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Road surface unevenness detection method, device, system, medium and equipment

A technology of uneven road surface and detection method, which is applied in image data processing, 3D modeling, instruments, etc., can solve the problems of unsuitable unstructured road surface and low efficiency, so as to reduce the research and development cycle and cost, improve accuracy, Effect of low measurement error

Active Publication Date: 2021-09-17
SOUTH CHINA AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the development of structured road surface roughness measurement devices is relatively mature, but the efficiency of direct measurement of road surface roughness such as 3-meter ruler, spirit level-benchmark, and multi-wheel instrument is too low and gradually eliminated; BPR trailer bump Accumulators and vehicle-mounted road surface roughness testers are not suitable for unstructured road surface roughness measurement with poor road conditions due to the limitation of applicable scenarios

Method used

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  • Road surface unevenness detection method, device, system, medium and equipment
  • Road surface unevenness detection method, device, system, medium and equipment
  • Road surface unevenness detection method, device, system, medium and equipment

Examples

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Embodiment 1

[0069] The current road surface roughness measurement is mainly aimed at structuring the road, but based on the current structure of the human impact of road roughness there is a large factor, accuracy is not high, poor stability and is not suitable for measuring unstructured road problems. Based on this, the present embodiment discloses an embodiment suitable for mountain fruit tea and other non-structural Videos pavement road surface roughness detection method, and a high road roughness increases the detection efficiency and detection stability.

[0070] For the present embodiment for ease of understanding, embodiments of the first embodiment of the present application xx disclosed method is described in detail, see figure 1 The method of detecting the road surface as shown in a flowchart of unevenness, the method comprising the steps of:

[0071] S1, following the obtaining the mobile platform is mounted on a mobile platform moves lidar acquired point cloud data of the road. Fi...

Embodiment 2

[0104] This embodiment discloses a road-free detection device, including point cloud data acquisition module, denoising processing module, registration process module, division module, elevation information extraction module, and road uneasiness determination module, and the functions of each module are as follows:

[0105] Point cloud data acquisition module is used to obtain road point cloud data collected by laser radar mounted on the mobile platform.

[0106] Denoising processing module for denoising point cloud data;

[0107] The registration process module is used to register the cloud data after the denoising treatment to increase the amount of traffic of the road point;

[0108] The segmentation module is used to point the point cloud data after the registration process, and obtain the point cloud data of the road surface;

[0109] The elevation information extraction module is used to extract road elevation information from the point cloud data of the road pave;

[0110] ...

Embodiment 3

[0116] This example discloses a pavement uneven detection system, such as Figure 9 As shown in, the host, laser radar, mobile platform, and power supply are included.

[0117] Laser radar is mounted on the mobile platform for collecting road point cloud data when moving with the mobile platform. In the present embodiment, the mobile platform can be a track transport vehicle, and the laser radar is fixed to the track transport vehicle at a certain angle with a laser radar mounting frame, and the laser radar can employ VLP-16 laser radar.

[0118] Laser radar is connected to the upper machine, which is used to send the captured road point cloud data to the host computer.

[0119] The mobile platform is connected to the host machine, and the mobile platform is used to feed back the host. In this embodiment, the mobile platform feeds back the mobile information to the host computer, when the mobile platform starts moving, the host machine controls the laser radar to start collecting w...

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Abstract

The invention discloses a road surface unevenness detection method, device and system, a medium and equipment. The method comprises the following steps: firstly, acquiring road point cloud data acquired by a laser radar which is carried on a mobile platform and moves along with the mobile platform; then denoising, registering and segmenting the point cloud data to obtain the point cloud data of the road surface and the point cloud data of the road surface; extracting the road surface elevation information from the point cloud data of the road surface; and calculating the pavement power spectrum density through the pavement elevation information, and determining the pavement unevenness grade according to the pavement power spectrum density. The method is suitable for detecting unevenness of unstructured roads with poor road conditions, has the advantages of high detection efficiency and good stability, can solve the problem of detection vacancy of unstructured road unevenness of mountain fruit tea gardens and other unstructured roads, improves the design and research and development level of modern agricultural machinery, reduces the research and development period and research and development cost, so that the agricultural machinery power spectrum indoor simulation test accuracy is improved.

Description

Technical field [0001] The present invention relates to the field of automatic road failure automatic identification, and in particular, there is a road non-flatness detection method, device, system, medium, and equipment suitable for non-structural painting pavements such as mountain fruit tea gardens. Background technique [0002] When the vehicle is traveling on a non-flat pavement, there is a big effect on the vehicle itself, the vehicle, the vehicle, the vehicle, and the road structure are highly affected. Currently, there have been some research on road failure. [0003] 3 m scales and levels - benchmarks are commonly fixed-references measurement pavement unevenness detection instruments. Place 3 m squares on the road that the vehicle may pass, can measure the distance between the bottom surface of 3 meters and the road surface with a range of plugs, multi-point data acquisition, to measure the road surface is not flat. Variety. This method is that the measurement cost is l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/20G06T7/11G06T7/32G06T5/00
CPCG06T17/20G06T7/11G06T7/32G06T2207/10028G06T2207/30256G06T5/70
Inventor 吴伟斌赵新李杰岳丹丹韩重阳侯俊伟曾治亨雷芳唐婷
Owner SOUTH CHINA AGRI UNIV
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