A road crack detection method, device, equipment and readable storage medium

Abstract

The application provides a road crack detection method, device and equipment and a readable storage medium. An image collected by an image collection device arranged at the bottom of a trolley is acquired, wherein the image comprises a parallel laser region and a cross laser region. Then, light band extraction is performed on the image to generate light band information. Then, Hough transformation is used to perform fitting operation on the light band information to generate a fitting image. Finally, edge detection and segmentation are performed on the fitting image, feature extraction is performed on the fitting image after the edge detection and segmentation, an extraction result is generated, and current position information and crack information are uploaded to a terminal when a crack is detected according to the extraction result, so that the problem that a crack cannot be quickly and accurately detected in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of road inspection, and in particular to a method, apparatus, equipment, and readable storage medium for detecting road cracks. Background Technology

[0002] During highway use, various factors such as age, weather, and non-standard large transport vehicles lead to road cracks and potholes, severely impacting transportation efficiency and safety. Current technologies directly process and analyze images captured by cameras. This approach is problematic because the image quality itself may be difficult to process, resulting in low accuracy. Furthermore, it suffers from insufficient accuracy under strong sunlight during the day, and the mismatch between speed and typical crack width leads to discontinuous images, resulting in poor fitting and affecting test accuracy.

[0003] In view of the above, this application is hereby submitted. Summary of the Invention

[0004] This invention discloses a method, apparatus, device, and readable storage medium for detecting road cracks, aiming to solve the problem of accurately detecting cracks in the prior art.

[0005] The first embodiment of this invention provides a method for detecting road cracks, including:

[0006] The image is acquired by an image acquisition device configured at the bottom of the vehicle, wherein the image includes parallel laser regions and intersecting laser regions;

[0007] The image is subjected to light band extraction to generate light band information;

[0008] The light band information is fitted using the Hough transform to generate a fitted image.

[0009] After edge detection and segmentation of the fitted image, feature extraction is performed to generate extraction results. When a crack is detected based on the extraction results, the current location information and crack information are uploaded to the terminal.

[0010] Preferably, the cross laser area is generated by irradiating the ground with lasers configured on the two rear wheels at the bottom of the vehicle.

[0011] The parallel laser region is generated by irradiating the ground with multiple lasers that are equidistantly arranged on the bottom of the vehicle, wherein the intersecting laser region is connected to the parallel laser region.

[0012] Preferably, after performing the fitting operation on the light band information using the Hough transform to generate a fitted image, the method further includes:

[0013] The fitted image is enhanced to generate an enhanced image;

[0014] The enhanced image is processed to produce a grayscale image;

[0015] The grayscale image is filtered using a filter to generate a smooth image.

[0016] Preferably, the scanning frame rate of the image acquisition device is matched with the running speed of the vehicle.

[0017] The second embodiment of this invention provides a road crack detection device, comprising:

[0018] An image acquisition unit is used to acquire images collected by an image acquisition device configured at the bottom of the vehicle, wherein the images include parallel laser regions and intersecting laser regions;

[0019] A light band information generation unit is used to extract light bands from the image to generate light band information;

[0020] The fitted image generation unit is used to perform a fitting operation on the light band information using Hough transform to generate a fitted image.

[0021] The feature extraction unit is used to perform edge detection and segmentation on the fitted image and then extract features to generate extraction results. When a crack is detected based on the extraction results, the current location information and crack information are uploaded to the terminal.

[0022] Preferably, the cross laser area is generated by irradiating the ground with lasers configured on the two rear wheels at the bottom of the vehicle.

[0023] The parallel laser region is generated by irradiating the ground with multiple lasers that are equidistantly arranged on the bottom of the vehicle, wherein the intersecting laser region is connected to the parallel laser region.

[0024] Preferably, after performing the fitting operation on the light band information using the Hough transform to generate a fitted image, the method further includes:

[0025] The fitted image is enhanced to generate an enhanced image;

[0026] The enhanced image is processed to produce a grayscale image;

[0027] The grayscale image is filtered using a filter to generate a smooth image.

[0028] Preferably, the scanning frame rate of the image acquisition device is matched with the running speed of the vehicle.

[0029] The third embodiment of this invention provides a road crack detection device, including a memory and a processor. The memory stores a computer program, which can be executed by the processor to implement a road crack detection method as described in any of the above embodiments.

[0030] The fourth embodiment of this invention provides a computer-readable storage medium storing a computer program that can be executed by a processor of the device in which the computer-readable storage medium is located, to implement a road crack detection method as described in any of the above embodiments.

[0031] Based on the present invention, a method, apparatus, device, and readable storage medium for detecting road cracks are provided. The method involves acquiring an image from an image acquisition device located at the bottom of a vehicle, wherein the image includes parallel laser regions and intersecting laser regions. Next, light band extraction is performed on the image to generate light band information. Then, Hough transform is used to fit the light band information to generate a fitted image. Finally, edge detection and segmentation are performed on the fitted image, and feature extraction is performed to generate an extraction result. When a crack is detected based on the extraction result, the current location information and crack information are uploaded to the terminal, thus solving the problem of accurately detecting cracks in the prior art. Attached Figure Description

[0032] Figure 1 This is a schematic flowchart of a road crack detection method provided in the first embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram showing the connection between the parallel laser region and the cross laser region provided by the present invention;

[0034] Figure 3 This is a schematic diagram of a road crack detection device provided in the second embodiment of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0037] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0038] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0039] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0040] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0041] The terms "first" and "second" used in the embodiments are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first" and "second" can be interchanged in a specific order or sequence where permissible. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein.

[0042] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0043] This invention discloses a method, apparatus, device, and readable storage medium for detecting road cracks, aiming to solve the problem of accurately detecting cracks in the prior art.

[0044] The first embodiment of this invention provides a method for detecting road cracks, which can be executed by a road crack detection device (hereinafter referred to as the detection device), and in particular, by one or more processors within the detection device, to at least implement the following steps:

[0045] S101, acquire an image acquired by an image acquisition device configured at the bottom of the vehicle, wherein the image includes a parallel laser region and an intersecting laser region;

[0046] In this embodiment, the detection device can be a desktop computer, laptop computer, tablet computer, or other terminal with data processing and analysis capabilities. The detection device can be equipped with a corresponding operating system and application software, and the functions required in this embodiment are realized through the combination of the operating system and application software.

[0047] It should be noted that, in this embodiment, the image acquisition device is configured between the two front wheels at the bottom of the vehicle, and two lasers can be configured between the two rear wheels to illuminate the ground to form a cross laser area on the ground. Multiple lasers are equidistantly configured at the bottom of the vehicle to illuminate the ground and generate a parallel laser area. The interval between each laser can be, but is not limited to, 1 cm. The lasers can be line lasers, and the generated cross laser area and parallel laser area can be connected.

[0048] Furthermore, the detection device is equipped with a GPS-RTK module or a Beidou positioning module (not specifically limited here) and a 4G / 5G module, which can be used to obtain the current location information in real time and can communicate with the terminal.

[0049] S102, extract the light band from the image to generate light band information;

[0050] It should be noted that during the vehicle's movement, each frame of the image acquisition device is transformed into a top-down image through affine transformation. Then, the parallel laser area and the intersecting laser area of ​​each frame are extracted to generate light band information.

[0051] S103, The light band information is fitted using Hough transform to generate a fitted image;

[0052] It should be noted that this is used to detect the presence and location of geometric shapes (such as lines, circles, etc.) in an image. Its basic principle is to convert the geometric shapes in the image space into curves or points in the parameter space, and then perform detection and analysis in the parameter space. The fitted image is a 2D planar graph.

[0053] To ensure accurate crack detection, the fitted image can first be enhanced to generate an enhanced image; then, the enhanced image can be processed to generate a grayscale image; finally, a filter can be applied to the grayscale image to generate a smooth image.

[0054] S104, after edge detection and segmentation of the fitted image, feature extraction is performed to generate extraction results, and when a crack is detected based on the extraction results, the current location information and crack information are uploaded to the terminal.

[0055] In one possible embodiment of the invention, the scanning frame rate of the image acquisition device is matched with the running speed of the vehicle.

[0056] It should be noted that by setting up the parallel laser area and the cross laser area to expand the scanning area, it is possible to detect vehicle speeds faster. Due to the increased number of lasers and the expanded scanning area, when a suitable frame rate of 100 frames per second is set at the beginning to match the vehicle speed of 36 km / h, road cracks can be continuously detected.

[0057] In one possible embodiment of the invention, the laser beam generated by the line laser has a beam width greater than the width of the vehicle to prevent excessive sunlight from shining on either side, which could affect the image quality.

[0058] Please see Figure 2 The second embodiment of this invention provides a road crack detection device, comprising:

[0059] Image acquisition unit 201 is used to acquire images acquired by an image acquisition device configured at the bottom of the vehicle, wherein the images include parallel laser regions and intersecting laser regions;

[0060] The light band information generation unit 202 is used to extract light bands from the image to generate light band information;

[0061] The fitted image generation unit 203 is used to perform a fitting operation on the light band information using Hough transform to generate a fitted image.

[0062] The feature extraction unit 204 is used to perform edge detection and segmentation on the fitted image and then extract features to generate extraction results. When a crack is detected based on the extraction results, the current location information and crack information are uploaded to the terminal.

[0063] Preferably, the cross laser area is generated by irradiating the ground with lasers configured on the two rear wheels at the bottom of the vehicle.

[0064] The parallel laser region is generated by irradiating the ground with multiple lasers that are equidistantly arranged on the bottom of the vehicle, wherein the intersecting laser region is connected to the parallel laser region.

[0065] Preferably, after performing the fitting operation on the light band information using the Hough transform to generate a fitted image, the method further includes:

[0066] The fitted image is enhanced to generate an enhanced image;

[0067] The enhanced image is processed to produce a grayscale image;

[0068] The grayscale image is filtered using a filter to generate a smooth image.

[0069] Preferably, the scanning frame rate of the image acquisition device is matched with the running speed of the vehicle.

[0070] The third embodiment of this invention provides a road crack detection device, including a memory and a processor. The memory stores a computer program, which can be executed by the processor to implement a road crack detection method as described in any of the above embodiments.

[0071] The fourth embodiment of this invention provides a computer-readable storage medium storing a computer program that can be executed by a processor of the device in which the computer-readable storage medium is located, to implement a road crack detection method as described in any of the above embodiments.

[0072] Based on the present invention, a method, apparatus, device, and readable storage medium for detecting road cracks are provided. The method involves acquiring an image from an image acquisition device located at the bottom of a vehicle, wherein the image includes parallel laser regions and intersecting laser regions. Next, light band extraction is performed on the image to generate light band information. Then, Hough transform is used to fit the light band information to generate a fitted image. Finally, edge detection and segmentation are performed on the fitted image, and feature extraction is performed to generate an extraction result. When a crack is detected based on the extraction result, the current location information and crack information are uploaded to the terminal, thus solving the problem of accurately detecting cracks in the prior art.

[0073] Exemplary examples show that the computer program described in the third and fourth embodiments of the present invention can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in implementing a road crack detection device. For example, the apparatus described in the second embodiment of the present invention.

[0074] The processor referred to can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the road crack detection method, connecting various parts of the entire system based on the road crack detection method through various interfaces and lines.

[0075] The memory can be used to store the computer program and / or modules. The processor implements various functions of a road crack detection method by running or executing the computer program and / or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, text conversion function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, text message data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0076] If the implemented module is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0077] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0078] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for detecting road cracks, characterized in that... ,include: The image is acquired by an image acquisition device configured at the bottom of the vehicle, wherein the image includes parallel laser regions and intersecting laser regions; The image is subjected to light band extraction to generate light band information; The light band information is fitted using the Hough transform to generate a fitted image; The fitted image is enhanced to generate an enhanced image; The enhanced image is processed to produce a grayscale image; The grayscale image is filtered using a filter to generate a smooth image; After edge detection and segmentation of the fitted image, feature extraction is performed to generate extraction results. When a crack is detected based on the extraction results, the current location information and crack information are uploaded to the terminal. The intersecting laser zones are generated by irradiating the ground with lasers mounted on the two rear wheels at the bottom of the vehicle. The parallel laser region is generated by irradiating the ground with multiple lasers that are equidistantly arranged on the bottom of the vehicle, wherein the intersecting laser region is connected to the parallel laser region; By combining the parallel laser regions and the cross laser regions, the scanning area of ​​the road surface is expanded; The laser is a line laser, and the laser beam generated by the line laser has a width wider than the width of the vehicle to avoid excessive sunlight on any side, which could affect the image quality.

2. The method for detecting road cracks according to claim 1, characterized in that... The scanning frame rate of the image acquisition device is matched with the running speed of the trolley.

3. A road crack detection device, characterized in that... ,include: An image acquisition unit is used to acquire images captured by an image acquisition device configured at the bottom of the vehicle, wherein the images include parallel laser regions and intersecting laser regions; A light band information generation unit is used to extract light bands from the image to generate light band information; The image fitting unit is used to perform a fitting operation on the light band information using Hough transform to generate a fitted image; The feature extraction unit is used to perform edge detection and segmentation on the fitted image and then extract its features to generate extraction results. When a crack is detected based on the extraction results, the unit uploads the current location information and crack information to the terminal. The cross laser area is generated by irradiating the ground with at least two lasers configured on the bottom of the vehicle; The parallel laser region is generated by irradiating the ground with multiple lasers that are equidistantly arranged on the bottom of the vehicle, wherein the intersecting laser region is connected to the parallel laser region; By combining the parallel laser regions and the cross laser regions, the scanning area of ​​the road surface is expanded; The laser is a line laser, and the laser beam generated by the line laser has a width wider than the width of the vehicle to avoid excessive sunlight on any side, which could affect the image quality.

4. The road crack detection device according to claim 3, characterized in that... After performing the Hough transform to fit the light band information to generate a fitted image, the method further includes: The fitted image is enhanced to generate an enhanced image; The enhanced image is processed to produce a grayscale image; The grayscale image is filtered using a filter to generate a smooth image.

5. A road crack detection device according to claim 3, characterized in that... The scanning frame rate of the image acquisition device is matched with the running speed of the trolley.

6. A road crack detection device, characterized in that, The system includes a memory and a processor, wherein the memory stores a computer program that can be executed by the processor to implement a method for detecting road cracks as described in any one of claims 1 to 2.

7. A computer-readable storage medium, characterized in that, The device contains a computer program that can be executed by a processor of the device on which the computer-readable storage medium is located, to implement a method for detecting road cracks as described in any one of claims 1 to 2.

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