CN114740010B - Intelligent monitoring method for pavement diseases - Google Patents
Intelligent monitoring method for pavement diseases Download PDFInfo
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- CN114740010B CN114740010B CN202210387506.7A CN202210387506A CN114740010B CN 114740010 B CN114740010 B CN 114740010B CN 202210387506 A CN202210387506 A CN 202210387506A CN 114740010 B CN114740010 B CN 114740010B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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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
- G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
Abstract
The invention relates to an intelligent monitoring method for pavement diseases, which relates to the technical field of pavement disease monitoring and comprises the following steps: step S1, carrying out laser emission ranging on a road section to be detected to generate a distance displacement curve; step S2, establishing a standard reference function according to the distance displacement curve, and judging whether cracks, protrusions and depressions appear on the pavement; s3, performing image analysis on the distance displacement curve and a standard reference function, and judging the crack direction; and S4, when judging that no cracks, protrusions and depressions appear, judging the flatness and roughness of the pavement to be detected. According to the invention, the movable laser ranging device is arranged to perform laser scanning on the road surface, so that laser rays can be irradiated into micro cracks, meanwhile, the central control module is utilized to generate and analyze a distance displacement curve, so that the micro cracks on the surface of the road surface can be rapidly detected, road diseases such as obvious protrusions and depressions are avoided, real-time monitoring on the road is realized, and the safety of the road is ensured.
Description
Technical Field
The invention relates to the technical field of pavement damage monitoring, in particular to an intelligent pavement damage monitoring method.
Background
Whether cement or asphalt pavement is used for a period of time, damage, deformation or other defects can occur successively, which are generally called road surface diseases, the diseases existing on the road surface are maintained and treated in time, the road surface is ensured to be smooth so as to ensure the smooth and safe operation of the vehicle, therefore, the road surface diseases are found in time, and the intelligent automatic monitoring of the road surface diseases has extremely important significance.
However, in the existing intelligent pavement monitoring method, image acquisition and analysis are mostly used, prediction analysis is performed in a deep self-learning mode, and tiny cracks of a pavement of a highway, unobvious pavement protrusions and pavement depressions cannot be detected, so that the intelligent pavement monitoring cannot meet the actual monitoring requirements and the safety guarantee effect.
Disclosure of Invention
Therefore, the invention provides an intelligent monitoring method for road surface diseases, which is used for solving the problems that small cracks, unobvious road surface protrusions and road surface subsidence of a road surface cannot be detected in the prior art.
In order to achieve the above object, the present invention provides an intelligent monitoring method for road surface diseases, comprising:
step S1, placing special road detection equipment in the transverse direction of a road section to be detected, carrying out laser range finding on the road section to be detected at an initial detection angle through a laser range finding device arranged in the special road detection equipment, wherein the laser range finding device can move in the special road detection equipment, carrying out continuous range finding on the transverse direction of the road section to be detected through moving the laser range finding device, and a central control module is arranged in the special road detection equipment and generates a distance displacement curve of the initial detection angle according to the laser detection distance and the transverse displacement of the laser range finding device;
Step S2, the central control module generates a linear function according to two end points of the distance displacement curve, establishes the linear function as a standard reference function of the distance displacement curve, compares the distance displacement curve with the standard reference function, calculates real-time detection distance deviation, and compares the real-time detection distance deviation with the standard distance deviation internally arranged to judge whether cracks, protrusions and sags occur in the transverse direction of the pavement;
step S3, when the central control module judges that the real-time detection distance deviation exceeds the standard distance deviation, the central control module acquires two image relations of a distance displacement curve and a standard reference function, acquires real-time out-of-tolerance displacement of a continuous part of the real-time detection distance deviation exceeding the standard distance deviation, compares the real-time out-of-tolerance displacement with the standard crack displacement, judges that longitudinal cracks, transverse cracks or sags exist on the ground to be detected, and carries out longitudinal continuous distance measurement on a corresponding transverse displacement position at the middle point of the real-time out-of-tolerance displacement by adjusting the initial detection angle of the laser distance measuring device so as to distinguish the sags and the transverse cracks of the ground to be detected;
and S4, when the central control module judges that the real-time detected distance deviation does not exceed the standard distance deviation, the central control module analyzes the distance displacement curve image, and judges that the road surface to be detected is a flat road surface, a rough road surface or an uneven road surface according to the adjacent extreme value displacement between the number of extreme value parts and the two pole values in the distance displacement curve.
Further, an initial detection angle Kc is set in the central control module, the laser ranging device continuously ranges the transverse direction of the road section to be detected according to the initial detection angle Kc, the central control module generates a distance displacement curve f (X) =l, X e [0, W ] of the initial detection angle according to the laser detection distance L and the transverse displacement X of the laser ranging device, wherein W is the width of the road surface to be detected, the central control module obtains the laser detection distance La at x=0 and the laser detection distance Lz at x=w from the curve f (X) =l, the central control module generates a linear function f (M) according to the laser detection distances La and Lz, M e [0, W ], the linear function f (M) passes through two points (0, la) and (W, lz), and the central control module establishes the linear function f (M) as a standard reference function.
Further, a standard distance difference delta Lb is arranged in the central control module, the central control module compares a distance displacement curve f (X) =L of the initial detection angle Kc with a standard reference function f (M) in an image, calculates a real-time detection distance deviation delta Lc of the distance displacement curve f (X) =L and the standard reference function f (M) on any lateral displacement according to the image, compares the real-time detection distance difference delta Lc with the standard distance difference delta Lb,
When Δlc is less than or equal to Δlb, the central control module judges that the real-time detection distance deviation does not exceed the standard distance deviation, the central control module judges that no crack, no protrusion and no dip appear in the transverse direction of the road surface detected by the initial detection angle Kc, and the central control module judges the flatness of the road section to be detected according to the distance displacement curve f (X) =L;
when Δlc is greater than Δlb, the central control module determines that the real-time detected distance deviation exceeds the standard distance deviation, and the central control module determines what kind of diseases exist on the road surface to be detected according to the two-image relationship between the distance displacement curve f (X) =l and the standard reference function f (M).
Further, when the central control module determines that the real-time detection range deviation exceeds the standard distance deviation, the central control module acquires two image relations between the distance displacement curve f (X) =L and the standard reference function f (M) at the position of the real-time detection range deviation delta Lc,
when the distance displacement curve f (X) =l is higher than the standard reference function f (M), the central control module judges that the real-time detection deviation is that the detection distance of the road surface to be detected at the position delta Lc is increased and exceeds the standard distance difference range, and the central control module judges that the subsidence or the crack of the road surface to be detected occurs according to the continuous transverse displacement exceeding the standard distance difference range;
When the distance displacement curve f (X) =l is lower than the standard reference function f (M), the central control module determines that the real-time detection distance variation is that the detection distance of the road surface to be detected at the position delta Lc is reduced and exceeds the standard distance difference range, and the central control module determines that the real-time detection distance variation is that the road surface to be detected at the position delta Lc is a raised road surface.
Further, a standard crack displacement Xb is arranged in the central control module, when the central control module judges that the real-time detection range deviation is that the detection distance of the pavement to be detected at the position delta Lc is increased and exceeds the standard range, the central control module obtains real-time out-of-tolerance displacement Xs of a part of which the real-time detection range deviation exceeds the standard range and is continuous in the range displacement curve f (X) =L image, the central control module compares the real-time out-of-tolerance displacement Xs with the standard crack displacement Xb,
when Xs is less than or equal to Xb, the central control module judges that the real-time out-of-tolerance displacement does not exceed the standard crack displacement, and the central control module judges that the crack appears in the pavement to be detected in the real-time out-of-tolerance displacement Xs and judges that the pavement to be detected is a longitudinal crack;
when Xs is larger than Xb, the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, and the central control module controls the laser ranging device to perform longitudinal continuous ranging on the real-time out-of-tolerance displacement Xs so as to judge that the sinking or the transverse crack occurs on the real-time out-of-tolerance displacement Xs.
Further, when the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, the central control module carries out longitudinal continuous distance measurement on the corresponding transverse displacement position at the middle point of the real-time out-of-tolerance displacement Xs by adjusting the initial detection angle of the laser distance measuring device, generates a longitudinal distance displacement curve according to the longitudinal displacement of the laser distance measuring detection point on the road surface and the laser detection distance, the central control module repeats the operation of establishing the standard reference function and comparing with the standard distance difference, determines the longitudinal real-time out-of-tolerance displacement Ys, compares the longitudinal real-time out-of-tolerance displacement Ys with the standard crack displacement Xb,
when Ys is less than or equal to Xb, the central control module judges that the longitudinal real-time out-of-tolerance displacement does not exceed the standard crack displacement, and the central control module judges that a transverse crack appears at the real-time out-of-tolerance displacement Xs;
when Ys is larger than Xb, the central control module judges that the longitudinal real-time out-of-tolerance displacement exceeds the standard crack displacement, and the central control module judges that the pavement sag occurs at the real-time out-of-tolerance displacement Xs.
Further, a standard leveling extremum number Tb is arranged in the central control module, when the central control module judges that the real-time detection distance variation in the distance displacement curve f (X) =L does not exceed the standard distance variation, the central control module detects the real-time extremum number Ts in the image of the distance displacement curve f (X) =L, the central control module compares the real-time extremum number Ts with the standard leveling extremum number Tb,
When Ts is less than or equal to Tb, the central control module judges that the real-time extremum number does not exceed the standard leveling extremum number, and the central control module judges that the pavement detected by the initial detection angle Kc is a leveling pavement in the transverse direction;
when Ts is greater than Tb, the central control module determines that the real-time extremum exceeds the standard leveling extremum, and the central control module performs leveling determination on the road section to be detected according to the displacement between the two poles in the displacement curve f (X) =l.
Further, a rough extremum standard displacement Xp and a rough extremum standard displacement difference delta Xp are arranged in the central control module, when the central control module judges that the real-time extremum number exceeds the standard flattening extremum number, the central control module obtains adjacent extremum displacement Xj between any two adjacent extremums in a distance displacement curve f (X) =L, the central control module calculates adjacent extremum displacement differences delta Xj, delta xj= |xp-xj| according to the adjacent extremum displacement Xj and the rough extremum standard displacement Xp,
when delta Xj is less than or equal to delta Xp, the central control module judges that the adjacent extremum displacement difference is within the rough extremum standard displacement difference range, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is a rough road surface;
When delta Xj is larger than delta Xp, the central control module judges that the adjacent extremum displacement difference is not in the rough extremum standard displacement difference range, and the central control module judges the road surface state according to the adjacent extremum displacement and the rough extremum standard displacement.
Further, when the central control module judges that the adjacent extremum displacement difference is not in the rough extremum standard displacement difference range, the central control module compares the adjacent extremum displacement Xj with the rough extremum standard displacement Xp,
when Xj is larger than Xp, the central control module judges that the adjacent extremum displacement is higher than the rough extremum standard displacement, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is an uneven road surface;
when Xj is smaller than Xp, the central control module judges that the adjacent extremum displacement is lower than the rough extremum standard displacement, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is a flat road surface.
Further, when the laser ranging device performs longitudinal continuous ranging, the central control module can set a unit ranging displacement Xo, R times of continuous ranging is performed on a transverse displacement corresponding to the real-time out-of-tolerance displacement Xs through each time of transverse movement Xo displacement of the laser ranging device, so as to generate R groups of longitudinal distance displacement curves, wherein r=xs/Xo, the central control module repeats the operations of establishing a standard reference function and comparing the standard distance differences and determining the longitudinal real-time out-of-tolerance displacement, and calculates corresponding longitudinal real-time out-of-tolerance displacements Y1, Y2 and Y3 … YR for the R groups of longitudinal distance displacement curves respectively, and the central control module calculates an area Sy, sy= (y1×xo) + (y2×xo) + (y3×xo) + (yr×xo) … (yr×xo) of a pavement crack or a subsidence according to the longitudinal real-time out-of the R groups of longitudinal distance displacement curves.
Compared with the prior art, the road inspection device has the beneficial effects that by arranging the special road inspection device and arranging the movable laser ranging device in the special road inspection device, the laser ranging device is utilized to perform laser scanning on the road surface to be inspected, laser rays can be easily irradiated into micro cracks on the road surface, and the laser irradiation distance is analyzed by arranging the central control module, so that the micro cracks on the road surface can be detected, the depth of the cracks can be directly obtained, the crack area can be calculated by the central control module, meanwhile, the distance of the laser scanning on the road surface to be inspected by the central control module and the laser ranging device is utilized to generate a distance displacement curve, the distance displacement curve is analyzed, the road surface protrusions, the road depressions and other road surface diseases can be rapidly judged, the even condition and the rough condition of the road surface to be inspected can be determined by performing finer analysis and judgment on the distance displacement curve, the real-time detection on the micro cracks and the unobvious road surface protrusions and the road surface depressions on the road surface can be realized, and the real-time monitoring on the road diseases can be realized by the special road inspection device at the positions of a limit bar or a red road lamp which are arranged above the road surface, and the real-time safety is ensured.
Further, by acquiring the distance values of the two end points in the transverse direction of the road section to be detected and establishing a standard reference function according to the distance values of the two end points, the standard reference function is established rapidly for different distance displacement curves, when the distance displacement curves are compared and determined, the reference is more accurate, and meanwhile, the standard reference function in the form of a linear function is established by utilizing the two ends of the road surface to be detected, so that errors caused by specific inclined road surfaces to road surface disease detection can be effectively avoided, and the normal running of road surface disease detection is ensured.
In particular, by arranging the standard distance difference in the central control module, calculating the real-time detection distance difference between the distance displacement curve and the standard reference function on any one transverse displacement, comparing the standard distance difference with the real-time detection distance difference, judging the disease condition of the road surface to be detected, enabling the real-time detection distance difference to be finer and show the concave-convex state, and meanwhile, judging cracks with different depths by reducing or increasing the standard distance difference, so that the intelligent monitoring of the road surface disease can be realized.
Further, when the central control module judges that the real-time detection distance deviation exceeds the standard distance difference, the two image relations of the distance displacement curve and the standard reference function are judged, when the distance displacement curve is higher than the standard reference function, the detection distance is increased, the ground is subject to sinking or cracking diseases, and when the distance displacement curve is lower than the standard reference function, the detection distance is reduced, the ground surface is subject to protrusion diseases, and the initial judgment of the road surface diseases is rapidly realized.
Further, when the central control module judges that the detection distance of the pavement to be detected is increased and exceeds the standard distance difference range, the central control module judges that the pavement is sunken or cracked, and as one transverse direction of the pavement is detected in the detection, the difference between the transverse crack and the sunken pavement cannot be judged, the longitudinal crack is quickly judged by setting standard crack displacement based on the width of the crack, and the pavement disease detection judging efficiency is improved.
Further, when the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, the central control module cannot judge whether the real-time out-of-tolerance displacement exceeds the standard crack displacement, and the central control module can control the detection angle of the laser ranging device to longitudinally range the road surface to be detected to generate a longitudinal distance displacement curve, so that the real-time pavement disease condition is judged, the judgment of the subsidence, the protrusion and the crack of the road surface is finished, the crack direction can be determined, the analysis and the judgment of the tiny crack can be realized, and the intelligent monitoring accuracy of the pavement disease is improved.
Further, when the central control module judges that the real-time detection distance variation in the distance displacement curve does not exceed the standard distance variation, the central control module indicates that the defects of cracks, protrusions and depressions do not appear in the detection of the transverse position of the road surface, the central control module acquires a curve extremum in the distance displacement curve, wherein the curve extremum represents the fine concave-convex condition of the road surface, and according to the quantity of the judging curve extremum, whether the road surface is a flat road surface or not is determined, so that intelligent disease monitoring of the road surface is realized.
In particular, by judging the displacement between any two extreme values in the distance displacement curve, the displacement between the two extreme values can show the roughness of the road surface, by setting the rough extreme value standard displacement difference and comparing the calculated adjacent extreme value displacement difference with the rough extreme value standard displacement difference, judging whether the road surface to be detected is a rough road surface at the adjacent extreme value displacement position, and when the central control module judges that the adjacent extreme value displacement difference is not in the rough extreme value standard displacement difference range, judging the adjacent extreme value displacement and the rough extreme value standard displacement by the central control module so as to ensure the normal running of intelligent disease monitoring of the road surface.
Further, when the central control module judges that the adjacent extremum displacement difference is not in the rough extremum standard displacement difference range, the adjacent extremum displacement is compared with the rough extremum standard displacement, the adjacent extremum displacement is higher than the rough extremum standard displacement, the position distance of the two extremum in the curve is far, the central control module judges that the monitored position is an uneven road surface because of more extremum in the curve, the adjacent extremum displacement is lower than the rough extremum standard displacement, the position distance of the two extremum in the curve is near, the monitored position is a flat road surface, and more accurate road surface leveling condition judgment is completed through analysis of curve characteristics, and the comprehensiveness of road disease monitoring is guaranteed.
In particular, when the laser ranging device performs longitudinal continuous ranging, unit ranging displacement is arranged in the central control module, each unit ranging displacement of the laser ranging device is subjected to one-time longitudinal continuous ranging, a plurality of longitudinal distance displacement curves are generated, longitudinal real-time out-of-tolerance displacement of each curve is determined according to a characteristic judgment method of the crack, the area of the crack or the subsidence of the road surface is calculated according to the longitudinal real-time out-of-tolerance displacement and the unit ranging displacement, the depth judgment of the road surface disease is realized, the real-time monitoring of the road disease is realized, and the real-time safety of the road is ensured.
Drawings
Fig. 1 is a flowchart of an intelligent monitoring method for road surface diseases according to the embodiment.
Detailed Description
In order that the objects and advantages of the invention will become more apparent, the invention will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present invention, and are not intended to limit the scope of the present invention.
It should be noted that, in the description of the present invention, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, which is a flowchart of an intelligent monitoring method for road surface diseases according to the present embodiment, the present embodiment discloses an intelligent monitoring method for road surface diseases, which includes:
Step S1, placing special road detection equipment in the transverse direction of a road section to be detected, carrying out laser range finding on the road section to be detected at an initial detection angle through a laser range finding device arranged in the special road detection equipment, wherein the laser range finding device can move in the special road detection equipment, carrying out continuous range finding on the transverse direction of the road section to be detected through moving the laser range finding device, and a central control module is arranged in the special road detection equipment and generates a distance displacement curve of the initial detection angle according to the laser detection distance and the transverse displacement of the laser range finding device;
step S2, the central control module generates a linear function according to two end points of the distance displacement curve, establishes the linear function as a standard reference function of the distance displacement curve, compares the distance displacement curve with the standard reference function, calculates real-time detection distance deviation, and compares the real-time detection distance deviation with the standard distance deviation internally arranged to judge whether cracks, protrusions and sags occur in the transverse direction of the pavement;
step S3, when the central control module judges that the real-time detection distance deviation exceeds the standard distance deviation, the central control module acquires two image relations of a distance displacement curve and a standard reference function, acquires real-time out-of-tolerance displacement of a continuous part of the real-time detection distance deviation exceeding the standard distance deviation, compares the real-time out-of-tolerance displacement with the standard crack displacement, judges that longitudinal cracks, transverse cracks or sags exist on the ground to be detected, and carries out longitudinal continuous distance measurement on a corresponding transverse displacement position at the middle point of the real-time out-of-tolerance displacement by adjusting the initial detection angle of the laser distance measuring device so as to distinguish the sags and the transverse cracks of the ground to be detected;
And S4, when the central control module judges that the real-time detected distance deviation does not exceed the standard distance deviation, the central control module analyzes the distance displacement curve image, and judges that the road surface to be detected is a flat road surface, a rough road surface or an uneven road surface according to the adjacent extreme value displacement between the number of extreme value parts and the two pole values in the distance displacement curve.
Through setting up special road inspection equipment to set up mobilizable laser rangefinder in special road inspection equipment, utilize laser rangefinder to carry out laser scanning to the road surface that awaits measuring, can light the laser ray among getting into the tiny crack on road surface, and through setting up the central control module and carry out the analysis to laser irradiation distance, not only can detect the tiny crack on road surface, but also can directly acquire the degree of depth of crack, also can calculate the crack area through the central control module, utilize central control module, laser rangefinder to carry out the distance that the road surface that awaits measuring carries out laser scanning and generate the distance displacement curve simultaneously, analyze the distance displacement curve, can be quick judge road surface protruding and subsidence etc. road surface disease, also can carry out finer analysis judgement to the distance displacement curve, confirm to wait to detect the planarization condition and the roughness condition on road surface, realize the tiny crack and the real-time detection of unobvious road surface protruding and road surface subsidence of road surface, simultaneously, special road inspection equipment is also can be through setting up in road surface top such as limit line or red road lamp position, realize the real-time monitoring to the road disease, the real-time security of road.
Specifically, an initial detection angle Kc is set in the central control module, the laser ranging device continuously ranges the transverse direction of the road section to be detected at the initial detection angle Kc, the central control module generates a distance displacement curve f (X) =l, X e [0, W ] of the initial detection angle according to the laser detection distance L and the transverse displacement X of the laser ranging device, wherein W is the width of the road surface to be detected, the central control module obtains the laser detection distance La at x=0 and the laser detection distance Lz at x=w from the curve f (X) =l, the central control module generates a linear function f (M) according to the laser detection distances La and Lz, M e [0, W ], the linear function f (M) passes through two points (0, la) and (W, lz), and the central control module establishes the linear function f (M) as a standard reference function.
The standard reference function is built according to the distance values of the two end points in the transverse direction of the road section to be detected, so that the standard reference function is built quickly for different distance displacement curves, when the distance displacement curves are compared and determined, the reference is more accurate, and meanwhile, the standard reference function in the form of a linear function is built by utilizing the two ends of the road surface to be detected, so that errors caused by specific inclined road surface to road surface disease detection can be effectively avoided, and the normal running of road surface disease detection is ensured.
Specifically, the central control module is internally provided with a standard distance difference delta Lb, the central control module compares a distance displacement curve f (X) =L of an initial detection angle Kc with a standard reference function f (M) in an image, calculates a real-time detection distance deviation delta Lc of the distance displacement curve f (X) =L and the standard reference function f (M) on any lateral displacement according to the image, compares the real-time detection distance difference delta Lc with the standard distance difference delta Lb,
when Δlc is less than or equal to Δlb, the central control module judges that the real-time detection distance deviation does not exceed the standard distance deviation, the central control module judges that no crack, no protrusion and no dip appear in the transverse direction of the road surface detected by the initial detection angle Kc, and the central control module judges the flatness of the road section to be detected according to the distance displacement curve f (X) =L;
when Δlc is greater than Δlb, the central control module determines that the real-time detected distance deviation exceeds the standard distance deviation, and the central control module determines what kind of diseases exist on the road surface to be detected according to the two-image relationship between the distance displacement curve f (X) =l and the standard reference function f (M).
Through being equipped with standard distance difference in the central control module, calculate the real-time detection range deviation of distance displacement curve and standard reference function on arbitrary one horizontal displacement, with standard distance difference and real-time detection range deviation contrast, judge the disease condition of waiting to detect the road surface, real-time detection range deviation can be finer demonstrate unsmooth state, still can reduce or increase the standard distance difference simultaneously, judge the crackle of different degree of depth, realize the adjustable of road surface disease intelligent monitoring.
Specifically, when the central control module determines that the real-time detection range deviation exceeds the standard distance deviation, the central control module obtains two image relations between the distance displacement curve f (X) =L and the standard reference function f (M) at the position where the real-time detection range deviation is delta Lc,
when the distance displacement curve f (X) =l is higher than the standard reference function f (M), the central control module judges that the real-time detection deviation is that the detection distance of the road surface to be detected at the position delta Lc is increased and exceeds the standard distance difference range, and the central control module judges that the subsidence or the crack of the road surface to be detected occurs according to the continuous transverse displacement exceeding the standard distance difference range;
when the distance displacement curve f (X) =l is lower than the standard reference function f (M), the central control module determines that the real-time detection distance variation is that the detection distance of the road surface to be detected at the position delta Lc is reduced and exceeds the standard distance difference range, and the central control module determines that the real-time detection distance variation is that the road surface to be detected at the position delta Lc is a raised road surface.
When the real-time detection distance deviation exceeds the standard distance deviation, the central control module judges the relation between the two images of the distance displacement curve and the standard reference function, when the distance displacement curve is higher than the standard reference function, the detection distance is increased, the ground is subjected to sinking or cracking diseases, and when the distance displacement curve is lower than the standard reference function, the detection distance is reduced, the protrusion diseases are detected on the surface of the ground, and the initial judgment of the pavement diseases is rapidly realized.
Specifically, a standard crack displacement Xb is arranged in the central control module, when the central control module judges that the real-time detection range deviation is that the detection distance of the pavement to be detected at the position delta Lc is increased and exceeds the standard distance range, the central control module obtains real-time out-of-tolerance displacement Xs of a part of which the real-time detection range deviation exceeds the standard distance range and is continuous in a distance displacement curve f (X) =L image, the central control module compares the real-time out-of-tolerance displacement Xs with the standard crack displacement Xb,
when Xs is less than or equal to Xb, the central control module judges that the real-time out-of-tolerance displacement does not exceed the standard crack displacement, and the central control module judges that the crack appears in the pavement to be detected in the real-time out-of-tolerance displacement Xs and judges that the pavement to be detected is a longitudinal crack;
when Xs is larger than Xb, the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, and the central control module controls the laser ranging device to perform longitudinal continuous ranging on the real-time out-of-tolerance displacement Xs so as to judge that the sinking or the transverse crack occurs on the real-time out-of-tolerance displacement Xs.
When the central control module judges that the detection distance of the pavement to be detected is increased and exceeds the standard distance difference range, the central control module judges that the pavement is sunken or cracked, and as one transverse direction of the pavement is detected in the detection, the difference between the transverse crack and the sunken pavement cannot be judged, the longitudinal crack is rapidly judged by setting standard crack displacement based on the width of the crack, and the pavement disease detection judging efficiency is improved.
Specifically, when the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, the central control module carries out longitudinal continuous distance measurement on the corresponding transverse displacement position at the middle point of the real-time out-of-tolerance displacement Xs by adjusting the initial detection angle of the laser distance measuring device, generates a longitudinal distance displacement curve according to the longitudinal displacement of the laser distance measuring detection point on the road surface and the laser detection distance, repeats the operation of establishing the standard reference function and comparing with the standard distance difference, determines the longitudinal real-time out-of-tolerance displacement Ys, compares the longitudinal real-time out-of-tolerance displacement Ys with the standard crack displacement Xb,
when Ys is less than or equal to Xb, the central control module judges that the longitudinal real-time out-of-tolerance displacement does not exceed the standard crack displacement, and the central control module judges that a transverse crack appears at the real-time out-of-tolerance displacement Xs;
when Ys is larger than Xb, the central control module judges that the longitudinal real-time out-of-tolerance displacement exceeds the standard crack displacement, and the central control module judges that the pavement sag occurs at the real-time out-of-tolerance displacement Xs.
When the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, the central control module cannot judge whether the real-time out-of-tolerance displacement exceeds the standard crack displacement, and the detection angle of the laser ranging device is controlled to longitudinally range the road surface to be detected to generate a longitudinal distance displacement curve, so that the real-time pavement disease condition is judged, the judgment of the subsidence, the protrusion and the crack of the road surface is finished, the crack direction can be determined, the analysis and the judgment of the tiny crack can be realized, and the intelligent monitoring precision of the pavement disease is improved.
Specifically, a standard leveling extremum number Tb is arranged in the central control module, when the central control module judges that the real-time detection distance variation in the distance displacement curve f (X) =L does not exceed the standard distance variation, the central control module detects the real-time extremum number Ts in the image of the distance displacement curve f (X) =L, the central control module compares the real-time extremum number Ts with the standard leveling extremum number Tb,
when Ts is less than or equal to Tb, the central control module judges that the real-time extremum number does not exceed the standard leveling extremum number, and the central control module judges that the pavement detected by the initial detection angle Kc is a leveling pavement in the transverse direction;
when Ts is greater than Tb, the central control module determines that the real-time extremum exceeds the standard leveling extremum, and the central control module performs leveling determination on the road section to be detected according to the displacement between the two poles in the displacement curve f (X) =l.
When the central control module judges that the real-time detection distance deviation in the distance displacement curve does not exceed the standard distance difference, the central control module indicates that the defects of cracks, protrusions and depressions do not appear in the detection of the transverse position of the road surface, the central control module acquires the curve extremum in the distance displacement curve, wherein the curve extremum represents the fine concave-convex condition of the road surface, and according to the quantity of the judging curve extremum, whether the road surface is a flat road surface is determined, so that intelligent disease monitoring of the road surface is realized.
Specifically, the central control module is internally provided with a rough extremum standard displacement Xp and a rough extremum standard displacement difference delta Xp, when the central control module judges that the real-time extremum number exceeds the standard flattening extremum number, the central control module obtains adjacent extremum displacement Xj between any two adjacent extremums in a distance displacement curve f (X) =L, the central control module calculates adjacent extremum displacement differences delta Xj, delta xj= |xp-xj| according to the adjacent extremum displacement Xj and the rough extremum standard displacement Xp,
when delta Xj is less than or equal to delta Xp, the central control module judges that the adjacent extremum displacement difference is within the rough extremum standard displacement difference range, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is a rough road surface;
when delta Xj is larger than delta Xp, the central control module judges that the adjacent extremum displacement difference is not in the rough extremum standard displacement difference range, and the central control module judges the road surface state according to the adjacent extremum displacement and the rough extremum standard displacement.
The displacement between any two extreme values in the distance displacement curve is judged, the roughness of the road surface can be shown by the displacement between the two extreme values, the calculated adjacent extreme value displacement difference is compared with the rough extreme value standard displacement difference, whether the road surface to be detected is a rough road surface at the adjacent extreme value displacement position is judged, and when the central control module judges that the adjacent extreme value displacement difference is not in the rough extreme value standard displacement difference range, the central control module judges the adjacent extreme value displacement and the rough extreme value standard displacement so as to ensure the normal running of intelligent disease monitoring of the road surface.
Specifically, when the central control module judges that the adjacent extremum displacement difference is not in the rough extremum standard displacement difference range, the central control module compares the adjacent extremum displacement Xj with the rough extremum standard displacement Xp,
when Xj is larger than Xp, the central control module judges that the adjacent extremum displacement is higher than the rough extremum standard displacement, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is an uneven road surface;
when Xj is smaller than Xp, the central control module judges that the adjacent extremum displacement is lower than the rough extremum standard displacement, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is a flat road surface.
When the central control module judges that the adjacent extremum displacement difference is not in the rough extremum standard displacement difference range, the adjacent extremum displacement is compared with the rough extremum standard displacement, the adjacent extremum displacement is higher than the rough extremum standard displacement, the position distance of the two extremum in the curve is far, the central control module judges that the monitored position is an uneven road surface because of the large number of extremum in the curve, the adjacent extremum displacement is lower than the rough extremum standard displacement, the position distance of the two extremum in the curve is near, the monitored position is judged to be a flat road surface, and through analysis of curve characteristics, the judgment of more accurate road surface leveling condition is completed, and the comprehensiveness of road disease monitoring is ensured.
Specifically, when the laser ranging device performs longitudinal continuous ranging, the central control module can set a unit ranging displacement Xo, R times of continuous ranging is performed on a transverse displacement corresponding to the real-time out-of-tolerance displacement Xs through each time of transverse movement Xo displacement of the laser ranging device, so as to generate R groups of longitudinal distance displacement curves, wherein r=xs/Xo, the central control module repeats the operations of establishing a standard reference function and comparing the standard distance differences, determining the longitudinal real-time out-of-tolerance displacement, and calculating corresponding longitudinal real-time out-of-tolerance displacements Y1, Y2 and Y3 … YR for the R groups of longitudinal distance displacement curves respectively, and the central control module calculates an area Sy of a pavement crack or sag, sy= (y1×xo) + (y2×xo) + (y3×xo) + (yr×xo) … (yr×xo) according to the longitudinal real-time out-of-tolerance displacement of the R groups of longitudinal distance displacement curves.
When the laser ranging device performs longitudinal continuous ranging, unit ranging displacement is arranged in the central control module, each unit ranging displacement of the laser ranging device is subjected to longitudinal continuous ranging once, a plurality of longitudinal distance displacement curves are generated, longitudinal real-time out-of-tolerance displacement of each curve is determined according to a characteristic judgment method of the crack, the area of the crack or the subsidence of the road surface is calculated according to the longitudinal real-time out-of-tolerance displacement and the unit ranging displacement, the depth judgment of the road surface disease is realized, the real-time monitoring of the road disease is realized, and the real-time safety of the road is ensured.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An intelligent monitoring method for pavement diseases is characterized by comprising the following steps:
step S1, placing special road detection equipment in the transverse direction of a road section to be detected, carrying out laser range finding on the road section to be detected at an initial detection angle through a laser range finding device arranged in the special road detection equipment, wherein the laser range finding device can move in the special road detection equipment, carrying out continuous range finding on the transverse direction of the road section to be detected through moving the laser range finding device, and a central control module is arranged in the special road detection equipment and generates a distance displacement curve of the initial detection angle according to the laser detection distance and the transverse displacement of the laser range finding device;
Step S2, the central control module generates a linear function according to two end points of the distance displacement curve, establishes the linear function as a standard reference function of the distance displacement curve, compares the distance displacement curve with the standard reference function, calculates real-time detection distance deviation, and compares the real-time detection distance deviation with the standard distance deviation internally arranged to judge whether cracks, protrusions and sags occur in the transverse direction of the pavement;
step S3, when the central control module judges that the real-time detection distance deviation exceeds the standard distance deviation, the central control module acquires two image relations of a distance displacement curve and a standard reference function, acquires real-time out-of-tolerance displacement of a continuous part of the real-time detection distance deviation exceeding the standard distance deviation, compares the real-time out-of-tolerance displacement with the standard crack displacement, judges that longitudinal cracks, transverse cracks or sags exist on the ground to be detected, and carries out longitudinal continuous distance measurement on a corresponding transverse displacement position at the middle point of the real-time out-of-tolerance displacement by adjusting the initial detection angle of the laser distance measuring device so as to distinguish the sags and the transverse cracks of the ground to be detected;
step S4, when the central control module judges that the real-time detected distance deviation does not exceed the standard distance deviation, the central control module analyzes the distance displacement curve image, and judges that the road surface to be detected is a flat road surface, a rough road surface or an uneven road surface according to the adjacent extreme value displacement between the extreme value part quantity and the two pole values in the distance displacement curve;
An initial detection angle Kc is arranged in the central control module, the laser ranging device continuously ranges the transverse direction of a road section to be detected at the initial detection angle Kc, the central control module generates a distance displacement curve f (X) =L of the initial detection angle according to the laser detection distance L and the transverse displacement X of the laser ranging device, X E [0, W ], wherein W is the width of the road surface to be detected, the central control module acquires the laser detection distance La at X=0 and the laser detection distance Lz at X=W from the curve f (X) =L, the central control module generates a linear function f (M) according to the laser detection distances La and Lz, M E [0, W ], the linear function f (M) passes through two points (0, la) and (W, lz), and the central control module establishes the linear function f (M) as a standard reference function;
the central control module is internally provided with a standard distance difference delta Lb, the central control module compares a distance displacement curve f (X) =L of an initial detection angle Kc with a standard reference function f (M) in an image manner, calculates a real-time detection distance difference delta Lc of the distance displacement curve f (X) =L and the standard reference function f (M) on any lateral displacement according to the image, compares the real-time detection distance difference delta Lc with the standard distance difference delta Lb,
when Δlc is less than or equal to Δlb, the central control module judges that the real-time detection distance deviation does not exceed the standard distance deviation, the central control module judges that no crack, no protrusion and no dip appear in the transverse direction of the road surface detected by the initial detection angle Kc, and the central control module judges the flatness of the road section to be detected according to the distance displacement curve f (X) =L;
When delta Lc is larger than delta Lb, the central control module judges that the real-time detection distance deviation exceeds the standard distance deviation, and the central control module judges which diseases exist on the pavement to be detected according to the two image relations of the distance displacement curve f (X) =L and the standard reference function f (M);
when the central control module judges that the real-time detection range deviation exceeds the standard distance deviation, the central control module acquires two image relations between the distance displacement curve f (X) =L and the standard reference function f (M) at the position where the real-time detection range deviation is delta Lc,
when the distance displacement curve f (X) =l is higher than the standard reference function f (M), the central control module judges that the real-time detection deviation is that the detection distance of the road surface to be detected at the position delta Lc is increased and exceeds the standard distance difference range, and the central control module judges that the subsidence or the crack of the road surface to be detected occurs according to the continuous transverse displacement exceeding the standard distance difference range;
when the distance displacement curve f (X) =l is lower than the standard reference function f (M), the central control module determines that the detection distance of the road surface to be detected at the position where the real-time detection distance deviation is deltalc is reduced and exceeds the standard distance difference range, and the central control module determines that the road surface to be detected at the position where the real-time detection distance deviation is deltalc is a raised road surface;
the central control module is internally provided with a standard crack displacement Xb, when the central control module judges that the real-time detection range of the road surface to be detected at the position of delta Lc is increased and exceeds the standard range of the distance, the central control module obtains the real-time out-of-tolerance displacement Xs of the part of which the real-time detection range exceeds the standard range and is continuous in the image of the distance displacement curve f (X) =L, the central control module compares the real-time out-of-tolerance displacement Xs with the standard crack displacement Xb,
When Xs is less than or equal to Xb, the central control module judges that the real-time out-of-tolerance displacement does not exceed the standard crack displacement, and the central control module judges that the crack appears in the pavement to be detected in the real-time out-of-tolerance displacement Xs and judges that the pavement to be detected is a longitudinal crack;
when Xs is larger than Xb, the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, and the central control module controls the laser ranging device to perform longitudinal continuous ranging on the real-time out-of-tolerance displacement Xs so as to judge that subsidence or transverse cracks appear on the real-time out-of-tolerance displacement Xs;
when the central control module judges that the real-time out-of-tolerance displacement exceeds the standard crack displacement, the central control module carries out longitudinal continuous distance measurement on the corresponding transverse displacement position at the middle point of the real-time out-of-tolerance displacement Xs by adjusting the initial detection angle of the laser distance measuring device, generates a longitudinal distance displacement curve according to the longitudinal displacement of the laser distance measuring point on the road surface and the laser detection distance, repeats the operation of establishing the standard reference function and comparing with the standard distance difference, determines the longitudinal real-time out-of-tolerance displacement Ys, compares the longitudinal real-time out-of-tolerance displacement Ys with the standard crack displacement Xb,
when Ys is less than or equal to Xb, the central control module judges that the longitudinal real-time out-of-tolerance displacement does not exceed the standard crack displacement, and the central control module judges that a transverse crack appears at the real-time out-of-tolerance displacement Xs;
When Ys is larger than Xb, the central control module judges that the longitudinal real-time out-of-tolerance displacement exceeds the standard crack displacement, and the central control module judges that the pavement sag occurs at the real-time out-of-tolerance displacement Xs.
2. The intelligent monitoring method for road surface diseases according to claim 1, wherein the central control module is provided with a standard leveling extremum number Tb, and when the central control module determines that the real-time detection distance variation in the distance displacement curve f (X) =L does not exceed the standard distance variation, the central control module detects the real-time extremum number Ts in the image of the distance displacement curve f (X) =L, and the central control module compares the real-time extremum number Ts with the standard leveling extremum number Tb,
when Ts is less than or equal to Tb, the central control module judges that the real-time extremum number does not exceed the standard leveling extremum number, and the central control module judges that the pavement detected by the initial detection angle Kc is a leveling pavement in the transverse direction;
when Ts is greater than Tb, the central control module determines that the real-time extremum exceeds the standard leveling extremum, and the central control module performs leveling determination on the road section to be detected according to the displacement between the two poles in the displacement curve f (X) =l.
3. The intelligent monitoring method for road surface diseases according to claim 2, wherein the central control module is internally provided with a rough extremum standard displacement Xp and a rough extremum standard displacement difference delta Xp, when the central control module judges that the real-time extremum number exceeds the standard leveling extremum number, the central control module obtains adjacent extremum displacement Xj between any two adjacent extremums in the displacement departure curve f (X) =L, the central control module calculates adjacent extremum displacement differences delta Xj, delta xj= |xp-xj| according to the adjacent extremum displacement Xj and the rough extremum standard displacement Xp,
When delta Xj is less than or equal to delta Xp, the central control module judges that the adjacent extremum displacement difference is within the rough extremum standard displacement difference range, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is a rough road surface;
when delta Xj is larger than delta Xp, the central control module judges that the adjacent extremum displacement difference is not in the rough extremum standard displacement difference range, and the central control module judges the road surface state according to the adjacent extremum displacement and the rough extremum standard displacement.
4. The intelligent monitoring method of road surface damage according to claim 3, wherein when the central control module determines that the adjacent extremum displacement difference is not within the rough extremum standard displacement difference range, the central control module compares the adjacent extremum displacement Xj with the rough extremum standard displacement Xp,
when Xj is larger than Xp, the central control module judges that the adjacent extremum displacement is higher than the rough extremum standard displacement, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is an uneven road surface;
when Xj is smaller than Xp, the central control module judges that the adjacent extremum displacement is lower than the rough extremum standard displacement, and the central control module judges that the adjacent extremum displacement Xj of the road surface to be detected is a flat road surface.
5. The intelligent monitoring method of road surface diseases according to claim 1, wherein when the laser ranging device performs longitudinal continuous ranging, the central control module can set a unit ranging displacement Xo, R sets of longitudinal distance displacement curves are generated by performing R times of continuous ranging on a lateral displacement corresponding to the real-time out-of-tolerance displacement Xs by laterally moving the laser ranging device Xo displacement each time, wherein r=xs/Xo, the central control module repeats the operations of establishing a standard reference function and comparing the standard distance difference and determining the longitudinal real-time out-of-tolerance displacement, for the R sets of longitudinal distance displacement curves, the central control module calculates the corresponding longitudinal real-time out-of-tolerance displacement Y1, Y2, Y3 … YR respectively, and calculates the road surface crack or depressed area Sy, sy= (y1×xo) + (y3×xo) … (yr×xo) according to the longitudinal real-time out-of-tolerance displacement of the R sets of longitudinal distance displacement curves.
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