CN105839505B - The detection method and detection means of a kind of road surface breakage information of three-dimensional visualization - Google Patents
The detection method and detection means of a kind of road surface breakage information of three-dimensional visualization Download PDFInfo
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- CN105839505B CN105839505B CN201610158826.XA CN201610158826A CN105839505B CN 105839505 B CN105839505 B CN 105839505B CN 201610158826 A CN201610158826 A CN 201610158826A CN 105839505 B CN105839505 B CN 105839505B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
Abstract
The present invention relates to the detection method and detection means of a kind of road surface breakage information of three-dimensional visualization, this method comprises the following steps：Grating fringe is projected on road surface to be detected；Projected light grizzly bar print image is absorbed respectively, and the image information is sent to processor；The image information is handled, to form three-dimensional pavement graph data and according to the three-dimensional pavement geometric data, complete the three-dimensionalreconstruction on road surface；Colored rendering is carried out to three-dimensional pavement figure；The various road surface breakage types in the road surface figure by colored rendering are identified using connected component labeling method；Calculate the road surface breakage feature in each information of road surface；Finally the road surface breakage feature calculated is exported as testing result.This method detection is accurate, efficient and can detect the damaged information of multiple road.Present invention additionally comprises a kind of detection means of the road surface breakage information of three-dimensional visualization, it includes：Optical grating projection instrument, two ccd video cameras, photoelectric encoder and detection control computer.
Description
Technical field
The present invention relates to a kind of detection method, the detection side of the road surface breakage information of more particularly to a kind of three-dimensional visualization
Method.The invention further relates to a kind of detection means of the road surface breakage information of three-dimensional visualization.
Background technology
At present, the factor such as excessive traffic loading, complicated traffic organization and vehicle traveling, changeable climate condition can be led
Road, especially bituminous paving is caused different degrees of damage occur.Its types of damage and species are a lot, not only crack class, pine
The two-dimentional class such as scattered class is damaged, and is also had rut, depression, is gathered around the three-dimensional class damage such as bag.If repairing not in time and continuing to be open to traffic, it can aggravate
Damaged condition, increase road maintenance cost, shorten the service life of road, influence the security and comfortableness of driving.Therefore, need
Periodically bituminous paving is detected and evaluated, make effective Maintenance Decision making.
Existing detection method is mainly artificial detection and the detection of multifunctional examining measuring car.Manual measurement Detection accuracy is high,
But cost is big, efficiency is low, there is potential safety hazard, and normal traffic can be influenceed.And although multifunctional examining measuring car compensate for manually
The deficiency of detection, but it predominantly detects the damage that object is two-dimentional class, it is impossible to accurately identify and gather around the three-dimensional class such as bag, rut, depression
The damaged information of damage, testing result is not comprehensive enough, and then influences the integrality and accuracy of testing result.
In addition, the acquisition method of existing multifunctional examining measuring car road pavement data mainly has two kinds：Line laser is detected and point
Laser detection.General several spacing used on same crossbeam of dot laser detection is 10cm~30cm dot lasers pair
The cross section on road surface detected, horizontal sampling interval of the detection method in 10cm~30cm, by speed and sample frequency
Restriction, longitudinal sampling interval is at least in more than 20cm.Although the lateral separation very little of laser line generator detection, longitudinally spaced excessive
The problem of do not solve still so that in actual applications, the reducing degree of road surface true form is by severely restricts, for example laterally
Pavement crack and projection etc..
The content of the invention
To overcome the deficiencies in the prior art, the invention provides a kind of three-dimensional visualization road surface breakage based on optical grating projection
The detection method of letter, it can improve transverse direction and longitudinal direction accuracy of detection, more can really reduce the three-dimensional situation on road surface.
A kind of detection method of the road surface breakage information of three-dimensional visualization of the present invention, it comprises the following steps：
S1：Grating fringe is projected on road surface to be detected using optical grating projection instrument；
S2：Institute's projected light grizzly bar print image is absorbed respectively using two ccd video cameras, and the image information of intake is sent out
Deliver to processor；
S3：The image information is handled using Fourier transform, to form three-dimensional pavement geometric data, and according to this
Three-dimensional pavement geometric data, completes the three-dimensionalreconstruction on road surface；
S4：The obtained relative elevation value of road surface sampled point will be measured to be layered by logarithm, and the height value according to layering and
The mapping relations for the color table set up carry out colored rendering to three-dimensionalreconstruction road surface；
S5：Based on different types of road surface breakage reference value, identified using connected component labeling method by colored rendering
Various road surface breakage types in the figure of road surface；
S6：The road surface breakage feature in each information of road surface is calculated using boundary rectangle and double integral algorithm；
S7：The road surface breakage information for including road surface breakage type and road surface breakage feature is exported as testing result.
Preferably, step S0 is also included before the step S1：Two CCD are imaged using Zhang Youzheng standardizations
Machine is demarcated, wherein, step S0 includes：
S01：Default gridiron pattern is placed on as on the road surface of the detection underbody of demarcation thing；
S02：Using two ccd video cameras with the photo of different eight demarcation things of angle shot；
S03：The angle point that chessboard black and white interval is extracted from photo is used as characteristic point；
S04：The inside and outside parameter of camera in the case of estimation ideal is undistorted；
S05：The distortion factor of two ccd video cameras is estimated using least square method, is corrected with the image to intake.
It is highly preferred that the step S3 further comprises：
S31：By optical grating projection to road surface to be measured, carry on the back the distribution of road surface face shape with two ccd video camera captured in real-time and adjust
The deformation light field of system；
S32：Fast Fourier Transform (FFT) is carried out to the raster image collected, filtered out from frequency domain comprising tested pavement-height
The fundamental component of information, then inverse Fourier transform, obtain the phase distribution of road surface face shape；
S33：Mapping relations between being distributed according to phase and height, calculate the 3 d shape data on tested road surface.
It is highly preferred that the step S32 further comprises：
When optical grating projection is in reference plane, if any point Ss of the point C in reference planes on ccd video camera array into
Picture, then have a phase on S points：
When optical grating projection is in road surface, the point on road surface is imaged on S, then there is a new phase on S：WhereinOn the basis of on face point D phase；The points of the S on ccd video camera array can be obtained successively to be imaged twice
Two obtained phasesWithDifference
Then have：
Wherein,For the front and rear phase difference being imaged twice, f0It is C, D on face on the basis of the fundamental frequency of projection grating, b
The distance between 2 points；
It can be obtained by similar triangle theory again：
Work as m>>During h (x, y), the relation approximate representation of height distribution and phase difference is：
Phase distribution is tried to achieve by phase unwrappingH (x, y) is distributed with the height for calculating road surface.
Preferably, in the step S4, the relative elevation value of road pavement sampled point includes step by logarithm layering：
If the relative elevation value of collection point is between 0~± 10mm, 0~1 is concentrated on after being taken the logarithm to the data
Between data, distribute 10 kinds of colors, the smooth information to show road surface；
When the relative elevation data of collection point are when between ± 10~± 100, concentrate on 0 after being taken the logarithm to the data~
Data between 1, distribute other 10 kinds of colors, the damaged information for characterizing road surface；
Wherein, the relative elevation value refers to relative altitude value of each sampled point in road surface relative to road surface reference plane.
Preferably, in step s 5, the connected component labeling method uses two-pass scan method, wherein,
Assign the pixel one label according to each affiliated different zones of pixels tall value during first pass, and to category
In same connected region but with different value Label Merging, that is, record the relation of equality between them；
The pixel that second time scanning is marked the label with relation of equality is classified as same connected region, and is them
Assign a new label；
Breakage is classified according to pavement evaluation index, to identify various damaged types.
Preferably, the road surface breakage feature in the road surface breakage information includes：Damage length, transverse penetration, damaged face
Product and damaged volume；
Wherein, damage length, transverse penetration and damaged area are obtained by boundary rectangle, and damaged volume passes through double integral
Algorithm is obtained.
The invention further relates to a kind of detection means of the road surface breakage information of three-dimensional visualization, it includes：Optical grating projection instrument,
It projects to grating fringe on road surface to be detected；Two ccd video cameras, it absorbs projected light grizzly bar print image respectively, and
The information of the image is sent to detection control computer；Photoelectric encoder, it is arranged on the wheel shaft of vehicle, and connects two
Platform ccd video camera；Control computer is detected, it is electrically connected with optical grating projection instrument and two ccd video cameras respectively, for that will gather
And three-dimensionalreconstruction, colored rendering, road surface breakage identification and the road surface on the three-dimensional coordinate completion road surface of each pixel after merging are broken
Feature calculation is damaged, and the road surface breakage feature calculated is exported as testing result.
Preferably, two ccd video cameras and terrestrial reference face angle at 45 °.
Preferably, synchronizing signal trigger is installed in the optical grating projection instrument, to cause the optical grating projection instrument and Liang Tai
Ccd video camera can work asynchronously.
Beneficial effects of the present invention are embodied in：The technical side of the measurement highway pavement three-dimensional information based on optical grating projection
Case, transverse direction and longitudinal direction accuracy of detection more can really reduce the three-dimensional situation on road surface up to millimeter magnitude, can be effective
The collection and measurement of highway pavement three-dimensional geometry data are realized, accurate data branch is provided for the reconstruct of road threedimensional model
Hold.The elevation dizzy dye technology based on logarithmic mapping, more vividly can effectively show the information of road, be easy to decision-making
Person intuitively observes a variety of damaged such as rut, the pits on road surface, gathers around bag.The failure evaluation algorithm based on connected component labeling,
It accurately can comprehensively identify all kinds of breakages on road surface.The computational methods closing to reality of the road surface breakage feature, algorithm
Accuracy is higher.The present invention realizes the fast and automatically detection damaged for three-dimensional class truly, improves road conditions letter
The science for ceasing the integrality of collection and evaluating.
Brief description of the drawings
Fig. 1 is the flow chart of the detection method of the road surface breakage information of the three-dimensional visualization of the present invention；
The measuring principle figure that Fig. 2 is demarcated for two ccd video cameras in the present invention；
The schematic diagram on three-dimensional grid road surface is set up in the step of Fig. 3 is the three-dimensionalreconstruction on road surface；
Fig. 4 is the structure principle chart of the detection means of the road surface breakage information of the three-dimensional visualization of the present invention；
Fig. 5 be Fig. 4 in M portions partial schematic diagram.
Embodiment
The present invention relates to a kind of detection means of road surface breakage information of the three-dimensional visualization based on optical grating projection and detection
Method.The detection means and method are related to including two ccd video cameras, optical grating projection instrument and upper detection control computer.Its
In involved technical scheme be that raster image is projected on road surface to be measured using projector equipment, ccd video camera is with light
The pulse input of photoelectric coder, is absorbed to raster image.If road surface exist depression, pit, gather around bag etc. it is rough
When damaged, distortion striped can be produced in road surface, these distortion stripeds contain the three-dimensional information of road surface each point.To subtract
Small single CCD camera shoots the issuable blind zone problem of three-dimensional pavement, is shot and is adjusted by road surface simultaneously using two ccd video cameras
Grating fringe image after system, and real-time Transmission gives processing computer, is fourier transformed technology of profiling processing, obtains true road surface
Three-dimensional data, utilize OpenGL technologies complete road surface three-dimensionalreconstruction.Then the elevation dizzy dye skill based on logarithmic mapping is utilized
Art completes the colored rendering on reconstruct road surface, and road surface breakage is recognized and to breakage using the failure evaluation algorithm based on connected component labeling
Feature is calculated.
As shown in figure 1, a kind of detection method of the road surface breakage information of three-dimensional visualization of the present invention, it includes following step
Suddenly：
Step S0, is demarcated first with Zhang Youzheng standardizations to two ccd video cameras.Specifically, real
Before the three-dimensional information for measuring road surface, two ccd video cameras are demarcated, obtain inside and outside parameter and the distortion system of video camera
Number, is corrected with the image to intake.Camera causes imaging to there is radial distortion due to the characteristic of optical lens, can be by
Three parameters are determined；Error in terms of due to assembling, is not substantially parallel between sensor and optical lens, therefore imaging is present
Tangential distortion, can be determined by two parameters.The calibration of single camera mainly calculates the internal reference of camera, five distortion ginsengs
Number and outer ginseng.Binocular camera calibration will not only draw the inner parameter of each camera, in addition it is also necessary to be measured by demarcating
Relative position between two cameras, i.e., right camera is joined relative to the D translation matrix and spin matrix of left camera
Number.
Here Zhang Zhengyou standardizations are used, a printed gridiron pattern is put in reference planes, are here detection car
The road surface at bottom, is used as demarcation article.Using double ccd video cameras eight photos of thing are demarcated with different angle shots.Carried from photo
The angle point at chessboard black and white interval is taken as characteristic point.In the case of estimation ideal is undistorted, five internal references and all outer ginsengs.Using most
Small square law estimates the distortion factor of ccd video camera, and optimizes refinement, utilizes these information, it is possible to carry out distortion correction and
Image rectification.
As shown in figure 1, in step S1, grating fringe being projected on road surface to be detected using optical grating projection instrument, then existed
Step S2, absorbs projected light grizzly bar print image, and the image information is sent to processing respectively using two ccd video cameras
Device.In step S3, the image information is handled using Fourier transform, to form three-dimensional pavement graph data.
Here, step S3 is described in detail as follows：
Workflow using the Fourier transform profilometry collection road surface data based on projection grating is as follows：
1. by optical grating projection to road surface to be measured, road surface face shape distributed modulation is carried on the back with two ccd video camera captured in real-time
Deformation light field.
2. pair image collected carries out Fast Fourier Transform (FFT), filtered out from frequency domain comprising tested pavement-height information
Fundamental component, then inverse Fourier transform, obtain the phase distribution of road surface face shape.
3. the mapping relations between being distributed according to phase and height, calculate the 3 d shape data on tested road surface.
The Fourier transformation measuring principle：As shown in Fig. 2 wherein, P1And P2It is the optical axis of projection arrangement, I1And I2It is
The optical axis of imaging system, d is P1And P2Between distance, m is I2To the distance between reference plane.S is any point on ccd video camera.
When optical grating projection is in reference plane, if C points S points on ccd video camera array are imaged in reference planes, then there is a phase on S points：When optical grating projection is in road surface, H points S points on ccd video camera array are imaged on road surface, and then S points have one
New phase：WhereinOn the basis of on face D points phase.It can be seen that on ccd video camera array S points successively twice
It is imaged two obtained phasesWithDifferenceHeight h modulation of the H points relative to the plane of reference causes exactly on object plane
's.Then have：
Wherein,For the front and rear phase difference being imaged twice, f0It is C, D on face on the basis of the fundamental frequency of projection grating, b
The distance between 2 points.It can be obtained by similar triangle theory again：
Work as m>>During h (x, y), height distribution and phase difference relation can using approximate representation as：
Phase distribution is tried to achieve subsequently through phase unwrappingJust can calculate road surface height distribution h (x,
y)。
The three-dimensionalreconstruction：After the three-dimensional data for obtaining each sampled point in road surface, it is fused to a unified road surface and is sat
In mark system.The coordinate system is using road surface mileage as z-axis, and cross section is x-axis, and each point height is y-axis.Wherein, elevation refers to road surface
The height of sampled point.Then selecting and purchasing builds three-dimensional pavement with regular triangle grid.As shown in figure 3, entering in the direction of the clock
Row tissue, first 1,2,3 data points of connection are triangle, and 1,3,4 data points of reconnection are triangle, connected all
The continuous triangulation network is generated after grid vertex, is infinitely approached by numerous triangulation networks and forms smooth surface, so as to realize three
Tie up the foundation on grid road surface.
After the three-dimensional data for obtaining each sampled point in road surface, it is fused in a unified coordinate system.The system is set up
Using road surface mileage as z-axis, cross section is x-axis, and each point height completes three-dimensionalreconstruction for the three-dimensional system of coordinate of y-axis.Wherein, elevation
Refer to the height of road surface sampled point.
In step S4, the relative elevation value for measuring obtained road surface sampled point is layered by logarithm, and according to setting
Color table, colored rendering is carried out to three-dimensional pavement figure.
The colored dizzy dye technology based on logarithmic mapping, be will measure the obtained relative elevation value of road surface sampled point by
Logarithm is layered, the color table that correspondence is set, and colored rendering is carried out to the road surface after reconstruct.This technology can more vividly have
The smooth information and local damage information on effect ground reaction road surface, be easy to policymaker intuitively observe road surface it is a variety of it is damaged as ruts,
Pit, gather around bag etc..The relative elevation value refers to relative altitude value of each sampled point in road surface relative to road surface reference plane.Such as formula
(4) shown in, wherein h is the height value of each sampled point in road surface, and H is the height value of road surface reference plane.
H '=h-H (4)
The basic thought of the logarithmic mapping：According to formula (4) Suo Shu, the relative elevation value of each sampled point in road surface is tried to achieve.
Using road surface reference plane as zero reference level, each sampling point distributions in road surface (relative elevation value is more than 0) and zero-base more than zero reference level
(relative elevation value is more than 0 and is less than 0) two parts below quasi- face.Relative elevation value using formula (5) respectively to each sampled point is entered
Row logarithmic mapping.
Z=lg (| h'|+1) (5)
Wherein：H ' represent relative elevation data, z represent relative elevation data take the logarithm mapping after data.
The general principle of the colored dizzy dye：For 10 kind face of the relative elevation data in distribution chromatograph table between 0~100
Color, i.e., be divided into 10 elevation spaces by the altitude data z after logarithmic mapping between 0~2, each elevation space correspondence color
A kind of color in layer table.Similarly, the other 10 kinds of colors of distribution to altitude data between -100 to 0.Due to most of road
Face is smooth, i.e. the relative elevation data of collection point are most of between 0~± 10, most of after so taking the logarithm to assemble
In between 0-1, then the colored road surface after hill shading has 10 colors, can be very good show road surface smooth information；When
Relative elevation is in ± 10~± 100 scope, and concentrated after taking the logarithm also has 10 kinds of colors between 1 and 2, after hill shading, is used for
Characterize the damaged information on road surface；When height value is more than ± 100, color when color is approximately ± 100.Finally, adopted according to each
The corresponding color index of relative elevation data of sampling point determines the color value of the point, draws road surface.
In step S5, based on different types of road surface breakage reference value, identified using connected component labeling method by colour
Various road surface breakage types in the road surface figure rendered；The failure evaluation algorithm based on connected component labeling refers to collect
Each sampled point in road surface regard as composition piece image multiple pixels set, using connected component labeling algorithm to the diagram
The pixel of picture is scanned and analyzed the connected region obtained in image, and then identifies single or multiple movable mesh in image
Mark.Then to the evaluation index of bituminous paving, including depression, pit, rut in the highway professional standard issued according to Ministry of Communications
Deng relevant regulations these moving targets are classified, identify detection each damaged type in road surface.
According to relevant regulations, defining for road surface breakage is closely bound up with depth.Therefore, the connected region in this algorithm refers to
The region for the collection point composition that position is adjacent and height value is in same scope.The connected component labeling algorithm uses two-pass scan
Method.Assign the pixel one label according to each affiliated different zones of pixels tall value during first pass, it is same in scanning process
One or more different labels may be endowed in pixel set in one connected region, it is therefore desirable to which these are belonged to same
One connected region but the Label Merging with different value, that is, record the relation of equality between them；Second time scanning will
The pixel that label with relation of equality is marked is classified as same connected region, and assigns a new label for them.Area
The connected region separated represents the various breakages on road surface, and these breakages are calculated using road surface breakage feature calculation method
The features such as length, area, then classify to breakage according to evaluation index, finally identify various damaged types.
In step S6, the road surface breakage feature in each information of road surface is calculated using boundary rectangle and double integral algorithm.
The specific algorithm of the road surface breakage feature calculation is as follows：Scan each damaged, it is found respectively in X-direction and Z axis side
To maximum (Xmax、Zmax) and minimum value (Xmin、Zmin), set up a boundary rectangle.So, a length of external square of the breakage
The length of shape is Zmax-Zmin, the width of a width of boundary rectangle is Xmax-Xmin.Area is (Z for the area of boundary rectanglemax-Zmin)×
(Xmax-Xmin).For damaged volume, calculated using the method for double integral, for by a series of triangulars into
Damaged face, calculates the volume of each triangle and the oblique triangular prism of road plane formation using double integral, then by this each three
The volume of prism adds up, and calculates to obtain whole damaged volume.It is shown below, wherein n is damaged points.
Due to the difference of height value, four summits may not be divided into two triangles at grade, therefore
Shape, that is, be converted to the calculating for seeking triangular prism volume.Road surface breakage feature in i.e. described road surface breakage information includes：Breakage is long
Degree, transverse penetration, damaged area and damaged volume；Wherein, damage length, transverse penetration and damaged area are obtained by boundary rectangle
, damaged volume is obtained by double integral algorithm.
Finally in step S7, the method in order to simulate manual measurement reduces the deviation between manual measurement result, will counted
Calculate include road surface breakage feature and the road surface breakage information of corresponding road surface breakage feature is exported as testing result.
As shown in Figure 4 and Figure 5, the invention further relates to a kind of detection means of the road surface breakage information of three-dimensional visualization, its
It is made up of optical grating projection instrument 1, two ccd video cameras 2 and detection control computer 3 and photoelectric encoder 4, wherein, two CCD take the photograph
Camera 2 is arranged on same crossbeam B, on the crossbeam A of optical grating projection instrument locating distance crossbeam B certain distances, and is thrown downwards with 45° angle
Shadow, striped C and beam vertical that optical grating projection goes out.Examined car crossbeam is highly restricted, and ccd video camera coverage is limited, therefore
System is shot using double ccd video cameras, is demarcated by binocular camera, realizes the coordinate unification on reconstruct road surface.
Photoelectric encoder 4 is arranged on the wheel shaft of vehicle, and is connected to two ccd video cameras.As wheel is turned over necessarily
Angle, i.e. vehicle travel certain distance, and photoelectric encoder output pulse, two CCD of control take pictures simultaneously.Will according to sampled distance
Ask, deflection angle need to be shifted to an earlier date photoelectric encoder is configured.Detection control computer 3 is connected with optical grating projection instrument 1, to projection
Control signal control projecting apparatus work is transmitted in instrument, synchronizing signal trigger is installed in optical grating projection instrument, it is ensured that projecting apparatus and
Two ccd video cameras can work asynchronously.Detect that control computer 3 is used to sit the three-dimensional of each pixel after collection and fusion
Mark completes the three-dimensionalreconstruction on road surface, colored rendering, road surface breakage identification and road surface breakage feature calculation, and by the road calculated
Face breakage feature is exported as testing result.When gathering image, vehicle remains a constant speed traveling, the original position from road surface to be measured
Start, car-mounted computer gives optical grating projection instrument one enabling signal, and optical grating projection instrument projects to the grating fringe of modulation to be measured
Road surface, two ccd video cameras absorb an amplitude grating image every a fixed sample interval.Reach after road surface terminal to be measured, car
Carrying computer gives optical grating projection instrument one stop signal, and optical grating projection instrument and ccd video camera are stopped simultaneously.CCD is imaged
The a series of pictures of machine intake is imported in computer, is sat using the three-dimensional of each pixel in Fourier transform profilometry detection image
Mark, then according to camera calibration, each pixel is fused in the coordinate system of road surface.Open three-dimensional visualization pavement detection system
System, three-dimensionalreconstruction, colored rendering, failure evaluation and the feature meter on road surface are completed using the three-dimensional coordinate of each pixel after fusion
Calculate.It will finally detect that obtained result is exported in the form of text document or electrical form.After all working is finished, exit and be
System.
Claims (10)
1. the detection method of the road surface breakage information of a kind of three-dimensional visualization, it is characterised in that comprise the following steps：
S1：Grating fringe is projected on road surface to be detected using optical grating projection instrument；
S2：Absorb institute's projected light grizzly bar print image respectively using two ccd video cameras, and by the image information of intake send to
Processor；
S3：The image information is handled using Fourier transform, to form three-dimensional pavement geometric data, and according to the three-dimensional
Road surface geometric data, completes the three-dimensionalreconstruction on road surface；
S4：The obtained relative elevation value of road surface sampled point will be measured to be layered by logarithm, and height value according to layering and built
The mapping relations of vertical color table carry out colored rendering to three-dimensionalreconstruction road surface；
S5：Based on different types of road surface breakage reference value, the road surface by colored rendering is identified using connected component labeling method
Various road surface breakage types in figure；
S6：The road surface breakage feature in each information of road surface is calculated using boundary rectangle and double integral algorithm；
S7：The road surface breakage information for including road surface breakage type and road surface breakage feature is exported as testing result.
2. the detection method of the road surface breakage information of three-dimensional visualization according to claim 1, it is characterised in that：Described
Also include step S0 before step S1：Two ccd video cameras are demarcated using Zhang Youzheng standardizations, wherein, the step
Rapid S0 includes：
S01：Default gridiron pattern is placed on as on the road surface of the detection underbody of demarcation thing；
S02：Using two ccd video cameras with the photo of different eight demarcation things of angle shot；
S03：The angle point that chessboard black and white interval is extracted from photo is used as characteristic point；
S04：The inside and outside parameter of camera in the case of estimation ideal is undistorted；
S05：The distortion factor of two ccd video cameras is estimated using least square method, is corrected with the image to intake.
3. the detection method of the road surface breakage information of three-dimensional visualization according to claim 1, it is characterised in that：The step
Rapid S3 further comprises：
S31：By optical grating projection to road surface to be measured, road surface face shape distributed modulation is carried on the back with two ccd video camera captured in real-time
Deform light field；
S32：Fast Fourier Transform (FFT) is carried out to the raster image collected, filtered out from frequency domain comprising tested pavement-height information
Fundamental component, then inverse Fourier transform obtains the phase distribution of road surface face shape；
S33：Mapping relations between being distributed according to phase and height, calculate the 3 d shape data on tested road surface.
4. the detection method of the road surface breakage information of three-dimensional visualization according to claim 3, it is characterised in that：The step
Rapid S32 further comprises：
When optical grating projection is in reference plane, if any point S imagings of the point C in reference planes on ccd video camera array, then
There is a phase on S points：
When optical grating projection is in road surface, the point on road surface is imaged on S, then there is a new phase on S：Its
InOn the basis of on face point D phase；The points of the S on ccd video camera array can be obtained and be successively imaged two obtained phases twice
PositionWithDifference
Then have：
Wherein,For the front and rear phase difference being imaged twice, f0It is 2 points of C, D on face on the basis of the fundamental frequency of projection grating, b
The distance between；
It can be obtained by similar triangle theory again：
Work as m>>During h (x, y), the relation approximate representation of height distribution and phase difference is：
Phase distribution is tried to achieve by phase unwrappingH (x, y) is distributed with the height for calculating road surface.
5. the detection method of the road surface breakage information of three-dimensional visualization according to claim 1, it is characterised in that：Described
In step S4, the relative elevation value of road pavement sampled point includes step by logarithm layering：
If the relative elevation value of collection point is between 0~± 10mm, concentrated on after being taken the logarithm to the data between 0~1
Data, distribute 10 kinds of colors, the smooth information to show road surface；
When the relative elevation data of collection point are when between ± 10~± 100, concentrated on after being taken the logarithm to the data 0~1 it
Between data, distribute other 10 kinds of colors, the damaged information for characterizing road surface；
Wherein, the relative elevation value refers to relative altitude value of each sampled point in road surface relative to road surface reference plane.
6. the detection method of the road surface breakage information of three-dimensional visualization according to claim 1, it is characterised in that：In step
In S5, the connected component labeling method uses two-pass scan method, wherein,
Assign the pixel one label according to each affiliated different zones of pixels tall value during first pass, and it is same to belonging to
One connected region but the Label Merging with different value, that is, record the relation of equality between them；
The pixel that second time scanning is marked the label with relation of equality is classified as same connected region, and is that they assign
One new label；
Breakage is classified according to pavement evaluation index, to identify various damaged types.
7. the detection method of the road surface breakage information of three-dimensional visualization according to claim 1, it is characterised in that：The road
Road surface breakage feature in face breakage information includes：Damage length, transverse penetration, damaged area and damaged volume；
Wherein, damage length, transverse penetration and damaged area are obtained by boundary rectangle, and damaged volume passes through double integral algorithm
Obtain.
8. a kind of detection means of the road surface breakage information of three-dimensional visualization, it is characterised in that including：
Optical grating projection instrument, it projects to grating fringe on road surface to be detected；
Two ccd video cameras, it absorbs projected light grizzly bar print image respectively, and the information of the image is sent to detection control
Computer；
Photoelectric encoder, it is arranged on the wheel shaft of vehicle, and connects two ccd video cameras；
Control computer is detected, it is electrically connected with optical grating projection instrument and two ccd video cameras respectively, for it will gather and merge after
The three-dimensional coordinate of each pixel complete the three-dimensionalreconstruction on road surface, colored rendering, road surface breakage identification and road surface breakage feature meter
Calculate, and the road surface breakage feature calculated is exported as testing result.
9. the detection means of the road surface breakage information of three-dimensional visualization according to claim 8, it is characterised in that：Described two
Platform ccd video camera and terrestrial reference face angle at 45 °.
10. the detection means of the road surface breakage information of three-dimensional visualization according to claim 8, it is characterised in that：It is described
Synchronizing signal trigger is installed, to enable the optical grating projection instrument and the synchronous works of two ccd video cameras in optical grating projection instrument
Make.
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| CN106781893B (en) * | 2017-01-10 | 2019-11-12 | 江苏苏威尔科技有限公司 | The digitlization trolley track system and its measurement method of the energy self-identifying direction of motion and distance |
| CN107633516B (en) * | 2017-09-21 | 2020-04-07 | 武汉武大卓越科技有限责任公司 | Method and device for identifying road surface deformation diseases |
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| CN114481767A (en) * | 2022-01-20 | 2022-05-13 | 云南省公路科学技术研究院 | Multifunctional laser three-dimensional detection method for road surface condition |
| CN115595858B (en) * | 2022-12-15 | 2023-03-03 | 江苏广亚建设集团有限公司 | Vehicle-mounted mobile road structure damage rapid detection device |
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