Highway global multi-dimensional operation and maintenance equipment

Abstract

The invention relates to the technical field of highway operation and maintenance, and provides highway global multi-dimensional operation and maintenance equipment. The device comprises: a vehicle-mounted global three-dimensional sensing system, which is used for obtaining global three-dimensional data of a target road; the pavement deflection measuring unit is used for acquiring pavement deformation data of a target road; the vehicle-mounted landscape perception unit is used for acquiring first line image data of a target road; the unmanned aerial vehicle measurement system is used for acquiring second line space three-dimensional data and second line image data of the target road; the data processing unit is used for acquiring target information of a target road based on the global three-dimensional data, the road surface deformation data, the first along-line image data, the second along-line space three-dimensional data and the second along-line image data; and the road operation and maintenance system is used for performing safety operation and maintenance on the target road based on the target information. According to the invention, comprehensive operation and maintenance can be carried out for operation and maintenance targets of different dimensions of the road, so that the requirement of comprehensive maintenance of the road is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of highway operation and maintenance, and in particular to a highway global multi-dimensional operation and maintenance equipment. BACKGROUND

[0002] In recent years, highway operation and maintenance has transitioned from the traditional "emergency repair era" to the "comprehensive maintenance era". Comprehensive, accurate, fast and timely operation and maintenance of highways not only directly affects the comfort and safety evaluation of driving, but also helps to improve highway quality and extend service life, and is the key to scientific maintenance and management decisions.

[0003] The existing mainstream highway operation and maintenance equipment mostly performs highway operation and maintenance based on detection data collected by independent single detection equipment. Since each detection equipment focuses on different detection dimensions, relying solely on the detection data of a single detection equipment for highway operation and maintenance will simultaneously result in operation and maintenance focusing on a single dimension, which cannot perform comprehensive operation and maintenance for different dimensional operation and maintenance targets of highways, and thus cannot meet the demand for "comprehensive maintenance" of highways. SUMMARY

[0004] The present application provides a highway global multi-dimensional operation and maintenance equipment to solve the technical problem that the existing mainstream highway operation and maintenance equipment cannot perform comprehensive operation and maintenance for different dimensional operation and maintenance targets of highways, and thus cannot meet the demand for "comprehensive maintenance" of highways.

[0005] The present application provides a highway global multi-dimensional operation and maintenance equipment, comprising: a vehicle-mounted global three-dimensional perception system, configured to: acquire global three-dimensional data of a target highway; the global three-dimensional data comprises pavement precision three-dimensional data, first along-line spatial three-dimensional data and underground electromagnetic wave three-dimensional data; a pavement deflection measurement unit, configured to: acquire pavement deformation data of the target highway; a vehicle-mounted landscape perception unit, configured to: acquire first along-line image data of the target highway; an unmanned aerial vehicle measurement system, configured to: acquire second along-line spatial three-dimensional data and second along-line image data of the target highway; a data processing unit, configured to: acquire target information of the target highway based on the global three-dimensional data, the pavement deformation data, the first along-line image data, the second along-line spatial three-dimensional data and the second along-line image data; a highway operation and maintenance system, configured to: perform safe operation and maintenance on the target highway based on the target information.

[0006] In one embodiment, the acquiring of the target information of the target highway based on the global three-dimensional data, the pavement deformation data, the first along-line image data, the second along-line spatial three-dimensional data and the second along-line image data comprises: extracting pavement disease information of the target highway based on the road surface precise three-dimensional data; extracting asset anomaly information of the target highway based on the first along-the-line spatial three-dimensional data and the first along-the-line image data; extracting underground disease information and pavement layer thickness information of the target highway based on the underground electromagnetic wave three-dimensional data; extracting pavement deflection basin information of the target highway based on the road surface deformation data; extracting deformation information of special targets on the target highway based on the second along-the-line spatial three-dimensional data; extracting damage information of special targets on the target highway based on the second along-the-line image data; the special targets include bridges, slopes and tunnels; determining the pavement disease information, the asset anomaly information, the underground disease information, the pavement layer thickness information, the pavement deflection basin information, the deformation information and the damage information as target information of the target highway.

[0007] In one embodiment, the safe operation and maintenance of the target highway based on the target information comprises: filtering out to-be-disposed disease information from the pavement disease information and the underground disease information based on disease categories and disease sizes, and sending the to-be-disposed disease information and a corresponding disposal task thereof to a background operation and maintenance system; filtering out to-be-disposed asset anomaly information from the asset anomaly information based on asset anomaly categories and asset anomaly influence ranges, and sending the to-be-disposed asset anomaly information and a corresponding disposal task thereof to the background operation and maintenance system.

[0008] In one embodiment, the safe operation and maintenance of the target highway based on the target information comprises: calculating a pavement evaluation index of the target highway based on the pavement disease information and the pavement deflection basin information; calculating a pavement structure layer modulus of the target highway based on the pavement layer thickness information and the pavement deflection basin information; dividing a service state level of the target highway based on the pavement evaluation index and the pavement structure layer modulus; sending information of a region of the target highway whose service state level is lower than a preset service state level and a corresponding disposal task thereof to a background operation and maintenance system.

[0009] In one embodiment, the safe operation and maintenance of the target highway based on the target information comprises: calculating a deformation speed of the special targets based on the deformation information; calculate a damage speed of the special target based on the damage information; divide the special target into a safety state level based on the deformation speed and the deformation position of the special target and the damage speed and the damage position of the special target; send information of the special target with a safety state level lower than a preset safety state level on the target road and a corresponding disposal task to a backstage operation and maintenance system.

[0010] In an embodiment, the unmanned aerial vehicle measurement system comprises: an on-board space three-dimensional perception unit, an on-board positioning unit, and an unmanned aerial vehicle. The on-board space three-dimensional perception unit is configured to: acquire second along-line space three-dimensional data of the target road. The on-board positioning unit is configured to: acquire positioning data of the unmanned aerial vehicle. The unmanned aerial vehicle built-in control unit is configured to: plan a flight trajectory for the unmanned aerial vehicle based on the second along-line space three-dimensional data and the positioning data.

[0011] In an embodiment, the system further comprises: a mobile carrier vehicle and a vehicle-mounted positioning unit. The vehicle-mounted positioning unit is configured to: acquire positioning data of the mobile carrier vehicle. The data processing unit is further configured to: synchronize the global three-dimensional data, the road surface deformation data, and the first along-line image data in time and space based on the positioning data of the mobile carrier vehicle. synchronize the second along-line space three-dimensional data and the second along-line image data in time and space based on the positioning data of the unmanned aerial vehicle.

[0012] In an embodiment, the system further comprises: a communication unit. The communication unit is configured to: a backstage operation and maintenance system issues a detection task to the road operation and maintenance system, and the road operation and maintenance system reports a detection trajectory, a task progress, a working state, and detection data to the backstage operation and maintenance system.

[0013] In an embodiment, the system further comprises: a communication unit. The communication unit is configured to: the road operation and maintenance system issues a detection task, a return-to-nest instruction, and a nest position to the unmanned aerial vehicle measurement system, and the unmanned aerial vehicle measurement system reports a detection trajectory, a task progress, a working state, and detection data to the road operation and maintenance system.

[0014] In an embodiment, the vehicle-mounted global three-dimensional perception system, the road surface deflection measuring unit, the vehicle-mounted landscape perception unit, the data processing unit, the highway operation and maintenance system, the vehicle-mounted positioning unit, and the communication unit are integrated on the mobile vehicle. The mobile vehicle is configured to provide a parking site for the unmanned aerial vehicle measurement system.

[0015] The highway global multi-dimensional operation and maintenance equipment provided by the present application comprises a vehicle-mounted global three-dimensional perception system, a road surface deflection measuring unit, a vehicle-mounted landscape perception unit, an unmanned aerial vehicle measurement system, a data processing unit, and a highway operation and maintenance system. The vehicle-mounted global three-dimensional perception system is configured to acquire global three-dimensional data of a target highway. The global three-dimensional data comprises road surface precise three-dimensional data, first along-line spatial three-dimensional data, and road subsurface electromagnetic wave three-dimensional data. The road surface deflection measuring unit is configured to acquire road surface deformation data of the target highway. The vehicle-mounted landscape perception unit is configured to acquire first along-line image data of the target highway. The unmanned aerial vehicle measurement system is configured to acquire second along-line spatial three-dimensional data and second along-line image data of the target highway. The data processing unit is configured to acquire target information of the target highway based on the global three-dimensional data, the road surface deformation data, the first along-line image data, the second along-line spatial three-dimensional data, and the second along-line image data. The highway operation and maintenance system is configured to perform safe operation and maintenance on the target highway based on the target information. The highway operation and maintenance equipment of the present application integrates the vehicle-mounted global three-dimensional perception system, the road surface deflection measuring unit, the vehicle-mounted landscape perception unit, the unmanned aerial vehicle measurement system, and other detection devices, and can simultaneously acquire detection data of multiple detection dimensions focused on by these detection devices. In the detection spatial dimension, the detection data can comprise road surface detection data, on-road detection data, and road subsurface detection data. In the detection data dimension, the detection data can comprise three-dimensional spatial data and two-dimensional image data. In the detection device dimension, the detection data can comprise vehicle-mounted device detection data and airborne device detection data. Based on these multi-dimensional data, the data processing unit can acquire operation and maintenance target information of the target highway in different dimensions to the maximum extent. The highway operation and maintenance system can perform comprehensive operation and maintenance on the target highway based on the operation and maintenance target information, thereby meeting the demand for comprehensive maintenance of highways. In summary, the highway operation and maintenance equipment of the present application can perform comprehensive operation and maintenance on operation and maintenance targets in different dimensions of highways, thereby meeting the demand for comprehensive maintenance of highways. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0017] Figure 1 FIG. 1 is a structural schematic diagram of the highway global multi-dimensional operation and maintenance equipment provided by the present application. DETAILED DESCRIPTION

[0018] In order to make the purposes, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0019] It should be noted that, in the description of the embodiments of the present application, the terms "comprise", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or device comprising the element. The terms "upper", "lower" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise explicitly specified and limited, the terms "mount", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected internally between two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0020] The terms "first", "second" and the like in the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" and the like are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in a "or" relationship.

[0021] Figure 1 is a structural schematic diagram of the highway global multi-dimensional operation and maintenance equipment provided by the embodiments of the present application. Referring to Figure 1 , the embodiments of the present application provide a highway global multi-dimensional operation and maintenance equipment, which can include: The vehicle-mounted global three-dimensional perception system is used for obtaining global three-dimensional data of a target road, wherein the global three-dimensional data comprises road surface precise three-dimensional data, first along-line spatial three-dimensional data and road-under electromagnetic wave three-dimensional data. The road surface deflection measurement unit is used for obtaining road surface deformation data of the target road. The vehicle-mounted landscape perception unit is used for obtaining first along-line image data of the target road. The unmanned aerial vehicle measurement system is used for obtaining second along-line spatial three-dimensional data and second along-line image data of the target road. The data processing unit is used for obtaining target information of the target road based on the global three-dimensional data, the road surface deformation data, the first along-line image data, the second along-line spatial three-dimensional data and the second along-line image data. The road operation and maintenance system is used for performing safe operation and maintenance on the target road based on the target information.

[0022] The vehicle-mounted global three-dimensional perception system comprises a road surface precise three-dimensional perception unit, a road three-dimensional perception unit and a road-under lesion perception unit. The road surface precise three-dimensional perception unit is used for obtaining road surface precise three-dimensional data of the target road. The road three-dimensional perception unit is used for obtaining first along-line spatial three-dimensional data of the target road. The road-under lesion perception unit is used for obtaining road-under electromagnetic wave three-dimensional data of the target road. Specifically, The road surface precise three-dimensional perception unit can comprise a line laser and a 3D camera. The line laser is used for emitting line laser to the road surface. The 3D camera is used for collecting precise three-dimensional data of the road surface covered by the line laser. The road three-dimensional perception unit can be a laser radar, which is used for emitting laser to the road and receiving echo. Combined with high-precision positioning and pose information, spatial three-dimensional coordinates of along-line targets are obtained, and dense point cloud data is generated, i.e., the first along-line spatial three-dimensional data. The road-under lesion perception unit can be a three-dimensional ground penetrating radar, which is used for emitting electromagnetic wave to the road-under and receiving echo. The electromagnetic wave propagation path information is recorded, and after a series of processing, the road-under electromagnetic wave three-dimensional data is constructed.

[0023] The road surface deflection measurement unit can comprise a speedometer, which is used for collecting road surface deformation data of the target road under normal driving conditions. The road surface deformation data can comprise road surface deformation speed.

[0024] The vehicle-mounted landscape perception unit can be an industrial camera or a panoramic camera, which is used for collecting first along-line image data of the target road.

[0025] The unmanned aerial vehicle measurement system can include an on-board space three-dimensional perception unit and an on-board industrial camera. The on-board space three-dimensional perception unit is used to obtain second line space three-dimensional data of the target highway, and the on-board industrial camera is used to obtain second line image data of the target highway. Specifically, The on-board space three-dimensional perception unit can also be a laser radar, which obtains the second line space three-dimensional data in a similar manner to the on-board three-dimensional perception unit. However, due to the large differences in distance, angle, environmental factors, and other aspects between the vehicle-mounted laser radar and the on-board laser radar when collecting on-road target data, the first line space three-dimensional data and the second line space three-dimensional data, although they are line space three-dimensional data of the same target highway, still have differences between them. For example, the first line space three-dimensional data is collected by the vehicle-mounted laser radar close to the road surface, so it has high precision, and the vehicle-mounted laser radar can work for a long time through the generator or battery. However, due to the limitations of the moving position of the measurement vehicle and the installation angle of the laser radar, the vehicle-mounted laser radar cannot effectively collect deformation information of distant special targets (bridges, slopes, and tunnels). The on-board laser radar can fly in the air away from the road surface, and is not limited by the road conditions, so it can collect on-road target data at multiple angles and close distances that the vehicle-mounted laser radar can only collect at a distance or even cannot collect. As can be seen from the above, the first line space three-dimensional data and the second line three-dimensional data complement each other and can accurately reflect the three-dimensional space information of the on-road targets along the target highway. Similarly, the on-board industrial camera can also obtain the second line image data in a similar manner to the vehicle-mounted landscape perception unit. However, due to the large differences in distance, angle, environmental factors, and other aspects between the vehicle-mounted industrial camera or vehicle-mounted panoramic camera and the on-board industrial camera when collecting on-road target data, the first line image data and the second line image data, although they are line image data of the same target highway, still have differences between them. For example, the first line image data is collected by the vehicle-mounted industrial camera or vehicle-mounted panoramic camera close to the road surface, so it has high precision, and the vehicle-mounted industrial camera or vehicle-mounted panoramic camera can work for a long time through the generator or battery. However, due to the limitations of the moving position of the measurement vehicle and the installation angle of the camera, the vehicle-mounted industrial camera or vehicle-mounted panoramic camera cannot clearly collect image data of distant special targets (bridges, slopes, and tunnels). The on-board industrial camera can fly in the air away from the road surface, and is not limited by the road conditions, so it can collect on-road target data at multiple angles and close distances that the vehicle-mounted industrial camera or vehicle-mounted panoramic camera can only collect at a distance or even cannot collect. As can be seen from the above, the first line image data and the second line image data complement each other and can accurately reflect the two-dimensional image information of the on-road targets along the target highway.

[0026] The highway all-dimensional multi-dimensional operation and maintenance equipment provided by the embodiment comprises a vehicle-mounted all-dimensional three-dimensional perception system, which is used to acquire all-dimensional three-dimensional data of a target highway. The all-dimensional three-dimensional data comprises precise three-dimensional data of a road surface, first along-the-line spatial three-dimensional data and three-dimensional data of an electromagnetic wave under the road surface. The highway all-dimensional multi-dimensional operation and maintenance equipment further comprises a road surface deflection measuring unit, which is used to acquire road surface deformation data of the target highway. The highway all-dimensional multi-dimensional operation and maintenance equipment further comprises a vehicle-mounted landscape perception unit, which is used to acquire first along-the-line image data of the target highway. The highway all-dimensional multi-dimensional operation and maintenance equipment further comprises an unmanned aerial vehicle (UAV) measuring system, which is used to acquire second along-the-line spatial three-dimensional data and second along-the-line image data of the target highway. The highway all-dimensional multi-dimensional operation and maintenance equipment further comprises a data processing unit, which is used to acquire target information of the target highway based on the all-dimensional three-dimensional data, the road surface deformation data, the first along-the-line image data, the second along-the-line spatial three-dimensional data and the second along-the-line image data. The highway all-dimensional multi-dimensional operation and maintenance equipment further comprises a highway operation and maintenance system, which is used to perform safe operation and maintenance on the target highway based on the target information. The highway operation and maintenance equipment of the embodiment integrates the vehicle-mounted all-dimensional three-dimensional perception system, the road surface deflection measuring unit, the vehicle-mounted landscape perception unit, the UAV measuring system and other detection devices, and can synchronously acquire detection data in multiple detection dimensions focused on by these detection devices. In the spatial dimension of detection, the detection data can comprise road surface detection data, on-road detection data and under-road detection data. In the dimension of detection data, the detection data can comprise three-dimensional spatial data and two-dimensional image data. In the dimension of detection devices, the detection data can comprise vehicle-mounted device detection data and airborne device detection data. Based on the multiple-dimensional data, the data processing unit can acquire operation and maintenance target information of the target highway in different dimensions to the maximum extent. The highway operation and maintenance system can perform comprehensive operation and maintenance on the target highway based on the operation and maintenance target information, thereby meeting the demand of comprehensive maintenance of the highway. In summary, the highway operation and maintenance equipment of the embodiment can perform comprehensive operation and maintenance on operation and maintenance targets in different dimensions of the highway, thereby meeting the demand of comprehensive maintenance of the highway.

[0027] In one embodiment, the target information of the target highway is acquired based on the all-dimensional three-dimensional data, the road surface deformation data, the first along-the-line image data, the second along-the-line spatial three-dimensional data and the second along-the-line image data, which can comprise: Based on the precise three-dimensional data of the road surface, road disease information of the target highway is extracted. Specifically, in combination with an artificial intelligence algorithm, road foreign matter information, road pit and groove information, road bump information, road subsidence information, road dislocation information, road crack information, road flatness information and road rut information of the target highway can be extracted in real time based on the precise three-dimensional data of the road surface. Based on the first along-the-line spatial three-dimensional data and the first along-the-line image data, asset abnormal information of the target highway is extracted. Specifically, in combination with an artificial intelligence algorithm, traffic sign abnormal information, marking abnormal information, guardrail abnormal information, isolation fence abnormal information, anti-glare plate abnormal information and line-of-sight induction facility abnormal information of the target highway can be extracted in real time based on the first along-the-line spatial three-dimensional data and the first along-the-line image data. Based on the three-dimensional data of the under-road electromagnetic wave, the under-road disease information and the pavement layer thickness information of the target highway are extracted; specifically, the road void information and the pavement layer thickness information of the target highway can be extracted in real time based on the three-dimensional data of the under-road electromagnetic wave in combination with an artificial intelligence algorithm; Based on the pavement deformation data, the pavement deflection basin information of the target highway is extracted; specifically, the pavement deflection basin information of the target highway can be extracted based on the pavement deformation velocity in combination with an artificial intelligence algorithm; Based on the second along-line spatial three-dimensional data, the deformation information of special targets on the target highway is extracted; specifically, the bridge deformation information, the slope deformation information and the tunnel deformation information of the target highway can be extracted in real time based on the second along-line spatial three-dimensional data in combination with an artificial intelligence algorithm; Based on the second along-line image data, the damage information of special targets on the target highway is extracted; specifically, the bridge damage information, the slope damage information and the tunnel damage information of the target highway can be extracted in real time based on the second along-line image data in combination with an artificial intelligence algorithm; The pavement disease information, the asset abnormal information, the under-road disease information, the pavement layer thickness information, the pavement deflection basin information, the deformation information and the damage information are determined as the target information of the target highway, that is, all the above information is determined as the target information of the target highway, which is subsequently handed over to the highway operation and maintenance system for key operation and maintenance.

[0028] In this embodiment, the detection dimensions focused by the detection devices are different, which is reflected in the different highway target information extracted by the detection data collected by the detection devices. The pavement precision three-dimensional perception unit collects the pavement precision three-dimensional data for extracting high-precision pavement disease information. The on-road three-dimensional perception unit collects the first along-line spatial three-dimensional data and the vehicle-mounted landscape perception unit collects the first along-line image data for extracting along-line asset abnormal information which is easy to collect by the vehicle-mounted detection device. The under-road lesion perception unit collects the under-road electromagnetic wave three-dimensional data for extracting high-precision under-road disease information and pavement layer thickness information. The pavement deformation data collected by the pavement deflection measurement unit is used to extract high-precision pavement deflection basin information. The second along-line spatial three-dimensional data collected by the airborne spatial three-dimensional perception unit is used to extract bridge deformation information, slope deformation information and tunnel deformation information which are difficult to collect by the vehicle-mounted detection device. The second along-line image data collected by the airborne industrial camera is used to extract bridge damage information, slope damage information and tunnel damage information which are difficult to collect by the vehicle-mounted detection device. Thus, the data collection advantages of various detection devices are fully utilized to collect data of different detection dimensions, and then the highway target information of different detection dimensions is extracted. These target information can fully and completely reflect the operation and maintenance target information of the target highway, which is helpful for subsequent targeted and comprehensive operation and maintenance.

[0029] In one embodiment, based on the target information, the safety operation and maintenance of the target highway can include: Based on the disease category and the disease size, the to-be-handled disease information is screened out from the road surface disease information and the road subsurface disease information, and the to-be-handled disease information and the corresponding handling task are sent to the background operation and maintenance system; That is, information greater than the preset disease size and meeting the preset disease category is screened out from the road surface disease information and the road subsurface disease information, and is taken as to-be-handled disease information, a corresponding handling task is generated, and the to-be-handled disease information and the handling task are sent to the background operation and maintenance system for subsequent operation and maintenance; wherein, the preset disease size can be set based on actual needs, which is not limited here, and the preset disease category can include road foreign matter, road pit, road bump, road subsidence, road dislocation, road crack, road void, etc. Based on the asset abnormality category and the asset abnormality influence range, the to-be-handled asset abnormality information is screened out from the asset abnormality information, and the to-be-handled asset abnormality information and the corresponding handling task are sent to the background operation and maintenance system. That is, information greater than the preset asset abnormality influence range and meeting the preset asset abnormality category is screened out from the asset abnormality information, and is taken as to-be-handled asset abnormality information, a corresponding handling task is generated, and the to-be-handled asset abnormality information and the handling task are sent to the background operation and maintenance system for subsequent operation and maintenance; wherein, the preset asset abnormality influence range can be set based on actual needs, which is not limited here, and the preset asset abnormality category can include traffic sign abnormality, marking abnormality, guardrail abnormality, isolation fence abnormality, anti-glare board abnormality, sight line induction facility abnormality, etc. For the disease information in the target information, the more serious to-be-handled disease information is screened out based on the category and the size, and the handling task is generated accordingly, and the to-be-handled disease information and the handling task are sent to the background operation and maintenance system together, so that the background operation and maintenance system can allocate relevant operation and maintenance resources to efficiently operate and maintain the to-be-handled disease. For the asset abnormality information in the target information, the more serious to-be-handled abnormality information is screened out based on the category and the influence range, and the handling task is generated accordingly, and the to-be-handled abnormality information and the handling task are sent to the background operation and maintenance system together, so that the background operation and maintenance system can allocate relevant operation and maintenance resources to efficiently operate and maintain the to-be-handled abnormality.

[0030] In one embodiment, based on the target information, the target highway can be safely operated and maintained, which can include: Based on the road surface disease information and the road deflection basin information, the road surface evaluation index of the target highway is calculated, including the road surface damage condition index, the road surface driving quality index, the road surface rut depth index, the road surface bump index, the road surface wear index, the road surface anti-skid performance index, the road surface structure strength index, the road surface technical condition index, etc. Based on the road surface layer thickness information and the road deflection basin information, the road surface structure layer modulus of the target highway is calculated. based on the pavement evaluation index and the pavement structure layer modulus, the service state grade of the target road is divided; that is, the service state of the target road is comprehensively evaluated by using the pavement evaluation index and the pavement structure layer modulus, and the target road is divided into the corresponding grade; The information of the area on the target road whose service state grade is lower than the preset service state grade and the corresponding disposal task are sent to the backstage operation and maintenance system; wherein, the preset service state grade can be set based on actual needs, which is not limited here.

[0031] In this embodiment, for the pavement disease information and the pavement deflection basin information in the target information, a plurality of pavement evaluation indexes are calculated, and for the pavement layer thickness information and the pavement deflection basin information in the target information, the pavement structure layer modulus is calculated, and then the service state of the target road is comprehensively evaluated by using the plurality of pavement evaluation indexes and the pavement structure layer modulus, so as to accurately divide the service state grade of the target road, and then the road area with a lower service state grade can be identified, and a disposal task is generated according to the information, and the information and the disposal task are sent to the backstage operation and maintenance system together, so that the backstage operation and maintenance system can allocate relevant operation and maintenance resources to efficiently operate and maintain the road area.

[0032] In one embodiment, based on the target information, the safety operation and maintenance of the target road can include: based on the deformation information, the deformation speed of the special target is calculated; specifically, the deformation speed of the special target can be calculated based on the current deformation information and the historical deformation information of the special target; based on the damage information, the damage speed of the special target is calculated; specifically, the damage speed of the special target can be calculated based on the current damage information and the historical damage information of the special target; based on the deformation speed and the deformation position of the special target, and the damage speed and the damage position of the special target, the safety state grade of the special target is divided, and the information of the special target on the target road whose safety state grade is lower than the preset safety state grade and the corresponding disposal task are sent to the backstage operation and maintenance system; specifically: 1. The safety state grade of the special target can be divided based on the deformation speed grade to which the deformation speed belongs, in combination with the deformation degree grade to which the current deformation degree belongs and the danger grade to which the current deformation position belongs; at the same time, the safety state grade of the special target is divided based on the damage speed grade to which the damage speed belongs, in combination with the damage degree grade to which the current damage degree belongs and the danger grade to which the current damage position belongs; the special target whose at least one of the two safety state grades is lower than the corresponding preset safety state grade is screened out, a disposal task is generated according to the information, and the information and the disposal task are sent to the backstage operation and maintenance system together; 2. The special target can be classified into a safety state level based on the deformation velocity level to which the deformation velocity belongs, the damage velocity level to which the damage velocity belongs, in combination with the deformation degree level to which the current deformation degree belongs and the danger level to which the current deformation position belongs, and the damage degree level to which the current damage degree belongs and the danger level to which the current damage position belongs; the special target whose safety state level is lower than the corresponding preset safety state level is screened out, a disposal task is generated for the information of the special target, and the information and the disposal task are sent to the background operation and maintenance system.

[0033] The preset safety state level can be set based on actual needs, which is not limited here; the disposal task can be a fine inspection task for the special target, including a fine inspection position, a fine inspection index, a fine inspection resource requirement, a fine inspection time requirement, etc., to further confirm the safety state of the special target.

[0034] The deformation information and the damage information in the target information are used to calculate the deformation velocity and the damage velocity of the special target, and the deformation degree, the deformation position, the damage degree and the damage position are combined to classify the safety state level of the special target, so that the special target with a lower safety state level can be identified, a disposal task is generated for the information of the special target, and the information and the disposal task are sent to the background operation and maintenance system, so that the background operation and maintenance system can allocate relevant operation and maintenance resources to efficiently operate the special target.

[0035] Referring to Figure 1 In one embodiment, the unmanned aerial vehicle measurement system can further include: an airborne positioning unit and an unmanned aerial vehicle; The airborne positioning unit is configured to: acquire positioning data of the unmanned aerial vehicle; The unmanned aerial vehicle built-in control unit is configured to: plan a flight trajectory for the unmanned aerial vehicle based on the second along-line spatial three-dimensional data and the positioning data.

[0036] The unmanned aerial vehicle flies along the flight trajectory, and the airborne spatial three-dimensional perception unit, the airborne industrial camera and the airborne positioning unit carried thereon acquire real-time data along the flight trajectory.

[0037] In the embodiment, the along-line spatial three-dimensional data collected by the airborne spatial three-dimensional perception unit is combined with the positioning data collected by the airborne positioning unit to plan a flight trajectory for the unmanned aerial vehicle, and is transmitted to the vehicle-mounted data processing unit to extract deformation information of the special target for subsequent safe operation.

[0038] Referring to Figure 1 In one embodiment, the highway global multi-dimensional operation and maintenance equipment can further include: a mobile carrier vehicle and a vehicle-mounted positioning unit; The vehicle-mounted positioning unit is configured to: acquire positioning data of the mobile carrier vehicle; The data processing unit is further configured to: synchronize the global three-dimensional data, the road surface deformation data and the first image data along the track based on the positioning data of the mobile vehicle; synchronize the second image data along the track and the second spatial three-dimensional data along the track based on the positioning data of the unmanned aerial vehicle.

[0039] The mobile vehicle travels along the track, and the vehicle-mounted global three-dimensional perception system, the road surface deflection measurement unit, the vehicle-mounted landscape perception unit and the vehicle-mounted positioning unit carried thereon acquire real-time data along the track. The data processing unit carried thereon synchronizes the detection data collected by the vehicle-mounted detection device based on the vehicle-mounted positioning data, and synchronizes the detection data collected by the airborne detection device based on the airborne positioning data. Further, the mobile vehicle further carries a synchronous control unit for synchronously controlling the data collection of the vehicle-mounted detection device and the airborne detection device, and further synchronizing the vehicle-mounted detection data and the airborne detection data after the time-space synchronization of the data processing unit.

[0040] In this embodiment, the synchronous control unit synchronously controls the data collection of the vehicle-mounted detection device and the airborne detection device. The data processing unit synchronizes the collected vehicle-mounted detection data based on the vehicle-mounted positioning data, and synchronizes the collected airborne detection data based on the airborne positioning data. Since the vehicle-mounted positioning data and the airborne positioning data are acquired by the vehicle-mounted positioning unit and the airborne positioning unit respectively, there may be a certain deviation between the vehicle-mounted positioning data and the airborne positioning data, resulting in a certain time-space deviation between the vehicle-mounted detection data and the airborne detection data after time-space synchronization. Therefore, the synchronous control unit further synchronizes the vehicle-mounted detection data and the airborne detection data after time-space synchronization, thereby realizing synchronous control from the detection data collection source to subsequent time-space alignment.

[0041] Referring to Figure 1 In one embodiment, the highway global multi-dimensional operation and maintenance equipment can further include a communication unit. The communication unit is configured to: The background operation and maintenance system issues a detection task to the highway operation and maintenance system, and the highway operation and maintenance system reports a detection track, a task progress, a working state and detection data to the background operation and maintenance system. The highway operation and maintenance system issues a detection task, a return instruction and a nest position to the unmanned aerial vehicle measurement system, and the unmanned aerial vehicle measurement system reports a detection track, a task progress, a working state and detection data to the highway operation and maintenance system.

[0042] Specifically, the background operation and maintenance system first issues a detection task for the unmanned aerial vehicle measurement system to the highway operation and maintenance system through the communication unit, and the highway operation and maintenance system then issues the detection task to the unmanned aerial vehicle measurement system through the communication unit. During the execution of the detection task by the unmanned aerial vehicle measurement system, the detection trajectory, the detection task progress, the detection equipment working state and the detection data are reported to the highway operation and maintenance system through the communication unit. The highway operation and maintenance system then reports the received detection trajectory, detection task progress, detection equipment working state and detection data to the background operation and maintenance system through the communication unit. After the detection task is completed, the highway operation and maintenance system sends a return-to-nest instruction and a nest real-time position to the unmanned aerial vehicle measurement system through the communication unit. After receiving the return-to-nest instruction, the unmanned aerial vehicle measurement system returns to the nest real-time position.

[0043] The background operation and maintenance system can be installed in a fixed computer room or data center.

[0044] Further, the communication unit, data processing unit and highway operation and maintenance system are also mounted on the mobile vehicle, i.e., the vehicle-mounted global three-dimensional perception system, road deflection measurement unit, vehicle-mounted landscape perception unit, data processing unit, highway operation and maintenance system, vehicle-mounted positioning unit, communication unit and synchronous control unit are integrated on the mobile vehicle, and the mobile vehicle is also used to provide a parking site for the unmanned aerial vehicle measurement system.

[0045] It should be noted that, Figure 1 The systems and units in the above description are arranged around the mobile vehicle, which only represents that they are integrated on the mobile vehicle, and does not represent the actual position of the mobile vehicle; Figure 1 The units and cameras in the above description are arranged around the unmanned aerial vehicle, which only represents that they are integrated on the unmanned aerial vehicle, and does not represent the actual position of the unmanned aerial vehicle.

[0046] In this embodiment, the communication unit realizes real-time communication between the background operation and maintenance system and the highway operation and maintenance system, and between the highway operation and maintenance system and the unmanned aerial vehicle measurement system, ensuring efficient cooperation between the systems during operation and maintenance, which is helpful for comprehensive, accurate, fast and timely operation and maintenance of the target highway.

[0047] Further, the vehicle-mounted detection equipment is integrated on the mobile vehicle, and the unmanned aerial vehicle measurement system is parked on the mobile vehicle. Therefore, the operation and maintenance equipment of this embodiment takes the mobile vehicle as a carrier, realizes the integration of vehicle-mounted detection equipment and airborne detection equipment, and can significantly reduce the equipment cost and maintenance difficulty compared with the traditional operation and maintenance equipment in which the detection equipment is separately arranged.

[0048] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A highway all-dimensional multi-dimensional operation and maintenance equipment, characterized in that, The application relates to a vehicle-mounted global three-dimensional perception system, a road operation and maintenance system, and a method for road operation and maintenance. The vehicle-mounted global three-dimensional perception system comprises a global three-dimensional data acquisition unit, a road surface deflection measurement unit, a vehicle-mounted landscape perception unit, a UAV measurement system, and a data processing unit. The global three-dimensional data acquisition unit is used for acquiring global three-dimensional data of a target road, wherein the global three-dimensional data comprises road surface precise three-dimensional data, first along-line spatial three-dimensional data, and road-under electromagnetic wave three-dimensional data. The road surface deflection measurement unit is used for acquiring road surface deformation data of the target road. The vehicle-mounted landscape perception unit is used for acquiring first along-line image data of the target road. The UAV measurement system is used for acquiring second along-line spatial three-dimensional data and second along-line image data of the target road. The data processing unit is used for acquiring target information of the target road based on the global three-dimensional data, the road surface deformation data, the first along-line image data, the second along-line spatial three-dimensional data, and the second along-line image data.

2. The highway all-terrain multi-dimensional operation and maintenance equipment according to claim 1, characterized in that, The road operation and maintenance system is used for performing safe operation and maintenance on the target road based on the target information. The method for road operation and maintenance comprises the following steps. Based on the road surface precise three-dimensional data, road surface disease information of the target road is extracted. Based on the first along-line spatial three-dimensional data and the first along-line image data, asset abnormal information of the target road is extracted. Based on the road-under electromagnetic wave three-dimensional data, road-under disease information and road surface layer thickness information of the target road are extracted. Based on the road surface deformation data, road surface deflection basin information of the target road is extracted. Based on the second along-line spatial three-dimensional data, deformation information of special targets on the target road is extracted. Based on the second along-line image data, damage information of special targets on the target road is extracted.

3. The highway all-terrain multi-dimensional operation and maintenance equipment according to claim 2, characterized in that, The road surface disease information, the asset abnormal information, the road-under disease information, the road surface layer thickness information, the road surface deflection basin information, the deformation information, and the damage information are determined as the target information of the target road. Based on the target information, the target road is subjected to safe operation and maintenance. Based on disease categories and disease sizes, to-be-disposed disease information is screened out from the road surface disease information and the road-under disease information, and the to-be-disposed disease information and a corresponding disposal task are sent to a background operation and maintenance system.

4. The highway all-terrain multi-dimensional operation and maintenance equipment according to claim 2, characterized in that, Based on asset abnormal categories and asset abnormal influence ranges, to-be-disposed asset abnormal information is screened out from the asset abnormal information, and the to-be-disposed asset abnormal information and a corresponding disposal task are sent to the background operation and maintenance system. Based on the road surface disease information and the road surface deflection basin information, a road surface evaluation index of the target road is calculated. Based on the road surface layer thickness information and the road surface deflection basin information, a road surface structure layer modulus of the target road is calculated. Based on the road surface evaluation index and the road surface structure layer modulus, a service state grade of the target road is divided. The information of the area on the target road with the service state level lower than the preset service state level and the corresponding disposal task are sent to a background operation and maintenance system.

5. The highway all-terrain multi-dimensional operation equipment according to claim 2, characterized in that, The target road is safely operated based on the target information, including: The deformation speed of the special target is calculated based on the deformation information; The damage speed of the special target is calculated based on the damage information; The special target is classified according to the safety state level based on the deformation speed and the deformation position of the special target and the damage speed and the damage position of the special target; The information of the special target on the target road with the safety state level lower than the preset safety state level and the corresponding disposal task are sent to the background operation and maintenance system.

6. The highway global multi-dimensional operation and maintenance equipment according to claim 1, characterized in that, The unmanned aerial vehicle measurement system comprises an on-board space three-dimensional perception unit, an on-board positioning unit and an unmanned aerial vehicle. The on-board space three-dimensional perception unit is configured to acquire second line space three-dimensional data of the target road. The on-board positioning unit is configured to acquire positioning data of the unmanned aerial vehicle. The unmanned aerial vehicle built-in control unit is configured to plan a flight track for the unmanned aerial vehicle based on the second line space three-dimensional data and the positioning data.

7. The highway all-terrain multi-dimensional operation equipment according to claim 6, characterized in that, Further comprising: a mobile carrier vehicle and a vehicle-mounted positioning unit; The vehicle-mounted positioning unit is configured to acquire positioning data of the mobile carrier vehicle. The data processing unit is further configured to: synchronize the global three-dimensional data, the road surface deformation data and the first line image data in time and space based on the positioning data of the mobile carrier vehicle; synchronize the second line space three-dimensional data and the second line image data in time and space based on the positioning data of the unmanned aerial vehicle. 8.The highway omniverse multidimensional operation and maintenance equipment according to claim 7, characterized in that, Further comprising: a communication unit; The communication unit is configured to enable the background operation and maintenance system to issue a detection task to the highway operation and maintenance system, and enable the highway operation and maintenance system to report a detection track, a task progress, a working state and detection data to the background operation and maintenance system. 9.The highway omniverse multidimensional operation and maintenance equipment according to claim 7, characterized in that, Further comprising: a communication unit; The communication unit is configured to enable the highway operation and maintenance system to issue a detection task, a return-to-nest instruction and a nest position to the unmanned aerial vehicle measurement system, and enable the unmanned aerial vehicle measurement system to report a detection track, a task progress, a working state and detection data to the highway operation and maintenance system.

10. The highway global multi-dimensional operation and maintenance equipment according to claim 8 or 9, characterized in that, The vehicle-mounted global three-dimensional perception system, the road surface deflection measurement unit, the vehicle-mounted landscape perception unit, the data processing unit, the highway operation and maintenance system, the vehicle-mounted positioning unit and the communication unit are integrated on the mobile carrier vehicle; The mobile carrier vehicle is configured to provide a parking site for the unmanned aerial vehicle measurement system.

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