CN108221603B - A kind of road surface three-dimensional information detection device, the method and system of road - Google Patents
A kind of road surface three-dimensional information detection device, the method and system of road Download PDFInfo
- Publication number
- CN108221603B CN108221603B CN201810014359.2A CN201810014359A CN108221603B CN 108221603 B CN108221603 B CN 108221603B CN 201810014359 A CN201810014359 A CN 201810014359A CN 108221603 B CN108221603 B CN 108221603B
- Authority
- CN
- China
- Prior art keywords
- information
- road surface
- vehicle
- dimensional information
- dimensional
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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 discloses the road surface three-dimensional information detection device and method of a kind of road.Described device includes: information of road surface acquisition system, Vehicular vibration correction system, road surface three-dimensional information integrated system and positioning system；The road surface three-dimensional information integrated system is electrically connected with the information of road surface acquisition system, Vehicular vibration correction system and the positioning system respectively；The road surface three-dimensional information integrated system is for integrating pavement image, vehicle-posture information, Vehicular vibration information, vehicle driving trace and vehicle position information, the deformation information of different section and different lanes is unified onto same datum level, to determine road surface three-dimensional information；The road surface three-dimensional information includes track damaged condition, pit slot damaged condition, depression damaged condition, gathers around the unrestrained damaged condition of packet group and flatness.The damaged condition on road surface can be accurately determined by using detection device provided by the present invention and method, improve image processing speed and precision.
Description
Technical field
The present invention relates to the road surface three-dimensional information detection fields of road, more particularly to a kind of road surface three-dimensional information of road
Detection device, method and system.
Background technique
Road evenness is for reaction channel curb wheelpath direction since linear deformation and transversely deforming act on vehicle
, it jolts generated influence for Vehicular vibration.The detection device of pavement roughness situation is main to divide according to its testing principle
It is 2 kinds, that is, reacts class smoothness measuring equipment and section class smoothness measuring equipment.Wherein, it is anti-to be directly used in detection vehicle for reaction class smoothness measuring equipment
It answers, can only obtain the relevant macrostatistics of road evenness, rather than the deformation behaviour on road surface itself.Section class smoothness measuring equipment
It then include transverse and longitudinal section both direction, cross section, that is, rut detection equipment, vertical section is longitudinal roughness detection equipments.
What section class smoothness measuring equipment measured is height variation, the fluctuating situation of the road surfaces under vehicle driving trace.Section
Class smoothness measuring equipment mainly includes manual mode and two kinds of vehicle-mounted mode.Common craft section class smoothness measuring equipment include 3 meters of rulers,
Level and beam type profiler；Vehicle-mounted mode includes inertia profiler, longitudinal profile analyzer and non-contact type measuring device (packet
The laser image profiler for including laser range finder and occurring in recent years)；Track is primarily referred to as the deformation of road Cross Section,
Detection technique is substantially identical with section class smoothness measuring equipment.Texture is mainly shown as the construction depth of road surface graded material；Reason
For upper, the amendment that the data on linear scale combine progress certain with profile data be can be obtained by into road in principle
Three-dimensional flatness data, the indexs such as longitudinal flatness for calculating road.For the acquisition of three-dimensional flatness data, think
Longitudinal error is eliminated, detection device is higher for the required precision of inertance element, but vehicle Dynamic Inertia measuring unit exists
Precision on vehicle heading is poor, therefore, often there is the offset as caused by locational uncertainty and not same
" 0 " plane caused by one camera plane is different.Therefore, traditional section class detection method is confined to the calculating of single section,
It is not used to calculate road longitudinal direction flatness and road 3 D deformation.
In the prior art, the detection technique applied to civil engineering three-dimensional modeling is specifically included that based on active measurement
Laser scanner technique, laser ranging technique, structure light technique for taking；But frequency is jolted by vehicle and detected to detection technique
Limitation, equipment complicated composition.Wherein, laser scanning, the limited deformation mainly realized laterally or longitudinally of laser ranging technique
Detection, the detection for carrying out different scale of having no idea cannot carry out road macroscopic view flatness simultaneously, carefully see cross section deformation, is micro-
See the gamut detection of section texture；It is first to deposit image and based on the image taking technology of structure light in image transmitting
Storage gets up to be transmitted again, and transmission rate is slow, and is affected by the error of image procossing, is limited, is not used to by resolution ratio
Measurement accuracy requires higher texture and damage depth information.
Summary of the invention
The object of the present invention is to provide the road surface three-dimensional information detection devices and method of a kind of road, to solve the prior art
In gamut detection, the accurate damaged condition for determining road surface, and the problem that image procossing error is big can not be carried out to road.
To achieve the above object, the present invention provides following schemes:
A kind of road surface three-dimensional information detection device of road, comprising: information of road surface acquisition system, Vehicular vibration correction system
System, road surface three-dimensional information integrated system and positioning system；
The road surface three-dimensional information integrated system is corrected with the information of road surface acquisition system, the Vehicular vibration respectively
System and positioning system electrical connection；The information of road surface acquisition system is for Vehicular vibration correction system compensation by vehicle
Light source position delivery error and vehicle caused by tilting jolt caused by Vehicular vibration information when, obtain the road on road surface
Face image；The pavement image, the light source position delivery error and the Vehicular vibration information are sent to the road surface
Three-dimensional information integrated system；
The positioning system is for obtaining vehicle driving trace and vehicle position information, and by the vehicle driving trace
And vehicle position information is sent to the road surface three-dimensional information integrated system；
The road surface three-dimensional information integrated system is for integrating the pavement image, the vehicle-posture information, the vehicle
Vibration information, the vehicle driving trace and vehicle position information, by different section and the deformation information in different lanes
In unification to same datum level, to determine road surface three-dimensional information；The road surface three-dimensional information includes track damaged condition, pit slot damage
Bad degree, depression damaged condition gather around the unrestrained damaged condition of packet group and flatness.
Optionally, the information of road surface acquisition system specifically includes: binocular imaging system and structured light generators；
The binocular imaging system includes left camera and right camera, and the binocular imaging system is for shooting the structure
The laser lines that optical generator is launched are irradiated to the pavement image on road surface；The pavement image includes irradiation position and bright
Degree；The road surface three-dimensional information integrated system calculates single image deformation information and pavement damage journey according to the irradiation position
Degree；The road surface three-dimensional information integrated system is according to the benchmark of deformation information between the different pavement images of the gamma correction
Face.
Optionally, the information of road surface acquisition system further include: power-supply controller of electric；
The power-supply controller of electric is electrically connected with the binocular imaging system and the structured light generators respectively, the electricity
Source controller is used to control the binocular imaging system and the frequency of the structured light generators is consistent.
Optionally, the information of road surface acquisition system further include: axis wheel rotary encoder；
The axis wheel rotary encoder is installed on the wheel shaft of vehicle, and the axis wheel rotary encoder is for controlling the binocular
Imaging system is continuously shot.
Optionally, the top of the binocular imaging system is equipped with light insulation pad, and the light insulation pad is not being reduced for shading
Influence of the sunlight for photographic subjects is reduced under the premise of structure luminous intensity.
Optionally, the Vehicular vibration correction system specifically includes: Inertial Measurement Unit and linear accelerometer；
The Inertial Measurement Unit is set to the center of the vehicle, and the Inertial Measurement Unit is for correcting by vehicle
Light source position delivery error caused by tilting；The High Linear accelerometer for obtain vehicle jolt caused by vehicle vibration
Dynamic information.
A kind of road surface three-dimensional information detection method of road, comprising:
Obtain road surface and information of vehicles different on the same cross section place in road surface；The road surface and information of vehicles include road surface
Image, vehicle-posture information, Vehicular vibration information, vehicle driving trace and vehicle position information；
The road surface and information of vehicles are calibrated, road surface and information of vehicles after being calibrated；After the calibration
Road surface and information of vehicles include calibration after pavement image, the vehicle-posture information after calibration, the Vehicular vibration information after calibration,
The vehicle position information after vehicle driving trace and calibration after calibration；
According to after the calibration road surface and information of vehicles determine road surface three-dimensional information；The road surface three-dimensional information includes vehicle
Rut damaged condition, depression damaged condition, gathers around the unrestrained damaged condition of packet group and flatness at pit slot damaged condition.
Optionally, described that the road surface and information of vehicles are calibrated, road surface and information of vehicles after being calibrated, tool
Body includes:
The road surface and information of vehicles are calibrated according to time labelling method, road surface and vehicle letter after being calibrated
Breath.
A kind of road surface three-dimensional information detection system of road, comprising:
Module is obtained, for obtaining road surface and information of vehicles different on the same cross section place in road surface；The road surface and vehicle
Information includes pavement image, vehicle-posture information, Vehicular vibration information, vehicle driving trace and vehicle position information；
Calibration module, road surface and information of vehicles for being calibrated to the road surface and information of vehicles, after being calibrated；
Road surface and information of vehicles after the calibration include the pavement image after calibration, the vehicle-posture information after calibration, after calibration
The vehicle position information after vehicle driving trace and calibration after Vehicular vibration information, calibration；
Road surface three-dimensional information determining module, for according to after the calibration road surface and information of vehicles determine road surface three-dimensional believe
Breath；The road surface three-dimensional information includes track damaged condition, pit slot damaged condition, depression damaged condition, gathers around packet group swell damage bad journey
Degree and flatness.
Optionally, the calibration module specifically includes:
Calibration unit, for being calibrated according to time labelling method to the road surface and information of vehicles, after being calibrated
Road surface and information of vehicles.
The specific embodiment provided according to the present invention, the invention discloses following technical effects: the invention discloses one kind
Road surface three-dimensional information detection device, the method and system of road, by information of road surface acquisition system be continuously shot repetition have it is overlapping
Pavement image, obtained according to pavement image, the Vehicular vibration Vehicular vibration information that is corrected of correction system and positioning system
The data such as the vehicle driving trace taken are united the deformation in different section and different lanes by road surface three-dimensional information integrated system
One is same datum level, carries out gamut detection to road to realize, calculates all kinds of deformed damageds and flatness on road surface,
Determine the road surface three-dimensional information on road surface.
In addition, information of road surface acquisition system provided by the present invention does not need to deposit figure, but directly by captured road surface
Image is sent to road surface three-dimensional information integrated system, and it is excessively slow to avoid shooting transmission speed caused by needing to deposit figure in the prior art
The problem of, realize the information scanning of higher frequency.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is three-dimensional information structure diagram of detection device in road surface provided by the present invention；
Fig. 2 is the measurement error schematic diagram of inclination of vehicle provided by the present invention；
Fig. 3 is the measurement error schematic diagram that vehicle provided by the present invention jolts；
Fig. 4 is the extreme position schematic diagram of the first inclination conditions of vehicle provided by the present invention；
Fig. 5 is the extreme position schematic diagram of second of inclination conditions of vehicle provided by the present invention；
Fig. 6 is the extreme position schematic diagram of the third inclination conditions of vehicle provided by the present invention；
Fig. 7 is the extreme position schematic diagram of 4th kind of inclination conditions of vehicle provided by the present invention；
Fig. 8 is position deviation schematic diagram provided by the present invention；
Fig. 9 is three-dimensional information detection method flow chart in road surface provided by the present invention；
Figure 10 is that structure light provided by the present invention deforms the first schematic diagram；
Figure 11 is that structure light provided by the present invention deforms the second schematic diagram；
Figure 12 is that structure light provided by the present invention is continuously shot schematic diagram；
Figure 13 is that double excitation provided by the present invention combines shooting effect figure；
Figure 14 is structure light triangulation basic schematic diagram provided by the present invention；
Figure 15 is demarcation flow figure provided by the present invention；
Figure 16 is damaging identification flow chart provided by the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide road surface three-dimensional information detection device, the method and system of a kind of road, are able to detect
The damaged condition of each types of damage on road surface out improves transmission speed.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Fig. 1 is three-dimensional information structure diagram of detection device in road surface provided by the present invention, as shown in Figure 1, a kind of road of road
Face three-dimensional information detection device, comprising: information of road surface acquisition system 1, Vehicular vibration correction system 2, road surface three-dimensional information are integrated
System 3 and positioning system 4；The road surface three-dimensional information integrated system 3 respectively with the information of road surface acquisition system 1, described
Vehicular vibration corrects system 2 and the positioning system 4 is electrically connected；The information of road surface acquisition system 1 is used in the vehicle
Vibration correction system compensation light source position delivery error and vehicle as caused by inclination of vehicle jolt caused by vehicle vibration
When dynamic information, the pavement image on road surface is obtained；The pavement image, the light source position delivery error and the vehicle are shaken
Dynamic information is sent to the road surface three-dimensional information integrated system 3；The positioning system 4 is for obtaining vehicle driving trace and vehicle
Location information, and the vehicle driving trace and vehicle position information are sent to the road surface three-dimensional information integrated system
3；The road surface three-dimensional information integrated system 3 is for integrating the pavement image, the vehicle-posture information, the Vehicular vibration
Information, the vehicle driving trace and vehicle position information uniformly arrive the deformation information of different section and different lanes
On same datum level, to determine road surface three-dimensional information；The road surface three-dimensional information includes track damaged condition, pit slot damage journey
Degree, depression damaged condition gather around the unrestrained damaged condition of packet group and flatness.
As shown in Figure 1, the information of road surface acquisition system 1 includes structured light generators, optical imaging system, structure is utilized
Optical generator and optical imaging system generate three-dimensional depth information luminance picture；The Vehicular vibration correction system 2 includes IMU
It corrects vehicle attitude and accelerometer corrects Vehicular vibration；The road surface three-dimensional information integrated system 3 include industrial personal computer and
PLC controller integrates vehicle attitude data, Vehicular vibration data, position data, depth by industrial personal computer and PLC controller
Data and luminance picture；The positioning system 4 includes GPS receiver and DMI range-measurement system, by GPS receiver and
DMI range-measurement system obtains road two dimension geography information vehicle driving trace.
In practical applications, the information of road surface acquisition system 1 specifically includes: binocular imaging system and structure light occur
Device；The binocular imaging system includes left camera and right camera, and the binocular imaging system is for shooting the structure light hair
The laser lines that raw device is launched are irradiated to the pavement image on road surface；The pavement image includes irradiation position and brightness；
The road surface three-dimensional information integrated system 3 calculates single image deformation information and pavement damage journey according to the irradiation position
Degree；The road surface three-dimensional information integrated system 3 is according to the base of deformation information between the different pavement images of the gamma correction
Quasi- face；Wherein, the structured light generators are infrared laser structure optical generator, also referred to as infrared laser；The present invention relates to
Infrared laser is used for emitting structural light, and major requirement is that instantaneous light intensity is enough, and maximum frequency is than times for camera filming frequency
It counts, brightness meets photographing request under synchronously control, and striation road reflection rate is higher, and the width of lines is controlled in certain fineness model
In enclosing (< 1cm), effective brightness need to be greater than 6 pixels.
In practical applications, the information of road surface acquisition system 1 further include: power-supply controller of electric；The power-supply controller of electric point
It is not electrically connected with the binocular imaging system and the structured light generators, the power-supply controller of electric is for controlling the binocular
Imaging system and the frequency of the structured light generators are consistent.
In practical applications, the information of road surface acquisition system 1 further include: axis wheel rotary encoder；The axis wheel rotation
Encoder is installed on the wheel shaft of vehicle, and the axis wheel rotary encoder is continuously shot for controlling the binocular imaging system；Institute
The front right wheel wheel shaft that axis wheel rotary coding implement body is mounted on vehicle is stated, is continuously shot for emitting signal control camera, it is described
The resolution ratio of axis wheel rotary encoder indicates that also referred to as parsing indexes usually to be often rotated by 360 ° the how many lines of offer；Assuming that tire ruler
Very little is 65cm, speed of operation 100kM/h, and rotation is turned around about 2.04 meters, and limit shooting interval is 5mm, then rotation, which is turned around, needs
Transmitting signal 41 times, revolving speed need to reach 817 (rpm), and output frequency should be higher than that 559Hz；Therefore, the present invention selectes peak response frequency
Rate is that the rotary encoder of 2000Hz is tested.
In practical applications, in order to improve the contrast on road surface and object construction light, the influence of environment is eliminated, described double
The top of mesh imaging system is equipped with light insulation pad, and the light insulation pad subtracts under the premise of not reducing structure luminous intensity for shading
Few influence of the sunlight for photographic subjects；The binocular imaging system is three-dimensional camera, for recording cross section depth information
And the luminance information on shooting road surface；Three-dimensional camera resolution ratio in photographic subjects (road surface) transverse direction is 1mm, in the longitudinal direction
The resolution ratio of (being used for depth calculation) is 0.5mm.
In practical applications, the Vehicular vibration correction system 2 specifically includes: Inertial Measurement Unit and High Linear accelerate
Degree meter；The Inertial Measurement Unit is set to the center of the vehicle, and the Inertial Measurement Unit is inclined for correcting by vehicle
Light source position delivery error caused by tiltedly；The High Linear accelerometer jolts generated Vehicular vibration for obtaining vehicle
Information.Data integrated system summarizes subsystem controls scheme, designs storage scheme, the deformation data of acquisition is stored as three-dimensional
Point cloud data or the depth picture of simulation (indicating depth information, obtained picture file using gray scale or color change), and will
Deformation data and geographic information data summarize.This is stored as the post-processing after acquisition, so can use the completion of office work management machine,
It is of less demanding for arithmetic speed, it is mainly used for meeting the needs of user intuitively sees damaged picture, also can use related soft
Part, deformation information and damaging identification result simulate true road surface picture.
In practical applications, positioning system 4 is by GPS receiver and distance measuring device (Distance Measurement
Instrument, DMI) composition, for recording the geographical location information of acquisition testing vehicle, the present invention relates to GPS to be mainly used for
Obtain location information, in principle for precision the higher the better；Currently, the precision of civilian GPS is not able to satisfy the need of Road Detection
It asks, the other GPS of army grade is then at high price；Present invention selection position vehicle using GPS/IMU deep combination technology
Determine appearance；The location information can be used for the positioning and detection system data docking related facility management system of actually detected middle route
Data directory, IMU is installed on vehicle center position, is parallel to direction of traffic, in addition, according to DMI with camera laser shooting system
The captured image sequence of system obtains the height difference variation of the road section of each elementary section.
The present invention is by infrared laser structure optical transmitting set, binocular imaging system and based on wheel shaft rotary encoder
DMI is acquisition and calculating of the shooting control module of core to striation location information.
Wherein, position acquisition position and luminance information of the three-dimensional camera by capture laser lines, camera is not to image sheet
Body is stored, and only stores target pixel location information, which is mainly used for single image deformation information and damage is tight
The calculating of weight situation, base-level correction of the luminance information for deformation information between different images.The same phase of laser emission frequency
Machine filming frequency is consistent, to be optimal shooting effect.
Vehicular vibration corrects system 2 mainly by Inertial Measurement Unit (Inertial measurementunit, IMU) and height
Linear acceleration meter composition is mainly used for correction by vehicle posture itself and tilts generated light source position delivery error and vehicle
Jolt generated transient effects, and Inertial Measurement Unit (Inertial measurementunit, IMU) is mainly by for surveying
The accelerometer of displacement acceleration and corresponding angular acceleration composition on X, Y, Z three degree of freedom is measured, displacement and angle are passed through
Its available driving trace of integral relative to the time is spent, therefore, equipment meeting generation time cumulative errors are shorter in the time
When it is more accurate.As shown in Fig. 2-Fig. 3, only needs same ray position the same in data acquisition phase and record is marked according to the time
Instantaneously jolt numerical value H and posture numerical value (the vehicle body transverse and longitudinal gradient).
As shown in Fig. 4-Fig. 8, curve 4-1 represents the signal of road surface fluctuating situation, and box 4-3 is detection vehicle position, A table
Show that point of the laser actual projected on road surface, L are the distance that camera shoots centre distance laser launching position, LSFor laser
Device actual projected positional distance, HLFor the distance of plane where laser distance detection vehicle, LcIt is detection axle away from straight line 4-2 is
Auxiliary line.According to geometrical relationship, A point is with there are height differences between laser position | L-LS|, it is assumed that LSThe gradient in range is
Then there is equation (1) in S.
S=| L-LS|/LS (1)
In the case of 1# extreme position, S=(L-LS)/LS；In the case of 2# extreme position, in LSS=(L in length rangeS-
L)/LS；3# extreme position situation is equivalent to the angular transformation of 1# extreme case, S=(L-LS)/LS, but must simultaneously meet vehicle
Tilt angle is greater than S；4# extreme position must satisfy in length range L+LcIn range, height difference is greater than HL, that is, integrate the gradient and be greater than
HL/(L+Lc), vehicle commander's information can be calculated according to the present invention, and the comprehensive gradient is greater than 13%, which generally only occurs in low
On grade road, the present invention can not obtain the profile data in the case of this.
In the case where 1#, 2#, 3# extreme position, section homologous ray measured by detection system reality calculates measured
For section there are position deviation, section information is imperfect caused by position deviation is unable to get correction.It is extreme for 1#, 2#, 3#
Position carries out variance analysis respectively: assuming that being detected road surface limiting gradient value is 0.25, the laser calculated under different gradient value is thrown
The position deviation for hitting the heart is shown in Table 1, and table 1 is the position deviation contrast table at laser projection center under different gradient value.
The position deviation contrast table (unit: cm) at laser projection center under 1 different gradient value of table
| The gradient (%)/situation | 5 | 9 | 13 |
| 1# extreme position | 6.67 | 11.56 | 16.11 |
| 2# extreme position | 7.37 | 13.85 | 20.92 |
| 3# extreme position | 6.67 | 11.56 | 16.11 |
It can be seen that as produced by road grade by the position deviation at laser projection center under 1 different gradient value of table
Influence, offset caused by structure light lines location can not be ignored, but due to L or LSThe gradient in range can not be surveyed
Amount, position deviation are unable to get correction, and the position deviation greater than 6cm can generate strong influence to the calculating of rutting depth value,
Therefore it must be used to calculate the base position under actual vehicle posture by information such as measurement vehicle attitudes, to realize datum level
Unification；The calculation method of triangulation requires have high-precision attitude data, and lines modulate calculation method for posture school
Quasi- dependence is lower, but the determination of its datum level lacks determining consistency criterion on different images, excessively dependence image
Processing itself.
The present invention is based on the raisings of the precision of (posture, vibration) component of dynamic error correction, will be no longer dependent on figure
Picture, is directly calculated deformation data using simple distortion correction and principle of triangulation, and main contributions are to evade
Deposit the great amount of hardware resources expended required for figure.
In addition, present invention is generally directed to the light and shades of image to carry out Coded Analysis, directly calculates and store infrared laser lines
Position and luminance information, for assisting calculating the three-dimensional information of pavement damage；It overlaps convergence analysis using multiimage and obtains and connect
Continuous position, i.e., find same position point between different images, calculates for the three-dimensional information on wheelpath direction and whole picture road surface；
The part that the image repeats to overlap can be used for checking and what counteracting equipment itself can not correct moves since Vehicular vibration is produced
State error improves detection accuracy to reduce image procossing error.
Fig. 9 is three-dimensional information detection method flow chart in road surface provided by the present invention, as shown in figure 9, a kind of road of road
Face three-dimensional information detection method, comprising:
Step 901: obtaining road surface and information of vehicles different on the same cross section place in road surface；The road surface and information of vehicles
Including pavement image, vehicle-posture information, Vehicular vibration information, vehicle driving trace and vehicle position information.
Step 902: the road surface and information of vehicles being calibrated, road surface and information of vehicles after being calibrated；It is described
Road surface and information of vehicles after calibration include pavement image, the vehicle-posture information after calibration, the vehicle after calibration after calibration
The vehicle position information after vehicle driving trace and calibration after vibration information, calibration.
Described to calibrate to the road surface and information of vehicles, road surface and information of vehicles after being calibrated specifically include:
The road surface and information of vehicles are calibrated according to time labelling method, road surface and information of vehicles after being calibrated.
Step 903: according to after the calibration road surface and information of vehicles determine road surface three-dimensional information；The road surface three-dimensional letter
Breath includes track damaged condition, pit slot damaged condition, depression damaged condition, gathers around the unrestrained damaged condition of packet group and flatness.
Due to using above method, the present invention has following characteristics: 1. same place labeling method, can obtain continuous same
The three-dimensional information of one benchmark；2. three-dimensional camera does not deposit figure, in the case where being not necessarily to breakage data, only storage location information, is transmitted
Speed is fast, and location information can directly calculate depth.
Detection method provided by the present invention is applied in practical application, as shown in Figure 10, the present invention relates to road surfaces three
It ties up in information detecting system, 3 D image acquring system, Vehicular vibration correction system 2, data integrated system, positioning system 4 are total
Road Detection is carried out with being integrated on a vehicle.Detailed each subsystem function and principle will be hereafter described respectively.
As shown in Figure 11-Figure 12, L1 ', L2 ' are respectively the change in location that L1 and L2 are generated due to pavement roughness, are led to
Overwriting ray position obtains the depth information of its position, that is, obtains the three-dimensional information of section.
As shown in figure 12, when detection vehicle along detected road traveling during, the surface deformation of calculating be relative to
Road deformation within the scope of some section relative to the fully-flattened datum level of calibration, even if by vibration correction and vehicle
Fore-and-aft tilt correction detects resulting deformation data and is also not based on same longitudinal index plane (Z=0) calculating gained.
Therefore, this paper design structure light image at least 2 intersection light compositions, are shot by continuous scanning, in each image
In the presence of the identical point of laser line scanning in same previous image, the deformation data in multiple cross sections is thus calibrated to same plane
On.L1 ', L2 ' are respectively two laser rays in another picture that L1 and L2 is shot in vehicle travel process, A1, that is, image
Present in intersection point, both may make all longitudinal deformations all by calculating the deformation information of the intersection position and being corrected
Based on same level surface.
Figure 13 is shooting effect figure of the present invention.
As shown in figure 14 according to structure light computation model, it is related to 4 coordinate systems: 1. world coordinate system in threedimensional model
It is called and does real-world coordinate system, i.e. the path coordinate system of this paper；2. camera coordinate system is the coordinate system centered on video camera；③
Photo coordinate system, the i.e. plane coordinate system of video camera imaging, it is parallel with camera plane；4. image coordinate system passes through
Digital picture after sampling is indicated with pixel column columns.If corresponding to the crosspoint of camera shooting optical axis in project structured light plane
For OR, respective coordinates are known as path coordinate system OR-XRYRZR, and CCD camera imaging plane central point is O, respective coordinates be known as at
As coordinate system.The depth information for obtaining measured point position can be calculated using geometrical relationship, be extended to a cloud.
The present invention calibrates all kinds of detection device institute's detection datas according to time label, not to same cross section place
Data check filtering is carried out with data source.
Spot measurement height difference is corrected using vibration data first；Secondly, correcting vertical upward reference using overlapping repeated data
Accumulated error caused by the inconsistent situation in face；Finally, correcting wheelpath position using attitude data.In above data error
On the basis of calibration, the 3 D deformation information for meeting transverse and longitudinal two requirements can be obtained, and can be applied to the three-dimensional meter of damage
It calculates.
Wherein, vibration and posture influence correcting scheme:
According to picture sample frequency and automotive vertical vibration frequency, the frequency of vibration data sampling need to meet high frequency sampling
Demand is greater than 1000Hz.The correction of vehicle immediate movement referring to formula (2),For instantaneous normal acceleration, Δ T is to accelerate
The degree meter information update period.
For the detection system of complete set, it is necessary to carry out calibration and the design of equipment detection method, to it to protect
The unification and repeatability for demonstrate,proving its standard then need to carry out static calibration and dynamic school respectively for dynamic detecting equipment
Standard, for the present invention, for absolute horizon position in the case that static calibration, that is, detection system (including vehicle) is static
Calibration；The vibration that dynamic detection is directed to the front and back up and down generated under vehicle running state does not influence testing result, i.e.,
Verify the validity of IMU system and accelerometer correction.
Its detailed process is shown in Figure 15, and key step is as follows:
1. being demarcated without deformation: detecting the tire pressure of four wheels, it is ensured that the relative position of spanning equipment is constant, i.e., laser is thrown
It penetrates position and camera shooting angle is constant, can be placed on section by other static level apparatus and be assisted checking；Detection
Laser line position information captured by camera is calibrated by hardware device and guarantees that its relative position is fixed；It is contour using same tire
Level surface is measured by the range information of horizontal laser line, corrects the position of each pixel of ideal structure striation.
2. static detection is demarcated: using the plate of multiple determining height, being placed in measurement position, simulating vehicle quiescent conditions
Under measurement result, and checked, 1mm must be reached by checking precision.
Dynamic calibration: artificially generating vehicle and vibrate and shake, and demarcates dynamic detection using plate as a result, to which calibration adds
Speedometer and IMU system；By travelling calibration range-measurement system hardware parameter repeatedly.
Since the present invention is dynamic detecting equipment, it is therefore desirable to carry out static calibration and dynamic calibration respectively.Static calibration
I.e. detection system (including vehicle) it is static in the case where calibration for absolute horizon position；Dynamic calibration guarantees vehicle row
The vibration for sailing the front and back up and down generated under state does not influence testing result, that is, verifies the validity of IMU system compensation.
As shown in figure 16, the transmitted depth information of the detection system is stored in computer, by depth information utilize (0~
255) grayscale information carries out expansion expression, and record expands parameter (conversion for gray scale and depth).Pass through the ash to storage
The analysis that image carries out grey scale change is spent, by carrying out pattern discrimination to gray level image and calculating, determines the type and damage of damage
Bad degree and area；Track (in gently, again) is defined by pattern discrimination, pit slot (gently, again), depression (gently, again), gathers around packet
The Morphologic Parameters of damages such as (in gently, again) determine that sample file, reuse mode distinguished number damage acquisition data
Bad classification and calculating.
A kind of road surface three-dimensional information detection system of road, comprising:
Module is obtained, for obtaining road surface and information of vehicles different on the same cross section place in road surface；The road surface and vehicle
Information includes pavement image, vehicle-posture information, Vehicular vibration information, vehicle driving trace and vehicle position information.
Calibration module, road surface and information of vehicles for being calibrated to the road surface and information of vehicles, after being calibrated；
Road surface and information of vehicles after the calibration include the pavement image after calibration, the vehicle-posture information after calibration, after calibration
The vehicle position information after vehicle driving trace and calibration after Vehicular vibration information, calibration.
The calibration module specifically includes: calibration unit, is used for according to time labelling method to the road surface and information of vehicles
It is calibrated, road surface and information of vehicles after being calibrated.
Road surface three-dimensional information determining module, for according to after the calibration road surface and information of vehicles determine road surface three-dimensional believe
Breath；The road surface three-dimensional information includes track damaged condition, pit slot damaged condition, depression damaged condition, gathers around packet group swell damage bad journey
Degree and flatness.
A kind of road surface three-dimensional information detection system of road provided by the present invention, passes through three-dimensional camera technique for taking and two
A laser continuously repeats overlapping lines image and the deformation in different section and different lanes is unified for same index plane
Detection method, solve modulated based on lines calculate surface deformation during different images deformation not asking in same datum level
Topic avoids the problem that shooting transmission speed is excessively slow caused by need to depositing figure using the method that three-dimensional camera encodes, realizes more
The information scanning of high frequency.Using the method that depth information is converted into gray scale picture all kinds of deformations that can calculate road surface simultaneously are damaged
It is bad.Therefore, which can obtain track simultaneously, pit slot, depression, gather around the damage of packet wave and roughness index.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For system disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of road surface three-dimensional information detection device of road characterized by comprising information of road surface acquisition system, vehicle vibration
Dynamic correction system, road surface three-dimensional information integrated system and positioning system；
The road surface three-dimensional information integrated system respectively with the information of road surface acquisition system, the Vehicular vibration correction system with
And the positioning system electrical connection；
The information of road surface acquisition system is used to correct system compensation light source as caused by inclination of vehicle in the Vehicular vibration
Position delivery error and vehicle jolt caused by Vehicular vibration information when, obtain the pavement image on road surface；By the road surface
Image, the light source position delivery error and the Vehicular vibration information are sent to the road surface three-dimensional information integrated system；
It is shot by continuous scanning, there is with laser line scanning in previous image identical point in each image, thus by multiple cross
The deformation data of section is calibrated on same plane；The deformation data of acquisition is stored as three dimensional point cloud or simulation
Depth picture, the depth picture are to indicate depth information, obtained picture file using grayscale information or color change；
The positioning system for obtaining vehicle driving trace and vehicle position information, and by the vehicle driving trace and
Vehicle position information is sent to the road surface three-dimensional information integrated system；
The road surface three-dimensional information integrated system is for integrating the pavement image, the vehicle-posture information, vehicle vibration
Dynamic information, the vehicle driving trace and vehicle position information are unified by the deformation information of different section and different lanes
Onto same datum level, to determine road surface three-dimensional information；The road surface three-dimensional information includes track damaged condition, pit slot damage journey
Degree, gathers around packet wave damaged condition and flatness at depression damaged condition；
By depth information using grayscale information carry out expansion expression, record expands parameter；By the gray level image to storage into
The analysis of row grey scale change, by gray level image carry out pattern discrimination and calculate, determine damage type and damaged condition with
Area；Track, pit slot, depression, the Morphologic Parameters for gathering around packet damage are defined by pattern discrimination, determine sample file, then benefit
Damage classification and calculating are carried out to acquisition data with pattern discrimination algorithm.
2. detection device according to claim 1, which is characterized in that the information of road surface acquisition system specifically includes: double
Mesh imaging system and structured light generators；
The binocular imaging system includes left camera and right camera, and the binocular imaging system is for shooting the structure light hair
The laser lines that raw device is launched are irradiated to the pavement image on road surface；The pavement image includes irradiation position and brightness；
The road surface three-dimensional information integrated system calculates single image deformation information and pavement damage degree according to the irradiation position；
The road surface three-dimensional information integrated system is according to the datum level of deformation information between the different pavement images of the gamma correction.
3. detection device according to claim 2, which is characterized in that the information of road surface acquisition system further include: power supply
Controller；
The power-supply controller of electric is electrically connected with the binocular imaging system and the structured light generators respectively, the power supply control
Device processed is used to control the binocular imaging system and the frequency of the structured light generators is consistent.
4. detection device according to claim 2, which is characterized in that the information of road surface acquisition system further include: axis wheel
Rotary encoder；
The axis wheel rotary encoder is installed on the wheel shaft of vehicle, and the axis wheel rotary encoder is for controlling the binocular imaging
System is continuously shot.
5. detection device according to claim 2, which is characterized in that the top of the binocular imaging system is equipped with every light
Plate, the light insulation pad reduce sunlight for the shadow of photographic subjects for shading, and under the premise of not reducing structure luminous intensity
It rings.
6. detection device according to claim 1, which is characterized in that the Vehicular vibration correction system specifically includes: used
Property measuring unit and the linear accelerometer of high frequency；
The Inertial Measurement Unit is set to the center of the vehicle, and the Inertial Measurement Unit is for correcting by inclination of vehicle
Generated light source position delivery error；The linear accelerometer of high frequency jolts generated Vehicular vibration for obtaining vehicle
Information.
7. a kind of road surface three-dimensional information detection method of road, which is characterized in that the detection method is applied to claim 1-6
Any one detection device, the detection method include:
Obtain road surface and information of vehicles different on the same cross section place in road surface；The road surface and information of vehicles include road surface figure
Picture, vehicle-posture information, Vehicular vibration information, vehicle driving trace and vehicle position information；
The road surface and information of vehicles are calibrated, road surface and information of vehicles after being calibrated；Road surface after the calibration
And information of vehicles includes the pavement image after calibration, the vehicle-posture information after calibration, the Vehicular vibration information after calibration, calibration
Vehicle position information after rear vehicle driving trace and calibration；
According to after the calibration road surface and information of vehicles determine road surface three-dimensional information；The road surface three-dimensional information includes track damage
Bad degree, depression damaged condition, gathers around packet wave damaged condition and flatness at pit slot damaged condition.
8. detection method according to claim 7, which is characterized in that described to carry out school to the road surface and information of vehicles
Standard, road surface and information of vehicles after being calibrated, specifically includes:
The road surface and information of vehicles are calibrated according to time labelling method, road surface and information of vehicles after being calibrated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014359.2A CN108221603B (en) | 2018-01-08 | 2018-01-08 | A kind of road surface three-dimensional information detection device, the method and system of road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014359.2A CN108221603B (en) | 2018-01-08 | 2018-01-08 | A kind of road surface three-dimensional information detection device, the method and system of road |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108221603A CN108221603A (en) | 2018-06-29 |
| CN108221603B true CN108221603B (en) | 2019-08-09 |
Family
ID=62643418
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810014359.2A Active CN108221603B (en) | 2018-01-08 | 2018-01-08 | A kind of road surface three-dimensional information detection device, the method and system of road |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108221603B (en) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108507529B (en) * | 2017-05-16 | 2024-02-06 | 重庆大学 | Bridge slope subsides automatic checkout device and vehicle |
| WO2020150873A1 (en) * | 2019-01-21 | 2020-07-30 | 上海同济检测技术有限公司 | Multisource data-based method for evaluating degree of comfort of road |
| CN109934452A (en) * | 2019-01-21 | 2019-06-25 | 上海同济检测技术有限公司 | Road Comfort Evaluation method based on multi-source data |
| CN109927625A (en) * | 2019-03-12 | 2019-06-25 | 北京小马智行科技有限公司 | A kind of information projecting method and device |
| US10844557B2 (en) * | 2019-03-27 | 2020-11-24 | Caterpillar Paving Products Inc. | Tool depth setting |
| CN109919139B (en) * | 2019-04-01 | 2021-02-09 | 杭州晶一智能科技有限公司 | Road surface condition rapid detection method based on binocular stereo vision |
| CN109903325B (en) * | 2019-04-03 | 2021-05-11 | 杭州晶一智能科技有限公司 | Ground accurate description method based on stereoscopic vision depth information |
| CN110097592B (en) * | 2019-04-07 | 2020-12-15 | 杭州晶一智能科技有限公司 | Semantic description method of ground information |
| CN111021206B (en) * | 2019-11-20 | 2021-06-25 | 中铁四局集团第一工程有限公司 | Road surface flatness detection method and system |
| CN113139410B (en) * | 2020-01-19 | 2024-02-13 | 杭州海康威视系统技术有限公司 | Pavement detection method, device, equipment and storage medium |
| CN111612939B (en) * | 2020-04-17 | 2022-03-18 | 宁波吉利汽车研究开发有限公司 | Intelligent driving track projection detection system and method |
| CN111610191B (en) * | 2020-04-20 | 2021-03-23 | 武汉理工大学 | Road detection and repair system |
| CN111915910A (en) * | 2020-08-14 | 2020-11-10 | 山东领军智能交通科技有限公司 | Road traffic signal lamp based on Internet of things |
| CN111708372B (en) * | 2020-08-24 | 2020-12-29 | 广州赛特智能科技有限公司 | Self-adaptive safe driving method and system for bumpy road surface of unmanned sweeper |
| CN113358050B (en) * | 2021-06-26 | 2023-05-23 | 南京熙赢测控技术有限公司 | Calibration system and method for laser rut meter |
| CN114616158A (en) * | 2021-07-09 | 2022-06-10 | 华为技术有限公司 | Automatic driving method, device and storage medium |
| CN113516127B (en) * | 2021-09-14 | 2021-12-07 | 南通辑兴紧固件科技有限公司 | Artificial intelligence-based smart city highway maintenance method and system |
| CN114111651A (en) * | 2021-11-25 | 2022-03-01 | 江苏科技大学 | Vehicle-mounted pavement depression detection method based on multi-line structured light |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246000A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工业大学 | Pavement planeness automatic detection device and detecting method |
| CN101845787A (en) * | 2010-04-09 | 2010-09-29 | 同济大学 | Cement concrete pavement joint dislocation detection device and method based on binocular vision |
| CN101949715A (en) * | 2010-08-10 | 2011-01-19 | 武汉武大卓越科技有限责任公司 | Multi-sensor integrated synchronous control method and system for high-precision time-space data acquisition |
| CN103835212A (en) * | 2014-02-21 | 2014-06-04 | 哈尔滨工业大学 | Three-dimensional road surface detecting system |
| CN205662821U (en) * | 2016-06-12 | 2016-10-26 | 赵俊虎 | Detection apparatus for be used for road surface damaged condition |
-
2018
- 2018-01-08 CN CN201810014359.2A patent/CN108221603B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101246000A (en) * | 2008-03-21 | 2008-08-20 | 哈尔滨工业大学 | Pavement planeness automatic detection device and detecting method |
| CN101845787A (en) * | 2010-04-09 | 2010-09-29 | 同济大学 | Cement concrete pavement joint dislocation detection device and method based on binocular vision |
| CN101949715A (en) * | 2010-08-10 | 2011-01-19 | 武汉武大卓越科技有限责任公司 | Multi-sensor integrated synchronous control method and system for high-precision time-space data acquisition |
| CN103835212A (en) * | 2014-02-21 | 2014-06-04 | 哈尔滨工业大学 | Three-dimensional road surface detecting system |
| CN205662821U (en) * | 2016-06-12 | 2016-10-26 | 赵俊虎 | Detection apparatus for be used for road surface damaged condition |
Non-Patent Citations (1)
| Title |
|---|
| 车载道路快速检测与测量技术研究;李清泉，毛庆洲;《交通信息与安全》;20090215;"2 车载道路快速检测与测量系统的功能及试验"部分 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108221603A (en) | 2018-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108221603B (en) | A kind of road surface three-dimensional information detection device, the method and system of road | |
| CN109597095A (en) | Backpack type 3 D laser scanning and three-dimensional imaging combined system and data capture method | |
| CN109556569B (en) | Topographic map surveying and mapping method and device | |
| CN107167790A (en) | A kind of step scaling method of laser radar two based on Calibration Field | |
| CN102735216B (en) | CCD stereoscopic camera three-line imagery data adjustment processing method | |
| CN105934648A (en) | Calibration method and measurement tool | |
| CN107504981A (en) | A kind of attitude of satellite error correcting method and equipment based on laser-measured height data | |
| CN109242918B (en) | Helicopter-borne binocular stereo vision calibration method | |
| CN102798456B (en) | Method, device and system for measuring working range of engineering mechanical arm frame system | |
| CN112629431B (en) | Civil structure deformation monitoring method and related equipment | |
| CN111750838B (en) | Method, device and equipment for generating agricultural land planning map and storage medium | |
| CN110095659B (en) | Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device | |
| CN101539397A (en) | Method for measuring three-dimensional attitude of object on precision-optical basis | |
| CN105424058A (en) | Digital camera projection center position precision calibration method based on photogrammetric technology | |
| Moreno et al. | An instrumented vehicle for efficient and accurate 3D mapping of roads | |
| CN106338286B (en) | A kind of moving base measurement method | |
| US20070266574A1 (en) | Shape Measurement Device and Method Thereof | |
| Garcia et al. | The Influence of Ground Control Points Configuration and Camera Calibration for Dtm and Orthomosaic Generation Using Imagery Obtained from a Low-Cost Uav | |
| CN101762269A (en) | Region topographic map low-altitude mapping technique without control point and equipment thereof | |
| CN115937446A (en) | Terrain mapping device and method based on AR technology | |
| CN113155149B (en) | Astronomical/inertial integrated navigation semi-physical simulation system | |
| CN105374009A (en) | Remote sensing image splicing method and apparatus | |
| CN110058211B (en) | Method and device for acquiring calibration initial value of vehicle-mounted LiDAR measurement system | |
| CN201622071U (en) | Low-altitude topographic map surveying and sensing platform in area without control points | |
| CN104392014A (en) | Dynamic star simulator and star map correction method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |