Automatic unmanned inspection system and equipment for roads and bridges

Abstract

The invention belongs to the technical field of road supervision, and particularly relates to a road and bridge automatic unmanned inspection system and equipment, and the system comprises an acquisition module, a position module, a cloud management platform, a remote control module, a data transmission module and a feedback module. The acquisition module adopts a multi-source collaborative sensing network formed by an unmanned aerial vehicle, an unmanned inspection vehicle, a high-definition camera and a vibration sensor; the cloud management platform performs fusion analysis on the multi-source data to realize automatic identification of road defects; the core of the method is that through an event driving mechanism, a high-definition camera or a vibration sensor is used for preliminarily detecting abnormity (such as bumping of a vehicle), an unmanned aerial vehicle or an unmanned inspection vehicle is instantly triggered to go for precise rechecking and positioning, and the hysteresis of traditional regular inspection is overcome; the system has the beneficial effects that all-weather and near-real-time road state monitoring is realized, centimeter-level accurate positioning can be carried out on defects through data fusion, and the inspection efficiency, the early warning speed and the accuracy of maintenance work are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of road supervision, and in particular relates to a road and bridge automatic unmanned inspection system and equipment. BACKGROUND

[0002] As a key hub of the transportation network, the health condition of road and bridge is directly related to driving safety and traffic efficiency. Therefore, it is crucial to conduct regular and efficient inspection of road and bridge. At present, the traditional inspection method mainly relies on two technical paths: Firstly, aerial inspection is conducted by using unmanned aerial vehicles. The unmanned aerial vehicles are equipped with high-definition or infrared cameras, which can obtain images or video data of the surface of the bridge and road from the air. However, this method has obvious limitations: the flight of the unmanned aerial vehicles is seriously affected by adverse weather such as strong wind, heavy fog, rain and snow, which leads to failure to work normally; at the same time, the endurance of the unmanned aerial vehicles is limited, and they can only conduct inspection at regular intervals, and it is difficult to realize real-time monitoring all the time without interruption. Secondly, ground inspection is conducted by using unmanned inspection vehicles. The unmanned inspection vehicles can detect the road surface condition at close range, such as identifying fine cracks or measuring the road surface flatness. However, the operation process of the unmanned inspection vehicles is seriously affected by the traffic on the road, and they usually need to be operated at a time period with little traffic (such as at night), which has poor flexibility and slow response speed. In addition, the ground inspection vehicles also cannot realize continuous real-time monitoring. Whether it is an unmanned aerial vehicle or an unmanned inspection vehicle, the existing inspection mode is periodic inspection, and there is a monitoring blind area. During the interval between two inspections, sudden defects that may occur on the road surface, such as large stones, plastic bags and other obstacles that fall, or newly generated pits and cracks, cannot be discovered and handled in time. This leads to serious lag in early warning and handling, which not only may cause traffic accidents, but also may cause the road defects to be further expanded due to repeated rolling of vehicles, increasing the subsequent maintenance cost. In addition, the existing technology also has deficiencies in defect positioning accuracy. High-precision positioning equipment is costly and difficult to deploy on a large scale. Single-source positioning data (such as relying only on the GPS of the unmanned aerial vehicle) can only determine a general range, and cannot accurately determine where the defect is located on the specific lane, which brings difficulties to the on-site search of maintenance personnel and the accurate early warning of the navigation system. Therefore, there is an urgent need in the field for an automatic inspection system that can overcome the influence of weather and traffic, realize near-real-time monitoring, and quickly discover and accurately locate road defects. SUMMARY

[0003] In order to make up for the deficiencies of the prior art, the present application provides a road and bridge automatic unmanned inspection system and equipment.

[0004] The technical scheme adopted by the present application to solve its technical problems is: the present application is a kind of road and bridge automatic unmanned inspection system, the inspection system comprises: A collection module is used to collect road condition data. A position module is used to determine the real-time position of the collection module and the position of road defects. A cloud management platform is used to analyze and judge road defect conditions according to road condition data, and to analyze the road defect position based on the real-time position of the collection module. A remote control module is used to remotely control the collection module to plan a route and collect road condition data. A data transmission module is used to realize real-time data transmission between the collection module, the position module and the cloud management platform. A feedback module is used to feed back the road defect conditions and road defect position data analyzed by the cloud management platform to road maintenance personnel for timely maintenance, and to the car navigation system. The collection module includes a drone, an unmanned inspection vehicle and a high-definition camera installed on the bridge guardrail facing the road; the drone carries an infrared camera to capture video and pictures of the bridge road surface conditions to obtain road condition data, which is transmitted to the cloud management platform for analysis through the data transmission module; the unmanned inspection vehicle is used to detect the road condition data of the bridge road undulation and fine cracks; the high-definition camera is used to capture the jolt of passing vehicles and perform road positioning.

[0005] Preferably, the number of drones is not less than three, two of which cooperate with the unmanned inspection vehicle to fly low in front of and behind the vehicle to obtain road condition data, and the remaining drones fly normally at a high altitude to capture road condition data from all directions.

[0006] Preferably, a shovel is arranged in front of the unmanned inspection vehicle, which is used to clean obstacles such as stones and plastic bags on the road surface; a row of detection rods and displacement sensors are arranged horizontally at the bottom of the vehicle, the detection rods are arranged to be movable in the vertical direction, the detection rods are in contact with the road surface, and the displacement sensors are used to detect the displacement distance of the detection rods in the vertical direction, each detection rod is independent of each other, and the displacement data of the detection rods detected by the displacement sensors is transmitted to the cloud management platform in real time for analysis and to give the displacement change curve of each detection rod during the movement of the unmanned inspection vehicle.

[0007] Preferably, a plurality of said high-definition cameras are installed equidistantly on the bridge guardrail; the position module is a positioning device, the high-definition camera is provided with a positioning device, and the high-definition camera acquires position information through the positioning device.

[0008] Preferably, the acquisition module further comprises a vibration sensor and a positioning device installed on the vehicle, the vibration sensor is used to acquire data of violent jolting during vehicle driving, and the positioning device is used to position the vehicle position; the jolting data and the vehicle position are transmitted to the cloud management platform through the data transmission module, the cloud management platform analyzes the jolting video of the vehicle shot by the high-definition camera on the bridge guardrail in combination with the jolting data of the vehicle and the vehicle position, and confirms the corresponding high-definition camera position when the vehicle jolts.

[0009] Preferably, the unmanned aerial vehicle cooperates with the high-definition camera to determine the specific position of the road defect; the feedback module feeds back the corresponding high-definition camera position when the vehicle jolts to the remote control module to control the high-altitude flying unmanned aerial vehicle to quickly confirm the road condition, if the road has defects, the video or picture information collected by the unmanned aerial vehicle is fed back to the cloud management platform, the cloud management platform analyzes the picture and video information in combination with the corresponding high-definition camera position when the vehicle jolts, obtains the specific position and type of the road defect, and feeds back the specific position and type of the road defect to the road maintenance personnel and the automobile navigation system through the feedback module.

[0010] The road bridge automatic unmanned inspection equipment is equipped with the road bridge automatic unmanned inspection system as described in the embodiments of the application.

[0011] The beneficial effects of the application are as follows: 1. All-weather and collaborative intelligent inspection is realized: by system integration of fixedly installed high-definition cameras, mobile and flexible unmanned aerial vehicles, ground fine detection unmanned inspection vehicles and vehicle-mounted sensors, a multi-dimensional detection network is constructed; fixed cameras perform uninterrupted preliminary screening, unmanned aerial vehicles and unmanned inspection vehicles perform targeted review and fine detection according to instructions, effectively overcoming the limitations of single equipment affected by weather and traffic flow, realizing complementary advantages, and improving the reliability and adaptability of the system in various environments.

[0012] 2. Establish a fast response and accurate positioning mechanism: the system can discover the road abnormalities (such as foreign matter or vehicle bumps) in the first time through the real-time data of fixed cameras and vehicle-mounted sensors, and immediately trigger the unmanned aerial vehicle or unmanned inspection vehicle to go to confirm, upgrade the traditional "periodic inspection" mode to the "event-driven" active response mode, greatly shorten the time from discovering the problem to on-site confirmation. At the same time, by fusing at least two sources of positioning data (such as high-definition camera position, unmanned inspection vehicle GPS coordinates, vehicle positioning information), the centimeter-level accurate positioning of the road defects is realized, and even the specific lane can be accurately positioned, which provides great convenience for maintenance personnel and provides accurate warning information for the automobile navigation system.

[0013] 3. For subtle defects: the detection rod array at the bottom of the unmanned inspection vehicle can accurately perceive the slight ups and downs and subtle cracks of the road surface, and intuitively present through the displacement change curve, solving the problem that high-altitude unmanned aerial vehicles cannot identify such defects; For obstacle cleaning: the shovel design at the front end of the unmanned inspection vehicle can directly clean the road obstacles, not only eliminating the traffic safety hazards, but also ensuring the working environment of the subsequent detection equipment (such as the detection rod), improving the data accuracy; For environmental interference: a cooperative working mode of unmanned aerial vehicle and unmanned inspection vehicle is designed, which uses the airflow of low-altitude flight of the unmanned aerial vehicle to blow away the fog and dust, significantly improving the visual detection conditions of the inspection vehicle and the contact detection conditions of the detection rod. BRIEF DESCRIPTION OF DRAWINGS

[0014] The application will be further described below with reference to the accompanying drawings.

[0015] Figure 1 is a system block diagram of the unmanned inspection system of the application. DETAILED DESCRIPTION

[0016] In order to make the technical means, creative features, purposes and effects realized by the application easy to understand, the application will be further described below in combination with specific embodiments.

[0017] As shown in Figure 1 , the application discloses a road and bridge automatic unmanned inspection system, which comprises: a collection module, the collection module is used for collecting road condition data; a position module, the position module is used for determining the real-time position of the collection module and the position of the road defect; a cloud management platform, the cloud management platform analyzes and judges the road defect condition according to the road condition data, and analyzes the road defect position according to the road defect condition and the real-time position of the collection module; A remote control module is configured to remotely control the collection module to plan a route to collect road condition data; A data transmission module is configured to realize real-time data transmission between the collection module, the location module and the cloud management platform; A feedback module is configured to feed back road defect conditions and road defect location data analyzed by the cloud management platform to the remote control module or road maintenance personnel for timely maintenance, and to the automobile navigation system; The collection module comprises a drone, an unmanned inspection vehicle and a high-definition camera installed on a bridge guardrail and facing the road; the drone is equipped with an infrared camera to take videos and pictures of the bridge road surface condition to obtain road condition data, and the road condition data obtained by the drone is transmitted to the cloud management platform for analysis through the data transmission module; the unmanned inspection vehicle is used to detect the bridge road undulation condition and the road condition data of fine cracks; and the high-definition camera is used to take the jolt condition of passing vehicles and the road surface state and to perform road positioning; In the prior art, an unmanned aerial vehicle is usually used to collect data or an unmanned inspection vehicle is used to collect bridge road surface information, but the inspection process is easily affected by many factors, such as the unmanned aerial vehicle cannot be used in strong wind and fog, and the unmanned inspection vehicle is affected by the traffic on the road and needs to be used in a situation with less traffic, and since the power of the unmanned aerial vehicle is limited, it is impossible to perform real-time monitoring and inspection, so if there are foreign matters such as stones and plastic bags on the road or defects, they cannot be found and handled in time, and timely warning and handling cannot be achieved; In the present application, the high-definition camera installed on the bridge guardrail is used to take pictures of the bridge road surface, the taken videos are sent to the cloud management module for analysis through the data transmission module, and it is detected whether there are foreign matters on the bridge road surface, if there are stones or plastic bags, they can be marked, and the markers are fed back to the remote control module through the feedback module, the unmanned aerial vehicle or the unmanned inspection vehicle is controlled by the remote control module to perform inspection to confirm the specific position of the markers on the bridge road surface, and the maintenance personnel and the automobile navigation system are fed back through the feedback unit; since the positioning equipment with high precision has a high cost, in the present application, when the high-definition camera is positioned, if the specific position of the road defect is to be obtained, the positioning of the unmanned aerial vehicle or the unmanned inspection vehicle can be combined with at least two positioning data to accurately determine the specific position of the defect on the road bridge road surface or even which lane, and accurate information can be provided to the maintenance personnel and the automobile navigation system, so that the vehicle can obtain the information in advance and avoid the defect expansion caused by traffic accidents or vehicle rolling through in the navigation with the marker.

[0018] Preferably, the unmanned aerial vehicle is not less than three, wherein two of the unmanned aerial vehicles cooperate with the unmanned inspection vehicle to fly at low altitude to obtain road condition data, and the remaining unmanned aerial vehicles obtain road condition data by normal high-altitude flight to shoot the bridge road in all directions; Considering that the high-altitude shooting of the unmanned aerial vehicle cannot accurately show the defects of the bridge road due to weather reasons or road dust or many obstructions, the present application takes this into account and considers the influence of heavy fog on the unmanned aerial vehicle. Two unmanned aerial vehicles fly at low altitude and are arranged in front of and behind the unmanned inspection vehicle to travel together. The unmanned aerial vehicles cooperate with each other to travel in front of and behind the unmanned inspection vehicle. In the case of no other vehicle passing, considering two use cases, one is heavy fog, and the high-altitude unmanned aerial vehicle cannot shoot the bridge road condition, and the unmanned inspection vehicle may be affected by the visibility due to heavy fog, and the travel is dangerous, so the unmanned aerial vehicle is designed to fly at low altitude, and the unmanned aerial vehicle flies left and right and up and down in front of and behind the unmanned inspection vehicle. The airflow generated by the rotation of the propeller of the unmanned aerial vehicle blows away the fog in front of and behind the unmanned inspection vehicle, improves the visibility range of the unmanned inspection vehicle, and avoids the influence of large obstacles on the bridge road. Two, in normal weather, due to the fact that some roads with less traffic have more road dust, or due to the fact that there is silt after drying, the unmanned aerial vehicle flies at a distance of ten centimeters from the ground in front of and behind the unmanned inspection vehicle to blow away the dust on the ground. On the one hand, it facilitates the unmanned inspection vehicle to shoot the road surface and find defects, and on the other hand, the unmanned aerial vehicle in front of the unmanned inspection vehicle blows over the road surface to avoid incomplete cleaning, and the unmanned aerial vehicle behind the unmanned inspection vehicle blows away the dust again using the airflow, so that the unmanned aerial vehicle and the unmanned inspection vehicle can detect again when returning to improve the detection accuracy. The road data obtained by the unmanned aerial vehicle and the unmanned inspection vehicle is transmitted to the cloud management platform through the data transmission module for analysis, and the road defect condition is fed back to the maintenance personnel through the feedback unit.

[0019] Preferably, a shovel is arranged in front of the unmanned inspection vehicle, and the shovel is used to clean the obstacles such as stones and plastic bags on the road surface. A row of detection rods and displacement sensors are arranged transversely at the bottom of the unmanned inspection vehicle. The detection rods are arranged to be movable in the vertical direction, and the detection rods are in contact with the road surface. The displacement sensor is used to detect the displacement distance of the detection rod in the vertical direction. Each of the detection rods is independent of each other, and the displacement data of the detection rod detected by the displacement sensor is transmitted to the cloud management platform in real time through the data transmission module for analysis and to give the displacement change curve of each detection rod during the movement of the unmanned inspection vehicle; The unmanned inspection vehicle is provided with a shovel in front of the unmanned inspection vehicle, so that the stones, plastic bags or silt and other obstacles on the route of the unmanned inspection vehicle can be cleaned during the travel of the unmanned inspection vehicle, so that the obstacles on the road cannot affect the passing vehicles and cannot affect the detection of the condition of the bridge pavement by the unmanned inspection vehicle or the unmanned aerial vehicle; and the unmanned inspection vehicle is provided with a row of detection rods which can move in the vertical direction and are arranged transversely at the bottom of the unmanned inspection vehicle; during the travel of the unmanned inspection vehicle, the detection rods contact the road surface; during the movement of the unmanned inspection vehicle, the detection rods will constantly displace up and down due to the change of the flatness of the road surface; the displacement data is sent to the cloud management platform in real time for analysis to obtain a displacement change curve, so that it can be directly known that which position of the bridge road specifically deforms and timely detection feedback can be performed; if the road has a small crack, the displacement of the detection rod at a position will suddenly change, which can be directly seen from the displacement change curve; since the high-definition camera constantly takes pictures, the time when the displacement of the detection rod suddenly changes can be corresponded to the high-definition camera of the unmanned inspection vehicle to determine the specific high-definition camera and the transverse position; the accurate position information can be obtained by combining the positioning data of the unmanned inspection vehicle; since the unmanned inspection vehicle is provided with the shovel in front of the unmanned inspection vehicle and the unmanned aerial vehicle is matched with the unmanned inspection vehicle, the influence of the ground impurities and obstacles on the detection of the detection rod can be reduced, the accuracy of the inspection and detection data can be improved, the time curve in which the displacement of the detection rod changes greatly can be directly seen from the displacement change curve of the detection rod, the position of the small crack of the road surface can be effectively detected, the problem that the high-altitude unmanned aerial vehicle cannot accurately identify can be avoided, and the deformation of the overall road surface can be effectively seen from the displacement change curve, so that the situation that the local road surface is not damaged but deforms can be found in time for processing, which cannot be directly photographed and identified by the high-altitude unmanned aerial vehicle.

[0020] Preferably, a plurality of high-definition cameras are equidistantly arranged on the bridge guardrail; the position module is a positioning device, the high-definition camera is provided with the positioning device, and the high-definition camera obtains the position information through the positioning device. Since accurate positioning of the defect is required in the present application, if there is only one high-definition camera, when shooting whether there is a foreign matter on the bridge road or a vehicle bumping, only the existence of a foreign matter on the road or a vehicle bumping can be determined, and the specific position cannot be confirmed. In the present application, the high-definition cameras are installed equidistantly on the bridge guardrails to directly form a plurality of high-definition camera video acquisition groups on both sides of the bridge, and each high-definition camera is installed with a positioning device for positioning. Since the high-definition cameras are installed on the guardrails, if a foreign matter exists in the picture shot by the high-definition camera and does not appear in other cameras, the position of the foreign matter can be directly located by the positioning device.

[0021] Preferably, the acquisition module further comprises a vibration sensor and a positioning device installed on the vehicle, the vibration sensor is used to acquire data of severe bumping during vehicle driving, and the positioning device is used to position the vehicle position. The data of bumping and the vehicle position are transmitted to the cloud management platform through the data transmission module. The cloud management platform analyzes the video of vehicle bumping shot by the high-definition camera on the bridge guardrail in combination with the data of vehicle bumping and the vehicle position to confirm the position of the high-definition camera corresponding to the vehicle bumping. Considering the foreign matter on the road and the vehicle bumping shot by the high-definition camera, if a foreign matter appears on the road and is relatively large, but it cannot be judged whether it is easy to be crushed and deformed, the vehicle has little impact, and when the maintenance personnel have multiple maintenance tasks that cannot be processed in time, it cannot be judged, which may cause the maintenance personnel to miss a more influential maintenance task. Therefore, in the present application, a vibration sensor and a positioning device are installed on the vehicle. When the high-definition camera shoots a foreign matter on the road, the maintenance personnel are fed back before the vehicle passes through the foreign matter. Whether the vehicle vibrates is used for secondary acquisition. If the foreign matter can be directly crushed and the vehicle vibration sensor does not react, the feedback reduces the risk level, so that the maintenance personnel can process the more urgent task first. If the vehicle passes through the foreign matter and vibrates severely, the high-definition camera shoots, and if only the high-definition camera corresponding to the foreign matter appears in the video of the vehicle crushing the foreign matter and the vibration sensor corresponding to the foreign matter, the foreign matter has a greater impact, the processing level is improved, the maintenance personnel are fed back, and the positioning of the corresponding high-definition camera is combined with the positioning of the vehicle bumping to accurately position the foreign matter and feed back to the vehicle navigation system. The navigation can be updated, so that the subsequent vehicle can learn to avoid in advance through the navigation. If all high-definition cameras shoot the video of the vehicle bumping, the state of a vehicle passing through the foreign matter needs to be shot again to eliminate the damage of the vehicle caused by the foreign matter.

[0022] The unmanned aerial vehicle cooperates with the high-definition camera to determine the specific position of the road defect; the feedback module feeds back the position of the corresponding high-definition camera when the vehicle bumps to the remote control module to control the unmanned aerial vehicle flying in the sky to quickly confirm the road condition, if the road has defects, the video or picture information collected by the unmanned aerial vehicle is fed back to the cloud management platform, the cloud management platform analyzes the picture and video information combined with the position of the corresponding high-definition camera when the vehicle bumps to obtain the specific position and type of the road defect, and feeds back the specific position and type of the road defect to the road maintenance personnel and the automobile navigation system through the feedback module. Considering that the road surface not only has foreign matters, but also has defects such as damage, the high-definition camera, the unmanned aerial vehicle and the automobile are combined in the application, when the automobile bumps without foreign matters on the bridge road, the vibration sensor feeds back the vibration data to the cloud management platform for analysis, and the position information when the vibration occurs is sent, at the same time, the high-definition camera sends all the videos in the vehicle running process to the cloud management platform for analysis and screening, the vehicle video when the vibration occurs is found out, and the position of the corresponding high-definition camera is shot, in order to determine the defect position and type, the cloud management platform feeds back to the remote control module to control the unmanned aerial vehicle flying in the sky to fly according to the position route given by the unmanned aerial vehicle to shoot the video and picture, the cloud management platform analyzes the picture and video information combined with the position of the corresponding high-definition camera when the vehicle bumps to obtain the specific position and type of the road defect, and feeds back the specific position and type of the road defect to the road maintenance personnel and the automobile navigation system through the feedback module, it should be noted that the defect position is mainly determined by the transverse position corresponding to the high-definition camera and the longitudinal position of the vehicle when the vehicle bumps, a rough position is determined first, which can effectively determine the unmanned aerial vehicle inspection shooting position, reduce the time of finding the position of the unmanned aerial vehicle inspection, and avoid that the unmanned aerial vehicle shoots a large area, which leads to too long analysis time, after the specific position and problem type are determined by the unmanned aerial vehicle inspection, the defect position is fed back to the automobile navigation system, and accurate position information is provided for the automobile navigation, which can effectively avoid the problem that the subsequent vehicle cannot avoid the defect due to positioning error; and the method can avoid the problem that the road problem cannot be found in time during the un-inspected process due to the regular inspection, and does not give the regular inspection, a variety of ways are combined to realize the quick response mechanism of detecting and feeding back the problem immediately.

[0023] The road bridge automatic unmanned inspection equipment is equipped with the road bridge automatic unmanned inspection system as described in the embodiments of the application.

[0024] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An automated unmanned inspection system for roads and bridges, characterized in that: The inspection system includes: The data acquisition module is used to collect road condition data; A location module, which is used to determine the real-time location of the acquisition module and the location of road defects; The cloud management platform analyzes and judges road defects based on road condition data, and analyzes the road defects in conjunction with the real-time location of the data collection module to determine the location of the road defects. The remote control module is used to remotely control the data acquisition module to plan routes and collect road condition data. A data transmission module is used to realize real-time data transmission between the acquisition module, the location module, and the cloud management platform. The feedback module is used to feed back the road defect information and location data analyzed by the cloud management platform to road maintenance personnel for timely maintenance, and also to the car navigation system. The data acquisition module includes a drone, an unmanned inspection vehicle, and a high-definition camera mounted on the bridge railing facing the road. The drone, equipped with an infrared camera, captures video and images of the bridge and road surface to obtain road condition data. The road condition data captured by the drone is transmitted to a cloud management platform for analysis via a data transmission module. The unmanned inspection vehicle is used to detect road undulations and minor cracks. The high-definition camera is used to capture images of passing vehicles and locate the road surface.

2. The automated unmanned inspection system for roads and bridges according to claim 1, characterized in that: The number of drones shall be no less than three. Two of the drones shall cooperate with the unmanned inspection vehicle to fly at low altitudes in front of and behind the unmanned inspection vehicle to obtain road condition data. The remaining drones shall fly at normal high altitudes to take pictures of the bridges and roads from all directions to obtain road condition data.

3. The automated unmanned inspection system for roads and bridges according to claim 2, characterized in that: The unmanned inspection vehicle is equipped with a bucket at the front, which is used to clear obstacles such as stones and plastic bags from the road surface. A row of detection rods and displacement sensors are arranged laterally on the bottom of the unmanned inspection vehicle. The detection rods are designed to be movable in the vertical direction and are in contact with the road surface. The displacement sensors are used to detect the vertical displacement distance of the detection rods. Each detection rod is independent of the others. The displacement data of the detection rods detected by the displacement sensors is transmitted in real time to the cloud management platform through the data transmission module for analysis and to provide the displacement change curve of each detection rod during the movement of the unmanned inspection vehicle.

4. The automated unmanned inspection system for roads and bridges according to claim 3, characterized in that: Multiple high-definition cameras are installed at equal intervals on the bridge railing; the location module is a positioning device, and the high-definition cameras are equipped with positioning devices to obtain location information.

5. The automated unmanned inspection system for roads and bridges according to claim 4, characterized in that: The acquisition module also includes a vibration sensor and a positioning device installed on the vehicle. The vibration sensor is used to acquire data on severe bumps during vehicle operation, and the positioning device is used to locate the vehicle's position. The bump data and vehicle position are transmitted to the cloud management platform through the data transmission module. The cloud management platform analyzes the vehicle bump data and vehicle position in conjunction with the video of the vehicle bumping captured by the high-definition camera on the bridge railing to confirm the position of the high-definition camera corresponding to the vehicle bumping.

6. The automated unmanned inspection system for roads and bridges according to claim 5, characterized in that: The drone, in conjunction with a high-definition camera, is used to determine the specific location of road defects. The feedback module feeds back the location of the high-definition camera corresponding to the vehicle's movement to the remote control module, which controls the drone flying at high altitude to quickly confirm the road conditions. If a road defect is found, the video or image information collected by the drone is fed back to the cloud management platform. The cloud management platform analyzes the image and video information in conjunction with the location of the high-definition camera corresponding to the vehicle's movement to obtain the specific location and type of road defect. The feedback module then feeds back the specific location and type of road defect to road maintenance personnel and the car navigation system.

7. The automated unmanned inspection equipment for roads and bridges according to claim 1, characterized in that: The road inspection equipment is equipped with the automated unmanned road and bridge inspection system as described in claim 6.

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