CN101845788B - Cement concrete road surface dislocation detection device and method based on structured light vision - Google Patents
Cement concrete road surface dislocation detection device and method based on structured light vision Download PDFInfo
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Abstract
The invention relates to cement concrete road surface dislocation detection device and method based on structured light vision. The cement concrete road surface dislocation detection device comprises a computing system and a structured light vision detection component. An image acquisition card in the computing system is connected with a computer for sending acquired images; a trigger signal line of a mileage encoder is connected with an external trigger interface of the image acquisition card; the structured light vision detection component is arranged at the bottom of the bodywork of a detection car and comprises a line laser array and an area array CCD (Charge Coupled Device) image sensor facing to the road surface; and a CCD is connected with the image acquisition card so that the image acquisition card acquires the images and triggers. The method comprises the following steps of: generating a pulse signal by the mileage encoder, triggering the CCD to acquire the road surface images comprising structured light bars by the image acquisition card, positioning seams of the road surface according to the acquired images, thinning the structured light bars in the acquired images, extracting the thinned structured light bars of two cement plates near the seams, and computing three-dimensional coordinates of pixels on the light bars to calculate the amount of dislocation. The invention can accurately position the dislocation.
Description
Technical field
The invention belongs to the highway construction field, relate to a kind of cement concrete pavement joint dislocation detection device and detection method.
Background technology
Cement concrete pavement faulting of slab ends refers to the depth displacement of adjacent two cement boards in transverse joint place in the cement concrete pavement.It is by traffic load, and temperature warping and basic unit wash away etc. that many reasons causes.Faulting of slab ends is the important indicator that affects Level Degree of Cement Concrete Pavement, life-span and overlay the back reflection crack, also is the cement concrete pavement condition state, an important indicator must considering when maintenance, Overlay design.Therefore, how faulting of slab ends is carried out accurately and efficiently detecting and assessing, be very problems of concern of highway administration maintenance department always.
Faulting of slab ends detects and comprises two steps: the one, and the faulting of slab ends position is namely found in the seam location; The 2nd, detect the depth displacement of the adjacent cement concrete slab panel of this seam crossing.At present domestic detection to faulting of slab ends is mainly by manually utilizing ruler or slide measure to realize, wastes time and energy and dangerous.Laser cross section instrument (the ARRB system of Australia is adopted in some areas, the PASI system of U.S. PAVEDEX company, American South reaches the South Dakota DOT system of its state Department of Transportation development of section, the road automatic detection vehicle of American I CC company, the automatic detection vehicle RoadCrack of Australia NSW Highway Administration Bureau and CRISO company joint development, the ARAN of Canadian RoadWare company, the inspection vehicle of Britain WDW company) or ultrasonic cross section instrument (the ROMDAS ultrasonic wave road surface cross section of New Zealand DCL company/rut test macro) realize measurement to faulting of slab ends, profiler needs a plurality of range sensors, usually there are 7～13, what have reaches 30, expensive; When using profiler that cement concrete pavement is detected, can accurately not locate faulting of slab ends.
Summary of the invention
The present invention is directed to existing cement concrete pavement faulting of slab ends detection technique can not accurately locate faulting of slab ends, and equipment price is expensive, proposed a kind of cement concrete pavement joint dislocation detection device based on structure light vision and method, its positional accuracy to faulting of slab ends is high, and cost is low.
For reaching above purpose, solution of the present invention is:
The present invention is based on the structure light vision measuring principle designs, this device is installed in the bottom of detecting vehicle, obtain seam and the faulting of slab ends image in a part of track, utilize image processing techniques that each seam is identified, located, utilize on this basis the faulting of slab ends amount of every seam of structured light vision detection technique computes.
A kind of cement concrete pavement joint dislocation detection device based on structure light vision, it comprises computing system and structured light vision detection component, described structured light vision detection component gathers information of road surface, sends to the computing system-computed and confirms the faulting amount.
Further, described computing system is installed in the inspection vehicle car body, comprises computer, image pick-up card and mileage coder, and image pick-up card links to each other with computer and transmits the image of its collection; Mileage coder is installed on the lateral wheel of inspection vehicle, and its line trigger signal links to each other with the external trigger interface of image pick-up card.
Described structured light vision detection component is installed on the inspection vehicle vehicle bottom, comprises Array CCD sensor and laser line generator array, and the Array CCD sensor lens is towards the road surface, and the laser line generator array is also towards the road surface; The Array CCD sensor links to each other with image pick-up card, gathers image and triggering for image pick-up card.
A kind of cement concrete pavement faulting of slab ends detection method based on structure light vision, it may further comprise the steps:
1) mileage coder produces pulse signal, and image pick-up card triggers the pavement image that the ccd image sensor collection comprises structural light strip;
2) the image road pavement seam according to the ccd image sensor collection positions;
3) structural light strip that ccd image sensor is gathered in the image carries out refinement, extract first of near the first cement board seam structural light strip after the refinement between the 4th thirdly on second point and the second cement board, utilize the structure light vision measuring principle to calculate the three-dimensional coordinate of pixel on the striation;
4) by first dispersed elevation of calculating the first cement board to second point structural light strip each point, i.e. first Z to second point structural light strip each point
wThe coordinate average of axle is designated as H
I1, i is the numbering of certain laser instrument in the laser line generator array; By thirdly calculating the dispersed elevation of the second cement board to the 4th dot structure light striation each point, namely thirdly to the Z of the 4th dot structure light striation each point
wThe coordinate average of axle is designated as H
I2, i is the numbering of certain laser instrument in the laser line generator array; H
I1-H
I2The faulting of slab ends amount that records for structural light strip i;
5) calculate the faulting of slab ends amount that each laser instrument records, be averaging the faulting of slab ends amount that is this seam.
The employed checkout gear of said method comprises computing system and structured light vision detection component, and described structured light vision detection component gathers information of road surface, send to the computing system-computed and confirm the faulting amount,
Described computing system is installed in the inspection vehicle car body, comprises computer, image pick-up card and mileage coder, and image pick-up card links to each other with computer and transmits the image of its collection; Mileage coder is installed on the lateral wheel of inspection vehicle, and its line trigger signal links to each other with the external trigger interface of image pick-up card,
Described structured light vision detection component is installed on the inspection vehicle vehicle bottom, comprises Array CCD sensor and laser line generator array, and the Array CCD sensor lens is towards the road surface, and the laser line generator array is also towards the road surface; The Array CCD sensor links to each other with image pick-up card, gathers image and triggering for image pick-up card.
Further, array CCD image sensor is demarcated on the front opposite of pavement detection, the optical plane of each laser line generator in the laser line generator array is demarcated, and at the optical plane timing signal to laser line generator, regulation Z
wAxle is perpendicular to plane, place, road surface.
The striation that described laser line generator array projects the road surface is substantially vertical with the seam that has faulting of slab ends, and striation at ccd image sensor within sweep of the eye.
Described location utilizes the geometric properties of Gray Projection, seam and size characteristic to carry out coarse positioning, finds the approximate location of seam, extracts the coarse positioning image, detects the inclination angle of seam, utilizes this inclination angle to do rotation correction, makes seam perpendicular to image boundary; In the image of proofreading and correct, utilize the characteristics of image of Gray Projection and edge projection and seam accurately to locate at last, find two borders of seam, finish the seam location.
Described the first cement board is positioned at a side of seam, and the second cement board is positioned at the opposite side of seam; First is structural light strip on the first cement board and the intersection point of seam, and second point is the structured light measuring point of choosing at the first cement board, and itself and first are at a distance of 0-200mm; Thirdly be structural light strip on the second cement board and the intersection point of seam, the 4th is the structured light measuring point of choosing on the second cement board, its with thirdly at a distance of 0-200mm.
Description of drawings
Owing to having adopted such scheme, the present invention has following characteristics: the present invention has overcome the shortcoming that laser cross section instrument and ultrasonic cross section instrument can not the butt joint location.These two kinds of profilers only can access depth displacement continuous on the vertical section of road surface.Because cement concrete pavement exists cutting, crack, and has a large amount of limits of gnawing near the seam, be difficult to from these depth displacement curves, judge the position of faulting of slab ends, thereby profiler is difficult to obtain accurately faulting of slab ends amount.And the present invention can utilize image accurately to locate, and is better than profiler.
Measuring point quantity on the cross section of the present invention is by the decision of the laser line generator quantity in the laser line generator array, owing to needn't gather optical strip image for each laser instrument provide independent CCD, cost reduces greatly.
Checkout gear of the present invention is installed in vehicle bottom, therefore needn't use powerful laser instrument just can be on CCD blur-free imaging, and since at the bottom of the car bright and dark light change littlely, the light source requirements reduction to CCD has further reduced cost.
Fig. 1 is composition structural representation of the present invention;
Fig. 2 is IMAQ front elevational schematic of the present invention;
Fig. 3 is IMAQ schematic side view of the present invention;
Fig. 4 is the present invention is calculated faulting of slab ends by the striation measuring point of structured light on cement board schematic diagram.
The specific embodiment
Each label is respectively in the accompanying drawing: 1-car body, 2-computing system, 3-structured light vision detection component; The 4-road surface; 5-the first cement board; 6-the second cement board; The 7-seam; The structural light strip of the single laser line generator of 8-on the first cement board 5 and the second cement board 6; 21 image pick-up cards; 22 mileage coder; 24 computers; 31 area array CCDs; 32 laser line generator arrays; 51-the first point; The 52-second point; 61-thirdly; 62-the 4th point.
The present invention is further illustrated below in conjunction with the accompanying drawing illustrated embodiment.
Faulting checkout gear of the present invention is made of computing system 2 and structured light vision detection component 3; Computer system 2 is made of computer 24, image pick-up card 21 and mileage coder 22; Image pick-up card 21 is installed on the pci interface of computer, and the housing of mileage coder 22 is installed, is fixed on the inspection vehicle lateral wheel, and the axis of rotation of encoder 22 is connected with wheel, the angular velocity identical with the wheel maintenance; The line trigger signal of encoder 22 links to each other with the external trigger interface of image pick-up card 21; Structured light vision detection component 3 is comprised of 1 table top array CCD image sensor 31 and laser line generator array 32, the data wire of Array CCD sensor 31 is connected with the data-interface of image pick-up card 21, and the external trigger interface of Array CCD sensor 31 links to each other with the external trigger interface of image pick-up card 21; The camera lens of Array CCD sensor 31 is towards the road surface 4, and laser line generator array 32 is also towards the road surface 4, and the striation 8 that laser line generator array 32 projects road surface 4 is substantially vertical with the seam 7 that has faulting of slab ends, and striation 8 at ccd image sensor 31 within sweep of the eye; Computer system 2 is installed in the car body 1, structured light vision detection component 3 is installed in car body 1 bottom, system installs, demarcate at the front opposite of pavement detection array CCD image sensor 31, and the optical plane of each laser line generator in the laser line generator array 32 demarcated, at the optical plane timing signal to laser line generator, regulation Z
wAxle is perpendicular to plane, place, road surface.Wherein, laser line generator can adopt U.S. Stocker Yale high power semiconductor lasers MAGNUM 2, and area array cameras can adopt Dalsa area array cameras DS-24-02M30, and resolution ratio is 1920*1080, the highest 30 frames of taking of per second; Image pick-up card can adopt the X64-CL Dual of Dalsa.The zsm6215 type rotary encoder that encoder can adopt the auspicious general science and technology in Wuxi to produce.
Method of the present invention is realized by following steps:
Step 1: when detecting vehicle in the process of moving, produce pulse signal by mileage coder 22, trigger ccd image sensor 31 by image pick-up card 21, collection comprises the pavement image of structural light strip, view data is stored in computer 24 disks by image pick-up card 21, when storage, every sub-picture is numbered, read when being convenient to subsequent treatment.
Step 2: the image that is gathered by ccd image sensor 31 positions cement-concrete road joint 7.During the location, at first utilize the geometric properties of Gray Projection, seam and size characteristic to carry out coarse positioning, find the approximate location of seam, and extract the coarse positioning image, in this image, detect the inclination angle of seam, and utilize this inclination angle to do rotation correction, make seam perpendicular to image boundary; In the image of proofreading and correct, utilize the characteristics of image of Gray Projection and edge projection and seam accurately to locate at last, find two borders of seam, finish the seam location.
Step 3: the structural light strip that CCD31 is gathered in the image carries out refinement, extract the structural light strip 8 after 1: 51 the thirdly refinement between the 61 to the 4th: 62 to the second cement board 6 of second point 52 and seam opposite side of the first cement board 5 of seam 7 one sides, utilize the structure light vision measuring principle to calculate the three-dimensional coordinate of pixel on the striation.1: 51 is intersection points of structural light strip 8 and seam 7 on the first cement board 5; Second point 52 is structured light measuring points of choosing at the first cement board 5, and it and 1: 51 distance are advisable with 0-200mm, and spacing 50mm is best; Thirdly 61 is intersection points of structural light strip 8 and seam 7 on the second cement board 6; The the 4th: 62 is structured light measuring points of choosing at the second cement board 6, and it is advisable with 0-200mm with 61 distance thirdly, and spacing 50mm be the best.
Utilize the method for the three-dimensional coordinate of pixel on the structure light vision measuring principle calculating striation as follows:
World coordinate system is by X
w=[X
w, Y
w, Z
w] form, establish (u, v) and be the image coordinate take pixel as unit, the relation of the image coordinate (u, v) of the P point coordinates that world coordinate system represents and its picture point p:
s[u，v，1]
T＝M
1M
2X
w＝MX
w
Wherein, s is scale factor;
M
1Only relevant with the video camera internal construction, claim the video camera confidential reference items, by a
x, a
y, u
0, v
0Determine;
M
2Described the pose of video camera, be called video camera and join outward, by R, t determines;
M is called the fundamental matrix of video camera, determines when camera calibration;
(u
0, v
0) for the optical center is projected in u, the coordinate in the v coordinate system;
a
x, a
yThe inner parameter relevant with video camera pixel physical size and focal length;
R is that video camera is in the spin matrix of world coordinate system;
T is that video camera is in the translation matrix of world coordinate system;
The structured light optic plane equations is: AX
w+ BY
w+ CZ
w+ D=0; Coefficient A, B, C and D are determined by structured light optical plane timing signal.
When the image coordinate of certain point on the road structure light striation is known, the three-dimensional coordinate that can calculate this point by relation and the structured light optic plane equations of world coordinate system and picture point.
Step 4: calculate the dispersed elevation of the first cement board 5 by 1: 51 to second point 52 structural light strip each points, i.e. the 1: 51 Z to second point 52 structural light strip each points
wThe coordinate average of axle is designated as H
I1, i is the numbering of certain laser instrument in the laser line generator array 32; Calculated the dispersed elevation of the second cement board 6 by 61 to the 4th: 62 structural light strip each points thirdly, i.e. the Z of 61 to the 4th 62 structural light strip each points thirdly
wThe coordinate average of axle is designated as H
I2, i is the numbering of certain laser instrument in the laser line generator array 32; H
I1-H
I2The faulting of slab ends amount that records for structural light strip i.
Step 5: calculate the faulting of slab ends amount that each laser instrument records, be averaging the faulting of slab ends amount that is this seam.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art should be within protection scope of the present invention for improvement and modification that the present invention makes according to announcement of the present invention.
Claims (6)
1. cement concrete pavement joint dislocation detection device based on structure light vision, it is characterized in that: it comprises computing system and structured light vision detection component, described structured light vision detection component gathers information of road surface, sends to the computing system-computed and confirms the faulting amount
Described computing system is installed in the inspection vehicle car body, comprises computer, image pick-up card and mileage coder, and image pick-up card links to each other with computer and transmits the image of its collection; Mileage coder is installed on the lateral wheel of inspection vehicle, and its line trigger signal links to each other with the external trigger interface of image pick-up card,
Described structured light vision detection component is installed on the inspection vehicle vehicle bottom, comprises Array CCD sensor and laser line generator array, and the Array CCD sensor lens is towards the road surface, and the laser line generator array is also towards the road surface; The Array CCD sensor links to each other with image pick-up card, gathers image and triggering for image pick-up card.
2. cement concrete pavement faulting of slab ends detection method based on structure light vision, it is characterized in that: it may further comprise the steps:
1) mileage coder produces pulse signal, and image pick-up card triggers the pavement image that the ccd image sensor collection comprises structural light strip;
2) the image road pavement seam according to the ccd image sensor collection positions;
3) structural light strip that ccd image sensor is gathered in the image carries out refinement, extract first of near the first cement board seam structural light strip after the refinement between the 4th thirdly on second point and the second cement board, utilize the structure light vision measuring principle to calculate the three-dimensional coordinate of pixel on the striation;
4) by first dispersed elevation of calculating the first cement board to second point structural light strip each point, namely first the coordinate average to the Zw axle of second point structural light strip each point is designated as H
I1, i is the numbering of certain laser instrument in the laser line generator array; By thirdly calculating the dispersed elevation of the second cement board to the 4th dot structure light striation each point, namely thirdly to the Z of the 4th dot structure light striation each point
wThe coordinate average of axle is designated as H
I2, i is the numbering of certain laser instrument in the laser line generator array; H
I1-H
I2The faulting of slab ends amount that records for structural light strip i;
5) calculate the faulting of slab ends amount that each laser instrument records, be averaging the faulting of slab ends amount that is this seam;
The employed checkout gear of said method comprises computing system and structured light vision detection component, and described structured light vision detection component gathers information of road surface, send to the computing system-computed and confirm the faulting amount,
Described computing system is installed in the inspection vehicle car body, comprises computer, image pick-up card and mileage coder, and image pick-up card links to each other with computer and transmits the image of its collection; Mileage coder is installed on the lateral wheel of inspection vehicle, and its line trigger signal links to each other with the external trigger interface of image pick-up card,
Described structured light vision detection component is installed on the inspection vehicle vehicle bottom, comprises Array CCD sensor and laser line generator array, and the Array CCD sensor lens is towards the road surface, and the laser line generator array is also towards the road surface; The Array CCD sensor links to each other with image pick-up card, gathers image and triggering for image pick-up card.
3. the cement concrete pavement faulting of slab ends detection method based on structure light vision as claimed in claim 2, it is characterized in that: array CCD image sensor is demarcated on the front opposite of pavement detection, optical plane to each laser line generator in the laser line generator array is demarcated, at the optical plane timing signal to laser line generator, regulation Z
wAxle is perpendicular to plane, place, road surface.
4. the cement concrete pavement faulting of slab ends detection method based on structure light vision as claimed in claim 2, it is characterized in that: the striation that described laser line generator array projects the road surface is substantially vertical with the seam that has faulting of slab ends, and striation at ccd image sensor within sweep of the eye.
5. the cement concrete pavement faulting of slab ends detection method based on structure light vision as claimed in claim 2, it is characterized in that: described location utilizes the geometric properties of Gray Projection, seam and size characteristic to carry out coarse positioning, find the approximate location of seam, extract the coarse positioning image, detect the inclination angle of seam, utilize this inclination angle to do rotation correction, make seam perpendicular to image boundary; In the image of proofreading and correct, utilize the characteristics of image of Gray Projection and edge projection and seam accurately to locate at last, find two borders of seam, finish the seam location.
6. the cement concrete pavement faulting of slab ends detection method based on structure light vision as claimed in claim 2, it is characterized in that: described the first cement board is positioned at a side of seam, and the second cement board is positioned at the opposite side of seam; First is structural light strip on the first cement board and the intersection point of seam, and second point is the structured light measuring point of choosing at the first cement board, and itself and first are at a distance of 0-200mm; Thirdly be structural light strip on the second cement board and the intersection point of seam, the 4th is the structured light measuring point of choosing on the second cement board, its with thirdly at a distance of 0-200mm.
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| CN103061237B (en) * | 2013-01-31 | 2014-12-24 | 长安大学 | Detection algorithm of cement concrete pavement slab staggering quantity |
| CN103485266B (en) * | 2013-10-09 | 2015-06-24 | 武汉武大卓越科技有限责任公司 | High-definition pavement image acquisition method and apparatus |
| CN103669182B (en) * | 2013-11-15 | 2017-01-25 | 上海嘉珏实业有限公司 | Pavement crack recognition method based on camera and line laser |
| CN103835212B (en) * | 2014-02-21 | 2015-11-25 | 哈尔滨工业大学 | A kind of highway pavement three-dimensional detection system |
| CN103938531B (en) * | 2014-04-10 | 2016-08-17 | 武汉武大卓越科技有限责任公司 | Laser road faulting of slab ends detecting system and method |
| DE102014212032A1 (en) * | 2014-06-24 | 2015-12-24 | Robert Bosch Gmbh | Method for detecting a roadway and corresponding detection system |
| CN104537652B (en) * | 2014-12-17 | 2017-06-20 | 中交第一公路勘察设计研究院有限公司 | A kind of cement-concrete road-surface groove-carving depth 3 D detection method and system |
| CN104452557B (en) * | 2014-12-27 | 2015-11-25 | 长安大学 | A kind of faulting of slab ends analog machine for demarcating faulting of slab ends checkout equipment and using method thereof |
| CN105387801B (en) * | 2015-10-03 | 2018-05-01 | 上海大学 | A kind of subway tunnel section of jurisdiction faulting of slab ends quantity measuring method |
| CN107727659B (en) * | 2017-09-26 | 2019-07-09 | 福建农林大学 | The differentiating method of the cutting of road face and slab seam |
| CN108267116B (en) * | 2017-12-15 | 2020-08-04 | 中公高科养护科技股份有限公司 | Pavement slab staggering detection method and device based on pavement three-dimensional data |
| 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 |
| CN110243293B (en) * | 2019-06-18 | 2021-01-08 | 上海同岩土木工程科技股份有限公司 | Duct piece dislocation rapid detection device and method based on structural light and machine vision |
| CN114511495A (en) * | 2021-12-21 | 2022-05-17 | 武汉光谷卓越科技股份有限公司 | Pavement slab staggering detection method and device based on precise three-dimension |
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