CN104864909A - Road surface pothole detection device based on vehicle-mounted binocular vision - Google Patents
Road surface pothole detection device based on vehicle-mounted binocular vision Download PDFInfo
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- CN104864909A CN104864909A CN201510234380.XA CN201510234380A CN104864909A CN 104864909 A CN104864909 A CN 104864909A CN 201510234380 A CN201510234380 A CN 201510234380A CN 104864909 A CN104864909 A CN 104864909A
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Abstract
The invention provides a road surface pothole detection device based on vehicle-mounted binocular vision. The road surface pothole detection device comprises a GPS module, a binocular camera module, a vibration sensor module, an outer trigger module, a power supply module, a main controller module, an external storage module, a computer, a high speed memory and a router. The GPS module positions the position of a vehicle in real time and divides a frequency equidistantly to the binocular camera module. The binocular camera module collects a road image once every time the binocular camera module receives one trigger signal from the GPS module, and at the same time, the vibration sensor module receives an initial trigger signal from the GPS module to collect vibration information of a vehicle body. The main controller module carries out data processing on the information collected by the vibration sensor module and the GPS module and provided with synchronous time information. The computer processes and analyzes the image data information sent by the binocular camera module. Combined with data collection of multiple sensors and by means of algorithm processing of the computer, the latitude and longitude of a pothole on the road surface can be effectively positioned, and the area and depth information of the pothole on the road surface can be calculated.
Description
Technical field
The invention belongs to road quality detection field, be specifically related to a kind of hole, road surface groove detection apparatus combining binocular camera, GPS, vibration transducer and main control chip.
Background technology
Along with the fast development of China's economy, the use of vehicle is more and more general, meanwhile urban road is because the long run of vehicle, the impact of wheel and natural cause are as wind, Exposure to Sunlight, flood, dust storm etc., all can be subject to either large or small infringement, thus forms hole groove.The quantity of hole, road surface groove is the major criterion that road quality is weighed, and the hole groove on road surface is not only related to the tenure of use of highway, more can affect the traveling impression of driver and crew in vehicle, affect traffic safety.
It is generally artificial searching that traditional hole, road surface groove is measured, and record, this method wastes time and energy, and efficiency is low.Advanced technology external is at present widely applied in hole, road surface groove detects, but due to problems such as its equipment investment relevant device maintenance bigger than normal, external, maintenance inconvenience, is difficult at home promote.The domestic research for hole, road surface groove context of detection is relative with equipment less, is for this surveying instrument having ripe international indicator of surface evenness mostly.In groove location, hole, road surface, traditional Bump Integrator can only be measured the curve of vertical section of road surface and cannot obtain the spatial positional information that groove is cheated on road surface, monocular camera traditional in area, depth survey can only be measured with longitudinal two dimensions in level because of it, more aobvious weak in the three-dimensional coordinate determining this space structure body of similar road surface hole groove.
Summary of the invention
The object of the invention is to the problem overcoming hole, the road surface groove defect that conventional pav detecting instrument cannot be measured, combine binocular camera, GPS, three axis accelerometer etc. and for the groove variation of hole, road surface, widespread singularity, solve a measurement difficult problem for groove location, hole, road surface, area, depth information.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions:
Based on hole, a road surface groove detection apparatus for vehicle-mounted binocular vision, comprise the acquisition terminal be arranged on car, data processing module, data analysis and memory module, wherein:
Described acquisition terminal comprises GPS module and connects binocular camera module and the vibration transducer module of GPS module respectively, the position of the real-time positioned vehicle of described GPS module, and at equal intervals frequency division synchronous triggering signal to binocular camera module, the trigger pip that described binocular camera module often receives GPS module just gathers pavement image once, starts to gather the vibration information of car body after described vibration transducer module receives the synchronous triggering signal of GPS module simultaneously;
Described data processing module comprises main controller module, and connect the external trigger module of main controller module respectively, power module and outer memory module, described GPS module and vibration transducer model calling main controller module, described GPS module and vibration transducer module by with lock in time information position and vibration information transfer in main controller module and process, information after process is stored in outer memory module by main controller module, described external trigger module is used for sending synchronous trigger pulse to main controller module, after main controller module receives trigger pulse, GPS module is sent to the signal of record GPS information at that time,
Described data analysis and memory module comprise computing machine, described computing machine connects binocular camera module by router, and described computing machine connects outer memory module and high-speed memory respectively, the image data information that described computing machine is come in by calculating, analyzing binocular camera module transfer, and accept outer memory module transmission come in sampled data, the data message that described high-speed memory is crossed for storing computer disposal.
Further, described external trigger module and if only if vehicle not through road surface hole groove but human eye can be observed time by vehicle-mounted test personnel manual activation.
Further, described binocular camera module adopts DCFS800H type industrial CCD camera.
Further, described sensor assembly adopts three axis accelerometer LIS34DE chip.
Further, described main controller module adopts STM32F107RC chip.
Further, described high-speed memory adopts Samsung CN850EVOSSD storer.
Further, described external trigger module adopts key mode.
The invention has the beneficial effects as follows:
The present invention, in conjunction with the data acquisition of multisensor, effectively can locate the longitude and latitude of hole, road surface groove by the algorithm process of computing machine, and calculates area, the depth information of hole, road surface groove.These data both can become the mark foundation of electronic chart, can be again urban traffic conditions maintenance and provided reference, can also have certain directive function in driver's driving conditions, there is very important practical meaning in engineering, and structure is simple, antijamming capability is strong, and reliability is high.
Accompanying drawing explanation
Fig. 1 is acquisition terminal structural representation in the present invention;
Fig. 2 is data processing module structural representation in the present invention;
Fig. 3 is data analysis and memory module configuration schematic diagram in the present invention.
Number in the figure illustrates: 1, GPS module, 2, binocular camera module, 3, vibration transducer module, 4, external trigger module, 5, power module, 6, main controller module, 7, outer memory module, 8, computing machine, 9, high-speed memory, 10, router.
Embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the present invention in detail.
Based on hole, a road surface groove detection apparatus for vehicle-mounted binocular vision, comprise the acquisition terminal be arranged on car, data processing module, data analysis and memory module, wherein:
With reference to shown in Fig. 1, described acquisition terminal comprises GPS module 1 and connects binocular camera module 2 and the vibration transducer module 3 of GPS module 1 respectively, the position of the real-time positioned vehicle of described GPS module 1, and at equal intervals frequency division to binocular camera module 2, the trigger pip that described binocular camera module 2 often receives GPS module 1 just gathers pavement image once, starts to gather the vibration information of car body after described vibration transducer module 3 receives the original trigger signal of GPS module 1 simultaneously;
With reference to shown in Fig. 2, described data processing module comprises main controller module 6, and connect the external trigger module 4 of main controller module 6 respectively, power module 5 and outer memory module 7, described GPS module 1 is connected main controller module 6 with vibration transducer module 3, described GPS module 1 and vibration transducer module 3 by with lock in time information position and vibration information transfer in main controller module 6 and process, information after process is stored in outer memory module 7 by main controller module 6, described external trigger module 4 is for sending trigger pulse to main controller module 6, after main controller module 6 receives trigger pulse, GPS module 1 is sent to the signal of record GPS information at that time,
With reference to shown in Fig. 3, described data analysis and memory module comprise computing machine 8, described computing machine 8 connects binocular camera module 2 by router one 0, and described computing machine 8 connects outer memory module 7 and high-speed memory 9 respectively, described computing machine 8 transmits the image data information of coming in by calculating, analyzing binocular camera module 2, and accept outer memory module 7 transmit come in sampled data, the data message that described high-speed memory 9 processed for storing computing machine 8.
Described external trigger module 4 and if only if vehicle not through road surface hole groove but human eye can be observed time by vehicle-mounted test personnel manual activation.
Described binocular camera module 2 adopts DCFS800H type industrial CCD camera.
Described sensor assembly 3 adopts three axis accelerometer LIS34DE chip.
Described main controller module 6 adopts STM32F107RC chip.
Described high-speed memory 9 adopts Samsung CN850EVOSSD storer.
Described external trigger module 4 adopts key mode.
The principle of the invention:
As shown in Figure 1, the position of the real-time positioned vehicle of GPS module 1, and divide the synchronous triggering signal that occurs frequently to binocular camera module 2 at equal intervals, the trigger pip that binocular camera module 2 often receives GPS module 1 just gathers pavement image once.Start to gather the vibration information of car body after vibration transducer module 3 receives the synchronous triggering signal of GPS module simultaneously.
As shown in Figure 2, main controller module 6 is by vibration transducer module 3, GPS module 1 gather with lock in time information information carry out data processing, power module 5 is responsible for providing power supply support to main controller module 6, external trigger module 4 is independent of GPS module 1, binocular camera module 2 and vibration transducer module 3, independent connection main controller module 6, when main controller module 6 receives the synchronous trigger pulse of external trigger module 4, give GPS module signal immediately, and record GPS information at that time, external trigger module 4 and if only if vehicle not through road surface hole groove but human eye can be observed time by vehicle-mounted test personnel manual activation, outer memory module 7 is responsible for the information after storing master controller 6 process.
As shown in Figure 3, computing machine 8 is calculated by image processing method, analyze binocular camera module 2 transmits the image data information of coming in by router one 0, and accept outer memory module 7 and transmit a large amount of sampled datas of coming in, high-speed memory 9 is responsible for storing the mass data information that computing machine 8 processed.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1., based on hole, a road surface groove detection apparatus for vehicle-mounted binocular vision, it is characterized in that, comprise the acquisition terminal be arranged on car, data processing module, data analysis and memory module, wherein:
Described acquisition terminal comprises GPS module (1) and connects binocular camera module (2) and the vibration transducer module (3) of GPS module (1) respectively, the position of the real-time positioned vehicle of described GPS module (1), and at equal intervals frequency division synchronous triggering signal to binocular camera module (2), the trigger pip that described binocular camera module (2) often receives GPS module (1) just gathers pavement image once, starts to gather the vibration information of car body after described vibration transducer module (3) receives the synchronous triggering signal of GPS module (1) simultaneously;
Described data processing module comprises main controller module (6), and connect the external trigger module (4) of main controller module (6) respectively, power module (5) and outer memory module (7), described GPS module (1) is connected main controller module (6) with vibration transducer module (3), described GPS module (1) and vibration transducer module (3) by with lock in time information position and vibration information transfer in main controller module (6) and process, information after process is stored in outer memory module (7) by main controller module (6), described external trigger module (4) is for sending synchronous trigger pulse to main controller module (6), after main controller module (6) receives trigger pulse, GPS module (1) is sent to the signal of record GPS information at that time,
Described data analysis and memory module comprise computing machine (8), described computing machine (8) connects binocular camera module (2) by router (10), and described computing machine (8) connects outer memory module (7) and high-speed memory (9) respectively, the image data information that described computing machine (8) is come in by calculating, analyzing binocular camera module (2) transmission, and accept outer memory module (7) transmission come in sampled data, the data message that described high-speed memory (9) processed for storing computing machine (8).
2. hole, the road surface based on vehicle-mounted binocular vision according to claim 1 groove detection apparatus, is characterized in that, described external trigger module (4) and if only if vehicle do not cheat groove through road surface but human eye can be observed time by vehicle-mounted test personnel manual activation.
3. hole, the road surface based on vehicle-mounted binocular vision according to claim 1 groove detection apparatus, is characterized in that, described binocular camera module (2) adopts DCFS800H type industrial CCD camera.
4. hole, the road surface based on vehicle-mounted binocular vision according to claim 1 groove detection apparatus, is characterized in that, described sensor assembly (3) adopts three axis accelerometer LIS34DE chip.
5. hole, the road surface based on vehicle-mounted binocular vision according to claim 1 groove detection apparatus, it is characterized in that, described main controller module (6) adopts STM32F107RC chip.
6. hole, the road surface based on vehicle-mounted binocular vision according to claim 1 groove detection apparatus, is characterized in that, described high-speed memory (9) adopts Samsung CN850EVOSSD storer.
7. hole, the road surface based on vehicle-mounted binocular vision according to claim 2 groove detection apparatus, it is characterized in that, described external trigger module (4) adopts key mode.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105277144A (en) * | 2015-10-16 | 2016-01-27 | 浙江工业大学 | Land area rapid detection method based on binocular vision and detection device thereof |
| CN106680443A (en) * | 2016-11-14 | 2017-05-17 | 山东省科学院海洋仪器仪表研究所 | Marine water toxicity biological monitoring equipment based on binocular vision technology |
| CN107167580A (en) * | 2016-12-17 | 2017-09-15 | 重庆大学 | Pot hole detection method based on acceleration transducer and machine learning |
| CN109919139A (en) * | 2019-04-01 | 2019-06-21 | 杭州晶一智能科技有限公司 | Pavement behavior rapid detection method based on binocular stereo vision |
| CN109934452A (en) * | 2019-01-21 | 2019-06-25 | 上海同济检测技术有限公司 | Road Comfort Evaluation method based on multi-source data |
| CN110097592A (en) * | 2019-04-07 | 2019-08-06 | 杭州晶一智能科技有限公司 | The Semantic of terrestrial information describes method |
| WO2020150873A1 (en) * | 2019-01-21 | 2020-07-30 | 上海同济检测技术有限公司 | Multisource data-based method for evaluating degree of comfort of road |
| CN112067622A (en) * | 2020-09-09 | 2020-12-11 | 镇江千里路智能交通科技有限公司 | Pavement crack identification method based on multi-source data fusion |
| CN112229362A (en) * | 2020-10-19 | 2021-01-15 | 南京朗禾智能控制研究院有限公司 | Vehicle-mounted device for accurately measuring area in real time |
| CN113847944A (en) * | 2021-09-14 | 2021-12-28 | 石家庄铁道大学 | Road disease detection device and method based on reinforcement learning memory control |
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| CN106680443A (en) * | 2016-11-14 | 2017-05-17 | 山东省科学院海洋仪器仪表研究所 | Marine water toxicity biological monitoring equipment based on binocular vision technology |
| CN107167580A (en) * | 2016-12-17 | 2017-09-15 | 重庆大学 | Pot hole detection method based on acceleration transducer and machine learning |
| CN109934452A (en) * | 2019-01-21 | 2019-06-25 | 上海同济检测技术有限公司 | Road Comfort Evaluation method based on multi-source data |
| WO2020150873A1 (en) * | 2019-01-21 | 2020-07-30 | 上海同济检测技术有限公司 | Multisource data-based method for evaluating degree of comfort of road |
| CN109919139A (en) * | 2019-04-01 | 2019-06-21 | 杭州晶一智能科技有限公司 | Pavement behavior rapid detection method based on binocular stereo vision |
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| CN112067622A (en) * | 2020-09-09 | 2020-12-11 | 镇江千里路智能交通科技有限公司 | Pavement crack identification method based on multi-source data fusion |
| CN112229362A (en) * | 2020-10-19 | 2021-01-15 | 南京朗禾智能控制研究院有限公司 | Vehicle-mounted device for accurately measuring area in real time |
| CN113847944A (en) * | 2021-09-14 | 2021-12-28 | 石家庄铁道大学 | Road disease detection device and method based on reinforcement learning memory control |
| CN113847944B (en) * | 2021-09-14 | 2024-02-02 | 石家庄铁道大学 | Road disease detection device and method based on reinforced learning memory control |
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