CN111366098A - Three-dimensional information sensing system for highway pavement diseases - Google Patents
Three-dimensional information sensing system for highway pavement diseases Download PDFInfo
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- CN111366098A CN111366098A CN202010216531.XA CN202010216531A CN111366098A CN 111366098 A CN111366098 A CN 111366098A CN 202010216531 A CN202010216531 A CN 202010216531A CN 111366098 A CN111366098 A CN 111366098A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a three-dimensional information sensing system for highway pavement diseases, which comprises: the sensor system integrates a laser, a 3D camera, a Beidou positioning system, a road right camera and a distance measuring instrument; the system integrates a coordination control system, a road surface three-dimensional information high-speed acquisition model and a high-speed data acquisition and state detection system of control panel software; the road surface three-dimensional data storage system integrates a point cloud data storage structure, a Beidou data storage mechanism, a road right camera data storage structure and a preset data storage structure. The invention has the beneficial effects that: the problems of high labor intensity, high subjectivity and low omission factor caused by manual detection can be effectively reduced, the problems of low detection rate of the pavement diseases caused by the fact that two-dimensional pavement disease detection is sensitive to factors such as tire traces, shadows and uneven illumination and the pavement disease depth information cannot be acquired can be solved, and good basic guarantee is provided for highway detection and maintenance.
Description
Technical Field
The invention relates to the field of highway pavement disease detection systems, in particular to a three-dimensional information sensing system for highway pavement diseases.
Background
At present, the detection of highway pavement diseases mostly adopts manual detection and road detection vehicle detection based on two-dimensional images, the manual detection has great influence on the experience and the service level of detection personnel, the labor intensity is high, and high subjectivity exists, so that the results of high omission factor and low identification rate are caused; the road detection vehicle based on the two-dimensional image scans the road surface into two-dimensional image data, the scanned and imaged road surface image is generally subjected to manual inspection, labeling, classification and identification and other work by professional technicians, and the conventional detection vehicle can only obtain two-dimensional information of road surface diseases, namely the shape and the size, and cannot obtain depth information of the road surface diseases. This makes road disease information unable to be perceived comprehensively, and thus unable to meet the demand for realizing the modernization of highway maintenance.
Disclosure of Invention
The invention aims to solve the technical problem of providing a three-dimensional information sensing system for highway pavement diseases, which can effectively reduce the problems of high labor intensity, high subjectivity and low omission ratio caused by manual detection and can solve the problem of low pavement disease detection ratio caused by the fact that two-dimensional pavement disease detection cannot acquire pavement disease depth information.
Aiming at the problems of the conventional highway pavement disease detection system based on two-dimensional scanning image data, the invention provides a highway pavement disease three-dimensional information sensing system, which comprises: the system comprises a sensor system, a high-speed data acquisition and state detection system and a pavement three-dimensional data storage system; the sensor system comprises a laser, a 3D camera, a Beidou positioning system, a road right camera, a distance measuring instrument and an industrial control computer; the high-speed data acquisition and state detection system comprises a coordination control system and control panel software; the road surface three-dimensional data storage system comprises a point cloud data storage structure, a Beidou data storage mechanism, a road right camera data storage structure and a preset data storage structure; the specific pavement disease perception storage process is as follows:
(1) the three-dimensional road detection vehicle runs according to the road position and route information required in the detection task, and initial information such as a detection initial point stake number, a vehicle running direction and a lane where the vehicle runs is input to control panel software at the initial position of a detection road section;
(2) in the running process of the three-dimensional road detection vehicle, the distance measuring instrument acquires the current running speed and running distance of the vehicle, generates a pulse driving signal and transmits the pulse driving signal to the laser-3D camera component to control the acquisition frequency of the laser-3D camera component;
(3) the laser-3D camera assembly in the sensor system is connected with an industrial control computer on the three-dimensional road detection vehicle through a gigabit network cable, the Beidou positioning system and the distance measuring instrument are connected with the industrial control computer on the three-dimensional road detection vehicle through RS232 serial ports, and the road right camera is connected with the industrial control computer on the three-dimensional road detection vehicle through a usb interface;
(4) in the step (3), the sensors in the sensor system are connected with a coordination control system in the high-speed data acquisition and state monitoring system, and the coordination control system allocates the running states of the sensors to prevent state conflicts generated when the sensors run;
(5) after data in the sensor system is transmitted into the high-speed data acquisition and state monitoring system, the data is processed by a road surface three-dimensional information high-speed acquisition model, and three-dimensional point cloud images, Beidou positioning information, road right camera images, driving mileage and stake number information are displayed in real time in control panel software;
(6) the processed data are transmitted to a road surface three-dimensional data storage system, the three-dimensional point cloud data are processed through a point cloud data compression model and then stored according to a point cloud data storage structure, a Beidou positioning system stores according to a Beidou data storage structure, road right camera data are stored according to a road right camera data storage structure, and preset data are stored according to a preset data storage structure.
Preferably, the laser device-3D camera assembly in the sensor system is connected with an industrial control computer on the three-dimensional road detection vehicle through a gigabit network cable, and the transmission of the hundred-megabyte-level three-dimensional point cloud data can be realized without data loss.
Preferably, the 3D camera is an imported split type 3D camera, the specific model is C5-1280-Gig, and the collection of point cloud data under the condition of the highest speed of 120km/h can be realized.
Preferably, the laser is selected from A Canadian import laser FL-808-10-S-A-45, depending on outdoor use and the particular application conditions of large working distance and large field of view.
Preferably, the Beidou positioning system records navigation positioning information of the acquired point cloud data image in real time, the driving mileage information acquired by the distance measuring instrument records pile number information of the acquired point cloud data image in combination with pile number information of the starting point, and the navigation information and the pile number information are fused to acquire accurate road disease position information.
Preferably, the arrangement of the laser-3D camera assemblies adopts a row of three groups of parallel arrangement schemes, the three groups of laser-3D camera assemblies are arranged at the same horizontal height of the detection vehicle tail rack, the interval between each group of laser-3D camera assemblies is 1300mm, the laser scanning plane in the single group of laser-3D camera assemblies is perpendicular to the ground, the included angle between the 3D camera scanning plane and the laser scanning plane is theta, the elevation information of a scanned point on the ground is set to be delta x, the displacement value of a camera capacitance pixel point is delta y, the calibration parameter is β, and then the elevation information delta x of the scanned point is:
Δx≈β*Δy/sin(θ) (1)
preferably, the road surface three-dimensional data storage is divided into a five-level folder structure, the second-level folders are respectively a point cloud information first-level folder, a preset information first-level folder, a geographical location information first-level folder and a road right camera first-level folder, and a TXT file, a GPS file and a view screen file for storing corresponding information are respectively arranged under the preset information first-level folder, the geographical location information first-level folder and the road right camera first-level folder; the first-level folder of the point cloud information is of a four-level folder structure, the second-level folder of the point cloud information corresponds to data of three groups of laser-3D camera assemblies, and the third-level folder of the point cloud information is grouped according to every 1000 pieces of point cloud data and records information such as collection time, stake numbers, storage paths and the like of every piece of point cloud data by using a list folder.
The invention has the beneficial effects that: the three-dimensional information sensing system for the highway pavement diseases is adopted to replace traditional manual detection and vehicle detection based on two-dimensional images, the problems of high labor intensity, high subjectivity and low omission factor caused by manual detection can be effectively reduced, and the problems that the detection result has misjudgment and high omission factor and the depth information of the pavement diseases cannot be sensed due to the fact that the pavement disease sensing technology based on the two-dimensional linear array images is sensitive to factors such as tire marks, shadow and uneven illumination can be solved.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional information perception system for highway pavement diseases constructed by the invention.
FIG. 2 shows A FL-808-10-S-A-45 laser used in the present invention.
Fig. 3 is a schematic diagram of the layout structure of the laser-3D camera constructed by the present invention.
FIG. 4 is a schematic view of an installation structure of a three-dimensional information perception system for highway pavement diseases constructed by the invention.
FIG. 5 is a schematic diagram of a data storage structure constructed according to the present invention.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.
As shown in fig. 1, a three-dimensional information sensing system for highway pavement diseases comprises: the system comprises a sensor system, a high-speed data acquisition and state detection system and a pavement three-dimensional data storage system; as shown in fig. 4, the sensor system comprises a laser, a 3D camera, a beidou positioning system, a road right camera, a distance measuring instrument and an industrial control computer; the high-speed data acquisition and state detection system comprises a coordination control system and control panel software; the road surface three-dimensional data storage system comprises a point cloud data storage structure, a Beidou data storage mechanism, a road right camera data storage structure and a preset data storage structure; the specific pavement disease perception storage process is as follows:
(1) the three-dimensional road detection vehicle runs according to the road position and route information required in the detection task, and initial information such as a detection initial point stake number, a vehicle running direction and a lane where the vehicle runs is input to control panel software at the initial position of a detection road section;
(2) in the running process of the three-dimensional road detection vehicle, the distance measuring instrument acquires the current running speed and running distance of the vehicle, generates a pulse driving signal and transmits the pulse driving signal to the laser-3D camera component to control the acquisition frequency of the laser-3D camera component;
(3) the laser-3D camera assembly in the sensor system is connected with an industrial control computer on the three-dimensional road detection vehicle through a gigabit network cable, the Beidou positioning system and the distance measuring instrument are connected with the industrial control computer on the three-dimensional road detection vehicle through RS232 serial ports, and the road right camera is connected with the industrial control computer on the three-dimensional road detection vehicle through a usb interface;
(4) in the step (3), the sensors in the sensor system are connected with a coordination control system in the high-speed data acquisition and state monitoring system, and the coordination control system allocates the running states of the sensors to prevent state conflicts generated when the sensors run;
(5) after data in the sensor system is transmitted into the high-speed data acquisition and state monitoring system, the data is processed by a road surface three-dimensional information high-speed acquisition model, and three-dimensional point cloud images, Beidou positioning information, road right camera images, driving mileage and stake number information are displayed in real time in control panel software;
(6) the processed data are transmitted to a road surface three-dimensional data storage system, the three-dimensional point cloud data are processed through a point cloud data compression model and then stored according to a point cloud data storage structure, a Beidou positioning system stores according to a Beidou data storage structure, road right camera data are stored according to a road right camera data storage structure, and preset data are stored according to a preset data storage structure.
The laser-3D camera component in the sensor system is connected with an industrial control computer on the three-dimensional road detection vehicle through a gigabit network cable, so that the transmission of hundred-megabyte-level three-dimensional point cloud data can be realized without data loss. The 3D camera adopts an imported split type 3D camera, the specific model is C5-1280-Gig, and the collection of point cloud data under the condition of the highest speed of 120km/h can be realized.
As shown in FIG. 2, the laser is selected from A Canadian import laser FL-808-10-S-A-45 according to outdoor use and special application conditions of large working distance and large visual field.
The Beidou positioning system records navigation positioning information of the acquired point cloud data image in real time, the driving mileage information acquired by the distance measuring instrument is combined with the pile number information of the starting point to record the pile number information of the acquired point cloud data image, and the navigation information and the pile number information are fused to acquire accurate road disease position information.
As shown in fig. 3, the arrangement of the laser-3D camera assemblies adopts a row of three groups of parallel arrangement schemes, the three groups of laser-3D camera assemblies are arranged at the same horizontal height of the rear rack of the inspection vehicle, the interval between each group of laser-3D camera assemblies is 1300mm, the 3 groups of cameras can collect 4000mm wide pavements, the laser scanning plane in the single group of laser-3D camera assemblies is perpendicular to the ground, the included angle between the 3D camera scanning plane and the laser scanning plane is θ, the elevation information of a scanned point on the ground is Δ x, the displacement value of a camera capacitance pixel point is Δ y, the calibration parameter is β, and the elevation information Δ x of the scanned point is:
Δx≈β*Δy/sin(θ) (1)
as shown in fig. 5, the road surface three-dimensional data storage is divided into five-level folder structures, the second-level folders are respectively a point cloud information first-level folder, a preset information first-level folder, a geographical location information first-level folder and a road right camera first-level folder, wherein a TXT file, a GPS file and a view screen file for storing corresponding information are respectively arranged under the preset information first-level folder, the geographical location information first-level folder and the road right camera first-level folder; the first-level folder of the point cloud information is of a four-level folder structure, the second-level folder of the point cloud information corresponds to data of three groups of laser-3D camera assemblies, and the third-level folder of the point cloud information is grouped according to every 1000 pieces of point cloud data and records information such as collection time, stake numbers, storage paths and the like of every piece of point cloud data by using a list folder.
Claims (7)
1. The three-dimensional information perception system for highway pavement diseases is characterized by comprising the following components: the system comprises a sensor system, a high-speed data acquisition and state detection system and a pavement three-dimensional data storage system; the sensor system comprises a laser, a 3D camera, a Beidou positioning system, a road right camera, a distance measuring instrument and an industrial control computer; the high-speed data acquisition and state detection system comprises a coordination control system and control panel software; the road surface three-dimensional data storage system comprises a point cloud data storage structure, a Beidou data storage mechanism, a road right camera data storage structure and a preset data storage structure.
2. The three-dimensional information perception system for the pavement diseases of the expressway according to claim 1, wherein the specific pavement disease perception storage process is as follows:
(1) the three-dimensional road detection vehicle runs according to the road position and route information required in the detection task, and the initial information of the detection initial point pile number, the vehicle running direction and the lane where the vehicle runs is input to the control panel software at the initial position of the detection road section;
(2) in the running process of the three-dimensional road detection vehicle, the distance measuring instrument acquires the current running speed and running distance of the vehicle, generates a pulse driving signal and transmits the pulse driving signal to the laser-3D camera assembly to control the acquisition frequency of the laser-3D camera assembly;
(3) a laser-3D camera assembly in the sensor system is connected with an industrial control computer on the three-dimensional road detection vehicle through a gigabit network cable, a Beidou positioning system and a distance measuring instrument are connected with the industrial control computer on the three-dimensional road detection vehicle through an RS232 serial port, and a road right camera is connected with the industrial control computer on the three-dimensional road detection vehicle through a usb interface;
(4) the sensors in the sensor system are connected with a coordination control system in the high-speed data acquisition and state monitoring system, and the coordination control system allocates the running states of the sensors to prevent state conflicts during the running of the sensors;
(5) data in the sensor system is transmitted into the high-speed data acquisition and state monitoring system, then processed by a road surface three-dimensional information high-speed acquisition model, and a three-dimensional point cloud image, Beidou positioning information, a road right camera image, driving mileage and stake number information are displayed in real time in control panel software;
(6) the processed data are transmitted to a road surface three-dimensional data storage system, the three-dimensional point cloud data are processed through a point cloud data compression model and then stored according to a point cloud data storage structure, a Beidou positioning system stores according to a Beidou data storage structure, road right camera data are stored according to a road right camera data storage structure, and preset data are stored according to a preset data storage structure.
3. The three-dimensional information sensing system for highway pavement diseases according to claim 2, wherein the laser-3D camera assembly in the sensor system is connected with an industrial control computer on the three-dimensional road detection vehicle through a gigabit network cable.
4. The three-dimensional information perception system for highway pavement diseases according to claim 2, wherein the 3D camera is a split type 3D camera.
5. The three-dimensional information sensing system for highway pavement diseases according to claim 2, wherein the Beidou positioning system records navigation positioning information of the acquired point cloud data images in real time, the driving mileage information acquired by the distance measuring instrument is combined with the pile number information of the starting point to record the pile number information of the acquired point cloud data images, and the navigation information and the pile number information are fused to obtain accurate road disease position information.
6. The three-dimensional information sensing system for highway pavement diseases according to claim 3, wherein the arrangement of the laser-3D camera assemblies adopts a row-by-row arrangement scheme with three groups, the three groups of laser-3D camera assemblies are arranged at the same horizontal height of the rear rack of the detection vehicle, the interval between each group of laser-3D camera assemblies is 1300mm, the laser scanning plane in the single group of laser-3D camera assemblies is perpendicular to the ground, the included angle between the 3D camera scanning plane and the laser scanning plane is theta, the elevation information of a scanned point on the ground is delta x, the displacement value of a camera capacitance pixel point is delta y, the calibration parameter is β, and the elevation information delta x of the scanned point is:
Δx≈β*Δy/sin(θ) (1)
7. the three-dimensional information sensing system for highway pavement diseases according to claim 2, wherein the pavement three-dimensional data storage is divided into a five-level folder structure, and the second-level folders are a point cloud information first-level folder, a preset information first-level folder, a geographic position information first-level folder and a road right camera first-level folder respectively, wherein a TXT file, a GPS file and a view screen file for storing corresponding information are arranged under the preset information first-level folder, the geographic position information first-level folder and the road right camera first-level folder respectively; the first-level folder of the point cloud information is of a four-level folder structure, the second-level folder of the point cloud information corresponds to data of three groups of laser-3D camera assemblies, and the third-level folder of the point cloud information is grouped according to every 1000 pieces of point cloud data and records the acquisition time, the stake number and the storage path information of each piece of point cloud data by using a list folder.
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| CN113466239A (en) * | 2021-05-14 | 2021-10-01 | 安徽优特公路养护科技有限公司 | Road pit groove disease scanning detector and detection vehicle |
| 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 |
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