CN102061659B - Urban road pavement routine inspection equipment - Google Patents
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Abstract
The invention relates to equipment for quick routine inspection of pavement disease, in particular to multi-sensor integration-based urban road pavement routine inspection equipment, which can be widely applied to the fields of routine servicing inspection of urban road, expressway and national and provincial road pavements, and the like. The invention provides vehicle-mounted equipment for quick routine inspection of pavement disease. In the equipment, a motor vehicle is used as a platform, and sensors and equipment such as an image sensor, an accelerometer, a photoelectric encoder, a micro-electromechanical system (MEMS) gyro, a global positioning system (GPS) receiver, a light-emitting diode (LED) flashlight, a 3G communication terminal, a cooperative control circuit, a vehicle-mounted computer and the like are integrated; and the equipment is full-automatic, can perform pavement disease inspection under the condition of the urban normal traffic speed of 15-80km/h, ensures small potential safety hazards and cannot influence normal traffic.
Description
Technical field
The present invention relates to the equipment of the daily fast inspection of a kind of pavement disease; Especially relate to a kind ofly, can be widely used in urban road, speedway and state and economize the routine servicing of road surface and the field such as patrol and examine based on the daily equipment of patrolling and examining of the integrated urban road surfaces of multisensor.
Background technology
The road surface is that vehicle and road directly come in contact the surface with active force, with safety that directly influences vehicle ' and stationarity.Therefore, the integrity of guaranteeing the road surface is one of road maintenance administrative department most important work.
The operation of opening along with road; Under weather, environment, vehicular load and effect of factors such as artificial; Crack, breakage, sedimentation inevitably take place, gather around various diseases such as bag in the road surface; These diseases have reduced the application life of road-ability, passage rate and the road of road, some disease even affect traffic safety.Damage or lose like the well lid that causes owing to overload and reason such as theft in the urban road; To seriously jeopardize traffic safety; Occur in the major traffic accidents of bad 6 automobiles of 3 dead 3 hurts together of YuanMingYuan West Road, BeiJing City like the dusk on August 27th, 2004, cause because the well lid in the middle of the road is outstanding.Therefore, strengthen the routine servicing on road surface, find that disease in time repairs,, keep the beautiful and clean of city look and feel, prolong road application life, reduce overhaul cost ensureing urban highway traffic, all very important.
At present; For strengthening urban road maintenance management level; The Maintenance MIS of oneself has all been set up in a lot of metropolis; " urban road inspection information management system ", the Wuhan City's city management office that sets up like urban road maintenance management center, Beijing set up " Wuhan City's urban grid management and service system " etc., and the foundation of these management information systems has improved the managerial skills of urban road maintenance efficient greatly, but its road disease daily patrolled and examined main dependence city management personnel and adopt special-purpose PDA to gather or manual the collection; Like Beijing in the five rings on the road; A road patrolman is through PDA portable intelligent transmission equipment surplus having 60, and the road disease information that inspection is found positions, takes pictures, and reports through wireless network.Owing to lack modern information obtaining means, seriously restricting the bigger effect of these management information system performances.
Summary of the invention
The present invention solves the existing present urban road disease means of patrolling and examining of prior art mainly to adopt simple machines such as PDA; Rely on manual type to realize fully, the potential safety hazard of patrolling and examining inspector in the process is big, influence normal traffic, artificial strong etc. the technical problem of subjectivity; Provide a kind of can full automation, and can under the normal traffic velocity conditions of city, promptly carry out pavement disease under the 15-80km/h condition and patrol and examine, potential safety hazard is little, can not influence the daily equipment of patrolling and examining of a kind of urban road surfaces of normal traffic.
It is to solve existing in prior technology pavement detection equipment in use that the present invention also has a purpose, and car-mounted computer is mainly accomplished the record of pavement image, not to gathering the technical problem that image carries out real-time processing etc.; Provide a kind of and can real-time reliable carry out online disease identification; In the running of the equipment of patrolling and examining; When gathering pavement image, discern the emphasis pavement disease automatically, mainly comprise the daily equipment of patrolling and examining of a kind of urban road surfaces of damaged, the bigger crack of well lid, hole groove etc.
It is to solve existing in prior technology pavement detection equipment when the identification pavement disease that the present invention has a purpose again, relies on examination and understanding to image fully, does not have the technical problem of other sensor cooperation etc.; Provide a kind of ability to merge, the daily equipment of patrolling and examining of a kind of urban road surfaces of distortion type diseases such as the sedimentation on judgement road surface, distortion, faulting of slab ends through accelerometer signal and GES.
It is to solve existing in prior technology pavement detection equipment through mobile memory or cable network that the present invention also has a purpose; With the computer of the image data transmission that collects to the processing center; Carry out image and handle, technical problem that can not the real-time Transmission road information etc.; Provide a kind of and can be in real time disease image and attribute information have been sent to the daily equipment of patrolling and examining of a kind of urban road surfaces of remote monitoring center.
It is to solve existing in prior technology pavement detection equipment to adopt natural lighting or high-power lamp illumination that the present invention has a purpose at last; Make to gather that image receives the sunshine serious interference or system power dissipation is excessive, the technical problem that collection image quality is difficult to guarantee etc.; Provide a kind of light filling can solve pavement image and obtain the time to reduce the interference of sunshine and shade, possessed high brightness, low-power consumption, the daily equipment of patrolling and examining of long-life a kind of urban road surfaces simultaneously.
Above-mentioned technical problem of the present invention mainly is able to solve through following technical proposals:
The daily equipment of patrolling and examining of a kind of urban road surfaces; It is characterized in that; Comprise mobile system and be arranged on the camera synchronization control device on the mobile system, also be provided with the CCD camera, accelerometer, photoelectric encoder, GPS receiver, gyroscope and the supply unit that all link to each other on this mobile system with the camera synchronization control device.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces, framing unit and translational speed and image co-registration analytic unit that described camera synchronization control device comprises host computer system and links to each other with host computer system respectively.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces, described framing unit comprises:
Dead reckoning module: receive the time of GPS receiver and the mileage signal of locator data, gyrostatic angular velocity signal and photoelectric encoder through serial communication and A/D translation interface; And employing Kalman filter; Framing signal, angular velocity signal and distance signal are merged, obtain current position of mobile system and course;
Mileage counting module: after receiving the mileage signal of photoelectric encoder, accomplish counting, obtain the distance of mobile system current location with respect to starting point to the mileage pulse;
Shooting control module: after receiving the mileage signal of photoelectric encoder, take spacing according to the photograph of setting and produce CCD camera triggering signal;
Framing module: after receiving the triggering signal of the absolute fix data of dead reckoning module, the relative positioning data of mileage counting module and the trigger module of making a video recording; Through the prediction interpolation algorithm; Calculate the positional information of giving the captured image of trigger impulse, this information comprises absolute geodetic coordinates, relative mileage and moment information.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces, described image co-registration analytic unit comprises:
The processing module of jolting: receive the output signal of photoelectric encoder and accelerometer and judge the speed of mobile system through the mileage signal of photoelectric encoder;
Intelligent image processing module: the disease information acceleration that obtains after the road surface figure of reception CCD camera collection and the processing;
Road surface height anomaly and image co-registration module: obtain road surface height anomaly information, and the disease information that itself and intelligent image processing module are obtained is merged, judge the type and the order of severity of pavement disease.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces; The concrete grammar of the described processing module work of jolting is: to the counting of the mileage pulse in the unit interval; And the pairing mobile system operating range of single mileage pulse; Obtain the distance that mobile system goes in the unit interval, thereby calculate the speed of service of mobile system; This module is the instantaneous output valve of two accelerometers and the ratio of car speed, as the index of judging the height anomaly whether position, current road surface has, as shown in the formula:
Wherein, S
tBe t road surface height anomaly index constantly, a
tBe t wheel acceleration value constantly, v
tBe vehicle t velocity amplitude constantly.Work as S
tDuring greater than user's preset threshold S, judge that then there is height anomaly on the road surface.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces, it also comprises 3G wireless communication terminal and the LED flash lamp that all links to each other with the camera synchronization control device.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces, described accelerometer comprises left accelerometer and right accelerometer, is separately positioned on the left and right wheel suspension assembly of mobile system.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces, described camera synchronization control device also comprises the time synchronized module that is used for real-time lock in time that links to each other with above-mentioned host computer system.
At the daily equipment of patrolling and examining of above-mentioned a kind of urban road surfaces; The concrete operating principle of described road surface height anomaly and image co-registration module is following: in the mobile system driving process; When the ratio of the above-mentioned accekeration that is arranged on the accelerometer output on the mobile system and the translational speed of mobile system surpasses user's predetermined threshold value, the pavement texture architecture signals of this ratio signal and the reception of intelligent image processing module is inputed to host computer system.
Therefore, the present invention has following advantage: 1. can full automation, and can under the normal traffic velocity conditions of city, promptly carry out pavement disease under the 15-80km/h condition and patrol and examine, potential safety hazard is little, can not influence normal traffic; 2. can real-time reliable carry out online disease identification, in the running of the equipment of patrolling and examining, when gathering pavement image, discern the emphasis pavement disease automatically, mainly comprise damaged, the bigger crack of well lid, hole groove; 3. can merge distortion type diseases such as the sedimentation on judgement road surface, distortion, faulting of slab ends through accelerometer signal and GES; 4. can in real time disease image and attribute information be sent to remote monitoring center; 5. the light filling in the time of solving pavement image and obtain possesses high brightness, low-power consumption, long-life simultaneously to reduce the interference of sunshine and shade
Description of drawings
Accompanying drawing 1 is a kind of structural representation of the present invention;
Accompanying drawing 2 is a kind of operating principle sketch mapes of the present invention;
Accompanying drawing 3 is a kind of signal catenation principle sketch mapes of the present invention;
Accompanying drawing 4 is operating principle sketch mapes of framing unit among the present invention;
Accompanying drawing 5 is operating principle sketch mapes of picture synchronization collection control among the present invention;
Accompanying drawing 6 is operating principle sketch mapes of image co-registration analytic unit among the present invention;
Accompanying drawing 7 is operating principle sketch mapes of camera synchronization control device among the present invention;
Accompanying drawing 8 is that the power supply power supply plan among the present invention connects sketch map;
Accompanying drawing 9 is software workflow sketch mapes of the present invention.
The specific embodiment
Pass through embodiment below, and combine accompanying drawing, do further bright specifically technical scheme of the present invention.Among the figure; City offroad vehicle 1, CCD camera 2, LED flash lamp 3, accelerometer 4, photoelectric encoder 5, GPS receiver 6, camera synchronization control device 7, car-mounted computer 8,3G wireless communication terminal 9, supply unit 10, mobile system, gyroscope, framing unit, image co-registration analytic unit, dead reckoning module, mileage counting module, shooting control module, framing module, the processing module of jolting, intelligent image processing module, road surface height anomaly and image co-registration module, left accelerometer, right accelerometer, time synchronized module.
Embodiment:
The daily equipment of patrolling and examining of a kind of urban road surfaces; Comprise mobile system and be arranged on the camera synchronization control device on the mobile system, also be provided with the CCD camera, accelerometer, photoelectric encoder, GPS receiver, gyroscope and the supply unit that all link to each other on this mobile system with the camera synchronization control device.Framing unit and translational speed and image co-registration analytic unit that the camera synchronization control device comprises host computer system and links to each other with host computer system respectively; It also comprises 3G wireless communication terminal and the LED flash lamp that all links to each other with the camera synchronization control device; Accelerometer comprises left accelerometer and right accelerometer; Be separately positioned on the left and right driving device of mobile system, this camera synchronization control device also comprises the time synchronized module that is used for real-time lock in time that links to each other with above-mentioned host computer system.
Show that like Fig. 1 the daily equipment of patrolling and examining of urban road surfaces is made up of hardware and software two parts.Software comprises that mainly data acquisition software, image processing and analysis software, remote data transmission software and data receive and the software for display composition.
The daily inspection car hardware of urban road surfaces is mainly by mobile system; In the present embodiment; Adopt city offroad vehicle 1; CCD camera 2, LED flash lamp 3, accelerometer 4, photoelectric encoder 5, GPS receiver 6, the camera synchronization control device 7 that includes host computer system, 3G wireless communication terminal 9 and supply unit 10 constitute, and need to prove that the host computer system of present embodiment adopts car-mounted computer 8.
City offroad vehicle 1 is as the traverse measurement platform, and for each sensor and the equipment of the daily inspection car in road surface provides the lift-launch platform, the work for each equipment of system simultaneously provides stable power.CCD camera 2 is installed in vehicle rear through a folding rack, is used to take pavement image.LED flash lamp 3 is installed together with CCD camera 2, and the light filling when being used to take is to reduce the interference of sunshine.Totally 2 of accelerometers 4 are installed in respectively on the suspension of two trailing wheels, to measure trailing wheel acceleration in the process of moving.Photoelectric encoder 5 is installed on the central axis of left side wheel, with the speed of service and the distance of measuring vehicle.The antenna of GPS receiver 6 is installed in roof, and receiver is installed in the camera synchronization control device 7, is used for the location of vehicle.Camera synchronization control device 7 is installed in luggage case in the city offroad vehicle 1, is used for the shooting of Collaborative Control CCD camera 2 and LED flash lamp 3.Car-mounted computer 8 is installed in luggage case in the city offroad vehicle 1, be used for pavement image collection, storage, handle in real time and communicate by letter.3G wireless communication terminal 9 is installed on the car-mounted computer 8 through USB interface, is used for the position and the disease image remote of vehicle are sent to control centre.Supply unit 10 is installed in luggage case in the city offroad vehicle 1, the power supply that continous-stable is provided for each sensor and the equipment of system.
As shown in Figure 2; The daily equipment of patrolling and examining of urban road surfaces is the concrete application of of vehicle-mounted traverse measurement technology; The present invention adopts multi-sensor fusion technology and intelligent image analytical technology; Car-mounted computer carries out real-time online with the data of sensor acquisition to be handled, and pavement disease image and positional information thereof are transferred to remote control center through the 3G wireless communication terminal.
In Fig. 2, the information fusion of GPS receiver, gyroscope and photoelectric encoder realizes the reckoning of vehicle dynamic position, can gps signal be interfered or the situation of blocking under, normally export the coordinate and the mileage of vehicle; The information fusion of photoelectric encoder and accelerometer realizes the extraction of the vertical height anomaly in road surface, like the hole groove on road surface, faulting of slab ends etc.; The CCD camera cooperates with the LED flash lamp and obtains high-quality pavement image.After the fusion and analysis of the unusual and pavement image of the locating information of vehicle, road surface elevation through car-mounted computer, obtain the disease and the image thereof on road surface, send to remote control center through the 3G wireless terminal.
As shown in Figure 3; Patrol and examine the signal catenation principle of equipment for urban road surfaces in the present embodiment is daily; GPS receiver, photoelectric encoder, acceleration are taken into account gyrostatic signal and are input to the camera synchronization control device; By the processing of camera synchronization control device completion data, whether the position of output image and this image have information such as road surface height anomaly, are sent to car-mounted computer.Car-mounted computer is accepted information such as CCD image of camera information and position, after handling through online data, obtains the disease image information, and this information is sent to remote control center through the 3G wireless communication terminal.
Set forth daily principle and the scheme of patrolling and examining each subelement of camera synchronization control device in the equipment of this urban road surfaces in detail with regard to each sub-systems below.
Show like Fig. 4, shown in, be the operating principle of framing unit in the present embodiment:
The framing unit comprises:
Dead reckoning module: receive the time of GPS receiver and the mileage signal of locator data, gyrostatic angular velocity signal and photoelectric encoder through serial communication and A/D translation interface; And employing Kalman filter; Framing signal, angular velocity signal and distance signal are merged, obtain current position of mobile system and course;
Mileage counting module: after receiving the mileage signal of photoelectric encoder, accomplish counting, obtain the distance of mobile system current location with respect to starting point to the mileage pulse;
Shooting control module: after receiving the mileage signal of photoelectric encoder, take spacing according to the photograph of setting and produce CCD camera triggering signal;
Framing module: after receiving the triggering signal of the absolute fix data of dead reckoning module, the relative positioning data of mileage counting module and the trigger module of making a video recording; Through the prediction interpolation algorithm; Calculate the positional information of giving the captured image of trigger impulse, this information comprises absolute geodetic coordinates, relative mileage and moment information.
The mileage signal pulse signal of the time of GPS receiver and locator data data signal, gyrostatic angular velocity signal analog signal and photoelectric encoder is sent to the dead reckoning module through serial communication and A/D translation interface; The dead reckoning module adopts Kalman filter; Framing signal, angular velocity signal and distance signal are merged, obtain current position of vehicle and course.The advantage of this scheme is can overcome in the city owing under the high building, overpass bridge, the condition of blocking of underground passage to gps satellite, still can obtain vehicle location data accurately continuously.After the mileage counting module receives the mileage signal of photoelectric encoder, accomplish counting, obtain the distance of current location with respect to starting point to the mileage pulse.After the shooting trigger module receives the mileage signal of photoelectric encoder, take spacing according to the photograph of setting and produce CCD camera triggering signal.After the framing module receives the triggering signal of the absolute fix data of dead reckoning module, the relative positioning data of mileage counting module and the trigger module of making a video recording; Through the prediction interpolation algorithm; Calculate the positional information of giving the captured image of trigger impulse, this information comprises absolute geodetic coordinates, relative mileage and moment information.
Show like Fig. 5; Patrol and examine equipment picture synchronization collection control principle for urban road surfaces in the present embodiment is daily: the camera synchronization control device receives the mileage signal pulse signal of photoelectric encoder; The parametric image that is provided with according to car-mounted computer sends is taken spacing; Produce the CCD camera and take start pulse signal, be used for the shooting of CCD camera and the illumination of LED flash lamp.Car-mounted computer is mainly used in the acquisition parameters setting of camera synchronization control device and CCD camera.
Show like Fig. 6, shown in, be the operating principle of image co-registration analytic unit in the present embodiment:
The image co-registration analytic unit comprises:
The processing module of jolting: receive the output signal of photoelectric encoder and accelerometer and judge the speed of mobile system through the mileage signal of photoelectric encoder; The concrete grammar of the processing module of jolting work is: to the counting of the mileage pulse in the unit interval; And the pairing mobile system operating range of single mileage pulse; Obtain the distance that mobile system goes in the unit interval, thereby calculate the speed of service of mobile system; This module is the instantaneous output valve of two accelerometers and the ratio of car speed, as the index of judging the height anomaly whether position, current road surface has, as shown in the formula:
Wherein, S
tBe t road surface height anomaly index constantly, a
tBe t wheel acceleration value constantly, v
tBe vehicle t velocity amplitude constantly.Work as S
tDuring greater than user's preset threshold S, judge that then there is height anomaly on the road surface.
Intelligent image processing module: the disease information acceleration that obtains after the road surface figure of reception CCD camera collection and the processing;
Road surface height anomaly and image co-registration module: in the vehicle ' process; The accekeration that is installed in the accelerometer output on the wheel suspension is with the ratio of the speed of a motor vehicle during above predetermined threshold value; The output acceleration is unusual, shows that violent variation has taken place the local elevation on road surface, shows that this road section surface has diseases such as hole groove, faulting of slab ends or local sedimentation; This ratio numerical value is big more, shows that disease is serious more; This road section surface image that the while camera is taken when finding tangible texture structure variation or grey scale change are arranged, explains that this road section surface has hole groove (planar) or faulting of slab ends (wire) through handling.The result unusual and image recognition of degree of will speed up value can confirm the type and the degree of the disease at this place; If do not find tangible texture variations, can judge that then this road section surface has local sedimentation or distortion disease through image.
After the pavement image that the CCD camera is gathered was handled through the intelligent image processing module, the road surface height anomaly information of disease information acceleration that it obtains and road surface height anomaly and the output of image co-registration module merged, and judges the type and the order of severity of pavement disease.
Show like Fig. 8, be the power supply power supply plan in the present embodiment, the dc source that automobile current generator produces is transported to battery through fuse, through after the vehicular electric power source device, is transported to camera synchronization control device and car-mounted computer respectively.GPS receiver, photoelectric encoder, CCD camera, LED flash lamp, accelerometer, gyroscope provide power supply by the camera synchronization control device, and the 3G wireless communication terminal is then supplied power by the usb bus of car-mounted computer.
Showing like Fig. 9, be the daily software workflow of patrolling and examining equipment of present embodiment urban road surfaces, mainly divide two kinds of thread operations, is respectively IMAQ thread and disease identification thread.
The flow process of IMAQ thread is: after starting this thread, send the IMAQ instruction, wait for the triggering signal of camera; Behind camera triggering collection image, image data transmission to internal memory, is received the locating information of this image simultaneously; After view data and locating information fusion;, in internal memory, also image is deposited simultaneously with certain format, get into the collection of piece image down then.
The flow process of disease identification thread is: after starting this thread; The new image of gathering of disease identification thread waits; After the image of new collection arrives; At first judge according to the supplementary of this image whether the road surface that this image covers has height anomaly,, directly get into disease type identification step if having; If not to this image carry out preliminary treatment, image is cut apart and extraction step, judges then whether this width of cloth image has disease, if disease is arranged, then gets into disease type identification step; At last disease image and disease type are carried out packing data, send to remote control center through the 3G cordless communication network.
It should be noted that; In the present embodiment; In the accompanying drawing 3,5,8,, be that car-mounted computer separates expression as specific installation and camera synchronization control device with host computer system for more intuitive expression; In fact, host computer system is that car-mounted computer is inner one of them specific installation of camera synchronization control device.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Person of ordinary skill in the field of the present invention can make various modifications or replenishes or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has used terms such as city offroad vehicle 1, CCD camera 2, LED flash lamp 3, accelerometer 4, photoelectric encoder 5, GPS receiver 6, camera synchronization control device 7, car-mounted computer 8,3G wireless communication terminal 9, supply unit 10, mobile system, gyroscope, framing unit, image co-registration analytic unit, dead reckoning module, mileage counting module, shooting control module, framing module, the processing module of jolting, intelligent image processing module, road surface height anomaly and image co-registration module, left accelerometer, right accelerometer, time synchronized module morely, do not get rid of the possibility of using other term.Using these terms only is in order to describe and explain essence of the present invention more easily; It all is contrary with spirit of the present invention being construed to any additional restriction to them.
Claims (6)
1. daily equipment of patrolling and examining of urban road surfaces; It is characterized in that; Comprise mobile system and be arranged on the camera synchronization control device on the mobile system; Also be provided with the CCD camera, accelerometer, photoelectric encoder, GPS receiver, gyroscope and the supply unit that all link to each other on this mobile system, framing unit and translational speed and image co-registration analytic unit that described camera synchronization control device comprises host computer system and links to each other with host computer system respectively with the camera synchronization control device;
Described framing unit comprises:
Dead reckoning module: receive the time of GPS receiver and the mileage signal of locator data, gyrostatic angular velocity signal and photoelectric encoder through serial communication and A/D translation interface; And employing Kalman filter; Framing signal, angular velocity signal and distance signal are merged, obtain current position of mobile system and course;
Mileage counting module: after receiving the mileage signal of photoelectric encoder, accomplish counting, obtain the distance of mobile system current location with respect to starting point to the mileage pulse;
Shooting control module: after receiving the mileage signal of photoelectric encoder, take spacing according to the photograph of setting and produce CCD camera triggering signal;
Framing module: after receiving the triggering signal of the absolute fix data of dead reckoning module, the relative positioning data of mileage counting module and the trigger module of making a video recording; Through the prediction interpolation algorithm; Calculate the positional information of giving the captured image of trigger impulse, this information comprises absolute geodetic coordinates, relative mileage and moment information;
Described translational speed and image co-registration analytic unit comprise:
The processing module of jolting: receive the output signal of photoelectric encoder and accelerometer and judge the speed of mobile system through the mileage signal of photoelectric encoder;
Road surface height anomaly and image co-registration module: obtain road surface height anomaly information, and the disease information that itself and intelligent image processing module are obtained is merged, judge the type and the order of severity of pavement disease;
Intelligent image processing module: the disease information acceleration that obtains after the road surface figure of reception CCD camera collection and the processing.
2. the daily equipment of patrolling and examining of a kind of urban road surfaces according to claim 1; It is characterized in that; The concrete grammar of the described processing module work of jolting is: to the counting of the mileage pulse in the unit interval; And the pairing mobile system operating range of single mileage pulse, obtain the distance that mobile system goes in the unit interval, thereby calculate the speed of service of mobile system; This module is the instantaneous output valve of two accelerometers and the ratio of car speed, as the index of judging the height anomaly whether position, current road surface has, as shown in the formula:
Wherein, S
tBe t road surface height anomaly index constantly, a
tBe t wheel acceleration value constantly, v
tFor vehicle t velocity amplitude constantly, work as S
tDuring greater than user's preset threshold S, judge that then there is height anomaly on the road surface.
3. the daily equipment of patrolling and examining of a kind of urban road surfaces according to claim 2 is characterized in that, it also comprises 3G wireless communication terminal and the LED flash lamp that all links to each other with the camera synchronization control device.
4. the daily equipment of patrolling and examining of a kind of urban road surfaces according to claim 1 is characterized in that described accelerometer comprises left accelerometer and right accelerometer, is separately positioned on the left and right driving device of mobile system.
5. the daily equipment of patrolling and examining of a kind of urban road surfaces according to claim 1 is characterized in that, described camera synchronization control device also comprises the time synchronized module that is used for real-time lock in time that links to each other with above-mentioned host computer system.
6. the daily equipment of patrolling and examining of a kind of urban road surfaces according to claim 4; It is characterized in that; The concrete operating principle of described road surface height anomaly and image co-registration module is following: in the mobile system driving process; When the ratio of the above-mentioned accekeration that is arranged on the accelerometer output on the mobile system and the translational speed of mobile system surpasses user's predetermined threshold value, the pavement texture architecture signals of this ratio signal and the reception of intelligent image processing module is inputed to host computer system.
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| CN2010105214282A CN102061659B (en) | 2010-10-27 | 2010-10-27 | Urban road pavement routine inspection equipment |
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| CN104463458B (en) * | 2014-12-04 | 2016-07-06 | 广东能达高等级公路维护有限公司 | Highway routine servicing KXG |
| CN104792937B (en) * | 2015-04-02 | 2017-02-22 | 同济大学 | Bridge head bump detection evaluation method based on vehicle-mounted gravitational acceleration sensor |
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