CN103835212A - Three-dimensional road surface detecting system - Google Patents
Three-dimensional road surface detecting system Download PDFInfo
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- CN103835212A CN103835212A CN201410066663.3A CN201410066663A CN103835212A CN 103835212 A CN103835212 A CN 103835212A CN 201410066663 A CN201410066663 A CN 201410066663A CN 103835212 A CN103835212 A CN 103835212A
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Abstract
The invention provides a three-dimensional road surface detecting system. The three-dimensional road surface detecting system comprises a linear laser scanning sensor, an acceleration sensor, a data acquisition card, a position sensing system and a computer unit, which are all arranged on a vehicle, wherein the computer unit is connected with the linear laser scanning sensor, the data acquisition card and the position sensing system respectively, the acceleration sensor is connected with the data acquisition card, the linear laser scanning sensor acquires elevation information of the cross section of a road surface preliminarily and continuously, the acceleration sensor acquires three-dimensional acceleration information of the vehicle in all directions during running and transmits the information to the computer unit through a data interface, and the computer unit acquires the acceleration information measured by the acceleration sensor through the data acquisition card. The three-dimensional road surface detecting system has the characteristics of high road surface recognition precision, high system precision, automation and high efficiency.
Description
Technical field
The present invention relates to pavement detection technology, be specifically related to a kind of highway pavement three-dimensional detection system.
Background technology
Highway is as the important component part of traffic and transportation system, and detection highway distress that can be is promptly and accurately very important for the performance of highway.At present, most Multi-functional road surface detection systems still adopt two dimensional image collection and detection technique road pavement to detect.Adopt the defect of two dimensional image detection technique, road surface is as the Subject of 3 D stereo on the one hand, and two dimensional image not can completely shows all information on road surface, and this has directly caused the reduction of recognition detection precision and accuracy rate; On the other hand, because digital image processing techniques are also immature for the technology of pavement detection, disease classification is often inaccurate meticulous, needs human assistance to improve accuracy, wastes time and energy, and is difficult to efficiently complete; In addition, want the pavement detection accuracy that reaches higher, the quality requirement of image detection recognition technology road pavement picture is high, often need expensive scanning, illumination hardware system to be coordinated, cause device fabrication testing cost high, and due to the finiteness of two dimensional image storing information, make to damage detection, rut detection and planeness and detect and often need distinct device and system to complete, increase the cost of equipment and detected maintenance cost, testing is wasted time and energy.
Application for a patent for invention " utilizing digital picture to obtain the device and method of road surface three-dimensional structure " (application number: 201210209065.8), a kind of road surface three-dimensional reconstruction method of invention, although also can realize the three-dimensionalreconstruction on road surface, but owing to not considering jolting in equipped vehicle driving process, can there is deviation and distortion in the three-dimensional pavement of reconstruct, can not reflect really road surface situation.
Summary of the invention
The object of the invention is, for solving above-mentioned deficiency, provides a kind of highway pavement three-dimensional detection system.
The object of the invention is to be achieved through the following technical solutions: a kind of highway pavement three-dimensional detection system, detection system is arranged on vehicle, comprise linear laser scanning sensor, acceleration transducer, data collecting card, location aware system and computer unit, computer unit respectively with linear laser scanning sensor, data collecting card is connected with location aware system, acceleration transducer is connected with data collecting card, linear laser scanning sensor obtains the range information d (t) between road surface and laser scanning sensor continuously, acceleration transducer obtains all directions in the Vehicle Driving Cycle process three-dimensional acceleration information a (t) at moment t, and transfer to computer unit by data-interface, computer unit adopts formula to acceleration information a (t)
carry out integration and obtain the equipped vehicle Rough Air Speed information v (t) of moment t, then, to obtaining the equipped vehicle Rough Air Speed information v (t) of moment t after integration, utilize formula
carry out again integration and obtain the equipped vehicle displacement information x (t) that jolts, computer unit obtains Vehicle Driving Cycle process positional information by being received from the latitude and longitude information of location aware system, the accurate elevation information D in road surface (t) obtains by formula D (t)=d (t)-x (t), be that range information between road surface and laser scanning sensor deducts the equipped vehicle displacement information that jolts and obtains the accurate elevation information in road surface, realize road surface three-dimensionalreconstruction.
The present invention has following useful effect:
1. road pavement is carried out three-dimensionalreconstruction, different from traditional two-dimensional detection, and the complete information of road surface that shown has guaranteed precision and the accuracy rate of recognition detection;
2. adopt linear laser scanning device and multi-axis accelerometer equipment etc. to be used in conjunction with, make whole pavement detection become a total system, realized high accuracy, automation, high efficiency pavement detection;
3. adopt multi-axis accelerometer to calculate jolting in Vehicle Driving Cycle process and count road surface relative elevation information, realize three-dimensionalreconstruction, further improved the precision of pavement detection.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is job step schematic diagram of the present invention;
Fig. 3 is that in the present invention, acceleration information obtains structural representation.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated:
Embodiment 1
A kind of highway pavement three-dimensional detection system and three-dimensional reconstruction method, comprise linear laser scanning sensor 1, acceleration transducer 5, data collecting card 4, location aware system 3 and computer unit 2, equipment is all arranged on vehicle, and computer unit 2 is connected with linear laser scanning sensor 1, data collecting card 4 and location aware system 3 respectively, acceleration transducer 5 is connected with data collecting card 4, linear laser scanning sensor 1 tentatively obtains the cross section elevation information on road surface continuously, acceleration transducer 5 obtains all directions three-dimensional acceleration information in Vehicle Driving Cycle process, and all transfer to computer unit by data-interface, computer unit 2 obtains by data collecting card 4 acceleration information that acceleration transducer 5 records, linear laser scanning sensor obtains the range information d (t) between road surface and laser scanning sensor continuously, acceleration transducer obtains all directions in the Vehicle Driving Cycle process three-dimensional acceleration information a (t) at moment t, and transfer to computer unit by data-interface, computer unit adopts formula to acceleration information a (t)
carry out integration and obtain the equipped vehicle Rough Air Speed information v (t) of moment t, then, to obtaining the equipped vehicle Rough Air Speed information v (t) of moment t after integration, utilize formula
carry out again integration and obtain the equipped vehicle displacement information x (t) that jolts, computer unit obtains Vehicle Driving Cycle process positional information by the latitude and longitude information of receiving position sensory perceptual system, the accurate elevation information D in road surface (t) obtains by formula D (t)=d (t)-x (t), be that range information between road surface and laser scanning sensor deducts the equipped vehicle displacement information that jolts and obtains the accurate elevation information in road surface, realize road surface three-dimensionalreconstruction.
Embodiment 2
On linear laser scanning sensor at right angle setting support before automobile or below, with cross section, road surface altitude data within the scope of vehicle operating METHOD FOR CONTINUOUS DETERMINATION bicycle road, the cross section altitude data recording is sent to computer unit by netting twine.
The acceleration transducer that acceleration transducer adopts the PCB Piezotronics of Piezo Lab Co., Ltd. of the U.S. to produce, share 4, be laid in respectively behind left and right, the centre and car of vehicle body, gather space three-dimensional acceleration information in equipped vehicle driving process, and degree of will speed up communication be to data collecting card.
Data collecting card adopts 4 passages, 16 conversion accuracies, and the data acquisition unit that frequency acquisition is 10KHz, receives from the acceleration information of acceleration transducer 2, and degree of will speed up information is transferred to computer unit after being converted to data signal.
Location aware system adopts Big Dipper geographical information system, and the latitude and longitude information of Real-time Collection vehicle also transfers to computer unit.
Computer unit is made up of all-purpose computer, receives cross section, the road surface elevation information from linear laser scanning sensor by data-interface; Receive the three-dimensional acceleration information from data collecting card, it is carried out to quadratic integral computing, obtain the displacement information of all directions in equipped vehicle driving process; Receive from the vehicle latitude and longitude information of location aware system, and according to this information, laser scanning altitude data and gained vehicle movement data are as calculated integrated, realize road surface three-dimensionalreconstruction.
Embodiment 3
The workflow of the present embodiment is as follows:
As Figure 2-3,
1) this equipment is installed on vehicle;
2) linear laser scanning sensor obtains the range information d (t) between road surface and laser scanning sensor tentatively continuously, and transfers to computer unit by data-interface;
3) acceleration transducer obtains all directions three-dimensional acceleration information a (t) in Vehicle Driving Cycle process, and transfers to computer unit after converting data signal to by data collecting card;
4) latitude and longitude information of location aware system Real-time Collection vehicle latitude and longitude information is transferred to computer unit;
5) be shown below,
computer unit carries out quadratic integral processing to the acceleration information a (t) that is received from data collecting card, obtains all directions three-D displacement information x (t) in Vehicle Driving Cycle process.Computer unit obtains vehicle real-time position information by being received from the latitude and longitude information of location aware system, the accurate elevation information D in road surface (t) obtains by formula D (t)=d (t)-x (t), be that range information between road surface and laser scanning sensor deducts the equipped vehicle displacement information that jolts and can obtain the accurate elevation information in road surface, realize road surface three-dimensionalreconstruction.
Claims (1)
1. a highway pavement three-dimensional detection system, detection system is arranged on vehicle, comprise linear laser scanning sensor, acceleration transducer, data collecting card, location aware system and computer unit, it is characterized in that: computer unit respectively with linear laser scanning sensor, data collecting card is connected with location aware system, acceleration transducer is connected with data collecting card, linear laser scanning sensor obtains the range information d (t) between road surface and laser scanning sensor continuously, acceleration transducer obtains all directions in the Vehicle Driving Cycle process three-dimensional acceleration information a (t) at moment t, and transfer to computer unit by data-interface, computer unit adopts formula to acceleration information a (t)
carry out integration and obtain the equipped vehicle Rough Air Speed information v (t) of moment t, then, to obtaining the equipped vehicle Rough Air Speed information v (t) of moment t after integration, utilize formula
carry out again integration and obtain the equipped vehicle displacement information x (t) that jolts, computer unit obtains Vehicle Driving Cycle process positional information by being received from the latitude and longitude information of location aware system, the accurate elevation information D in road surface (t) obtains by formula D (t)=d (t)-x (t), be that range information between road surface and laser scanning sensor deducts the equipped vehicle displacement information that jolts and obtains the accurate elevation information in road surface, realize road surface three-dimensionalreconstruction.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104120645A (en) * | 2014-06-20 | 2014-10-29 | 南京理工技术转移中心有限公司 | Automatic test data positioning system and method for pavement condition |
| CN104790283A (en) * | 2015-04-10 | 2015-07-22 | 同济大学 | Quick road surface roughness detection system based on vehicle-mounted accelerometer |
| CN104835327A (en) * | 2015-06-01 | 2015-08-12 | 北京经纬恒润科技有限公司 | Method and device for identifying pavement information |
| CN104975556A (en) * | 2015-07-08 | 2015-10-14 | 长安大学 | Bituminous pavement loose recognition and calculation method based on three-dimensional laser technology |
| CN105133472A (en) * | 2015-06-11 | 2015-12-09 | 广西大学 | Road surface roughness measurement method and inertial detector |
| CN105629328A (en) * | 2016-01-07 | 2016-06-01 | 太原理工大学 | Vehicle-mounted South Pole inland ice-covered surface landforms characteristic monitoring device |
| CN106370435A (en) * | 2016-08-18 | 2017-02-01 | 北京汽车股份有限公司 | Road spectrum acquisition system, vehicle and road spectrum acquisition method |
| CN108221603A (en) * | 2018-01-08 | 2018-06-29 | 重庆大学 | Road surface three-dimensional information detection device, the method and system of a kind of road |
| CN108646044A (en) * | 2018-03-30 | 2018-10-12 | 武汉理工大学 | A kind of bumpy road detection method based on Car window electric machine rotating speed |
| CN109540021A (en) * | 2018-12-26 | 2019-03-29 | 广州肖宁道路工程技术研究事务所有限公司 | A kind of detection device of movable road surface construction depth |
| CN109798870A (en) * | 2019-03-13 | 2019-05-24 | 武汉夕睿光电技术有限公司 | A kind of well lid settlement monitoring device and mobile device |
| CN111678430A (en) * | 2020-04-20 | 2020-09-18 | 上海城建城市运营(集团)有限公司 | Road geometric linear and road surface three-dimensional structure reconstruction system and reconstruction method |
| CN111707230A (en) * | 2019-08-02 | 2020-09-25 | 云途信息科技(杭州)有限公司 | Road quality detection system based on multi-terminal data fusion |
| CN113532362A (en) * | 2021-07-15 | 2021-10-22 | 特路（北京）科技有限公司 | Intelligent automatic mapping and analyzing system for road safety adaptability |
| CN115058947A (en) * | 2022-05-12 | 2022-09-16 | 安徽中青检验检测有限公司 | Roadbed pavement flatness detection device and method |
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| CN104120645A (en) * | 2014-06-20 | 2014-10-29 | 南京理工技术转移中心有限公司 | Automatic test data positioning system and method for pavement condition |
| CN104120645B (en) * | 2014-06-20 | 2016-07-06 | 南京理工技术转移中心有限公司 | A kind of pavement behavior automatic data-detection alignment system and localization method |
| CN104790283A (en) * | 2015-04-10 | 2015-07-22 | 同济大学 | Quick road surface roughness detection system based on vehicle-mounted accelerometer |
| CN104835327B (en) * | 2015-06-01 | 2017-03-08 | 北京经纬恒润科技有限公司 | A kind of method and device of identification information of road surface |
| CN104835327A (en) * | 2015-06-01 | 2015-08-12 | 北京经纬恒润科技有限公司 | Method and device for identifying pavement information |
| CN105133472A (en) * | 2015-06-11 | 2015-12-09 | 广西大学 | Road surface roughness measurement method and inertial detector |
| CN105133472B (en) * | 2015-06-11 | 2017-04-12 | 广西大学 | Road surface roughness measurement method and inertial detector |
| CN104975556A (en) * | 2015-07-08 | 2015-10-14 | 长安大学 | Bituminous pavement loose recognition and calculation method based on three-dimensional laser technology |
| CN105629328B (en) * | 2016-01-07 | 2018-05-04 | 太原理工大学 | A kind of vehicular Antarctic inland ice_sheet traverse surface geomorphic feature monitoring device |
| CN105629328A (en) * | 2016-01-07 | 2016-06-01 | 太原理工大学 | Vehicle-mounted South Pole inland ice-covered surface landforms characteristic monitoring device |
| CN106370435A (en) * | 2016-08-18 | 2017-02-01 | 北京汽车股份有限公司 | Road spectrum acquisition system, vehicle and road spectrum acquisition method |
| CN108221603B (en) * | 2018-01-08 | 2019-08-09 | 重庆大学 | A kind of road surface three-dimensional information detection device, the method and system of road |
| CN108221603A (en) * | 2018-01-08 | 2018-06-29 | 重庆大学 | Road surface three-dimensional information detection device, the method and system of a kind of road |
| CN108646044A (en) * | 2018-03-30 | 2018-10-12 | 武汉理工大学 | A kind of bumpy road detection method based on Car window electric machine rotating speed |
| CN109540021A (en) * | 2018-12-26 | 2019-03-29 | 广州肖宁道路工程技术研究事务所有限公司 | A kind of detection device of movable road surface construction depth |
| CN109798870A (en) * | 2019-03-13 | 2019-05-24 | 武汉夕睿光电技术有限公司 | A kind of well lid settlement monitoring device and mobile device |
| CN111707230A (en) * | 2019-08-02 | 2020-09-25 | 云途信息科技(杭州)有限公司 | Road quality detection system based on multi-terminal data fusion |
| CN111678430A (en) * | 2020-04-20 | 2020-09-18 | 上海城建城市运营(集团)有限公司 | Road geometric linear and road surface three-dimensional structure reconstruction system and reconstruction method |
| CN113532362A (en) * | 2021-07-15 | 2021-10-22 | 特路（北京）科技有限公司 | Intelligent automatic mapping and analyzing system for road safety adaptability |
| CN113532362B (en) * | 2021-07-15 | 2023-09-01 | 特路（北京）科技有限公司 | Intelligent automatic mapping analysis system for road safety adaptability |
| CN115058947A (en) * | 2022-05-12 | 2022-09-16 | 安徽中青检验检测有限公司 | Roadbed pavement flatness detection device and method |
| CN115058947B (en) * | 2022-05-12 | 2024-02-09 | 安徽中青检验检测有限公司 | Roadbed and pavement flatness detection device and method |
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