CN114164736A - Integrated intelligent detection system for road apparent and internal diseases - Google Patents
Integrated intelligent detection system for road apparent and internal diseases Download PDFInfo
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Abstract
The invention discloses an integrated intelligent detection system for apparent and internal diseases of a road, which comprises: apparent disease collection system of highway and the inside disease collection system of highway, wherein: the highway apparent disease acquisition device comprises a structured light laser acquisition module and an image acquisition module, wherein the structured light laser acquisition module comprises a structured light laser light source and a structured light laser, the structured light laser emits laser through a cylindrical lens beam expansion, a target laser line deforms, and information of a target contour line corresponding to a grating formed by laser irradiation on a target is acquired through capturing of a camera array of the image acquisition module so as to finish three-dimensional information acquisition of highway apparent diseases; the road internal disease acquisition device comprises a low-frequency geological radar and a high-frequency geological radar, wherein the low-frequency geological radar is a ground coupling radar for detecting the road deep internal disease; the high-frequency geological radar is an air coupling radar for detecting the internal diseases of the shallow layer of the highway.
Description
Technical Field
The invention belongs to the technical field of road detection, and particularly relates to a highway appearance and internal disease integrated intelligent detection system which is used for highway appearance disease three-dimensional detection and internal disease detection of different depths and different resolutions of a highway.
Background
The rapid development of the highway also brings new problems to the maintenance and management of the highway. The highway usually suffers from cracks, pits and the like due to traffic load and weather, and if the road is not detected and maintained in time, the traffic safety of people is greatly hidden. Particularly for pavement cracks, the cracks are formed in an early form of most pavement diseases (such as pits, peeling, pot holes and the like), the cracks are detected in time and maintained, the probability of forming serious diseases can be effectively reduced, and the loss of lives and property is reduced. In addition, the highway often can produce the inside disease of disguise in the load process of driving a vehicle, such as the sky, cavity, subside etc. these inside diseases are because of it has invisibility for it is big to detect the degree of difficulty, but if detect and restore in time, the destructiveness of production is very big, can cause huge loss of lives and property.
The traditional road crack disease detection uses a manual mode, under the condition of closed or semi-closed traffic, the type and the geometric dimension of the disease are recorded by manual visual inspection and a ruler measurement method, the disease severity is manually evaluated, the influence of a subjective factor is large, and the precision is low; the method for detecting the internal diseases of the roads by using the geological radar is low in efficiency, mostly adopts a manual detection mode, is low in detection speed and long in time, has high cost due to the adoption of the manual detection mode, pays labor cost for manual detection, limits traffic by road closure or half road closure, and brings loss to traffic operation departments; in addition, the artificial safety has hidden troubles.
At present, most of maintenance detection generally needs to carry out once visual-based road apparent disease detection and once again internal detection based on a geological radar, and the two detections are time-consuming and labor-consuming, consume manpower, material resources and financial resources and have low efficiency. And the external appearance detection based on vision is combined with the internal detection device based on radar, and the device is designed into integrated intelligent detection equipment for the appearance diseases and the internal diseases, and has great use value for detecting the quality of the traffic infrastructure structure.
Disclosure of Invention
Aiming at the problems, the invention provides a highway appearance and internal disease integrated intelligent detection system, which aims to solve the problem that the existing highway disease detection scheme needs to detect for many times when a road is closed or semi-closed, realizes the integrated intelligent detection of the highway appearance diseases and the internal diseases by fusing a highway appearance disease acquisition and processing device and a geological radar acquisition and processing device, can acquire the highway appearance diseases and the internal diseases without closing the road, and solves the problems of high detection difficulty, untimely data processing, difficult geological radar data analysis and the like in the existing highway disease detection through signal processing technologies such as data processing, multi-source data fusion and the like.
An appearance and interior disease integrated intelligent detection system for a road, comprising: apparent disease collection system of highway, the inside disease collection system of highway, mechanical body structure, data real-time processing and display device, wherein:
the highway apparent disease acquisition device comprises a structured light laser acquisition module and an image acquisition module, wherein the structured light laser acquisition module comprises a structured light laser light source and a structured light laser, the structured light laser emits laser through a cylindrical lens beam expansion, a fluctuant target laser line is deformed, and information of a target contour line corresponding to a grating formed by laser irradiation on a target is acquired through capturing of a camera array of the image acquisition module so as to finish three-dimensional information acquisition of the highway apparent disease;
the road internal disease acquisition device comprises a low-frequency geological radar and a high-frequency geological radar, wherein the low-frequency geological radar is a ground coupling radar for detecting the road deep internal disease; the high-frequency geological radar is an air coupling radar for detecting the internal diseases of the shallow layer of the highway;
the mechanical body structure comprises an encoder, a GPS module, a gyroscope, an accelerometer, an electrical control device and a vehicle-mounted power supply, and the mechanical motion positioning and power control functions of the detection system are completed; the encoder is coaxially connected with the automobile hub, the rotating speeds of the encoder and the automobile hub are equal to realize accurate positioning of a detection point, and pile number matching in the driving process is realized by combining a GPS module; the gyroscope and the accelerometer are combined to measure the automobile advancing attitude in real time, so that later data correction is facilitated; the electrical control equipment electrically controls each device in the system to ensure that the controlled equipment safely and reliably operates; the vehicle-mounted power supply supplies power to the equipment;
the data real-time processing and displaying device consists of an image processing and displaying platform, a radar processing and displaying platform and a statistical analysis platform, wherein the image processing and displaying platform consists of a large-capacity memory and an image processing and displaying device, and is used for preprocessing, splicing, fusing, reprocessing, outputting and displaying the acquired images; preprocessing radar data, fusing multidimensional radar data and displaying the radar data in real time by a radar processing display platform; and the statistical analysis platform performs statistical analysis and visual display on the data.
Furthermore, the road apparent disease collection device comprises a plurality of groups of structured light sensors, the intersection length of the emitted laser beams and the road surface is at least 4 meters, and the transverse coverage field of view is a lane.
Furthermore, a ground-coupled low-frequency geological radar array is arranged at the rear part of the disease acquisition device in the highway, so that disease detection of the highway subgrade within the depth range of 0.5-3 m is completed; the front part of the disease acquisition device in the highway is provided with an air-coupled high-frequency geological radar array to complete disease detection in a depth range of 0-0.7 m of the highway subgrade; the radar array is in linear arrangement with a plurality of ground coupling low-frequency radars, and the number of the ground coupling low-frequency geological radars is ensured that the whole radiation ground width of the radar array is the width of one lane; the radar support frame is provided with universal wheels for running on the ground and is provided with a cable storage device so that radar cables can be connected in sequence; the frequency of the geological radar is 100-2000MHz, the detection range is 0-10m, and the number of sampling points comprises 256scan/s and 512 scan/s; the radar support frame is connected with the integrated intelligent detection and identification system by adopting a height movable adjusting device, so that the radar device can fluctuate along with road conditions without damaging a connection rigid body structure when encountering a bumpy road section in the driving process.
The advancing speed of the road appearance and internal disease integrated intelligent detection system is 0-100 Km/h, gigabit Ethernet is used as an interface for image and radar data transmission, a gigabit Ethernet card and an RJ-45 twisted pair access interface are used, and a TCP/IP protocol is used to form a data transmission system; the data storage adopts a disk array with 8TB storage capacity, and the data reading speed can reach 6 Gb/s.
Furthermore, the statistical analysis platform carries out real-time statistics on different thicknesses of the roadbed, the positions of the diseases and the positions of the pipelines in a visual mode.
Further, the image processing display platform carries out preprocessing on the collected image, including image filtering, deconvolution, depth distance correction and stake number correction; the image fusion comprises high-frequency and low-frequency image stake mark fusion correction and depth distance information fusion; and the image reprocessing comprises initial pavement tracing, roadbed thickness calculation and segmentation, void disease detection and identification and pipeline information identification.
The invention realizes the integrated intelligent detection of the apparent diseases and the internal diseases of the highway by adopting a way of fusing the apparent disease collecting and processing device of the highway and the geological radar collecting and processing device, and solves the problems of high detection difficulty, untimely data processing and the like in the detection of the existing road diseases by signal processing technologies such as data processing, multi-source data fusion and the like.
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FIG. 1 is an axial view of an integrated intelligent detection system for road surface appearance and internal diseases;
FIG. 2 is a front view of an integrated intelligent detection system for road surface appearance and interior diseases;
FIG. 3 is a diagram of a system image acquisition architecture;
FIG. 4 is a diagram of a system high frequency geological radar array architecture;
FIG. 5 is a diagram of a system low frequency geological radar array architecture;
FIG. 6 is a functional diagram of a radar image processing and display system;
FIG. 7 is a functional diagram of a statistical analysis and display system.
Description of reference numerals:
the system comprises a 1-structured light laser acquisition system, a 2-image acquisition system, a 3-structured light laser light source, a 4-structured light laser, a 5-highway internal disease acquisition system, a 6-high frequency geological radar, a 7-low frequency geological radar, an 8-encoder, a 9-GPS module, a 10-gyroscope, an 11-accelerometer, 12-electrical control equipment, a 13-vehicle power supply, a 14-radar support frame, a 15-support frame universal wheel, a 16-cable storage device, a 17-height movable adjusting device, an 18-image processing display platform, a 19-radar processing display platform, a 20-statistical analysis platform, a 21-operation desktop and a 22-desktop storage cable groove.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following describes in detail an intelligent detection system for road appearance and internal diseases provided by the present invention with reference to the following embodiments. The following examples are intended to illustrate the invention only and are not intended to limit the scope of the invention.
The utility model provides a highway appearance and inside disease integration intellectual detection system, includes apparent disease collection system of highway, the inside disease collection system of highway, mechanical body structure, data real-time processing and display device. The highway apparent disease acquisition device consists of a structured light laser acquisition system and an image acquisition system, wherein the structured light laser acquisition system comprises a structured light laser light source and a structured light laser and is used for completing the three-dimensional information acquisition of the highway apparent diseases; the system for collecting the internal diseases of the highway is composed of a low-frequency geological radar and a high-frequency geological radar, wherein the low-frequency geological radar is a ground coupling radar and comprises a radar array arrangement and a mechanical device, and the detection of the internal diseases of the deep layer of the highway is completed; the high-frequency geological radar is an air coupling radar, and comprises a radar array layout and a mechanical device, so that the detection of the internal diseases of the shallow layer of the highway is completed; the mechanical body structure consists of an encoder, a GPS module, a gyroscope, an accelerometer, electrical control equipment and a vehicle-mounted power supply, and the mechanical motion positioning and power control functions of the detection system are completed; the data real-time processing and displaying device consists of an image processing and displaying platform, a radar processing and displaying platform and a statistical analysis platform, wherein the image processing and displaying platform consists of a large-capacity memory, image processing software and image displaying software, and is used for preprocessing, splicing, fusing and the like of the acquired images and outputting and displaying the acquired images; the radar processing and displaying platform is composed of radar data processing software, multi-dimensional radar data fusion software and radar data real-time display software; the statistical analysis platform consists of data statistical analysis software and visual display software.
The road apparent disease acquisition device consists of a structured light laser acquisition system and an image acquisition system, wherein the structured light laser emits a laser light source through a cylindrical lens for beam expansion, a fluctuant target laser line is deformed, and a grating formed by irradiating a target with laser is acquired through the capture of an area-array camera and corresponds to the information of a target contour line; constructing a plurality of groups of structured light sensors, wherein the intersection length of the emitted laser beams and the road surface is about 4 meters, namely the transverse coverage field of view is a lane;
the system for collecting the diseases in the highway is composed of a low-frequency geological radar and a high-frequency geological radar, and a ground-coupled low-frequency geological radar array is arranged at the rear part of the detection device to complete the disease detection of the highway subgrade within the depth range of 0.5-3 m; installing an air-coupled high-frequency geological radar array at the front part of the detection device to complete the disease detection of the highway subgrade within the depth range of 0-0.7 m; the radar array is in linear arrangement with a plurality of ground coupling low-frequency radars, the number of the placed ground coupling low-frequency geological radars is determined according to the size and the radiation area of the radars, and the determined principle is that the whole radiation ground width of the radar array is the width of one lane under the condition that the number of the radars is as small as possible; the radar support frame is provided with 4 universal wheels for running on the ground, and the radar support frame is provided with a cable storage device so that radar cables can be connected in sequence; the frequency of the geological radar is 100-2000MHz, the detection range is 0-10m, and the sampling points are 256scan/s and 512 scan/s; the radar support frame is connected with the integrated intelligent detection and identification system by adopting a height movable adjusting device, so that the radar device can fluctuate along with road conditions without damaging a connection rigid body structure when encountering a bumpy road section in the driving process;
the mechanical body structure consists of an encoder, a GPS module, a gyroscope, an accelerometer, electrical control equipment and a vehicle-mounted power supply, wherein the encoder is coaxially connected with the automobile hub, the rotating speeds of the encoder and the automobile hub are equal to realize accurate positioning of a detection point, and the pile number matching in the driving process is realized by combining the GPS module; the gyroscope and the accelerometer are combined to measure the automobile advancing attitude in real time, so that later data correction is facilitated; the electrical control equipment electrically controls each device in the system to ensure that the controlled equipment safely and reliably operates; the vehicle-mounted power supply supplies power to the equipment; the moving speed of the integrated intelligent detection and identification system is 0-100 Km/h;
the data real-time processing and displaying device is composed of an image processing and displaying platform, a radar processing and displaying platform and a statistical analysis platform, wherein the image processing and displaying platform is used for preprocessing, splicing, fusing and the like of collected images and outputting and displaying the collected images, the radar processing and displaying platform is used for preprocessing radar data and fusing and analyzing high-low frequency and other multi-dimensional radar data, and statistics and visual display are carried out on analysis results. The image processing display platform, the radar processing display platform and the statistical analysis platform are placed on an operation desktop, gigabit Ethernet is used as an interface for image and radar data transmission, a gigabit Ethernet card and an RJ-45 twisted pair access interface are used, and a TCP/IP protocol is used to form a data transmission system; the data storage adopts a disk array with 8TB storage capacity, and the data reading speed can reach 6 Gb/s; the operating desktop is provided with a cable accommodating groove for hiding the desktop data transmission cable and the power cable.
Example 1
Fig. 1 shows an axial view of an intelligent detection system integrating road appearance and internal diseases, fig. 2 shows a front view of the intelligent detection system integrating road appearance and internal diseases, a structural diagram of a structured light laser acquisition system 1 in the figure is shown in fig. 3, the structural diagram comprises an image acquisition system 2, a structured light laser light source 3 and a structured light laser 4, the structured light laser light source 3 emits a laser light source through a cylindrical lens for beam expansion, a fluctuant target laser line is deformed, and laser irradiation targets are obtained through capturing of a camera of the image acquisition system 2 to form gratings, and information corresponding to target contour lines is obtained; in order to be able to acquire one lane at a time (i.e. covering a road width of 3.75-4 meters), the performance of the structured light sensor chosen according to the example, 6 sets of structured light sensors can be constructed such that the emitted laser beam intersects the road surface for a length of about 4 meters. The road appearance and internal disease integrated intelligent detection system is characterized in that a road internal disease collection system 5 is arranged at the front part and the rear part of a vehicle, wherein an air coupling high-frequency geological radar 6 is arranged at the front part, and a ground coupling low-frequency geological radar 7 is arranged at the rear part. The erection height of the air coupling high-frequency geological radar 6 is 0.5-0.7 meter from the bottom of the radar to the ground, a frame for erecting the air coupling high-frequency geological radar is made of wood materials, as shown in fig. 4, the length of the frame is about the width of a detection vehicle, the number of the air coupling high-frequency geological radar arranged in the frame is determined according to the size and the radiation area of the radar, and the determined principle is that the width of the whole radiation ground of the radar array is the width of one lane under the condition that the number of the radars is as small as possible. The low frequency geological radar 7 is coupled with the rear installation of the detection system, and the structure diagram of the low frequency geological radar array of the system is shown in figure 5. According to the performance parameters of the radar used in the example, the radar array is in linear arrangement with 4 ground coupling low-frequency radars, and the electromagnetic wave radiation range can cover the width of a lane within the width range of the detection system; the radar support frame 14 is provided with 4 universal wheels 15 for running on the ground, and the radar support frame 14 is provided with a cable storage device 16 so that radar cables can be connected in order to prevent the cables from being damaged; the radar support frame 14 is connected with the detection system by using the height movable type adjusting device 17, so that the radar device can fluctuate along with road conditions when encountering a bumpy road section in the driving process without damaging a connection rigid body structure. The detection system is coaxially connected with the automobile hub through the encoder 8 in the driving process, the rotation speeds of the detection system and the automobile hub are equal to realize accurate positioning of a detection point, and pile number matching in the driving process is realized by combining the GPS module 9; the gyroscope 10 and the accelerometer 11 are combined to measure the posture of the automobile in the advancing process in real time, so that the later data correction is facilitated; the electrical control device 12 electrically controls each device in the detection system, so as to ensure that the controlled device safely and reliably operates; the in-vehicle power supply 13 supplies power to each device in the vehicle.
The data collected by the detection system is processed and displayed by the data real-time processing and display device. The image processing and displaying platform 18 performs preprocessing, splicing, fusion and other processing on the acquired images and outputs and displays the processed images; the radar processing and displaying platform 19 can simultaneously display the low-frequency image and the high-frequency image which are collected in real time, perform image preprocessing by taking 10 meters as a unit, perform low-frequency image and high-frequency image fusion, perform identification processing on the fused image, display the processing result, and perform preprocessing on the radar image by image filtering, deconvolution, depth distance correction, pile number correction and other methods, wherein the specific implementation method and functions are shown in fig. 6; because two sets of geological radar arrays with different frequencies are arranged in the system, the data processing system needs to fuse radar images, including pile number fusion correction of high-frequency and low-frequency images, depth distance information fusion and the like; performing initial pavement tracing, roadbed thickness calculation and segmentation, void disease detection and identification, pipeline information identification and other processing on the fused image, and displaying a processing result; the statistical analysis platform 20 can count the thickness of different layers of the roadbed in real time, the position of a disease in real time, the position of a pipeline in real time and the like in the driving detection process, as shown in fig. 7. The data real-time processing and displaying device is placed on an operation desktop 21 in the detection system, the image processing and displaying platform 18, the radar processing and displaying platform 19 and the statistical analysis platform 20 are connected with an interface through a gigabit Ethernet card and an RJ-45 twisted pair, a TCP/IP protocol is used to form a data transmission system, each platform is provided with a data storage disk array, the storage capacity at least reaches 8TB, the data reading speed can reach 6Gb/s, transmission cables and power cables between the platforms are stored through a desktop storage cable groove 22 of the operation desktop 21, and the problems of poor contact or cable damage and the like in the driving process are prevented.
The present invention is not limited to the above-described examples, and various changes can be made without departing from the spirit and scope of the present invention within the knowledge of those skilled in the art.
Claims (6)
1. The utility model provides a highway appearance and inside disease integration intellectual detection system which characterized in that includes: apparent disease collection system of highway, the inside disease collection system of highway, mechanical body structure, data real-time processing and display device, wherein:
the highway apparent disease acquisition device comprises a structured light laser acquisition module and an image acquisition module, wherein the structured light laser acquisition module comprises a structured light laser light source and a structured light laser, the structured light laser emits laser through a cylindrical lens beam expansion, a fluctuant target laser line is deformed, and information of a target contour line corresponding to a grating formed by laser irradiation on a target is acquired through capturing of a camera array of the image acquisition module so as to finish three-dimensional information acquisition of the highway apparent disease;
the road internal disease acquisition device comprises a low-frequency geological radar and a high-frequency geological radar, wherein the low-frequency geological radar is a ground coupling radar for detecting the road deep internal disease; the high-frequency geological radar is an air coupling radar for detecting the internal diseases of the shallow layer of the highway;
the mechanical body structure comprises an encoder, a GPS module, a gyroscope, an accelerometer, an electrical control device and a vehicle-mounted power supply, and the mechanical motion positioning and power control functions of the detection system are completed; the encoder is coaxially connected with the automobile hub, the rotating speeds of the encoder and the automobile hub are equal to realize accurate positioning of a detection point, and pile number matching in the driving process is realized by combining a GPS module; the gyroscope and the accelerometer are combined to measure the automobile advancing attitude in real time, so that later data correction is facilitated; the electrical control equipment electrically controls each device in the system to ensure that the controlled equipment safely and reliably operates; the vehicle-mounted power supply supplies power to the equipment;
the data real-time processing and displaying device consists of an image processing and displaying platform, a radar processing and displaying platform and a statistical analysis platform, wherein the image processing and displaying platform consists of a large-capacity memory and an image processing and displaying device, and is used for preprocessing, splicing, fusing, reprocessing, outputting and displaying the acquired images; preprocessing radar data, fusing multidimensional radar data and displaying the radar data in real time by a radar processing display platform; and the statistical analysis platform performs statistical analysis and visual display on the data.
2. The integrated intelligent detection system for the road appearance and the internal diseases according to claim 1, wherein the road appearance and internal diseases collection device comprises a plurality of groups of structured light sensors, the intersection length of the emitted laser beams and the road surface is at least 4 meters, and the transverse coverage field is a lane.
3. The integrated intelligent detection system for the apparent and internal diseases of the highway according to claim 2, wherein a ground-coupled low-frequency geological radar array is arranged at the rear part of the disease acquisition device in the highway, so that disease detection in a depth range of 0.5-3 m on a highway subgrade is completed; the front part of the disease acquisition device in the highway is provided with an air-coupled high-frequency geological radar array to complete disease detection in a depth range of 0-0.7 m of the highway subgrade; the radar array is in linear arrangement with a plurality of ground coupling low-frequency radars, and the number of the ground coupling low-frequency geological radars is ensured that the whole radiation ground width of the radar array is the width of one lane; the radar support frame is provided with universal wheels for running on the ground and is provided with a cable storage device so that radar cables can be connected in sequence; the frequency of the geological radar is 100-2000MHz, the detection range is 0-10m, and the number of sampling points comprises 256scan/s and 512 scan/s; the radar support frame is connected with the integrated intelligent detection and identification system by adopting a height movable adjusting device, so that the radar device can fluctuate along with road conditions without damaging a connection rigid body structure when encountering a bumpy road section in the driving process.
4. The integrated intelligent detection system for the road appearance and the internal diseases according to claim 3, wherein the traveling speed of the whole detection system is 0-100 Km/h, gigabit Ethernet is used as an interface for image and radar data transmission, a gigabit Ethernet card and an RJ-45 twisted pair access interface are used, and a TCP/IP protocol is used for forming a data transmission system; the data storage adopts a disk array with 8TB storage capacity, and the data reading speed can reach 6 Gb/s.
5. The integrated intelligent detection system for road appearance and internal diseases according to claim 4, characterized in that the statistical analysis platform is used for carrying out real-time statistics on different thicknesses of roadbed, disease positions and pipeline positions in a visual manner.
6. The integrated intelligent detection system for road appearance and internal diseases according to claim 5, characterized in that the image processing and displaying platform preprocesses the collected image including image filtering, deconvolution, depth distance correction and stake correction; the image fusion comprises high-frequency and low-frequency image stake mark fusion correction and depth distance information fusion; and the image reprocessing comprises initial pavement tracing, roadbed thickness calculation and segmentation, void disease detection and identification and pipeline information identification.
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