CN107290346A - Pavement crack detecting system based on two dimensional image and line structure optical sensor - Google Patents
Pavement crack detecting system based on two dimensional image and line structure optical sensor Download PDFInfo
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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Abstract
The present invention discloses a kind of pavement crack detecting system merged based on two dimensional image with line structure optical sensor, including detection car and the two dimensional image module being installed on detection car, line structure optical sensor module, computer control module, two dimensional image module is installed on detection Chinese herbaceous peony end, gather the two dimensional image of road surface ahead and preliminarily judge that there is free from flaw situation on road surface online using image-recognizing method, send testing result to computer control module, computer control module is according to the testing result of two dimensional image module, the control signal for being turned on and off its store function is sent to the line structure optical sensor module for being installed on detection car rear end according to decision rule, line structure optical sensor module gathers the cross section data on road surface and the result of decision according to computer control module decides whether to store the data collected, so as to control the cross section data that the storage of line structure optical sensor module may be containing crackle.
Description
Technical field
The invention provides a kind of detecting system scheme, it is related to the pavement crack detecting system based on line-structured light and is based on
The pavement crack detecting system of two dimensional image, belongs to the pavement detection technical field based on computer vision.
Background technology
At present, in crack on road detection field, the detecting system of main flow still uses the pavement crack based on two dimensional image
Detecting system, its foundation detected is the difference that light characteristics of the crack under certain illumination condition exist in itself with road surface, but
This is not the substantive characteristics in crack, so penetration of fracture information can not be obtained.And it is vulnerable to illumination, the moon in gatherer process
The conditions such as shadow, road surface oil and dry and wet aberration are disturbed.
And line-structured light three-dimensional values technology is due to high, the simple in construction and anti-light photograph of accuracy of detection, shade, road surface oil
The advantage of the conditions such as dirty and dry and wet aberration interference, it has also become the study hotspot of current fracture detection.Road surface based on line-structured light
Crack detection system can obtain the three-dimensional cross section data in road surface, and the essential characteristic in crack, i.e. depth information split as detection
The foundation of seam make it that detection is more accurate, but its data volume causes greatly system to put into substantial amounts of carrying cost very much, and limits
The working time of system.
The content of the invention
It is a primary object of the present invention to overcome the shortcomings of in existing system there is provided one kind based on two dimensional image and knot
The pavement crack detecting system scheme of structure optical sensor fusion, the pavement crack inspection for be particularly suitable for use in high accuracy, working long hours
Survey.
The technical problems to be solved by the invention are to provide compact conformation, convenient disassembly, safe and reliable, practical base
The pavement crack detecting system scheme merged in two dimensional image with line structure optical sensor, can not only reach high-precision road surface
Crack Detection, and pavement crack detecting system cost is greatly reduced, and considerably increase the working time of system.
Another technical problem to be solved by this invention is the structural parameters of design system, and provides a kind of decision rule,
So that each module works in an orderly manner.
Therefore it is the invention provides a kind of detected based on the pavement crack that two dimensional image is merged with line structure optical sensor
System scheme, it includes the two dimensional image module, line structure optical sensor module, computer control for detecting car and being installed on detection car
Molding block and system frame.
Wherein, two dimensional image module is located at detection Chinese herbaceous peony end, gathers the two dimensional image of road surface ahead and utilizes image recognition
Method preliminarily judges that there is free from flaw situation on road surface online；Line structure optical sensor module is located at detection car rear end, gathers road surface
Cross section data and decide whether to store the data that collect according to the result of decision of computer control module；Computer is controlled
Module sends to line structure optical sensor module according to decision rule and is turned on and off according to the testing result of two dimensional image module
The control signal of its store function.
In order to achieve the above object, concrete technical scheme of the present invention is：
A kind of pavement crack detecting system merged based on two dimensional image with line structure optical sensor, it is characterised in that：Institute
Stating system includes detection car 3 and is installed on the two dimensional image module 2 detected on car 3, line structure optical sensor module 5, computer
Control module 4, the two dimensional image module 2 is installed on detection car 3 front end, and line structure optical sensor module 5 is installed on detection car 3
Rear end, the two dimensional image of the collection road surface ahead 1 of two dimensional image module 2 simultaneously preliminarily judges road surface online using image-recognizing method
There is free from flaw situation, send testing result to computer control module 4, computer control module 4 is according to two dimensional image module 2
Testing result, according to decision rule to line structure optical sensor module 5 send be turned on and off its store function control believe
Number, the cross section data on the collection of line structure optical sensor module 5 road surface 1 are simultaneously determined according to the result of decision of computer control module 4
It is fixed whether to store the data collected, so as to control the cross section number that the storage of line structure optical sensor module 5 may be containing crackle
According to the decision rule is as follows：Every in certain detection range, the computer if two dimensional image module 2 detects crack
Control module 4 opens the store function of line structure optical sensor module 5, otherwise closes the storage of line structure optical sensor module 5
Function.
Spacing between the detection range of the two dimensional image module 2 and line structure optical sensor module 5 is the of system
One structural parameters 7, it is preferable that it should meet relationship below：
In formula：L is first structure parameter 7；
V is the travel speed of detection car 3；
H is the detection range width of pavement detection system；
t1For the time used in two dimensional image recognizer in unit area；
t2The time used in the store function of line structure optical sensor module 5 is turned on and off for computer control module 4.
Further, the width of the detection range of the line structure optical sensor module 5 is the second structural parameters 6, described the
Two structural parameters 6 are more than or equal to the detection range width requirement of detecting system.
Further, the width of the detection range of described two dimensional image module 2 is the 3rd structural parameters 8, the described 3rd
Structural parameters 8 are more than or equal to the second structural parameters 6.
In system as described above, the length of the detection range between decision-making twice described in the decision rule is
The length of the detection range of two dimensional image module 2 adds first structure parameter 7.
In an embodiment of the system of the present invention, line structure optical sensor module 5 includes laser line generator 9 and shooting
Machine 10, wherein laser line generator 9 and video camera 10 are in same level.
And in another embodiment, line structure optical sensor module 5 includes laser line generator 9 and video camera 10, wherein
Laser line generator 9 and video camera 10 are in same vertical plane, and laser line generator 9 is located at top, and video camera 10 is located under laser line generator 9
Side.Wherein preferably, laser line generator 9 is installed on position more than detection car top half, it is hereby achieved that wider array of scanning
Scope.Most preferably, the installation site of laser line generator 9 is higher than detection car roof, as long as can be between security and scanning range
Obtain enough balance benefits.
Compared with existing system, the invention has the advantages that：
A kind of pavement crack detecting system merged based on two dimensional image with line structure optical sensor is provided, passes through X-Y scheme
There is the online of free from flaw situation preliminarily to judge to realize the efficient fortune of line structure optical sensor module as module shifts to an earlier date road pavement
OK, the problem of two dimensional image module can not obtain penetration of fracture information is not only solved, and solves line structure optical sensor
Module causes the problem of data volume can not be stored greatly very much because working long hours.
Brief description of the drawings
Fig. 1 is a kind of knot of the pavement crack detecting system merged based on two dimensional image with line structure optical sensor of the present invention
Structure schematic diagram；
Fig. 2 is one embodiment of detecting system of the present invention；
Fig. 3 is another embodiment of detecting system of the present invention.
In figure：1st, road surface；2nd, two dimensional image module；3rd, car is detected；4th, computer control module；5th, line-structured light is sensed
Device module；6th, the second structural parameters；7th, first structure parameter；8th, the 3rd structural parameters；9th, laser line generator；10th, video camera.
Embodiment
The above is only the general introduction of present system scheme, in order to be better understood upon the technological means of the present invention, under
With reference to accompanying drawing, the invention will be further described in face.
As shown in figure 1, the pavement crack detecting system merged based on two dimensional image with line structure optical sensor of the present invention,
Including detection car 3 and the two dimensional image module 2 being installed on detection car, line structure optical sensor module 5, computer control module
4.Wherein, 2 pieces of two dimensional image module is located at detection car 3 front end, gathers the two dimensional image of road surface ahead 1 and utilizes image recognition side
Method preliminarily judges that there is free from flaw situation on road surface online, and sends testing result to computer control module 4；Line-structured light is passed
Sensor module 5 is located at detection car 3 rear end, gathers the cross section data on road surface 1 and according to the result of decision of computer control module 4
Decide whether to store the data collected；Computer control module 4 is according to the testing result of two dimensional image module 2, foundation decision-making
Criterion sends the control signal for being turned on and off its store function to line structure optical sensor module 5.Decision rule is：Every one
In fixed detection range, computer control module 4 opens line structure optical sensor if two dimensional image module 2 detects crack
The store function of module 5, otherwise closes the store function of line structure optical sensor module 5.Wherein in the decision rule, two
Interval time between secondary decision-making should be line structure optical sensor module 5 and move to present position before two dimensional image module 2
Time, therefore the length for the detection range being spaced should be the length of the detection range of two dimensional image module 2 plus two dimensional image mould
Spacing between the detection range of block 2 and line structure optical sensor module 5.
The first structure parameter 7 of system is between two dimensional image module 2 and the detection range of line structure optical sensor module 5
Spacing, its design requirement should meet following condition, that is, detect distance of the car 3 in traveling length as first structure parameter 7
Time used should be greater than handling time and computer control module 4 used in the two dimensional image under the length and be turned on and off cable architecture
Time sum used in the store function of optical sensor module 5, specifically meeting relational expression is：
In formula：L is first structure parameter 7；
V is the travel speed of detection car 3；
H is the detection range width of pavement detection system；
t1For the time used in two dimensional image recognizer in unit area；
t2The time used in the store function of line structure optical sensor module 5 is turned on and off for computer control module 4.
Second structural parameters 6 of system are the detection range width of line structure optical sensor module 5, and its value should be greater than being equal to
The detection range width of detecting system requirement.
3rd structural parameters 8 of system are the detection range width of two dimensional image module 2, and its value should be greater than being equal to cable architecture
The detection range width of optical sensor module 5, i.e. the second structural parameters 6.
In actual application, line structure optical sensor module 5 according to circumstances, can also use different frame modes.Fig. 2
Two kinds of structures of actual use are given with Fig. 3.Line structure optical sensor module 5 includes laser line generator 9 and video camera 10, laser
Device 9 and video camera 10 can use different frame modes, so as to realize different accuracy of detection and detection range, it is adaptable to no
Same detection situation.
In fig. 2 it is shown that a kind of frame mode of structured light sensor module 5, using laser line generator 9 and video camera 10
Frame mode on the same water surface, wherein laser line generator 9 are vertically projected to detected road surface, and video camera 10 is gathered from opposite side
Striation data.Which accuracy of detection is high, but because laser line generator 9 and video camera 10 are in same plane, should when actual use
Mode can be limited by detection height, and the width of roadway of collection is limited, is adapted to one-lane high precision test.
Figure 3 illustrates another frame mode of structured light sensor module 5, laser line generator 9 and shooting are employed
Frame mode of the machine 10 on same vertical plane, wherein laser line generator 9 are arranged on detection car top half, and inclination projects tested
Road surface is surveyed, video camera 10 is arranged on detection car the latter half, tilts collection striation data.In which, laser line generator 9 can incline
Tiltedly projection, launching position is remote, produces wider projection surface, therefore the limitation of the not examined height of which, it is collectable compared with
Broad way face, realizes that multilane is detected simultaneously, but which is limited by camera hardware condition, is not suitable for high precision test.
Embodiments of the present invention are described in detail above in conjunction with accompanying drawing, but the invention is not restricted to above-mentioned implementation
Mode, in the knowledge that the technical field those of ordinary skill possesses, can also not depart from present inventive concept
Under the premise of make a variety of changes.
Claims (9)
1. a kind of pavement crack detecting system merged based on two dimensional image with line structure optical sensor, it is characterised in that：It is described
System include detection car (3) and be installed on the two dimensional image module (2) detected on car (3), line structure optical sensor module (5),
Computer control module (4), the two dimensional image module (2) is installed on detection car (3) front end, line structure optical sensor module
(5) detection car (3) rear end is installed on, the two dimensional image of two dimensional image module (2) collection road surface ahead (1) simultaneously utilizes image recognition
Method preliminarily judges that there is free from flaw situation on road surface online, sends testing result to computer control module (4), computer control
Molding block (4) is sent out according to the testing result of two dimensional image module (2) according to decision rule to line structure optical sensor module (5)
Send the control signal for being turned on and off its store function, the cross section data of line structure optical sensor module (5) collection road surface (1)
And decide whether to store the data that collect according to the result of decision of computer control module (4), so as to control line-structured light to pass
Sensor module (5) stores cross section data that may be containing crackle, and the decision rule is as follows：Every certain detection range
Interior, computer control module (4) opens line structure optical sensor module (5) if two dimensional image module (2) detects crack
Store function, otherwise close line structure optical sensor module (5) store function.
2. the pavement crack detecting system according to claim 1 merged based on two dimensional image with line structure optical sensor,
Characterized in that, the spacing between the two dimensional image module (2) and the detection range of line structure optical sensor module (5) is to be
The first structure parameter (7) of system, it should meet relationship below：
<mrow>
<mfrac>
<mi>L</mi>
<mi>v</mi>
</mfrac>
<mo>&GreaterEqual;</mo>
<msub>
<mi>LHt</mi>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<mi>t</mi>
<mn>2</mn>
</msub>
</mrow>
In formula：L is first structure parameter (7)；
V is the travel speed of detection car (3)；
H is the detection range width of pavement detection system；
t1For the time used in two dimensional image recognizer in unit area；
t2The time used in the store function of line structure optical sensor module (5) is turned on and off for computer control module (4).
3. the pavement crack detecting system according to claim 1 merged based on two dimensional image with line structure optical sensor,
Characterized in that, the width of the detection range of the line structure optical sensor module (5) is the second structural parameters (6), described the
Two structural parameters (6) are more than or equal to the detection range width requirement of detecting system.
4. the pavement crack detecting system according to claim 3 merged based on two dimensional image with line structure optical sensor,
Characterized in that, the width of the detection range of described two dimensional image module (2) is the 3rd structural parameters (8), the 3rd knot
Structure parameter (8) is more than or equal to the second structural parameters (6).
5. the pavement crack detecting system according to claim 1 merged based on two dimensional image with line structure optical sensor,
Characterized in that, the length of the detection range between decision-making twice described in the decision rule is two dimensional image module (2)
Detection range length add first structure parameter (7).
6. the pavement crack detecting system according to claim 1 merged based on two dimensional image with line structure optical sensor,
Characterized in that, line structure optical sensor module (5) include laser line generator (9) and video camera (10), wherein laser line generator (9) and
Video camera (10) is in same level.
7. the pavement crack detecting system according to claim 1 merged based on two dimensional image with line structure optical sensor,
Characterized in that, line structure optical sensor module (5) include laser line generator (9) and video camera (10), wherein laser line generator (9) and
Video camera (10) is in same vertical plane, and laser line generator (9) is located at top, and video camera (10) is located at below laser line generator (9).
8. the pavement crack detecting system according to claim 7 merged based on two dimensional image with line structure optical sensor,
Characterized in that, laser line generator (9) is installed on position more than detection car top half.
9. the pavement crack detecting system according to claim 8 merged based on two dimensional image with line structure optical sensor,
Characterized in that, the installation site of laser line generator (9) is higher than detection car roof.
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| CN2017102315599 | 2017-04-10 | ||
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Cited By (6)
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| CN109975501A (en) * | 2019-03-22 | 2019-07-05 | 中国铁建大桥工程局集团有限公司 | A kind of inspection car for sponge city |
| CN110084844A (en) * | 2019-04-25 | 2019-08-02 | 中国民航大学 | A kind of airfield pavement crack detection method based on depth camera |
| CN112160227A (en) * | 2020-09-30 | 2021-01-01 | 珠海阔朗科技有限公司 | Intelligent pavement crack repair system |
| CN113189005A (en) * | 2021-05-10 | 2021-07-30 | 郑州大学 | Portable surface defect integrated detection device and surface defect automatic detection method |
| CN113561905A (en) * | 2021-05-07 | 2021-10-29 | 上海厉鲨科技有限公司 | Method, equipment and medium for installing road disease inspection equipment and obtaining range |
| CN114111651A (en) * | 2021-11-25 | 2022-03-01 | 江苏科技大学 | Vehicle-mounted pavement depression detection method based on multi-line structured light |
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| CN114111651A (en) * | 2021-11-25 | 2022-03-01 | 江苏科技大学 | Vehicle-mounted pavement depression detection method based on multi-line structured light |
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| CN107290346B (en) | 2020-04-10 |
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