Road asset data acquisition vehicle-mounted system

Abstract

The utility model discloses a road asset data acquisition vehicle-mounted system, which is characterized in that an image acquisition device, a positioning device, an inertial navigation device, a data synchronization device, a storage device, a communication device and a real-time monitoring terminal are arranged on a carrier vehicle to form the road asset data acquisition vehicle-mounted system. Road asset images are acquired through the image acquisition device, position information is acquired through the positioning device, attitude information is acquired through the inertial navigation device, and the road asset images, the position information and the attitude information are synchronously recorded through the synchronization device, then transmitted to the storage device for storage and transmitted to the real-time monitoring terminal for display. Therefore, a worker on the carrier vehicle can analyze and process the synchronously recorded road asset image, position information and attitude information through the real-time monitoring terminal, and real-time, comprehensive, accurate, convenient and low-cost acquisition of road asset data is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of highway asset management, in particular to a vehicle-mounted system for highway asset data collection. Background Art

[0002] Highway asset management is mainly responsible by the highway administrative law enforcement department. Through daily inspections, the highway asset situation is monitored, and various damages and thefts are investigated and tracked. Highway assets mainly include traffic safety facilities and ancillary facilities. Among them, traffic safety facilities mainly include road surfaces, roadbeds, traffic signs, guardrails, anti-throw nets, median strips, sound insulation screens, lighting facilities, anti-glare plates, video monitoring facilities, etc., and ancillary facilities mainly include gantries, advertising facilities, maintenance facilities, service facilities, toll station facilities, etc.

[0003] In the prior art, the following techniques are mainly used for highway asset data collection:

[0004] (1) Conventional road mobile data collection technology

[0005] Conventional road mobile data collection technology mainly includes low-precision GPS trajectory collection, human eye discovery of targets for positioning, photographing, and data entry and editing through mobile phone or tablet apps. These several conventional road mobile collection methods are convenient and simple, but there are also some problems. Low-precision GPS trajectory collection cannot meet the precise positioning requirements due to low trajectory accuracy; when using mobile phone or tablet apps for positioning, manual information entry is required, and the accuracy of the information cannot be verified at the management end; the method of human eye discovery of targets cannot avoid target omission due to fatigue.

[0006] (2) Remote sensing technology

[0007] Remote sensing technology mainly uses satellite remote sensing images to observe and extract road data, and realizes asset change detection through periodic acquisition of satellite remote sensing images. When using remote sensing images to collect all-asset road data, the following problems exist: ① The acquisition period of remote sensing images cannot meet the timeliness requirements of road operation, maintenance, and management; ② A large number of road assets cannot be observed and extracted from remote sensing images, so the use of remote sensing images cannot achieve full coverage of road asset data; ③ Remote sensing image data needs to be purchased repeatedly, and remote sensing images are provided by area, and the cost of purchasing image data for roads by line is very high; ④ The current automatic recognition technology of remote sensing images cannot meet the extraction requirements of road assets, and manual verification is required to confirm the extracted elements.

[0008] (3) UAV technology

[0009] Drone technology is a relatively popular method for road data collection nowadays. It mainly uses drones to obtain road images at an altitude of 200 - 500 meters, and then extracts road asset data based on the orthophoto images processed by professional software. The main problems in the implementation of this road data collection method are the flight policy restrictions on drones by the state, which prevent it from being collected at any time. In addition, this collection method has relatively high requirements for the environment and climate, and cannot achieve collection all-weather and in any environment. Moreover, the drones have a short staying time in the air and cannot achieve long-distance collection along the line.

[0010] (4) Mobile Terrain Surveying Technology

[0011] Mobile terrain surveying technology uses a professional mobile terrain mapping system to collect road asset data. It extracts positions through laser point clouds and discriminates targets using images. The data collected by this method has relatively high accuracy. However, due to the complex operation of the collection system, non-surveying professionals cannot use it conveniently. In addition, this method has relatively high requirements for the carrier vehicle and cannot be quickly and conveniently installed on any vehicle. The point cloud data volume is huge, with extremely high requirements for storage. At the same time, there are also problems such as complex data processing processes, complex data extraction operations, and low efficiency. In addition, the cost of this collection method is relatively high, and the cost of the purchased hardware equipment is relatively high, making it difficult to popularize in the transportation industry.

[0012] As can be seen from the above, the existing highway asset data collection technologies have problems such as difficult road data collection, incomplete and inaccurate data, difficult verification, slow update, and high costs.

[0013] Therefore, how to collect highway asset data in real time, comprehensively, accurately, conveniently, and at low cost is an urgent problem to be solved at present. Utility Model Content

[0014] The purpose of the present utility model is to provide a vehicle-mounted system for collecting highway asset data to collect highway asset data in real time, comprehensively, accurately, conveniently, and at low cost.

[0015] To achieve the above object of the present utility model, the present utility model provides a vehicle-mounted system for collecting highway asset data, including an image acquisition device, a positioning device, an inertial navigation device, a data synchronization device, a storage device, a communication device, and a real-time monitoring terminal provided on a carrier vehicle. The signal output ends of the image acquisition device, the positioning device, and the inertial navigation device are respectively connected to the signal input end of the data synchronization device. The first signal output end of the data synchronization device is connected to the signal input end of the storage device. The second signal output end of the data synchronization device and the storage device are connected to the real-time monitoring terminal through the communication device, where

[0016] The image acquisition device is used to collect highway asset images around the carrier vehicle in real time during the process of the carrier vehicle performing highway asset data acquisition;

[0017] The positioning device is used to obtain the position information of the image acquisition device corresponding to each image in the highway asset images in real time;

[0018] The inertial navigation device is used to obtain the attitude information of the image acquisition device corresponding to each image in the highway asset images in real time;

[0019] The data synchronization device is used to synchronously record the highway asset images collected by the image acquisition device, the position information obtained by the positioning device, and the attitude information obtained by the inertial navigation device, store the synchronized data information in the storage device, and send the synchronized data information to the real-time monitoring terminal through the communication device for display.

[0020] Preferably, the image acquisition device includes a CCD image sensor, a signal amplification circuit, an analog-to-digital conversion circuit, an FPGA controller, a CCD timing drive circuit, and an SPI interface module, where

[0021] The signal output end of the CCD image sensor is connected to the signal input end of the signal amplification circuit, the signal output end of the signal amplification circuit is electrically connected to the signal input end of the analog-to-digital conversion circuit, the signal output end of the analog-to-digital conversion circuit is connected to the signal input end of the FPGA controller, the first signal output end of the FPGA controller is connected to the first signal input end of the data synchronization device through the SPI interface module, the second signal output end of the FPGA controller is connected to the signal input end of the CCD timing drive circuit, and the signal output end of the CCD timing drive circuit is connected to the signal input end of the CCD image sensor.

[0022] Preferably, the positioning device includes a multi-channel radio frequency module, a plurality of GNSS modules, and a single-chip microcomputer processor, where

[0023] The respective signal output ends of the multi-channel radio frequency module are correspondingly connected to the signal input ends of the plurality of GNSS modules, the signal output ends of the plurality of GNSS modules are respectively connected to the signal input ends connected to the single-chip microcomputer processor, and the signal output end of the single-chip microcomputer processor is connected to the second signal input end of the data synchronization device.

[0024] Preferably, the multi-channel radio frequency module includes a plurality of signal receiving amplifiers and a plurality of filters, and the plurality of signal receiving amplifiers, the plurality of filters, and the plurality of GNSS modules are connected in sequence correspondingly.

[0025] Preferably, three GNSS modules are provided, namely a first GNSS module, a second GNSS module, and a third GNSS module. Among them,

[0026] The multi-channel RF module transmits the GPS analog signal received via the receiving antenna to the first GNSS module;

[0027] The multi-channel RF module transmits the GLONASS analog signal received via the receiving antenna to the second GNSS module;

[0028] The multi-channel RF module transmits the Galileo analog signal received via the receiving antenna to the third GNSS module.

[0029] Preferably, the inertial navigation device includes an accelerometer, a gyroscope, a signal conditioning circuit, an A / D conversion circuit, and an MCU controller. Among them,

[0030] The signal output ends of the accelerometer and the gyroscope are respectively connected to the signal input end of the signal conditioning circuit. The signal output end of the signal conditioning circuit is connected to the signal input end of the A / D conversion circuit. The signal output end of the A / D conversion circuit is connected to the signal input end of the MCU controller. The signal output end of the MCU controller is connected to the third signal input end of the data synchronization device.

[0031] Preferably, the data synchronization device includes a signal synchronization controller, a first delay circuit, a second delay circuit, and a signal cooperation processor. Among them,

[0032] The first signal output end of the signal synchronization controller is connected to the signal input end of the image acquisition device. The second signal output end of the signal synchronization controller is connected to the signal input end of the positioning device through the first delay circuit. The third signal output end of the signal synchronization controller is connected to the signal input end of the inertial navigation device through the second delay circuit. The fourth signal output end of the signal synchronization controller is connected to the control signal input end of the signal cooperation processor. The signal output ends of the image acquisition device, the positioning device, and the inertial navigation device are respectively connected to the signal input end of the signal cooperation processor. The signal output end of the signal cooperation processor is connected to the storage device.

[0033] Preferably, the communication device includes a wireless communication module. The real-time monitoring terminal is a smart mobile terminal. The data synchronization device and the storage device are wirelessly connected to the real-time monitoring terminal through a wireless network.

[0034] Preferably, the wireless communication module is a WiFi module, a 4G module, or a 5G module.

[0035] Preferably, the intelligent mobile terminal is one or any combination of the following devices:

[0036] Smartphones, tablet computers, laptop computers.

[0037] As can be seen from the above technical solutions, the present utility model provides a vehicle-mounted system for collecting highway asset data. The vehicle-mounted system for collecting highway asset data is constituted by arranging an image acquisition device, a positioning device, an inertial navigation device, a data synchronization device, a storage device, a communication device, and a real-time monitoring terminal on a carrier vehicle. Thus, during the working process of the carrier vehicle, the highway asset images are acquired by the image acquisition device, the position information is obtained by the positioning device, the attitude information is obtained by the inertial navigation device, and the highway asset images, position information, and attitude information are synchronously recorded by the synchronization device and then transmitted to the storage device for storage and to the real-time monitoring terminal for display. Thereby, the staff on the carrier vehicle can analyze and process the synchronously recorded highway asset images, position information, and attitude information through the real-time monitoring terminal, realizing the real-time, comprehensive, accurate, convenient, and low-cost collection of highway asset data.

[0038] The additional aspects and advantages of the present utility model will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] The above additional aspects and / or advantages of the present utility model will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

[0041] Figure 1 is a schematic block diagram of a vehicle-mounted system for collecting highway asset data in a preferred embodiment of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0043] Such asFigure 1 As shown in Figure 1 , an on-vehicle system for highway asset data collection according to an embodiment of the present utility model includes an image acquisition device 1, a positioning device 2, an inertial navigation device 3, a data synchronization device 4, a storage device 5, a communication device 6, and a real-time monitoring terminal 7 disposed on a carrier vehicle. The signal output ends of the image acquisition device 1, the positioning device 2, and the inertial navigation device 3 are respectively connected to the signal input end of the data synchronization device 4. The first signal output end of the data synchronization device 4 is connected to the signal input end of the storage device 5. The second signal output end of the data synchronization device 4 and the storage device 5 are connected to the real-time monitoring terminal 7 through the communication device 6. Among them,

[0044] The image acquisition device 1 is configured to collect real-time images of highway assets around the carrier vehicle during the process of the carrier vehicle performing highway asset data collection;

[0045] The positioning device 2 is configured to obtain the position information of the image acquisition device 1 corresponding to each image in the highway asset images in real time;

[0046] The inertial navigation device 3 is configured to obtain the attitude information of the image acquisition device 1 corresponding to each image in the highway asset images in real time;

[0047] The data synchronization device 4 is configured to synchronously record the highway asset images collected by the image acquisition device 1, the position information obtained by the positioning device 2, and the attitude information obtained by the inertial navigation device 3, store the synchronized data information in the storage device 5, and send the synchronized data information to the real-time monitoring terminal 7 through the communication device for display.

[0048] By disposing the image acquisition device 1, the positioning device 2, the inertial navigation device 3, the data synchronization device 4, the storage device 5, the communication device 6, and the real-time monitoring terminal 7 on the carrier vehicle to form an on-vehicle system for highway asset data collection, during the working process of the carrier vehicle, the highway asset images are collected by the image acquisition device 1, the position information is obtained by the positioning device 2, the attitude information is obtained by the inertial navigation device 3, and the highway asset images, the position information, and the attitude information are synchronously recorded by the synchronization device and then transmitted to the storage device 5 for storage and transmitted to the real-time monitoring terminal 7 for display, so that the staff on the carrier vehicle can analyze and process the synchronized highway asset images, position information, and attitude information through the real-time monitoring terminal 7, realizing real-time, comprehensive, accurate, convenient, and low-cost collection of highway asset data.

[0049] The working principle of the on-vehicle system for highway asset data collection in this embodiment is as follows:

[0050] A vehicle-mounted system for collecting highway asset data is formed by arranging an image acquisition device 1, a positioning device 2, an inertial navigation device 3, a data synchronization device 4, a storage device 5, a communication device 6 and a real-time monitoring terminal 7 on a carrier vehicle. Thus, during the operation of the carrier vehicle, the highway asset images are collected by the image acquisition device 1, the position information is obtained by the positioning device 2, the attitude information is obtained by the inertial navigation device 3, and the highway asset images, position information and attitude information are synchronously recorded by the synchronization device and then transmitted to the storage device 5 for storage and to the real-time monitoring terminal 7 for display. As a result, the staff on the carrier vehicle can analyze and process the synchronously recorded highway asset images, position information and attitude information through the real-time monitoring terminal 7.

[0051] In summary, the vehicle-mounted system for collecting highway asset data provided in this embodiment can achieve real-time, comprehensive, accurate, convenient and low-cost collection of highway asset data.

[0052] Specifically, the real-time monitoring terminal 7 can also monitor the working states of the image acquisition device 1, the positioning device 2, the inertial navigation device 3, the data synchronization device 4 and the storage device 5 in real time. The monitoring contents can include the quality of real-scene images, the acquisition angle, the device power, the storage space, the positioning situation, the ephemeris situation and the driving speed, etc. It can also control the image acquisition device 1, such as setting the image acquisition interval, the image chromaticity, the start time and the end time of the acquisition operation, etc.

[0053] In one embodiment, the image acquisition device 1 includes a CCD image sensor 11, a signal amplification circuit 12, an analog-to-digital conversion circuit 13, an FPGA controller 14, a CCD timing drive circuit 15 and an SPI interface module 16, where,

[0054] The signal output end of the CCD image sensor 11 is connected to the signal input end of the signal amplification circuit 12, the signal output end of the signal amplification circuit 12 is electrically connected to the signal input end of the analog-to-digital conversion circuit 13, the signal output end of the analog-to-digital conversion circuit 13 is connected to the signal input end of the FPGA controller 14, the first signal output end of the FPGA controller 14 is connected to the first signal input end of the data synchronization device 4 through the SPI interface module 16, the second signal output end of the FPGA controller 14 is connected to the signal input end of the CCD timing drive circuit 15, and the signal output end of the CCD timing drive circuit 15 is connected to the signal input end of the CCD image sensor 11.

[0055] In this embodiment, during the process of the carrier vehicle performing highway asset data acquisition, the FPGA controller 14 controls the CCD timing drive circuit 15 to drive the CCD image sensor 11 to work. The CCD image sensor 11 converts the optical signals around the carrier vehicle collected by the lens into analog electrical signals in real time. The signal amplification circuit 12 amplifies the weak analog electrical signals and outputs them to the analog-to-digital conversion module. The analog-to-digital conversion module converts the analog electrical signals into digital signals and outputs them to the FPGA controller 14. The FPGA controller 14 processes the digital signals to obtain highway asset images and transmits them to the first signal input end of the data synchronization device 4 through the SPI interface module 16.

[0056] Specifically, in this embodiment, the CCD image sensor 11 uses a CCD image acquisition chip with the model number ICX098BQ, the A / D chip of the analog-to-digital conversion circuit 13 uses an analog-to-digital conversion chip with the model number AD9842, and the FPGA controller 14 uses an FPGA chip with the model number Cyclone V EP5CEBA4F17C.

[0057] In one embodiment, the positioning device 2 includes a multi-channel radio frequency module 21, a plurality of GNSS modules 22, and a single-chip microcomputer processor 23. Among them,

[0058] The signal output ends of the multi-channel radio frequency module 21 are correspondingly connected to the signal input ends of the plurality of GNSS modules 22. The signal output ends of the plurality of GNSS modules 22 are respectively connected to the signal input ends connected to the single-chip microcomputer processor 23. The signal output end of the single-chip microcomputer processor 23 is connected to the second signal input end of the data synchronization device 4.

[0059] In this embodiment, during the process of the carrier vehicle performing highway asset data acquisition, the multi-channel radio frequency module 21 transmits the analog satellite signals received via the antenna to each GNSS module 22 in real time. Each GNSS module 22 converts the corresponding analog satellite signals into digital satellite signals and transmits them to the single-chip microcomputer processor 23. The single-chip microcomputer processor 23 processes the received digital signals to obtain the position information of the image acquisition device 1 corresponding to each image in the highway asset images.

[0060] Specifically, in this embodiment, the GNSS module 22 includes a satellite receiver chip MT3333 and its peripheral circuits. It converts the satellite signals received by the antenna into digital signals and sends them to the single-chip microcomputer processor 23 for algorithm operation, thereby outputting position information. MT3333 is an all-in-one multi-constellation satellite positioning system single chip, supporting satellite signals of multiple global positioning systems such as GPS, GLONASS, BD, and Galileo, and has a fast signal update speed, with a maximum update rate reaching 10Hz.

[0061] In one embodiment, based on the previous embodiment, the multi-channel RF module 21 includes a plurality of signal receiving amplifiers 211 and a plurality of filters 212, and the plurality of signal receiving amplifiers 211, the plurality of filters 212 and the plurality of GNSS modules 22 are connected in sequence correspondingly.

[0062] In this embodiment, the signal receiving amplifier 211 amplifies the weak satellite analog signal received via the wire, and then the filter 212 filters the amplified analog signal to ensure the reliability of the satellite analog signal.

[0063] Specifically, the signal receiving amplifier 211 uses a low-noise amplifier LAN, specifically a high-gain and low-noise model MAX2659 chip; the filter 212 specifically uses a TDK B4327 chip, the center frequency of B4327 is 1582.4 MHz, the available passband is 71 MHz, and it can be used for GPS, BD, GLONASS and Galileo.

[0064] In one embodiment, there are three GNSS modules 22, namely the first GNSS module, the second GNSS module and the third GNSS module. Among them,

[0065] The multi-channel RF module 21 transmits the GPS analog signal received via the receiving antenna to the first GNSS module;

[0066] The multi-channel RF module 21 transmits the GLONASS analog signal received via the receiving antenna to the second GNSS module;

[0067] The multi-channel RF module 21 transmits the Galileo analog signal received via the receiving antenna to the third GNSS module.

[0068] In this embodiment, the three GNSS modules 22 respectively process the different satellite analog signals output from each channel of the multi-channel RF module 21 and then transmit them to the single-chip microcomputer processor 23 for signal fusion processing to obtain a position signal, and multi-system positioning effectively improves the positioning accuracy.

[0069] In one embodiment, the inertial navigation device 3 includes an accelerometer 31, a gyroscope 32, a signal conditioning circuit 33, an A / D conversion circuit 34 and an MCU controller 35. Among them,

[0070] The signal output ends of the accelerometer 31 and the gyroscope 32 are respectively connected to the signal input end of the signal conditioning circuit 33, the signal output end of the signal conditioning circuit 33 is connected to the signal input end of the A / D conversion circuit 34, the signal output end of the A / D conversion circuit 34 is connected to the signal input end of the MCU controller 35, and the signal output end of the MCU controller 35 is connected to the third signal input end of the data synchronization device 4.

[0071] In this embodiment, during the process of the carrier vehicle performing the highway asset data collection, the accelerometer 31 and the gyroscope 32 acquire the motion parameter signals of the image acquisition device 1 in real time and transmit them to the signal conditioning circuit 33. The signal conditioning circuit 33 converts the received signals into analog motion parameter signals that can be recognized by the A / D conversion circuit 34. The A / D conversion circuit 34 converts the analog motion parameter signals output by the signal conditioning circuit 33 into digital motion parameter signals and sends them to the MCU controller 35. The MCU controller 35 processes the digital motion parameter signals to obtain the attitude information of the image acquisition device 1 corresponding to each image in the highway asset image.

[0072] Specifically, in this embodiment, the accelerometer 31 uses an acceleration sensor of model ADXL202E, the gyroscope 32 uses an angular rate sensor of model ADXRS612, and the MCU controller 35 uses a single-chip microcomputer of model MSP430F135.

[0073] In one embodiment, the data synchronization device 4 includes a signal synchronization controller 41, a first delay circuit 42, a second delay circuit 43, and a signal cooperation processor 44, where

[0074] The first signal output end of the signal synchronization controller 41 is connected to the signal input end of the image acquisition device 1. The second signal output end of the signal synchronization controller 41 is connected to the signal input end of the positioning device 2 through the first delay circuit 42. The third signal output end of the signal synchronization controller 41 is connected to the signal input end of the inertial navigation device 3 through the second delay circuit 43. The fourth signal output end of the signal synchronization controller 41 is connected to the control signal input end of the signal cooperation processor 44. The signal output ends of the image acquisition device 1, the positioning device 2, and the inertial navigation device 3 are respectively connected to the signal input end of the signal cooperation processor 44. The signal output end of the signal cooperation processor 44 is connected to the storage device 5.

[0075] In this embodiment, the signal synchronization controller 41 respectively sends a first acquisition signal to the image acquisition device 1, a second acquisition signal to the positioning device 2, a third acquisition signal to the inertial navigation device 3, and sends a reception fusion signal to the signal cooperation processor 44.

[0076] Since the second acquisition signal sent to the positioning device 2 will be delayed by the first delay circuit 42, and the third acquisition signal sent to the inertial navigation device 3 will be delayed by the second delay circuit 43, therefore, the second acquisition signal indicating the positioning device 2 to acquire data and the third acquisition signal indicating the inertial navigation device 3 to acquire data will be delayed, causing the positioning device 2 and the inertial navigation device 3 to output the acquired data to the cooperative processor with a delay. While the first acquisition signal sent to the image acquisition device 1 is sent directly, so the image acquisition device 1 immediately acquires the highway asset images, that is, the acquisition times of the image acquisition device 1, the positioning device 2, and the inertial navigation device 3 are not synchronized. Thus, the delay in the data acquisition of the image acquisition device 1 itself is compensated, ultimately ensuring the synchronous acquisition of highway asset images, position information, and attitude information. Finally, after the signal cooperative processor 44 receives the received fusion signal, since the highway asset images, position information, and attitude information have been synchronously acquired, the signal cooperative processor 44 can directly fuse the highway asset images, position information, and attitude information, and fuse the position information and attitude information into each image of the highway asset images, facilitating subsequent analysis of the highway assets in the images.

[0077] Specifically, in this embodiment, the signal synchronization controller 41 uses an STM32 single-chip microcomputer, and the signal cooperative processor 44 uses a SoC chip.

[0078] In one embodiment, the communication device 6 includes a wireless communication module, the real-time monitoring terminal 7 is a smart mobile terminal, and the data synchronization device 4 and the storage device 5 are wirelessly connected to the real-time monitoring terminal 7 through a wireless network. In this way, the staff on the carrier vehicle can use the smart mobile terminal that can be moved freely to monitor the acquisition process of highway in-production data in real time, improving the convenience of monitoring.

[0079] Specifically, in this embodiment, it can be a smart phone, a tablet computer, or a notebook computer.

[0080] In one embodiment, the wireless communication module is a WiFi module, a 4G module, or a 5G module. That is, the data synchronization device and the storage device 5 can establish a wireless connection with the real-time monitoring terminal 7 through wireless networks such as WiFi, 4G, or 5G.

[0081] The vehicle-mounted system for highway asset data acquisition according to the embodiment of the present application uses the positioning device 2 to obtain the precise geographical location of the center of the image acquisition device 1 at the moment of exposure of each frame of image during the high-speed movement of the vehicle. To obtain high-precision positions, triple-star positioning (GPS, GLONASS, and Galileo) is used to effectively fuse the position information and attitude information of the center of the image acquisition device 1 at the moment of exposure, and finally obtain precise points.

[0082] Using continuous precise position points, accurate and high-density driving trajectories can be directly obtained in the data processing system of the real-time monitoring terminal 7.

[0083] Based on the high-precision and high-density driving trajectories, a road linear mileage system is constructed according to the given start and end point information of the section. The road linear mileage system is a method of storing geographical locations using the relative positions of measured linear elements. The longitude and latitude positions of the road alignment and asset information data obtained by the in-vehicle system for highway asset data collection are represented by the relative positions of the linear elements.

[0084] For the image point positions of any asset target in two consecutive images, the multi-baseline digital close-range photogrammetry method is used to calculate the accurate geographical location of the target. Multi-baseline digital close-range photogrammetry (Lensphoto) belongs to the latest digital close-range photogrammetry technology in the field of geographic information systems. It is the first time in recent decades to break through the traditional close-range photogrammetry principle theoretically. It replaces the traditional photogrammetry principle of binocular vision of the human eye (single baseline) with the computer vision principle (multi-baseline). The basic photogrammetry rule of the intersection of two light rays from a point in space changes to a new concept of the intersection of multiple light rays from a point in space, thus developing a new set of digital close-range photogrammetry systems. By shooting a large number of sequence images with short baselines and different intersection angles, the spatial relationship is established through the spatial coordinates of a small number of control points and their corresponding image point coordinates, thereby solving the camera parameters and the external orientation elements of the images; furthermore, the spatial coordinates of the homologous points obtained by the patent matching algorithm are calculated, that is, the spatial position of the target is obtained.

[0085] The technical advantages of the in-vehicle system for highway asset data collection in the embodiments of this application are as follows:

[0086] In the embodiments of this application, the in-vehicle system for highway asset data collection is adopted for the road full asset management solution of three-dimensional real scene and precise GIS technology. With advanced road data technology, combined with the actual needs of domestic road traffic business management, a complete set of solutions for rapid collection and efficient update of road traffic data, as well as the application of road three-dimensional real scene visualization, is formed, opening a new model for providing domestic road data. It effectively solves the long-existing problems such as difficult road data collection, difficult verification of incomplete and inaccurate data, slow update, and high cost.

[0087] This technology integrates the in-vehicle system for highway asset data collection (high-precision road mobile positioning technology, inertial navigation technology, dead reckoning algorithm, etc.) and existing software technologies such as international advanced data automatic processing and solution technology, efficient road network basic data and road asset data editing, and integrated database technology, realizing efficient continuous road measurable real scene visualization. It provides strong technical support for the effective management of road assets, road traffic safety protection work, and road mileage transfer and sign management work.

[0088] The road full asset management solution based on the vehicle-mounted system for highway asset data collection finally realizes the rapid collection of information related to the road environment, the rapid inspection of infrastructure, the update of the current database, and the maintenance of the historical database, as well as the visual integrated management and statistical analysis of infrastructure. It provides strong technical support for the effective management of road assets, road traffic safety protection work, and road mileage transfer and identification management work. The three-dimensional real scene and GIS technologies have the following technical advantages in obtaining road infrastructure data:

[0089] (1) The road asset data collection solution based on the three-dimensional real scene and precise GIS technologies has good applicability and convenience.

[0090] It is suitable for operation by technical personnel in any highway traffic department: The vehicle-mounted system for highway asset data collection has a one-key operation. Non-professional personnel can also complete the collection work of the measurable real scene image single-shot portable collection technology for roads through simple training.

[0091] It is suitable for any vehicle: The overall weight of the vehicle-mounted system for highway asset data collection is 1.5KG, and it can be carried by hand in an aviation packing box the size of an ordinary computer bag; it is applicable to any vehicle, without the need to modify the vehicle or use special vehicles, and can be installed and collected at any time.

[0092] It is suitable for any road: expressways; national and provincial trunk lines; rural roads. The vehicle-mounted system for highway asset data collection adopts an integrated design, and all components are highly solidified and built into the aluminum alloy shell, which not only reduces the volume of the equipment, but also improves the stability and durability of the equipment. It can complete normal collection even on bumpy roads with complex road conditions.

[0093] It is suitable for any driving speed: The vehicle-mounted system for highway asset data collection adopts an industrial CCD camera, which can take high-frequency photos, with speed self-adaptation, and supports high-density shooting at a speed of 0-130 Km / h. It can collect all the infrastructure along the road without omission.

[0094] It is suitable for large-scale data collection and on-demand data collection for any section: The vehicle-mounted system for highway asset data collection can be powered by a cigarette lighter, can collect while charging, and has the ability to collect for a long time. The equipment is suitable for any vehicle and any section, has no special requirements for operators, can be installed and collected at any time, and meets the on-demand collection for any section.

[0095] It is suitable for long-term data maintenance: The geographical real scene information plotting software iGeoplot can load the original vector asset data into the latest real scene image, and quickly update the data in a visual comparison method. It can be directly used for rapid road status inspection and data extraction, measurement, display, and comparison update. It can display all historical images at the same location at any time, which is convenient for comparing the current situation and historical data at each stage.

[0096] (2) The road asset data collection solution based on 3D real scene and precision GIS technology shortens the process from real scene data acquisition to asset data collection and update, thus achieving data freshness and ensuring the timeliness of data collection.

[0097] The highway asset data collection vehicle system can be installed at any time and collect data at any time. There is no manual intervention in the collection process, and one person can complete the collection work. The real-time spatial data solution engine software iMornitor can be run on any laptop computer and complete data solution with one click. Data fusion solution can be completed on the same day the data is collected.

[0098] The highway asset data collection vehicle-mounted system is easy to operate, and any technician can complete the data collection operation after simple training. The equipment has no requirements for the installation vehicle, no need to fix the vehicle, and no need to modify the vehicle.

[0099] The highway asset data collection vehicle system uses an industrial-grade CCD camera with high-frequency shooting and self-adaptive speed. It can be installed on the roof of the car or adsorbed on the windshield of the car. It can meet the safe driving speed of any level of road and collect data normally. It can meet the requirements of road width restrictions, height restrictions and special sections.

[0100] iGeoplot, a geographic real-life information mapping software, uses the principle of close-range photogrammetry. In the three-dimensional real-life image, you can directly click the target asset with the mouse, and what you see is what you get.

[0101] iGeoplot, a geographic real-life information mapping software, can collect road measurable real-life images once and reuse them. It can also obtain accurate road network alignment + linear mileage data + roadside asset data + road condition environment image data.

[0102] iGeoplot, a geographic real-life information mapping software, can load original vector data into real-life images and two-dimensional maps to achieve visual comparison and update, increasing work efficiency by 5 times compared to the first time.

[0103] (3) The road asset data collection solution based on three-dimensional real scenes and precise GIS technology can provide visual, high-precision and diverse data results.

[0104] The highway asset data collection vehicle system can obtain high-precision and high-density trajectory data. The trajectory data can generate road network linear data. As the most important part of road basic data, the road network linear data can accurately reflect the accessibility of rural roads.

[0105] The trajectory data can be used to establish a linear mileage system through the geographic real - scene information plotting software iGeoplot. The processing system of the geographic real - scene information plotting software iGeoplot has a powerful ability to collect and edit mileage markers. By constructing a complete LRS (Linear Reference System) and mileage data model, all kilometer markers are collected. All asset data are attached with accurate mileage marker numbers. The mileage marker numbers can be arranged arbitrarily, and a mileage marker number system for a partial or entire road network can be established arbitrarily. It accurately reflects the mileage of rural roads accessible and clarifies the mileage for management and maintenance.

[0106] The real - scene data collection technology for highway assets can visually display the images along the road, reflecting the operating conditions and quantity of assets at the time of collection. Specifically, the real - scene data collection technology for highway assets has the following functions: it can visually display the road conditions and environment along the road: the real - scene images directly reflect phenomena such as road paving, road surface maintenance conditions, and whether there is illegal occupation of the road; it can arbitrarily extract the spatial positions (latitude and longitude, facility stake numbers) of infrastructure along the line and reflect the operating conditions of the facilities; it can measure key values in the real - scene images. At the position where the road width changes, the lane width can be measured in the measurable real - scene images, and combined with the measurable real - scene images, the number of lanes can be directly reflected to obtain the overall road width and lane changes.

[0107] The original asset management ledger is mainly based on two - dimensional vector data. Assets cannot be distinguished between upstream and downstream in the two - dimensional map and are all marked on the road line. The real - scene data collection technology for highway assets directly reflects the actual location of the assets, and the spatial position of the assets can be verified through the measurable real - scene images, improving the quality of the asset management ledger.

[0108] The single - shot portable collection technology for real - scene images can obtain various types of road facility asset data, such as:

[0109] (a) Viewing the road conditions and environment along the road

[0110] (b) Extracting the spatial position of assets and reflecting the operating conditions of facilities

[0111] (c) Measuring facility attributes

[0112] Demonstration of the single - shot portable collection technology for measurable real - scene images:

[0113] The real - scene data acquisition system for highway assets can achieve data integration. The geographic real - scene information plotting software iGeoplot can directly obtain road network alignment and linear mileage information through driving tracks. Measurable real - scene images can visually obtain all - element assets, the status of daily maintenance inspections (such as damage conditions, cleaning status, etc.), the current situation of greening, and the road - side human environment along the line. On the other hand, the iGeoplot software can export GIS data results in common formats (csv, shapefile). By combining the data results exported by the iGeoplot software with the original asset ledger, an integrated database is completed, forming a unified and complete data result.

[0114] The data results exported by the iGeoplot software are combined with the original ledger.

[0115] (4) The realization of highly real - scene visualization of the iGeoplot software for system data update

[0116] Visual comparison of measurable real - scene images collected at different times for the same road: The real - scene data acquisition technology for highway assets can compare and verify the measurable real - scene images collected at different times in the iGeoplot software. In the following figure, for the measurable real - scene images at the same position, the position marked by the red ellipse represents the time tag of data collection, and the position of the red rectangle reflects the change of the signboard.

[0117] Visual comparison of measurable real - scene images at different times

[0118] Visual inspection and correction of the real - scene of the original road spatial data: The asset data extracted for the first time is overlaid on the latest collected measurable real - scene images. The asset markings extracted for the first time can be overlaid and displayed in the latest measurable real - scene images, realizing visual comparison and verification, and quickly realizing the update and warehousing of assets.

[0119] Visual inspection and correction of road assets at the same position at different times

[0120] The applicability of the vehicle - mounted system for highway asset data acquisition in the embodiments of this application:

[0121] (1) Compared with the traditional data acquisition method of GPS + mobile tablet (laptop), the road asset data acquisition scheme based on the real - scene data acquisition technology for highway assets is more efficient and visible.

[0122] For the acquisition of road information and data on asset facilities along the road using the GPS + mobile tablet (laptop) data collection method. To measure the road width, the collection personnel need to get out of the vehicle and use tools. For the data on asset facilities along the road, collection requires the vehicle to stop. If it is necessary to verify road alignment, road width, pavement type, asset facility data, etc., the verification personnel need to arrive at the scene. Considering the very scattered distribution of the road network, for the collected road information data and asset facility data, it is impossible for the verification personnel to reach the scene for every piece of data that needs to be verified.

[0123] During the image collection process of the in-vehicle system for highway asset data collection, there is no need to stop the vehicle. Through the image data, the road alignment, pavement type, and asset facility information can be directly extracted and verified in the office; the road width can be directly measured in the image, enabling data collection in the field without stopping the vehicle and eliminating the need for verification personnel to reach every location for in-office data verification.

[0124] (2) Compared with the traditional GPS + mobile tablet (laptop) data collection method, the road asset data collection solution using the highway asset real-scene data collection technology has good applicability.

[0125] For the GPS + mobile tablet (laptop) data collection method, the drivers of the collection vehicles need to be trained, and there are relatively high requirements for vehicle driving during data collection; the data collection personnel need to pay attention to the positions of assets ahead on the road at all times.

[0126] (3) The in-vehicle system for highway asset data collection is more universal for people, vehicles, and roads.

[0127] It is suitable for operation by technical personnel in any highway transportation department: The in-vehicle system for highway asset data collection features one-key operation, has low requirements for the cultural and educational level of the collection personnel, and non-professional personnel can also complete the collection work of the measurable real-scene image single-shot portable collection technology for roads through simple training.

[0128] It is suitable for any road: expressways; national and provincial trunk roads; rural roads. The in-vehicle system for highway asset data collection adopts an integrated design, with all components highly solidified and built into an aluminum alloy housing, which not only reduces the volume of the equipment but also improves the stability and durability of the equipment. It can complete normal collection even on bumpy roads with complex road conditions.

[0129] It is suitable for any driving speed: The in-vehicle system for highway asset data collection uses an industrial CCD camera, which can take high-frequency shots with speed adaptability and supports high-density shooting at speeds from 0 to 130 Km / h.

[0130] It is suitable for large-scale data collection and on-demand data collection for any road section: The in-vehicle system for highway asset data collection can be powered by a cigarette lighter, enabling collection while charging and having the ability for long-term collection.

[0131] In the embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. The system embodiments described above are only illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed with each other can be through some interfaces, and the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0132] In addition, each functional module in the embodiments of the present utility model can be all integrated in a processor, or each module can be separately used as a device alone, or two or more modules can be integrated in a device; each functional module in the embodiments of the present utility model can be implemented in the form of hardware, or can be implemented in the form of a combination of hardware and software functional units.

[0133] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed through program instructions and related hardware. The foregoing program instructions can be stored in a computer-readable storage medium. When the program instructions are executed, the steps including the above method embodiments are executed; and the foregoing storage medium includes: various media such as mobile storage devices, read-only memories (ROMs), magnetic disks, or optical discs that can store program codes.

[0134] It should be understood that in the present application, if the terms "system", "device", "unit" and / or "module" are used, they are only a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, then the term can be replaced by other expressions.

[0135] As shown in the present application and the claims, unless the context clearly indicates an exception, the words "a", "an", "one" and / or "the" etc. do not specifically refer to the singular, but may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The process, method, commodity or device may also include other steps or elements. The element defined by the statement "comprising one..." does not exclude the existence of another identical element in the process, method, commodity or device including the element.

[0136] Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in this article is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0137] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0138] If a flowchart is used in the present application, the flowchart is used to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the operations before or after do not necessarily need to be executed precisely in order. On the contrary, they can be executed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or one or several operations can be removed from these processes.

[0139] The above has introduced in detail a vehicle-mounted system for collecting highway asset data provided by the present utility model. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A highway asset data collection vehicle-mounted system, characterized in that: The system comprises an image acquisition device, a positioning device, an inertial navigation device, a data synchronization device, a storage device, a communication device and a real-time monitoring terminal arranged on a carrier vehicle, wherein the signal output ends of the image acquisition device, the positioning device and the inertial navigation device are respectively connected to the signal input end of the data synchronization device, the first signal output end of the data synchronization device is connected to the signal input end of the storage device, the second signal output end of the data synchronization device and the storage device are connected to the real-time monitoring terminal via the communication device, wherein: The image acquisition device is used to acquire images of highway assets around the carrier vehicle in real time during the process of the carrier vehicle performing highway asset data acquisition; The positioning device is used to obtain the position information of the image acquisition device corresponding to each image in the highway asset image in real time; The inertial navigation device is used to obtain the posture information of the image acquisition device corresponding to each image in the highway asset image in real time; The data synchronization device is used to synchronously record the road asset images collected by the image acquisition device, the position information obtained by the positioning device and the posture information obtained by the inertial navigation device, and store the synchronously recorded data information in the storage device, and send the synchronously recorded data information to the real-time monitoring terminal through the communication device for display.

2. The highway asset data collection vehicle-mounted system according to claim 1, characterized in that: The image acquisition device includes a CCD image sensor, a signal amplification circuit, an analog-to-digital conversion circuit, an FPGA controller, a CCD timing drive circuit and an SPI interface module, wherein: The signal output end of the CCD image sensor is connected to the signal input end of the signal amplifying circuit, the signal output end of the signal amplifying circuit is electrically connected to the signal input end of the analog-to-digital conversion circuit, the signal output end of the analog-to-digital conversion circuit is connected to the signal input end of the FPGA controller, the first signal output end of the FPGA controller is connected to the first signal input end of the data synchronization device through the SPI interface module, the second signal output end of the FPGA controller is connected to the signal input end of the CCD timing driving circuit, and the signal output end of the CCD timing driving circuit is connected to the signal input end of the CCD image sensor.

3. The highway asset data collection vehicle-mounted system according to claim 1, characterized in that: The positioning device includes a multi-channel radio frequency module, multiple GNSS modules and a single-chip processor, wherein: Each signal output end of the multi-channel RF module is correspondingly connected to the signal input end of the multiple GNSS modules, the signal output ends of the multiple GNSS modules are respectively connected to the signal input end of the single-chip processor, and the signal output end of the single-chip processor is connected to the second signal input end of the data synchronization device.

4. The highway asset data collection vehicle-mounted system according to claim 3 is characterized in that: The multi-channel radio frequency module includes multiple signal receiving amplifiers and multiple filters, and the multiple signal receiving amplifiers, multiple filters and multiple GNSS modules are connected in sequence.

5. The highway asset data collection vehicle-mounted system according to claim 3 is characterized in that: The GNSS modules are provided with three, namely a first GNSS module, a second GNSS module and a third GNSS module, wherein: The multi-channel radio frequency module transmits the GPS analog signal received via the receiving antenna to the first GNSS module; The multi-channel radio frequency module transmits the GLONASS analog signal received via the receiving antenna to the second GNSS module; The multi-channel radio frequency module transmits the Galileo analog signal received via the receiving antenna to the third GNSS module.

6. The highway asset data collection vehicle-mounted system according to claim 1, characterized in that: The inertial navigation device includes an accelerometer, a gyroscope, a signal conditioning circuit, an A / D conversion circuit and an MCU controller, wherein: The signal output ends of the accelerometer and the gyroscope are respectively connected to the signal input end of the signal conditioning circuit, the signal output end of the signal conditioning circuit is connected to the signal input end of the A / D conversion circuit, the signal output end of the A / D conversion circuit is connected to the signal input end of the MCU controller, and the signal output end of the MCU controller is connected to the third signal input end of the data synchronization device.

7. The highway asset data collection vehicle-mounted system according to claim 1, characterized in that: The data synchronization device includes a signal synchronization controller, a first delay circuit, a second delay circuit and a signal co-processor, wherein: The first signal output end of the signal synchronization controller is connected to the signal input end of the image acquisition device, the second signal output end of the signal synchronization controller is connected to the signal input end of the positioning device through the first delay circuit, the third signal output end of the signal synchronization controller is connected to the signal input end of the inertial navigation device through the second delay circuit, the fourth signal output end of the signal synchronization controller is connected to the control signal input end of the signal co-processor, the signal output ends of the image acquisition device, the positioning device and the inertial navigation device are respectively connected to the signal input end of the signal co-processor, and the signal output end of the signal co-processor is connected to the storage device.

8. The highway asset data collection vehicle-mounted system according to any one of claims 1 to 7, characterized in that: The communication device includes a wireless communication module, the real-time monitoring terminal is an intelligent mobile terminal, and the data synchronization device and the storage device are wirelessly connected to the real-time monitoring terminal via a wireless network.

9. The highway asset data collection vehicle-mounted system according to claim 8, characterized in that: The wireless communication module is a WiFi module, a 4G module or a 5G module.

10. The highway asset data collection vehicle-mounted system according to claim 8, characterized in that: The smart mobile terminal is one or any combination of the following devices: Smartphones, tablets, laptops.

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