CN113189612A - Gravel seal quality detection device based on depth camera - Google Patents
Gravel seal quality detection device based on depth camera Download PDFInfo
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- CN113189612A CN113189612A CN202110531362.3A CN202110531362A CN113189612A CN 113189612 A CN113189612 A CN 113189612A CN 202110531362 A CN202110531362 A CN 202110531362A CN 113189612 A CN113189612 A CN 113189612A
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- 238000001514 detection method Methods 0.000 title claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000003708 edge detection Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims abstract description 5
- 239000004575 stone Substances 0.000 claims abstract description 5
- 238000000605 extraction Methods 0.000 claims abstract description 4
- 238000007789 sealing Methods 0.000 claims description 19
- 239000002245 particle Substances 0.000 claims description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
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- 230000035772 mutation Effects 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 239000010426 asphalt Substances 0.000 abstract description 8
- 238000010276 construction Methods 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000010410 layer Substances 0.000 description 16
- 238000004458 analytical method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 238000004901 spalling Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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Abstract
The invention discloses a synchronous macadam seal quality detection device, which is used for detecting the surface uniformity and the surface evenness of the macadam surface paved with asphalt macadam. The device comprises a lifting acquisition module, a data processing module, an encoder acquisition module and a power control module. The method comprises the following steps of detecting the surface of a seal layer, wherein the detection of the surface of the seal layer mainly comprises the steps of synchronously acquiring a color image and a depth image of the surface of the seal layer through a depth camera, carrying out edge detection and feature extraction on the color image and the depth image, detecting the distribution quality of crushed stone on the surface of the seal layer, balancing the paving uniformity of the crushed stone on the surface of the seal layer, and describing the flatness on the surface; the lifting device module can automatically control and adjust the transverse and longitudinal positions of the depth camera through the industrial personal computer, and the encoder acquisition module can record and acquire image positions in real time and determine and identify the spreading quality position of the seal coat gravels. The invention can detect the spreading condition of the gravel on the surface of the seal layer in real time, measures the spreading condition of the surface of the seal layer and is beneficial to measuring the construction quality of the synchronous gravel seal layer.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and relates to a method and a device for detecting the quality of crushed stone on the surface of a synchronous crushed stone seal layer during maintenance of an asphalt pavement.
Background
With the rapid development of highway construction and the advancement of science and technology, the synchronous chip seal technology is widely applied to highway engineering as an economic, efficient and rapid pavement maintenance technology. The synchronous macadam seal coat is formed by synchronously spreading macadam and a bonding material (modified asphalt or modified emulsified asphalt) on a road surface by using a synchronous macadam seal coat vehicle, and rolling by using a rubber-tyred roller or a natural traveling vehicle to form a single-layer asphalt macadam wearing coat, and is mainly used as a road surface treatment coat.
The degree of consistency that rubble seal surface pitch and rubble granule fuse embedding each other and the roughness on surface can seriously influence the whole atress in road surface and the ability of shearing of asphalt surface course, and then influence the life of road. In the prior art, the construction quality of the synchronous gravel seal is measured through the asphalt amount and the gravel amount, but the uniformity of the synchronous gravel seal during spreading and the flatness of the road roller after rolling cannot be described, so that the quality of the gravel seal is measured only through the asphalt amount and the gravel amount and is far from insufficient.
Disclosure of Invention
The invention aims to provide a synchronous macadam seal quality detection device, which is used for detecting the uniformity and the flatness of macadam after spreading and compacting and improving the detection precision.
In order to achieve the purpose, the main contents of the invention are as follows:
the utility model provides a rubble seal quality detection device based on degree of depth camera, including automatic control lift collection module, image processing module, encoder collection module, power control module, can connect behind synchronous rubble seal car or rubber tyer road roller through hinged joint mechanism, guarantee the construction quality of real-time detection rubble seal in the construction.
The automatic control lifting acquisition module comprises two depth cameras, an acquisition card and an automatic control lifting device.
Two depth cameras are arranged behind the detection device, and images of the gravel seal are acquired by the depth cameras. The biggest difference between a depth camera and a common industrial camera, such as a line camera or an area camera, is that the depth camera is a 3D camera, and images taken by the common industrial camera can see and record all objects within the camera view angle, but the recorded data does not contain the distance of the pixels of the objects from the camera. We can only judge which objects are farther away from us and which are closer by semantic analysis of the image, but there is no exact data. The depth camera can obtain not only a color image of the object, but also depth information of the object from the depth camera according to different ranging principles. The depth camera is used for obtaining a color image and a depth image of the surface of the gravel seal, and the depth image data of the surface of the seal is the distance between each pixel point on the image of the surface of the seal and the horizontal plane where the camera is located.
Under the working environment of the surface of the gravel seal, because of the influence of illumination and detection precision, a realsense D435i depth camera of Intel corporation is selected, and the working principle of the depth camera is to obtain the depth data of the surface distance camera of the gravel seal based on a binocular vision triangle method. The maximum resolution of a color image and a depth image acquired by the Realsense D435i is 1920x1080, the maximum frame rate is 30HZ image, the maximum visual field is 70 degrees x 42.5 degrees, the accuracy of the depth data acquired in the range of 0.2 m-4 m is in the range of 1mm, and the device is provided with a global shutter and a wide visual field and is very suitable for capturing the depth data in a fast moving scene.
Two depth cameras arranged behind the automatic lifting device have cross overlapping areas, and the color images of the surface of the sealing layer are spliced by using a characteristic matching algorithm to obtain a wider image of the surface of the gravel sealing layer.
The automatic lifting device mainly comprises a lifting motor control device, a lifting trapezoidal screw device and a lifting trapezoidal pushing seat device. The motor control device automatically controls the driving gear to rotate through the servo motor, further drives the driven gear and the lifting screw to rotate, and can adjust the lifting trapezoid pushing seat according to requirements, namely adjust the positions of the two depth cameras away from the surface of the gravel seal.
The closer the camera is to the surface of the sealing layer, the less the content contained in the obtained sealing layer image is, and even a part of view can be blocked by the trolley, and the farther the camera is from the surface of the sealing layer, the more content can be contained in the obtained sealing layer image, and in a certain precision range, a larger view image can be obtained, which is beneficial to the analysis of the quality of the sealing layer. The vertical position of the depth camera is adjusted under different sealing conditions, so that the view of the camera can be prevented from being blocked or a wider image view can be obtained.
On the trapezoidal push away seat device portion of lift, the degree of depth camera mounting bracket is installed on the elevating platform stabilizing surface, can carry out horizontal level to the degree of depth camera and adjust.
Calculating a gray level image and a histogram of a color image on the surface of the gravel seal obtained by two cameras, performing binarization processing on the histogram by taking the pixel mean value of the histogram as a threshold value to obtain a binarized image on the surface of the gravel seal, performing filtering processing on the binarized image, performing edge detection on the filtered image on the surface of the gravel seal by using a carry algorithm to describe the contour of gravel particles on the surface of the gravel seal, extracting the gravel particles on the surface of the seal by using a SURF (speeded up robust feature) extraction algorithm, setting a specified threshold value, describing the sparse density of the gravel particles according to the number of feature points extracted by the features, and further describing the distribution information of the gravel particles on the surface of the gravel seal.
The depth image data of the surface of the gravel seal layer is obtained by a depth camera, the depth image data is transmitted into an industrial personal computer through a collection card, the depth data is analyzed, the depth image is mapped to a color image of the surface of the gravel seal layer which is obtained at the same time, the depth information corresponding to each pixel point on the obtained color image is determined, an area with serious mutation of the depth information is screened out, and the depth information obtained by the camera is used for describing the flatness of the surface of the gravel seal layer.
The two depth cameras are connected through a synchronous recording line, so that the two depth cameras can synchronously record images on the surface of the chip seal, and the acquired images are transmitted to the industrial personal computer through the image acquisition card.
The image processing module comprises an industrial personal computer and a display screen, the collected surface image of the gravel sealing layer is input into the industrial personal computer, the surface image is processed and analyzed by software, and the record is displayed on the display screen.
The encoder acquisition module is installed on the tire shaft of rubble seal quality detection device, and when the dolly was connected and is followed the march in synchronous seal car or road roller rear, the distance that the dolly gos forward can be recorded to the encoder to transmit to the industrial computer, handle with rubble seal surface image together, when detecting unqualified rubble seal surface, can mark the unqualified position at exact moment, be convenient for to the evaluation of rubble seal degree of consistency.
Drawings
FIG. 1 is a schematic view of the overall structure of the rock-spalling seal quality detection device of the invention;
FIG. 2 is a block diagram of an automatic control lift collection module of the present invention;
FIG. 3 is a block diagram of an elevator ladder movement module of the present invention;
FIG. 4 is a block diagram of an encoder of the present invention;
fig. 5 is a schematic flow diagram of the invention.
In the figure, 1, an automatic lifting acquisition module, 2, a camera acquisition module, 3, a lifting trapezoid moving module, 4 trolley tires, 5, a lifting control module, 6, a servo motor module, 7, an encoder component module, 8, a hinge connection module, 9 a trolley frame, 10, a power supply control module, 11, a data processing module, 12, a display screen, 13, a lifting guide rail sliding rod, 14, a lifting trapezoid screw rod, 15, a lifting platform trapezoid stabilizing surface, 16, a depth camera mounting frame, 17, a depth camera, 18, a lifting trapezoid screw nut, 19, a lifting trapezoid push seat, 20, a lifting trapezoid push plate, 21, a lifting trapezoid rotating gear, 22, a lifting trapezoid screw rod support, 23, a transmission chain wheel, 24, a lifting motor fixing seat, 25, a servo motor, 26, an encoder rotating wheel, 27, an ohm dragon encoder, 28, an encoder rocker arm component, 29, a fixing seat encoder, 30. encoder synchronizing wheel
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The method comprises the steps that a depth camera is adopted to collect color images and depth image information of the gravel seal, algorithm filtering processing is carried out on the collected images, gravel distribution edge detection description is carried out, the sparse distribution condition of the gravel is extracted, and the uniformity of the gravel seal distribution is judged; and carrying out depth analysis on the depth image, and making an evaluation index to evaluate the spreading quality flatness of the surface of the sealing layer.
Preferably, as shown in fig. 1, the depth camera-based chip seal quality detection device mainly comprises an integral trolley frame 8, an automatic lifting acquisition module 1, an encoder component module 7, a servo motor module 6, a hinge connection module 8, a power control module 10 and a data processing module 11. The automatic lifting acquisition module 1 is installed at the rear of a trolley frame through bolts, the encoder acquisition module 7 is installed at a frame base through an encoder fixing seat 29, and an encoder synchronizing wheel is connected to a trolley wheel shaft through a flat key, records the advancing path of the trolley and transmits the advancing path to the data processing module 11.
Preferably, as shown in fig. 2, the automatic control lifting acquisition module 1 is composed of a camera acquisition module 2, a lifting trapezoid moving module 3, a lifting control module 5 and a servo motor module 6, the camera acquisition module 2 is mainly composed of two depth cameras 17, a camera acquisition card, a camera extending frame 16 and a lifting platform trapezoid stable surface 15, the two depth cameras 17 are installed at the front end of the camera extending frame 16 through bolts, the lifting platform trapezoid stable surface 15 is fixedly connected to two lifting trapezoid pushing seats 19 through bolts, two step openings are formed in the right side of the lifting platform trapezoid stable surface 15, and the two trapezoid frames of the camera extending frame 16 are installed in the two openings of the trapezoid stable surface 15, so that the camera can be conveniently adjusted transversely;
preferably, the elevator-shaped moving module comprises an elevator guide rail sliding rod 13, an elevator-shaped lead screw 14, an elevator-shaped lead screw nut 18, an elevator-shaped pushing seat 19, an elevator-shaped pushing plate 20, an elevator-shaped rotating gear 21 and an elevator-shaped lead screw support 22. The lowermost part of the lifting trapezoidal screw 14 is connected and fixed on a lifting trapezoidal screw support 22 through two bearings with different shaft neck specifications, four bolt holes are arranged around the lifting trapezoidal screw support 22 and fixed on a base of the lifting acquisition module 1 through the bolt holes; a flat key opening is formed below the lifting trapezoidal screw rod 14 and is connected to the lifting trapezoidal rotating gear 21 through a flat key; the middle part of the lifting trapezoidal screw 14 is provided with threads, a lifting trapezoidal screw nut 18 penetrates through the lifting trapezoidal screw 14 and is connected with a lifting trapezoidal push plate 20 through the lifting trapezoidal screw nut 18 and a bolt, so that the lifting trapezoidal screw nut 18 and the lifting trapezoidal push plate 20 can move together; the upper part of the lifting trapezoidal screw 14 is connected and fixed on the trapezoidal screw support through a bearing and is fixed on the top seat through a bolt.
Preferably, two lifting guide rail sliding rods 13 are fixed on the top seat and the base at the left side and the right side of the lifting trapezoidal screw 14 and respectively penetrate through the lifting trapezoidal push seat 19; the lifting trapezoidal push seat 19 and the lifting trapezoidal push plate 20 are respectively connected with the lifting trapezoidal stabilizing platform 15 through four bolts to drive the lifting trapezoidal stabilizing platform 15 to lift up and down;
preferably, the lifting control module 5 is installed on the lifting motor fixing seat 24 in an inverted manner through the servo motor 25, an extended shaft neck of the servo motor 25 in the lifting motor fixing seat 24 is connected with a driving gear through a flat key, and then the lifting trapezoid rotating gear 21 and the lifting screw 14 are driven to rotate through the transmission chain 23, so that the lifting trapezoid pushing seat 3 can be adjusted at will, that is, the positions of the two depth cameras away from the sealing surface are adjusted.
Preferably, the position of the depth camera 17 from the surface of the seal layer can be adjusted by the stabilizing surface of the automatic lifting platform through the lifting screw rod 14, wherein the total parameter length of the lifting screw rod 14 is 600mm, and the range distance of the depth camera from the ground surface is 500 mm-1100 mm.
Preferably, as shown in fig. 4, a code acquisition module 7 is provided. The encoder acquisition module 7 is composed of an encoder rotating wheel 26, an ohm dragon encoder 27, an encoder rocker arm assembly 28, an encoder fixing seat 29 and an encoder synchronizing wheel 30. The wheel axle of dolly tire passes on the fixing base of encoder and on encoder synchronizing wheel 30, drive synchronizing wheel 30 and rotate, encoder synchronizing wheel 30 drives through the belt drive and rotates wheel 26 and rotate, it connects to rotate the pivot of wheel 26 and encoder 27, ohm dragon encoder passes through the rotation of pivot, the route that the real-time recording dolly marchs, and transmit industrial computer 11, combine the path information that seal surface image information and encoder gathered, can fix a position the position at each image place in real time.
Preferably, the data processing module comprises an industrial personal computer 11 and a display screen 12, the collected sealing surface image is input into the industrial personal computer 11, the surface image is processed and analyzed by software, and the record is displayed on the display screen 12.
Preferably, as shown in fig. 5, which is a flowchart of the surface of the gravel seal, a gray scale map and a histogram of a fused color image of the surface of the seal are calculated in an industrial personal computer 11, and a pixel mean value of the histogram is used as a threshold value to perform binarization processing on the histogram to obtain a binarized image of the surface of the seal; and then carrying out filtering processing on the binary image, carrying out edge detection on the filtered image on the surface of the seal by using a carry algorithm, drawing the outline of the gravel particles on the surface of the seal, extracting the gravel particles on the surface by using a SURF (speeded up robust feature extraction) algorithm, setting a specified threshold, describing the sparse density of the gravel particles according to the number of feature points extracted by the features, and further describing the distribution information of the gravel particles on the surface.
Preferably, the obtained depth data is analyzed in the industrial personal computer 11, the depth image is mapped to a color image of the surface of the seal layer which is obtained at the same time, the depth information corresponding to each pixel point on the obtained color image to the camera is determined, an area with serious mutation of the depth information is screened out, and the flatness on the surface is described by using the depth information obtained by the camera.
The invention is in the use, the surface detection device of the seal can be connected to the synchronous car rear of seal through the hinged joint module 9, according to the seal of difference and demand precision adjust the horizontal and longitudinal distance of camera acquisition module 2 on the display screen 11, two degree of depth cameras are nearer from the seal surface, then the content that contains in the seal image of acquireing is smaller, can block partial field of vision by the dolly even, the camera is farther from the seal surface, then can contain more content in the seal image of acquireing, and in certain precision range, it is more favorable to the analysis to the seal road conditions to acquire more field of vision image. The vertical position of the depth camera can be adjusted at will under different sealing conditions, so that the view of the camera is prevented from being blocked or a wider image view is obtained. And analyzing the acquired data image by using the industrial personal computer 11 on the display screen 12, and judging the uniformity and the flatness information of the surface of the chip seal layer.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and the inventive concept within the technical scope of the present invention, and the present invention shall be covered by the scope of the present invention.
Claims (10)
1. The utility model provides a rubble seal quality detection device based on depth camera, its characterized in that includes a dolly (9) of taking four tires, dolly (9) left side is connected to the rubble synchronous car through hinged joint module (8), follows synchronous vehicle and advances and acquire data, and the centre is containing power control module (10), data processing module (11) and encoder subassembly (7) to be connected on tire (4) major axis in the quick-witted case, and the right side is that lift control collection module (1) passes through the bottom plate and installs on the dolly, and two depth cameras (2) are installed on lift stable mesa (3) through the bolt.
2. The depth camera-based chip seal quality detection apparatus according to claim 1, wherein: the data processing module comprises an industrial personal computer (11) and a display screen (12), can process path data collected by the encoder assembly (7), color images and depth image data collected by the depth camera (2), adjusts the motion of the servo motor (6), and controls the lifting of the camera collecting module (2).
3. The depth camera-based chip seal quality detection apparatus according to claim 2, wherein: install two depth cameras (17) on camera mounting bracket (16) through the bolt on lift stable table top (15) right side, be connected with synchronous connecting wire between two depth cameras (17) to be connected to industrial computer (11) through USB Type-C on, along with the motion of dolly, two depth cameras (17) gather the image video in real time and flow to the industrial computer.
4. The depth camera-based chip seal quality detection apparatus according to claim 2, wherein: camera mounting bracket (16) are installed in elevating platform stabilizing surface (15), can carry out horizontal level to degree of depth camera (17) and adjust, are convenient for adapt to the seal surface of different occasions to can change different cameras, can carry out horizontal longitudinal adjustment under the camera of different visual angles, avoid sheltering from the visual angle.
5. The depth camera-based chip seal quality detection apparatus according to claim 3, wherein: in the lifting control acquisition module (5), a servo motor (25) is arranged on a lifting motor fixing seat (24) to control a driving gear in the fixing seat to rotate, so that a lifting trapezoidal rotating gear (21) and a lifting trapezoidal screw rod (14) are driven to rotate through a chain (23), and a lifting trapezoidal screw rod (14) and a lifting trapezoidal screw rod nut (18) are adjusted to enable a lifting platform stabilizing surface (15) to move up and down on a guide rail sliding table rod (19) through screw transmission.
6. The depth camera-based spall seal quality detection device of claim 4, wherein: in encoder collection module (7) subassembly, pass through the bolt mounting to the encoder fixing base on the bottom surface of the car, the shaft of dolly tire passes on fixing base (29) of encoder subassembly and rotates on wheel (30), it rotates to drive and rotates wheel (30), encoder synchronizing wheel (30) drive encoder synchronizing wheel (26) through the belt drive and rotate, the pivot of encoder synchronizing wheel (26) and encoder (27) is connected, ohm dragon encoder (27) are through the rotation of pivot, the route that the real-time recording dolly marchs, and transmit data processing module industrial computer (11), combine the route information that surface image information and encoder gathered, can fix a position the position at each image place in real time.
7. The depth camera-based spall seal quality detection device of claim 5, wherein: the sealing quality detection can be connected to the rear part of a sealing synchronous vehicle through a hinge connection module (8), and the spreading quality of the sealing surface is detected in real time after the synchronous vehicle is followed.
8. The depth camera-based chip seal quality detection apparatus according to claim 6, wherein: color images and depth images acquired by a depth camera (17) are input into an industrial personal computer (11), the two images with cross overlapping areas are processed, and the color images on the surface of the sealing layer are spliced by using a feature matching algorithm to obtain a wider sealing layer crushed stone image.
9. The depth camera-based chip seal quality detection apparatus according to claim 7, wherein: calculating a gray level image and a histogram of the fused seal surface color image, and performing binarization processing on the histogram by taking the pixel mean value of the histogram as a threshold value to obtain a binarization image of the seal surface; and then carrying out filtering processing on the binary image, carrying out edge detection on the filtered image on the surface of the seal by using a carry algorithm, drawing the outline of the rubble particles on the surface of the seal, extracting the rubble particles on the surface by using a SURF (speeded up robust feature extraction) algorithm, setting a specified threshold value, describing the sparse density of the rubble particles according to the number of feature points extracted by the features, and further describing the distribution information of the rubble particles on the surface of the seal.
10. The depth camera-based slice surface inspection device of claim 8, wherein: the acquired depth data is analyzed in an industrial personal computer (11), the depth images are corresponding to the color images of the surface of the sealing layer acquired at the same time, the depth information corresponding to each pixel point on the acquired color images to the camera is determined, areas with serious depth information mutation are screened out, and the flatness on the surface is described by using the depth information acquired by the camera.
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| CN202110531362.3A CN113189612A (en) | 2021-05-17 | 2021-05-17 | Gravel seal quality detection device based on depth camera |
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| CN202110531362.3A CN113189612A (en) | 2021-05-17 | 2021-05-17 | Gravel seal quality detection device based on depth camera |
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