Integrated fine detection method and equipment for road service state based on full three dimensions

Abstract

The application provides a kind of based on full three-dimensional road service state integrated fine detection method and equipment, it is related to road detection technical field, method includes: based on the road surface three-dimensional point cloud data of target road, determines road surface apparent service state;Based on the road surface deformation velocity of target road, the road surface vertical deformation of multiple measuring points in the road surface deflection basin under the action of moving load is inversed, and based on the road surface vertical deformation of multiple measuring points and the road surface layer thickness information of target road, determines road surface structure service state;Based on road surface apparent service state, road surface structure service state and three-dimensional electromagnetic wave data in target road, determines the lesion information of target road.The application effectively realizes a kind of road service state rapid detection that road surface appearance, road surface structure and implicit lesion are integrated by using dynamic precision three-dimensional measurement technology, compared with traditional detection method, the road service state characterization obtained by the application is more rich, accurate and comprehensive.

Description

Technical Field

[0001] This invention relates to the field of road inspection technology, and in particular to an integrated and refined inspection method and equipment for the service status of roads based on full three-dimensional measurement. Background Technology

[0002] As the service life of transportation facilities increases and transportation pressure intensifies, various defects also arise, leading to a significant reduction in the performance and service life of transportation facilities. This results in a substantial increase in the amount of maintenance work required. Scientific maintenance decisions and fund allocation depend on timely and accurate acquisition of technical condition data of transportation facilities.

[0003] For the detection of cracks and deformations in transportation infrastructure, the current mainstream detection method is to use two-dimensional image recognition technology. However, this technology cannot obtain depth information of the defects. In many cases, when it is not possible to obtain significant two-dimensional defect features using special light sources, defect identification becomes very difficult, and the identification results are far from those of human visual recognition.

[0004] With the rapid development of measurement technology, dynamic precision three-dimensional measurement technology has begun to be gradually applied to the field of road technical condition inspection. However, how to use dynamic precision three-dimensional measurement technology to achieve refined inspection of road service status has become an urgent problem to be solved in the industry. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides an integrated and refined detection method and equipment for road service status based on full three-dimensional measurement.

[0006] In a first aspect, the present invention provides an integrated and refined detection method for road service status based on full three-dimensional analysis, comprising: Based on the three-dimensional point cloud data of the target road surface, the apparent service status of the target road surface is determined; Based on the road surface deformation rate of the target road, the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of moving load is inverted, and based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the service status of the road surface structure of the target road is determined. Based on the surface service status of the target road, the structural service status of the target road, and the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined.

[0007] Optionally, according to the integrated refined detection method for road service status based on full three-dimensional data provided by the present invention, determining the apparent service status of the target road surface based on the three-dimensional point cloud data of the target road surface includes: Based on the three-dimensional point cloud data of the target road surface, target information is determined, including the road surface damage, road surface smoothness, road surface texture depth, and road surface rut depth of the target road. Based on the target information, the apparent service status of the target road surface is determined.

[0008] Optionally, according to the integrated refined detection method for road service status based on full three-dimensional measurement provided by the present invention, determining the pavement structure service status of the target road based on the vertical deformation of the pavement at the multiple measuring points and the pavement layer thickness information of the target road includes: Based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the road surface structure layer modulus of the target road is determined, and based on the vertical deformation of the road surface at the multiple measuring points, the relative vertical deformation of the road surface between different measuring points is determined. Based on the vertical deformation of the road surface at the multiple measuring points, the relative vertical deformation of the road surface between different measuring points, and the modulus of the road structure layer, the service status of the road structure of the target road is determined.

[0009] Optionally, according to the integrated refined detection method for road service status based on full three-dimensional analysis provided by the present invention, determining the defect information of the target road based on the apparent service status of the target road surface, the service status of the target road surface structure, and the three-dimensional electromagnetic wave data inside the target road includes: Based on the three-dimensional electromagnetic wave data inside the target road and the knowledge graph information of road lesions, the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road are identified. The similarity between the first three-dimensional electromagnetic wave data and the second three-dimensional electromagnetic wave data is determined, and a first confidence level of the suspected lesion target is determined based on the similarity. The first three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to the location of the suspected lesion target, and the second three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to a preset area near the location of the suspected lesion target. The suspected lesion target is not present in the three-dimensional electromagnetic wave data corresponding to the preset area. Based on the surface service status of the target road, the structural service status of the target road, and the first confidence level of the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined.

[0010] Optionally, according to the integrated refined detection method for road service status based on full three-dimensional analysis provided by the present invention, the step of determining the lesion information of the target road based on the pavement surface service status, the pavement structure service status, and the first confidence level of suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road includes: The three-dimensional electromagnetic wave data corresponding to the first target sub-segment of the target road is taken as the first type of three-dimensional electromagnetic wave data. The state value corresponding to the apparent service state of the road surface of the first target sub-segment is greater than a first preset value, and the state value corresponding to the service state of the road surface structure of the first target sub-segment is greater than a second preset value. The three-dimensional electromagnetic wave data corresponding to the second target sub-segment of the target road is used as the second type of three-dimensional electromagnetic wave data. The three-dimensional electromagnetic wave data corresponding to the third target sub-segment of the target road is taken as the third type of three-dimensional electromagnetic wave data. The state value corresponding to the service state of the pavement structure of the third target sub-segment is less than the third preset value. The third preset value is less than the second preset value. The second target sub-segment is the remaining sub-segments of the target road other than the first target sub-segment and the third target sub-segment. Based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data, the lesion information corresponding to the first type of three-dimensional electromagnetic wave data is obtained; Based on the first confidence level of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data, the lesion information corresponding to the second type of three-dimensional electromagnetic wave data is obtained; The manual identification results of the suspected lesion targets included in the third type of three-dimensional electromagnetic wave data are obtained, and based on the manual identification results, the lesion information corresponding to the third type of three-dimensional electromagnetic wave data is obtained.

[0011] Optionally, according to the integrated refined detection method for road service status based on full three-dimensional data provided by the present invention, obtaining the lesion information corresponding to the first type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data includes: A first suspected lesion target included in the first type of three-dimensional electromagnetic wave data is identified whose first confidence level is greater than or equal to a preset first confidence level threshold, and the lesion information of the first suspected lesion target is used as the lesion information corresponding to the first type of three-dimensional electromagnetic wave data.

[0012] Optionally, according to the integrated refined detection method for road service status based on full three-dimensional data provided by the present invention, obtaining the lesion information corresponding to the second type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data includes: Based on the pavement surface service status and pavement structure service status at the location of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data, a second confidence threshold is determined. A second suspected lesion target is identified in the second type of three-dimensional electromagnetic wave data whose first confidence level is greater than or equal to the second confidence level threshold, and the lesion information of the second suspected lesion target is used as the lesion information corresponding to the second type of three-dimensional electromagnetic wave data.

[0013] Secondly, the present invention also provides an integrated and refined detection equipment for road service status based on full three-dimensional measurement, comprising: a line-scanning three-dimensional measurement unit, a laser dynamic deflection measurement unit, a three-dimensional ground-penetrating radar measurement unit, a positioning unit, and a vehicle platform, wherein the line-scanning three-dimensional measurement unit, the laser dynamic deflection measurement unit, the three-dimensional ground-penetrating radar measurement unit, and the positioning unit are all integrated on the vehicle platform; The line-scan three-dimensional measurement unit is used to acquire three-dimensional point cloud data of the target road surface and determine the surface service status of the target road surface based on the three-dimensional point cloud data of the target road surface. The laser dynamic deflection measurement unit is used to acquire the pavement deformation rate of the target road, and based on the pavement deformation rate of the target road, to invert the vertical deformation of the pavement at multiple measuring points in the pavement deflection basin of the target road under the action of moving load, and then to determine the service status of the pavement structure of the target road based on the vertical deformation of the pavement at the multiple measuring points and the pavement layer thickness information of the target road. The three-dimensional ground-penetrating radar measurement unit is used to acquire three-dimensional electromagnetic wave data inside the target road, and to determine the lesion information of the target road based on the surface service status of the target road, the surface structure service status of the target road, and the three-dimensional electromagnetic wave data inside the target road. The positioning unit is used to acquire the positioning information required during the service status detection of the target road.

[0014] Optionally, according to the present invention, an integrated and refined road service status detection equipment based on full three-dimensional analysis is provided, wherein the vehicle platform includes: a trailer and a tractor for towing the trailer, and a measurement cabin is integrated on top of the trailer; The line-scanning 3D measurement unit is located at the rear of the measurement cabin and includes a laser and a 3D camera. The laser and the 3D camera are used to acquire 3D point cloud data of the target road surface. The laser dynamic deflection measurement unit is installed inside the measurement cabin and is located above the left wheel track of the trailer or above the right wheel track of the trailer. It includes a laser Doppler velocimeter, a gyroscope, an accelerometer, and a thermometer. The laser Doppler velocimeter is used to detect the road surface deformation rate of the target road. The gyroscope is used to compensate for the rotational speed noise of the laser Doppler velocimeter. The accelerometer is used to compensate for the dynamic changes of the moving load. The thermometer is used to correct the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of the moving load. The three-dimensional ground-penetrating radar measurement unit is located at the bottom of the trailer and includes a radar host, an antenna, and a transceiver unit, used to acquire three-dimensional electromagnetic wave data inside the target road. The positioning unit includes a GNSS locator and a DMI locator. The GNSS locator includes a GNSS receiver and a GNSS antenna. The GNSS receiver is located inside the measurement cabin, and the GNSS antenna is located on the top of the measurement cabin or the top of the tractor. The DMI locator is installed at the rear axle of the trailer.

[0015] Optionally, according to the present invention, an integrated and refined detection equipment for road service status based on full three-dimensional analysis further includes a correction module; The correction module is used to acquire the relative installation positions of the line-scan three-dimensional measurement unit, the laser dynamic deflection measurement unit, and the three-dimensional ground-penetrating radar measurement unit along the travel direction of the vehicle platform and the width direction of the target road, respectively, and to correct the pavement appearance service status, pavement structure service status, and lesion information of the target road based on the relative installation positions, so as to obtain the pavement appearance service status, pavement structure service status, and lesion information of the target road under the same spatiotemporal reference.

[0016] This invention provides an integrated, refined detection method and equipment for road service status based on full three-dimensional measurement. It determines the apparent service status of the target road surface using three-dimensional point cloud data of the road surface. Based on the road surface deformation rate, it inverts the vertical deformation of the road surface at multiple measuring points within the deflection basin under moving loads. Then, based on the vertical deformation of the road surface at multiple measuring points and the road surface layer thickness information, it determines the structural service status of the target road surface. Finally, based on the apparent service status, structural service status, and three-dimensional electromagnetic wave data within the target road surface, it determines the defect information of the target road. In other words, it effectively achieves rapid detection of road service status by integrating pavement appearance, pavement structure, and latent defects using dynamic precision three-dimensional measurement technology. Compared to traditional detection methods, the road service status characterization obtained by this invention is richer, more accurate, and more comprehensive. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the integrated and refined detection method for road service status based on full three-dimensional analysis provided by the present invention. Figure 2 This is a schematic diagram of the integrated and refined detection equipment for road service status based on full three-dimensional analysis provided by the present invention. Figure 3 This is a schematic diagram of the physical structure of the electronic device provided by the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0020] It should be noted that in the description of this invention, the terms "first," "second," etc., are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, the first object can be one or more.

[0021] The following description, in conjunction with the accompanying drawings, provides an exemplary introduction to the integrated and refined detection method and equipment for road service status based on full three-dimensional analysis provided by the present invention.

[0022] Figure 1 This is a flowchart illustrating the integrated and refined detection method for road service status based on full three-dimensional analysis provided by the present invention, as shown below. Figure 1 As shown, the method includes: Step 100: Based on the three-dimensional point cloud data of the target road surface, determine the surface service status of the target road surface. Step 110: Based on the road surface deformation rate of the target road, invert the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of moving load, and determine the service status of the road surface structure of the target road based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road. Step 120: Based on the surface service status of the target road, the structural service status of the target road, and the three-dimensional electromagnetic wave data inside the target road, determine the lesion information of the target road.

[0023] It should be noted that the executing entity of the integrated refined detection method for road service status based on full three-dimensional analysis provided in this embodiment of the invention can be an electronic device, a component in an electronic device, an integrated circuit, or a chip. The electronic device can be a mobile electronic device or a non-mobile electronic device. For example, a mobile electronic device can be a mobile phone, tablet computer, laptop computer, PDA, wearable device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc., while a non-mobile electronic device can be a server, network attached storage (NAS), personal computer (PC), television (TV), ATM, or self-service machine, etc. This embodiment of the invention does not specifically limit the specific implementation of these methods.

[0024] The following example, using a computer executing the integrated and refined detection method for road service status based on full three-dimensional analysis provided by this invention, illustrates the technical solution of this invention in detail.

[0025] Specifically, in this embodiment of the invention, three-dimensional point cloud data of the target road surface can be acquired first, and the apparent service status of the target road surface can be determined based on the three-dimensional point cloud data of the target road surface. Simultaneously, the road surface deformation rate of the target road can be acquired, and based on the road surface deformation rate of the target road surface, the vertical deformation of the road surface at multiple measuring points within the deflection basin of the target road surface under moving load can be inverted. Then, based on the vertical deformation of the road surface at multiple measuring points and the road surface layer thickness information of the target road surface, the service status of the target road surface structure can be determined. Finally, using the acquired three-dimensional electromagnetic wave data inside the target road surface, and combining the apparent service status and the service status of the target road surface structure, the defect information of the target road surface can be determined.

[0026] It should be noted that the pavement appearance service status and pavement structure service status of the target road in the embodiments of the present invention can be understood as the pavement appearance health status and pavement structure health status of the target road.

[0027] It should be noted that, in this embodiment of the invention, based on the road surface deformation rate of the target road, the vertical deformation of the road surface at multiple measuring points within the road surface deflection basin of the target road under the action of moving load can be inverted. The multiple measuring points within the road surface deflection basin can be a preset number of measuring points. This embodiment of the invention does not impose a specific limit on the number of measuring points, and can be adaptively set based on actual applications.

[0028] Optionally, before determining the service status of the pavement structure of the target road based on the vertical deformation of the pavement at the multiple measuring points and the pavement layer thickness information of the target road, the method further includes: determining the pavement layer thickness information of the target road based on the three-dimensional electromagnetic wave data inside the target road, the dielectric constant characteristics of different pavement layers of the target road, and the relationship between the electromagnetic physical properties of different pavement layer media and the electromagnetic signal waveform.

[0029] This invention provides an integrated and refined detection method for road service status based on full three-dimensional measurement. It determines the apparent service status of the target road surface using three-dimensional point cloud data of the road surface. Based on the road surface deformation rate, it inverts the vertical deformation of the road surface at multiple measuring points within the deflection basin under moving loads. Then, based on the vertical deformation of the road surface at multiple measuring points and the road surface layer thickness information, it determines the structural service status of the target road surface. Finally, based on the apparent service status, structural service status, and three-dimensional electromagnetic wave data within the target road surface, it determines the defect information of the target road. In other words, it effectively achieves rapid detection of road service status by integrating pavement appearance, pavement structure, and latent defects using dynamic precision three-dimensional measurement technology. Compared with traditional detection methods, the road service status characterization obtained by this invention is richer, more accurate, and more comprehensive.

[0030] Optionally, determining the apparent service status of the target road surface based on the three-dimensional point cloud data of the target road surface includes: Based on the three-dimensional point cloud data of the target road surface, target information is determined, including the road surface damage, road surface smoothness, road surface texture depth, and road surface rut depth of the target road. Based on the target information, the apparent service status of the target road surface is determined.

[0031] Specifically, in this embodiment of the invention, in order to determine the apparent service status of the target road based on the three-dimensional point cloud data of the target road surface, the road surface damage, road surface smoothness, road surface texture depth and road surface rutting depth of the target road can be determined first based on the three-dimensional point cloud data of the target road surface. Then, based on the road surface damage, road surface smoothness, road surface texture depth and road surface rutting depth of the target road, the apparent service status of the target road surface can be determined.

[0032] Optionally, in this embodiment of the invention, a refined three-dimensional model can first be performed on the precise three-dimensional point cloud data of the target road surface to obtain refined three-dimensional point cloud data of the road surface after filtering out redundant data such as measurement attitude. Then, based on the refined three-dimensional point cloud data of the road surface, the pavement damage (Pavement Condition Index (PCI) and three-dimensional information of pavement distress), pavement smoothness (International Roughness Index (IRI), pavement texture depth (SMTD), and pavement rutting depth (RD) of the target road surface can be determined. Then, the pavement damage, pavement smoothness, pavement texture depth, and pavement rutting depth can be used to characterize the pavement appearance service condition of the target road surface to obtain the pavement appearance service status of the target road surface.

[0033] This invention uses three-dimensional point cloud data of the target road surface to determine the road surface damage, smoothness, texture depth, and rutting depth of the target road. Based on these parameters, a richer and more comprehensive understanding of the road surface's service condition can be obtained.

[0034] Optionally, determining the service status of the pavement structure of the target road based on the vertical deformation of the pavement at the multiple measuring points and the pavement layer thickness information of the target road includes: Based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the road surface structure layer modulus of the target road is determined, and based on the vertical deformation of the road surface at the multiple measuring points, the relative vertical deformation of the road surface between different measuring points is determined. Based on the vertical deformation of the road surface at the multiple measuring points, the relative vertical deformation of the road surface between different measuring points, and the modulus of the road structure layer, the service status of the road structure of the target road is determined.

[0035] Specifically, in this embodiment of the invention, in order to determine the service status of the pavement structure of the target road based on the vertical deformation of the pavement at multiple measuring points within the pavement deflection basin under moving load and the pavement layer thickness information of the target road, the pavement structure layer modulus of the target road can be determined first based on the vertical deformation of the pavement at multiple measuring points within the pavement deflection basin and the pavement layer thickness information of the target road. Then, based on the vertical deformation of the pavement at multiple measuring points within the pavement deflection basin, the relative vertical deformation of the pavement between different measuring points within the pavement deflection basin can be determined. Finally, based on the vertical deformation of the pavement at multiple measuring points within the pavement deflection basin, the relative vertical deformation of the pavement between different measuring points within the pavement deflection basin, and the aforementioned pavement structure layer modulus, the service status of the pavement structure of the target road can be determined.

[0036] Optionally, the relative vertical deformation of the road surface between different measuring points among multiple measuring points in the road surface deflection basin may include, but is not limited to, the difference in vertical deformation of the road surface at different measuring points, the ratio of vertical deformation of the road surface at different measuring points, etc.

[0037] Optionally, determining the defect information of the target road based on the apparent service status of the target road surface, the service status of the target road structure, and the three-dimensional electromagnetic wave data inside the target road includes: Based on the three-dimensional electromagnetic wave data inside the target road and the knowledge graph information of road lesions, the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road are identified. The similarity between the first three-dimensional electromagnetic wave data and the second three-dimensional electromagnetic wave data is determined, and a first confidence level of the suspected lesion target is determined based on the similarity. The first three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to the location of the suspected lesion target, and the second three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to a preset area near the location of the suspected lesion target. The suspected lesion target is not present in the three-dimensional electromagnetic wave data corresponding to the preset area. Based on the surface service status of the target road, the structural service status of the target road, and the first confidence level of the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined.

[0038] Specifically, in this embodiment of the invention, in order to determine the lesion information of a target road based on the surface service status, the structural service status, and the three-dimensional electromagnetic wave data within the target road, the following steps can be taken: First, based on the three-dimensional electromagnetic wave data and the knowledge graph information of road lesions within the target road, suspected lesion targets included in the three-dimensional electromagnetic wave data within the target road can be identified. Then, the similarity between the three-dimensional electromagnetic wave data (first three-dimensional electromagnetic wave data) corresponding to the location of the suspected lesion target and the three-dimensional electromagnetic wave data (second three-dimensional electromagnetic wave data) corresponding to a preset area near the location of the suspected lesion target can be determined. Furthermore, a first confidence level of the suspected lesion targets included in the three-dimensional electromagnetic wave data within the target road can be obtained. Then, based on the surface service status, the structural service status, and the first confidence level of the suspected lesion targets included in the three-dimensional electromagnetic wave data within the target road, the lesion information of the target road can be determined. In this case, no suspected lesion targets are found in the three-dimensional electromagnetic wave data corresponding to the preset area near the location of the suspected lesion target.

[0039] It should be noted that the knowledge graph information of road lesions can reflect the correlation information between the three-dimensional electromagnetic wave data inside the road and the road lesions.

[0040] Optionally, artificial intelligence algorithms can be used to determine the size, category, and location information of suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road and the knowledge graph information of road lesions.

[0041] Optionally, determining the lesion information of the target road based on the pavement surface service status, the pavement structure service status, and the first confidence level of suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road includes: The three-dimensional electromagnetic wave data corresponding to the first target sub-segment of the target road is taken as the first type of three-dimensional electromagnetic wave data. The state value corresponding to the apparent service state of the road surface of the first target sub-segment is greater than a first preset value, and the state value corresponding to the service state of the road surface structure of the first target sub-segment is greater than a second preset value. The three-dimensional electromagnetic wave data corresponding to the second target sub-segment of the target road is used as the second type of three-dimensional electromagnetic wave data. The three-dimensional electromagnetic wave data corresponding to the third target sub-segment of the target road is taken as the third type of three-dimensional electromagnetic wave data. The state value corresponding to the service state of the pavement structure of the third target sub-segment is less than the third preset value. The third preset value is less than the second preset value. The second target sub-segment is the remaining sub-segments of the target road other than the first target sub-segment and the third target sub-segment. Based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data, the lesion information corresponding to the first type of three-dimensional electromagnetic wave data is obtained; Based on the first confidence level of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data, the lesion information corresponding to the second type of three-dimensional electromagnetic wave data is obtained; The manual identification results of the suspected lesion targets included in the third type of three-dimensional electromagnetic wave data are obtained, and based on the manual identification results, the lesion information corresponding to the third type of three-dimensional electromagnetic wave data is obtained.

[0042] Specifically, in this embodiment of the invention, in order to determine the lesion information of the target road based on the apparent service status of the target road surface, the service status of the target road surface structure, and the first confidence level of the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road, the three-dimensional electromagnetic wave data inside the target road can first be divided into a first type of three-dimensional electromagnetic wave data, a second type of three-dimensional electromagnetic wave data, and a third type of three-dimensional electromagnetic wave data based on the apparent service status of the target road surface and the service status of the target road surface structure. Then, the lesion information corresponding to the first type of three-dimensional electromagnetic wave data, the second type of three-dimensional electromagnetic wave data, and the third type of three-dimensional electromagnetic wave data can be obtained respectively, wherein: The first type of three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to the first target sub-segment of the target road. The state value corresponding to the pavement appearance service state of the first target sub-segment is greater than the first preset value, and the state value corresponding to the pavement structure service state of the first target sub-segment is greater than the second preset value. The second type of three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to the second target sub-segment of the target road. The third type of three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to the third target sub-segment of the target road. The state value corresponding to the pavement structure service state of the third target sub-segment is less than the third preset value, and the third preset value is less than the second preset value. The second target sub-segment is the remaining sub-segments of the target road other than the first and third target sub-segments.

[0043] It should be noted that the first preset value, the second preset value, and the third preset value in the embodiments of the present invention can be adaptively set based on actual applications, and the embodiments of the present invention do not impose specific limitations on this.

[0044] Optionally, in one embodiment, based on the surface service status, structural service status, and size, category, and location information of the suspected lesion target of the target road, the three-dimensional electromagnetic wave data inside the target road can be divided into a first type of three-dimensional electromagnetic wave data, a second type of three-dimensional electromagnetic wave data, and a third type of three-dimensional electromagnetic wave data along the detection direction, thereby obtaining the lesion information corresponding to the first type of three-dimensional electromagnetic wave data, the second type of three-dimensional electromagnetic wave data, and the third type of three-dimensional electromagnetic wave data, respectively.

[0045] Optionally, lesion information corresponding to the first type of three-dimensional electromagnetic wave data can be obtained based on the first confidence level of the suspected lesion targets included in the first type of three-dimensional electromagnetic wave data.

[0046] Optionally, lesion information corresponding to the second type of three-dimensional electromagnetic wave data can be obtained based on the first confidence level of the suspected lesion targets included in the second type of three-dimensional electromagnetic wave data.

[0047] It should be noted that, since the service status value of the pavement structure of the third target sub-segment corresponding to the third type of three-dimensional electromagnetic wave data is less than the third preset value, that is, the service status of the pavement structure of the third target sub-segment is poor, it is difficult to accurately obtain the lesion information corresponding to the first type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion targets included in the third type of three-dimensional electromagnetic wave data. Therefore, in the embodiments of the present invention, the suspected lesion targets included in the third type of three-dimensional electromagnetic wave data are judged manually, and the lesion information corresponding to the third type of three-dimensional electromagnetic wave data can be obtained more accurately based on the manual judgment results.

[0048] Optionally, obtaining the lesion information corresponding to the first type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data includes: A first suspected lesion target included in the first type of three-dimensional electromagnetic wave data is identified whose first confidence level is greater than or equal to a preset first confidence level threshold, and the lesion information of the first suspected lesion target is used as the lesion information corresponding to the first type of three-dimensional electromagnetic wave data.

[0049] Specifically, in this embodiment of the invention, in order to obtain lesion information corresponding to the first type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data, it is possible to first determine the first suspected lesion target whose first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data is greater than or equal to a preset first confidence level threshold, and then use the lesion information of the first suspected lesion target as the lesion information corresponding to the first type of three-dimensional electromagnetic wave data.

[0050] Understandably, for suspected lesion targets included in the first type of three-dimensional electromagnetic wave data, based on the first confidence level of the suspected lesion targets included in the first type of three-dimensional electromagnetic wave data, suspected lesion targets whose first confidence level is less than the first confidence level threshold can be deleted, and suspected lesion targets whose first confidence level is greater than or equal to the first confidence level threshold can be regarded as hidden lesion targets of the target road, thereby obtaining the lesion information corresponding to the first type of three-dimensional electromagnetic wave data.

[0051] It should be noted that the first confidence threshold in the embodiments of the present invention can be adaptively set based on actual applications, and the embodiments of the present invention do not impose specific limitations on it.

[0052] Optionally, obtaining the lesion information corresponding to the second type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data includes: Based on the pavement surface service status and pavement structure service status at the location of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data, a second confidence threshold is determined. A second suspected lesion target is identified in the second type of three-dimensional electromagnetic wave data whose first confidence level is greater than or equal to the second confidence level threshold, and the lesion information of the second suspected lesion target is used as the lesion information corresponding to the second type of three-dimensional electromagnetic wave data.

[0053] Specifically, in this embodiment of the invention, in order to obtain lesion information corresponding to the second type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion targets included in the second type of three-dimensional electromagnetic wave data, a second confidence threshold can be determined first based on the pavement surface service status and pavement structure service status at the location of the suspected lesion targets included in the second type of three-dimensional electromagnetic wave data. Then, a second suspected lesion target whose first confidence level of the suspected lesion targets included in the second type of three-dimensional electromagnetic wave data is greater than or equal to the second confidence threshold can be determined, and the lesion information of the second suspected lesion target can be used as the lesion information corresponding to the second type of three-dimensional electromagnetic wave data.

[0054] Understandably, for suspected lesion targets included in the second type of three-dimensional electromagnetic wave data, a second confidence threshold can be adaptively calculated based on the road surface service status and road structure service status at the location of the suspected lesion targets included in the second type of three-dimensional electromagnetic wave data. Then, based on the first confidence of the suspected lesion targets included in the second type of three-dimensional electromagnetic wave data, suspected lesion targets whose first confidence is less than the second confidence threshold are deleted, and suspected lesion targets whose first confidence is greater than or equal to the second confidence threshold are taken as latent lesion targets of the target road, thus obtaining the lesion information corresponding to the second type of three-dimensional electromagnetic wave data.

[0055] This invention provides an integrated and refined detection method for road service status based on full three-dimensional measurement. It determines the apparent service status of the target road surface using three-dimensional point cloud data of the road surface. Based on the road surface deformation rate, it inverts the vertical deformation of the road surface at multiple measuring points within the deflection basin under moving loads. Then, based on the vertical deformation of the road surface at multiple measuring points and the road surface layer thickness information, it determines the structural service status of the target road surface. Finally, based on the apparent service status, structural service status, and three-dimensional electromagnetic wave data within the target road surface, it determines the defect information of the target road. In other words, it effectively achieves rapid detection of road service status by integrating pavement appearance, pavement structure, and latent defects using dynamic precision three-dimensional measurement technology. Compared with traditional detection methods, the road service status characterization obtained by this invention is richer, more accurate, and more comprehensive.

[0056] The following describes the integrated and refined road service status detection equipment based on full three-dimensional measurement provided by this invention. Figure 2 This is a structural schematic diagram of the integrated and refined road service status detection equipment based on full three-dimensional positioning provided by the present invention, as shown below. Figure 2As shown, the equipment includes: a line-scanning 3D measurement unit 210, a laser dynamic deflection measurement unit 220, a 3D ground-penetrating radar measurement unit 230, a positioning unit 240, and a vehicle platform 250. The line-scanning 3D measurement unit 210, the laser dynamic deflection measurement unit 220, the 3D ground-penetrating radar measurement unit 230, and the positioning unit 240 are all integrated onto the vehicle platform 250. The line-scan three-dimensional measurement unit 210 is used to acquire three-dimensional point cloud data of the target road surface and determine the surface service status of the target road surface based on the three-dimensional point cloud data of the target road surface. The laser dynamic deflection measurement unit 220 is used to acquire the pavement deformation rate of the target road, and based on the pavement deformation rate of the target road, invert the vertical deformation of the pavement at multiple measuring points in the pavement deflection basin of the target road under the action of moving load, and then determine the service status of the pavement structure of the target road based on the vertical deformation of the pavement at the multiple measuring points and the pavement layer thickness information of the target road. The three-dimensional ground-penetrating radar measurement unit 230 is used to acquire three-dimensional electromagnetic wave data inside the target road, and to determine the lesion information of the target road based on the surface service status of the target road, the surface structure service status of the target road, and the three-dimensional electromagnetic wave data inside the target road. The positioning unit 240 is used to acquire the positioning information required during the service status detection of the target road.

[0057] Understandably, the vehicle platform 250 can travel on the target road to achieve integrated and refined detection of the road's service status in three dimensions.

[0058] It is understood that, in this embodiment of the invention, the line scanning three-dimensional measurement unit 210, the laser dynamic deflection measurement unit 220, the three-dimensional ground penetrating radar measurement unit 230, and the positioning unit 240 are integrated on the same vehicle platform 250. This integrates road surface precision three-dimensional perception technology, roadbed three-dimensional ground penetrating radar data acquisition technology, laser dynamic deflection detection technology, and mobile vehicle positioning technology. It acquires three-dimensional point cloud data of the road surface, three-dimensional electromagnetic wave data inside the target road, and the road surface deformation speed of the target road under the same spatiotemporal reference. Based on the acquired three-dimensional point cloud data of the road surface, three-dimensional electromagnetic wave data inside the target road, and the road surface deformation speed of the target road, it achieves integrated and rapid detection of the road service status.

[0059] This invention provides an integrated, refined road service status detection equipment based on full three-dimensional measurement. It determines the apparent service status of a target road using three-dimensional point cloud data of the road surface. Based on the road surface deformation rate, it inverts the vertical deformation of the road surface at multiple measuring points within the deflection basin under moving loads. Then, based on the vertical deformation of these multiple measuring points and the road surface layer thickness information, it determines the structural service status of the target road. Finally, based on the apparent service status, structural service status, and three-dimensional electromagnetic wave data within the target road, it identifies the road's defects. In short, this invention effectively achieves rapid detection of road service status by integrating pavement appearance, pavement structure, and latent defects using dynamic precision three-dimensional measurement technology. Compared to traditional detection methods, the road service status characterization obtained by this invention is richer, more accurate, and more comprehensive.

[0060] Optionally, the vehicle platform 250 includes: a trailer and a tractor for towing the trailer, with a measurement cabin integrated on top of the trailer; The line-scanning 3D measurement unit 210 is located at the rear of the measurement cabin and includes a laser and a 3D camera. The laser and the 3D camera are used to acquire 3D point cloud data of the target road surface. The laser dynamic deflection measurement unit 220 is installed inside the measurement cabin and is located above the left wheel track of the trailer or above the right wheel track of the trailer. It includes a laser Doppler velocimeter, a gyroscope, an accelerometer, and a thermometer. The laser Doppler velocimeter is used to detect the road surface deformation rate of the target road. The gyroscope is used to compensate for the rotational speed noise of the laser Doppler velocimeter. The accelerometer is used to compensate for the dynamic changes of the moving load. The thermometer is used to correct the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of the moving load. The three-dimensional ground-penetrating radar measurement unit 230 is installed at the bottom of the trailer and includes a radar host, an antenna and a transceiver unit, used to acquire three-dimensional electromagnetic wave data inside the target road. The positioning unit 240 includes a Global Navigation Satellite System (GNSS) locator and a Distance Measurement Integrator (DMI) locator. The GNSS locator includes a GNSS receiver and a GNSS antenna. The GNSS receiver is located inside the measurement cabin, and the GNSS antenna is located on the top of the measurement cabin or the top of the tractor. The DMI locator is installed at the rear axle of the trailer.

[0061] Optionally, in this embodiment of the invention, the vehicle platform 250 may consist of a tractor and a trailer. The tractor is used to tow the trailer, and the load range of the rear axle of the trailer is 60KN~130KN. A measurement cabin is integrated on the top of the trailer. The measurement cabin is used to install measurement equipment and the support environment required for measurement. The measurement equipment may include, but is not limited to, a line scanning three-dimensional measurement unit 210 and a laser dynamic deflection measurement unit 220.

[0062] Optionally, the line-scan 3D measurement unit 210 consists of a laser and a 3D camera, used to acquire 3D point cloud data of the target road surface, and then determine the surface service status of the target road surface based on the 3D point cloud data of the target road surface.

[0063] Optionally, for the laser dynamic deflection measurement unit 220, it first uses a laser Doppler velocimeter to obtain the pavement deformation rate of the target road, then inverts the vertical deformation of the pavement at multiple measuring points in the pavement deflection basin of the target road under the action of moving load based on the pavement deformation rate; finally, based on the vertical deformation of the pavement at multiple measuring points and the pavement layer thickness information of the target road, it determines the service status of the pavement structure of the target road.

[0064] Optionally, the three-dimensional ground-penetrating radar measurement unit 230 consists of a radar host, an antenna, and a transceiver unit. It is used to acquire three-dimensional electromagnetic wave data inside the target road and determine the lesion information of the target road based on the surface service status of the target road, the surface structure service status of the target road, and the three-dimensional electromagnetic wave data inside the target road.

[0065] Optionally, the three-dimensional ground-penetrating radar measurement unit 230 can be connected to the bottom of the trailer via a lifting mechanism (e.g., a worm gear electric lifting mechanism).

[0066] Optionally, the three-dimensional ground-penetrating radar measurement unit 230 is equipped with an anti-detachment mechanism (e.g., an anti-detachment net) and an anti-collision mechanism (e.g., anti-collision wheels).

[0067] Optionally, one or more laser dynamic deflection measurement units 220 can be installed on the same vehicle platform.

[0068] Optionally, the integrated and refined road service status detection equipment based on full three-dimensional analysis provided in this embodiment of the invention also includes a correction module; The correction module is used to obtain the relative installation positions of the line-scan three-dimensional measurement unit 210, the laser dynamic deflection measurement unit 220, and the three-dimensional ground-penetrating radar measurement unit 230 along the travel direction of the vehicle platform 250 and the width direction of the target road, respectively, and to correct the pavement appearance service status, pavement structure service status, and lesion information of the target road based on the relative installation positions, so as to obtain the pavement appearance service status, pavement structure service status, and lesion information of the target road under the same spatiotemporal reference.

[0069] Optionally, the correction module can also be integrated onto the vehicle platform 250.

[0070] It should be noted that the direction of travel of the vehicle platform 250 forms a horizontal plane with the width direction of the target road.

[0071] It is understood that the integrated and refined road service status detection equipment based on full three-dimensionality provided in this embodiment of the invention can simultaneously collect the pavement appearance service status, pavement structure service status and defect information of the target road under the same spatiotemporal reference through the line scanning three-dimensional measurement unit 210, the laser dynamic deflection measurement unit 220 and the three-dimensional ground penetrating radar measurement unit 230. The line scanning three-dimensional measurement unit 210, the laser dynamic deflection measurement unit 220 and the three-dimensional ground penetrating radar measurement unit 230 are controlled by the same controller.

[0072] It should be noted that road maintenance has transitioned from the traditional "emergency repair era" to the "comprehensive maintenance era." Comprehensive, accurate, rapid, and timely detection of road service status not only directly affects the evaluation of driving comfort and safety but also helps improve road quality, extend road service life, and is crucial for scientific maintenance management decisions. The integrated, refined road service status detection equipment based on full three-dimensional measurement provided in this invention can acquire pavement surface service status, pavement structure service status, and defect information under the same spatiotemporal reference in a single measurement at normal traffic speeds. This achieves full-parameter three-dimensional data acquisition and index extraction of pavement defects and subsurface defects. Compared to traditional detection methods, the road service status characterization obtained by this invention is richer, more accurate, and more comprehensive, laying a solid foundation for road defect diagnosis and road service life prediction, and significantly improving the reliability of road infrastructure service status assessment and the accuracy of performance prediction.

[0073] It should be noted that the integrated and refined detection equipment for road service status based on full three-dimensional road service status provided in this embodiment of the invention can realize all the method steps implemented in the above embodiment of the integrated and refined detection method for road service status based on full three-dimensional road service status, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0074] Figure 3 This is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as... Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute the integrated refined detection method for road service status based on full three-dimensional analysis provided by the above methods. This method includes: Based on the three-dimensional point cloud data of the target road surface, the apparent service status of the target road surface is determined; Based on the road surface deformation rate of the target road, the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of moving load is inverted, and based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the service status of the road surface structure of the target road is determined. Based on the surface service status of the target road, the structural service status of the target road, and the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined.

[0075] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0076] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the integrated refined detection method for road service status based on full three-dimensional analysis provided by the above methods, the method comprising: Based on the three-dimensional point cloud data of the target road surface, the apparent service status of the target road surface is determined; Based on the road surface deformation rate of the target road, the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of moving load is inverted, and based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the service status of the road surface structure of the target road is determined. Based on the surface service status of the target road, the structural service status of the target road, and the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined.

[0077] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aforementioned integrated refined detection method for road service status based on full three-dimensional analysis, the method comprising: Based on the three-dimensional point cloud data of the target road surface, the apparent service status of the target road surface is determined; Based on the road surface deformation rate of the target road, the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of moving load is inverted, and based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the service status of the road surface structure of the target road is determined. Based on the surface service status of the target road, the structural service status of the target road, and the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined.

[0078] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. 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. Those skilled in the art can understand and implement this without any creative effort.

[0079] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A comprehensive and refined detection method for road service status based on full three-dimensional analysis, characterized in that, include: Based on the three-dimensional point cloud data of the target road surface, the apparent service status of the target road surface is determined; Based on the road surface deformation rate of the target road, the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of moving load is inverted, and based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the service status of the road surface structure of the target road is determined. Based on the surface service status of the target road, the structural service status of the target road, and the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined. The determination of the defect information of the target road based on the apparent service status of the target road surface, the service status of the target road surface structure, and the three-dimensional electromagnetic wave data inside the target road includes: Based on the three-dimensional electromagnetic wave data inside the target road and the knowledge graph information of road lesions, the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road are identified. The similarity between the first three-dimensional electromagnetic wave data and the second three-dimensional electromagnetic wave data is determined, and a first confidence level of the suspected lesion target is determined based on the similarity. The first three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to the location of the suspected lesion target, and the second three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to a preset area near the location of the suspected lesion target. The suspected lesion target is not present in the three-dimensional electromagnetic wave data corresponding to the preset area. Based on the surface service status of the target road, the structural service status of the target road, and the first confidence level of the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined. The determination of lesion information of the target road based on the apparent service status of the target road surface, the service status of the target road surface structure, and the first confidence level of suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road, includes: The three-dimensional electromagnetic wave data corresponding to the first target sub-segment of the target road is taken as the first type of three-dimensional electromagnetic wave data. The state value corresponding to the apparent service state of the road surface of the first target sub-segment is greater than a first preset value, and the state value corresponding to the service state of the road surface structure of the first target sub-segment is greater than a second preset value. The three-dimensional electromagnetic wave data corresponding to the second target sub-segment of the target road is used as the second type of three-dimensional electromagnetic wave data. The three-dimensional electromagnetic wave data corresponding to the third target sub-segment of the target road is taken as the third type of three-dimensional electromagnetic wave data. The state value corresponding to the service state of the pavement structure of the third target sub-segment is less than the third preset value. The third preset value is less than the second preset value. The second target sub-segment is the remaining sub-segments of the target road other than the first target sub-segment and the third target sub-segment. Based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data, the lesion information corresponding to the first type of three-dimensional electromagnetic wave data is obtained; Based on the first confidence level of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data, the lesion information corresponding to the second type of three-dimensional electromagnetic wave data is obtained; The manual identification results of the suspected lesion targets included in the third type of three-dimensional electromagnetic wave data are obtained, and based on the manual identification results, the lesion information corresponding to the third type of three-dimensional electromagnetic wave data is obtained.

2. The integrated and refined detection method for road service status based on full three-dimensional analysis as described in claim 1, characterized in that, The determination of the apparent service status of the target road surface based on the three-dimensional point cloud data of the target road includes: Based on the three-dimensional point cloud data of the target road surface, target information is determined, including the road surface damage, road surface smoothness, road surface texture depth, and road surface rut depth of the target road. Based on the target information, the apparent service status of the target road surface is determined.

3. The integrated and refined detection method for road service status based on full three-dimensional analysis as described in claim 1, characterized in that, The determination of the pavement structure service status of the target road based on the vertical deformation of the pavement at the multiple measuring points and the pavement layer thickness information of the target road includes: Based on the vertical deformation of the road surface at the multiple measuring points and the road surface layer thickness information of the target road, the road surface structure layer modulus of the target road is determined, and based on the vertical deformation of the road surface at the multiple measuring points, the relative vertical deformation of the road surface between different measuring points is determined. Based on the vertical deformation of the road surface at the multiple measuring points, the relative vertical deformation of the road surface between different measuring points, and the modulus of the road structure layer, the service status of the road structure of the target road is determined.

4. The integrated and refined detection method for road service status based on full three-dimensional analysis as described in claim 1, characterized in that, The step of obtaining the lesion information corresponding to the first type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data includes: A first suspected lesion target included in the first type of three-dimensional electromagnetic wave data is identified whose first confidence level is greater than or equal to a preset first confidence level threshold, and the lesion information of the first suspected lesion target is used as the lesion information corresponding to the first type of three-dimensional electromagnetic wave data.

5. The integrated and refined detection method for road service status based on full three-dimensional analysis as described in claim 1, characterized in that, The step of obtaining the lesion information corresponding to the second type of three-dimensional electromagnetic wave data based on the first confidence level of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data includes: Based on the pavement surface service status and pavement structure service status at the location of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data, a second confidence threshold is determined. A second suspected lesion target is identified in the second type of three-dimensional electromagnetic wave data whose first confidence level is greater than or equal to the second confidence level threshold, and the lesion information of the second suspected lesion target is used as the lesion information corresponding to the second type of three-dimensional electromagnetic wave data.

6. A comprehensive, three-dimensional integrated precision detection equipment for road service status, characterized in that: include: The system includes a line-scanning 3D measurement unit, a laser dynamic deflection measurement unit, a 3D ground-penetrating radar measurement unit, a positioning unit, and a vehicle platform. The line-scanning 3D measurement unit, the laser dynamic deflection measurement unit, the 3D ground-penetrating radar measurement unit, and the positioning unit are all integrated on the vehicle platform. The line-scan three-dimensional measurement unit is used to acquire three-dimensional point cloud data of the target road surface and determine the surface service status of the target road surface based on the three-dimensional point cloud data of the target road surface. The laser dynamic deflection measurement unit is used to acquire the pavement deformation rate of the target road, and based on the pavement deformation rate of the target road, to invert the vertical deformation of the pavement at multiple measuring points in the pavement deflection basin of the target road under the action of moving load, and then to determine the service status of the pavement structure of the target road based on the vertical deformation of the pavement at the multiple measuring points and the pavement layer thickness information of the target road. The three-dimensional ground-penetrating radar measurement unit is used to acquire three-dimensional electromagnetic wave data inside the target road, and to determine the lesion information of the target road based on the surface service status of the target road, the surface structure service status of the target road, and the three-dimensional electromagnetic wave data inside the target road. The positioning unit is used to acquire the positioning information required during the service status detection of the target road; The determination of the defect information of the target road based on the apparent service status of the target road surface, the service status of the target road surface structure, and the three-dimensional electromagnetic wave data inside the target road includes: Based on the three-dimensional electromagnetic wave data inside the target road and the knowledge graph information of road lesions, the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road are identified. The similarity between the first three-dimensional electromagnetic wave data and the second three-dimensional electromagnetic wave data is determined, and a first confidence level of the suspected lesion target is determined based on the similarity. The first three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to the location of the suspected lesion target, and the second three-dimensional electromagnetic wave data is the three-dimensional electromagnetic wave data corresponding to a preset area near the location of the suspected lesion target. The suspected lesion target is not present in the three-dimensional electromagnetic wave data corresponding to the preset area. Based on the surface service status of the target road, the structural service status of the target road, and the first confidence level of the suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road, the lesion information of the target road is determined. The determination of lesion information of the target road based on the apparent service status of the target road surface, the service status of the target road surface structure, and the first confidence level of suspected lesion targets included in the three-dimensional electromagnetic wave data inside the target road, includes: The three-dimensional electromagnetic wave data corresponding to the first target sub-segment of the target road is taken as the first type of three-dimensional electromagnetic wave data. The state value corresponding to the apparent service state of the road surface of the first target sub-segment is greater than a first preset value, and the state value corresponding to the service state of the road surface structure of the first target sub-segment is greater than a second preset value. The three-dimensional electromagnetic wave data corresponding to the second target sub-segment of the target road is used as the second type of three-dimensional electromagnetic wave data. The three-dimensional electromagnetic wave data corresponding to the third target sub-segment of the target road is taken as the third type of three-dimensional electromagnetic wave data. The state value corresponding to the service state of the pavement structure of the third target sub-segment is less than the third preset value. The third preset value is less than the second preset value. The second target sub-segment is the remaining sub-segments of the target road other than the first target sub-segment and the third target sub-segment. Based on the first confidence level of the suspected lesion target included in the first type of three-dimensional electromagnetic wave data, the lesion information corresponding to the first type of three-dimensional electromagnetic wave data is obtained; Based on the first confidence level of the suspected lesion target included in the second type of three-dimensional electromagnetic wave data, the lesion information corresponding to the second type of three-dimensional electromagnetic wave data is obtained; The manual identification results of the suspected lesion targets included in the third type of three-dimensional electromagnetic wave data are obtained, and based on the manual identification results, the lesion information corresponding to the third type of three-dimensional electromagnetic wave data is obtained.

7. The integrated and refined road service status detection equipment based on full three-dimensional analysis as described in claim 6, characterized in that, The vehicle platform includes: a trailer and a towing vehicle for towing the trailer, with a measurement cabin integrated on top of the trailer; The line-scanning 3D measurement unit is located at the rear of the measurement cabin and includes a laser and a 3D camera. The laser and the 3D camera are used to acquire 3D point cloud data of the target road surface. The laser dynamic deflection measurement unit is installed inside the measurement cabin and is located above the left wheel track of the trailer or above the right wheel track of the trailer. It includes a laser Doppler velocimeter, a gyroscope, an accelerometer, and a thermometer. The laser Doppler velocimeter is used to detect the road surface deformation rate of the target road. The gyroscope is used to compensate for the rotational speed noise of the laser Doppler velocimeter. The accelerometer is used to compensate for the dynamic changes of the moving load. The thermometer is used to correct the vertical deformation of the road surface at multiple measuring points in the road surface deflection basin of the target road under the action of the moving load. The three-dimensional ground-penetrating radar measurement unit is located at the bottom of the trailer and includes a radar host, an antenna, and a transceiver unit, used to acquire three-dimensional electromagnetic wave data inside the target road. The positioning unit includes a GNSS locator and a DMI locator. The GNSS locator includes a GNSS receiver and a GNSS antenna. The GNSS receiver is located inside the measurement cabin, and the GNSS antenna is located on the top of the measurement cabin or the top of the tractor. The DMI locator is installed at the rear axle of the trailer.

8. The integrated and refined road service status detection equipment based on full three-dimensional analysis as described in claim 6 or 7, characterized in that, The equipment also includes a correction module; The correction module is used to acquire the relative installation positions of the line-scan three-dimensional measurement unit, the laser dynamic deflection measurement unit, and the three-dimensional ground-penetrating radar measurement unit along the travel direction of the vehicle platform and the width direction of the target road, respectively, and to correct the pavement appearance service status, pavement structure service status, and lesion information of the target road based on the relative installation positions, so as to obtain the pavement appearance service status, pavement structure service status, and lesion information of the target road under the same spatiotemporal reference.

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