encoder. The synchronization control module 9 is used to control the acquisition of the area array camera 6, the opening or closing of the flash group 7, the storage of GNSS (Global Navigation Satellite System) data, and the output of the synchronization information between the time acquired by the area array camera 6 and the time acquired by GNSS, based on the pulse signal of the encoder. The industrial control computer module 10 is used to interact with the host computer and to collect and store the data acquired by the Beidou differential positioning module 5, the area array camera 6, the flash group 7, the synchronization control module 9, the industrial control computer module 10, and the encoder. The encoder is installed on the wheel of the carrier vehicle 1, and the encoder and the wheel are arranged concentrically and coaxially.

[0021] Preferably, the connecting assembly includes a fixed bracket 2, a telescopic bracket 3, and a base 4; The Beidou differential positioning module 5 is installed on the fixed bracket 2, and one end of the fixed bracket 2 is fixedly connected to the top of the rear of the carrier vehicle 1, while the other end of the fixed bracket 2 extends in the opposite direction to the displacement of the carrier vehicle 1. One end of the telescopic bracket 3 is movably connected to the extension end of the fixed bracket 2, and the other end of the telescopic bracket 3 is hinged to a base 4. The base 4 includes a hinge part 4.1, a mounting part 4.2, and a detection part 4.3. The hinge part 4.1 is used to hinge with the telescopic bracket 3. The power module 8, the synchronous control module 9, and the industrial computer are all embedded in the mounting part 4.2. The area scan camera 6 and the flash lamp group 7 are respectively fixedly mounted on the detection part 4.3, and the area scan camera 6 is located at the center of the detection part 4.3. The flash lamp group 7 has two sets symmetrically arranged along the area scan camera 6.

[0022] In a further preferred embodiment, to achieve adjustment of the relative angle between the hinge portion 4.1 of the base 4 and the telescopic bracket 3, the telescopic bracket 3 is provided with a plurality of threaded holes arranged in a circumferential array, and the hinge portion 4.1 of the base 4 is provided with an arc-shaped connecting groove that matches the plurality of threaded holes. The threaded holes and the arc-shaped connecting groove at different locations are locked and fixed by bolts to achieve adjustment of the relative angle between the base 4 and the telescopic bracket.

[0023] More preferably, in order to achieve a reliable connection between the base 4 and the telescopic bracket 3, the hinge part 4.1 is preferably provided with two parts symmetrically arranged along the telescopic bracket 3.

[0024] As a further embodiment of the present invention, the present invention also provides a method for locating road surface defects, comprising the following steps: Step 1: Assemble the highway pavement defect location device described above; Step 2: Activate the road surface defect location device. The synchronization control module receives GNSS signals in real time and synchronizes the GNSS time with the time of the road surface defect location device in real time. Step 3: The carrier vehicle travels on the detection road. As the wheels rotate, the encoder emits a corresponding number of pulse signals and transmits them to the synchronization control module. Based on the received pulse signals, the synchronization control module sends trigger signals to the area array camera and flash assembly according to the set pulse interval. The area array camera then collects data and generates corresponding synchronization information. The synchronization information includes the GNSS time at each trigger, the encoder pulse count value, and the trigger count, etc. Step 4: Since the center normal of the area array camera is taken at an angle to the ground normal, calibration is required before detection. The synchronous control module projects and corrects the image, and then uses existing software to automatically generate a correction parameter file based on the projected image for subsequent batch processing. At the same time, the synchronous control module determines the spatial relative position between the actual ground position corresponding to the center point of the corrected image and the center point detected by the BeiDou differential positioning module, and calibrates the offset parameters of the relative coordinate system. That is, in the coordinate system with the center point of the BeiDou differential positioning module as the origin, the spatial coordinates of the center point of the corrected image are calibrated as Xoffset, Yoffset, and Zoffset respectively.

[0025] Step 5: Based on the synchronization information in Step 3, obtain the time and positioning information corresponding to each road surface image during the acquisition process. Determine the BeiDou differential positioning data at the same moment by using the time corresponding to the road surface defect image. Then, after the corresponding coordinate transformation, obtain the positioning information of the corrected image center based on the correction parameters and offset parameters calibrated in Step 4. Finally, determine the high-precision positioning information of the road surface defect based on the coordinate points of the road surface defect in the plane coordinate system with the image center as the origin.

[0026] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A device for locating road surface defects, characterized in that, The application relates to a vehicle-mounted camera system which comprises a carrier vehicle (1) and a face array camera (6), a Beidou differential positioning module (5), a synchronous control module (9) and an encoder which are mounted on the carrier vehicle (1). The face array camera (6), the Beidou differential positioning module (5) and the synchronous control module (9) are all mounted on the carrier vehicle (1) through a connecting assembly. The face array camera (6) is used for collecting road surface image information. The Beidou differential positioning module (5) is used for obtaining high-precision positioning information. The synchronous control module (9) is used for controlling the collection of the face array camera (6), the storage of external GNSS data and the output of synchronization information between the time collected by the face array camera (6) and the time collected by GNSS according to the pulse signal of the encoder. The encoder is mounted on a wheel of the carrier vehicle (1), and the encoder and the wheel are arranged in a concentric coaxial mode.

2. The highway pavement distress locator device of claim 1, wherein, The connecting assembly comprises a fixed support (2), an extension support (3) and a base (4). The Beidou differential positioning module (5) is mounted on the fixed support (2), one end of the fixed support (2) is fixedly connected with the top end of the tail of the carrier vehicle (1), and the other end of the fixed support (2) extends in the direction opposite to the displacement direction of the carrier vehicle (1). One end of the extension support (3) is movably connected with the extending end of the fixed support (2), and the other end of the extension support (3) is hingedly connected with the base (4). The face array camera (6), the Beidou differential positioning module (5) and the synchronous control module (9) are all mounted on the base (4).

3. The highway pavement distress locator device of claim 2, wherein, The base (4) comprises a hinged part (4.1), a mounting part (4.2) and a detection part (4.3), the hinged part (4.1) is used for being hingedly connected with the extension support (3), the synchronous control module (9) and an industrial computer are embeddedly mounted on the mounting part (4.2), the face array camera (6) is fixedly mounted on the detection part (4.3), and the face array camera (6) is arranged at the central part of the detection part (4.3).

4. The highway pavement distress locator device of claim 3, wherein, A plurality of threaded holes which are arranged in a circumferential array are arranged on the extension support (3), and an arc-shaped connecting groove which is matched with the plurality of threaded holes is arranged on the hinged part (4.1) of the base (4).

5. The highway pavement distress locator device of claim 4, wherein, The hinged part (4.1) is provided with two parts which are symmetrically arranged along the extension support (3).

6. The highway pavement distress locator device of any one of claims 1-5, wherein, The system further comprises a flash group (7). The flash group (7) is mounted on the base (4) and is provided with two groups which are symmetrically arranged along the face array camera (6).

7. The highway pavement distress locator device of claim 6, wherein, The system further comprises a power module (8). The power module (8) is mounted on the base (4) and is used for providing electric energy for the face array camera (6), the flash group (7), the Beidou differential positioning module (5), the synchronous control module (9), an industrial computer module (10) and the encoder.

8. The highway pavement distress locator device of claim 7, wherein, The system further comprises the industrial computer module (10). The industrial computer module (10) is used for interacting with an external host computer and is used for storing the data collected by the Beidou differential positioning module (5), the face array camera (6), the flash group (7), the synchronous control module (9), the industrial computer module (10) and the encoder.

9. A method for locating road pavement defects, characterized in that, The system comprises the following steps: Step one, assemble the highway pavement disease positioning device as claimed in claim 8; Step two, start the highway pavement disease positioning device, and the synchronous control module receives GNSS signals in real time and synchronizes the time of GNSS with the time of the highway pavement disease positioning device in real time; Step three, the carrier vehicle travels on the detection road, the encoder sends corresponding number of pulse signals to the synchronous control module with the rotation of the wheel; the synchronous control module sends trigger signals to the area array camera and the flash group according to the received pulse signals and the set pulse interval, and the area array camera generates corresponding synchronization information according to data collection; the synchronization information includes GNSS time, encoder pulse count value and trigger count information at each trigger; Step four, since the central normal line of the area array camera and the normal line of the detection ground form an included angle for shooting, calibration is needed before detection, the synchronous control module corrects the projection of the image, and existing software automatically generates a correction parameter file based on the corrected image; at the same time, the synchronous control module determines the spatial relative position relationship between the position of the corrected image center point on the actual ground and the center point detected by the Beidou differential positioning module, and calibrates the offset parameters of the relative coordinate system; Step five, according to the synchronization information in step three, the time and positioning information corresponding to each pavement image in the collection process are obtained, the Beidou differential positioning data at the same time is determined through the time corresponding to the pavement disease image; then after corresponding coordinate conversion, the positioning information of the corrected image center is obtained according to the calibration of the correction parameters and the offset parameters in step four, and the high-precision positioning information of the pavement disease is determined according to the coordinate points of the pavement disease in the image center in the plane coordinate system.

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