Automatic road surface detection structure and method based on laser scanning

Abstract

The invention discloses a road surface automatic detection structure and method based on laser scanning, and belongs to the technical field of texture scanning. Comprising a support assembly, and a sliding assembly is arranged on the support assembly and comprises a Y-axis sliding assembly, an X-axis sliding assembly and a Z-axis sliding assembly; the multi-angle scanning assembly is slidably connected to the Z-axis sliding assembly and comprises a module connecting mechanism arranged on the Z-axis sliding assembly, a plurality of clamping mechanisms arranged at the bottom of the module connecting mechanism and a high-precision scanning mechanism connected to the clamping mechanisms. The anti-collision brackets are arranged at the bottom of the high-precision scanning mechanism; the pressure sensors are connected to the anti-collision brackets; the control system is connected to the sliding assembly and the multi-angle scanning assembly. According to the method, texture information of the material surface can be quickly and accurately captured, a high-precision three-dimensional model can be generated in a short time through high-speed scanning and image splicing processing, and the working efficiency is improved. And meanwhile, stable connection is provided, and various complex working environments are adapted.

Description

Technical Field

[0001] The present invention belongs to the technical field of texture scanning, and in particular relates to a structure and method for automatic road surface detection based on laser scanning. Background Art

[0002] As one of the most important infrastructures of an airport flight area, the pavement is an important carrier for ensuring the airport's airworthiness. Its health directly affects the safety of aircraft operations. At the same time, airport pavement structural diseases have become one of the main causes of structural damage such as pavement panel fractures. Routine pavement inspection, analysis and evaluation are important contents of pavement structure bearing capacity evaluation and maintenance decision-making.

[0003] In image processing and visual learning technology, texture information has always been regarded as an important visual feature. Compared with other data, texture information has unique advantages and can provide important clues about the microscopic structure of the surface of an object to understand the material, surface roughness, directionality and other information of the object. Secondly, texture information is usually robust to changes in lighting and perspective. Compared with features such as color and shape, texture can still remain relatively stable when lighting conditions change or the perspective changes. This makes texture information have broad application prospects in tasks such as 3D reconstruction and target tracking.

[0004] However, despite the diversity of current texture scanning solutions and their many advantages, they are still subject to some challenges in effective outdoor extraction and practical application due to the influence of lighting conditions, slope, detection distance, equipment stability, human interference, accuracy conditions, material surface roughness, etc. In existing technologies, traditional technologies may be slow and inaccurate in capturing material surface texture information; some technologies may have high requirements for environmental conditions and are not suitable for harsh environments, resulting in limited application; traditional equipment may lack stability, and traditional technologies may be difficult to effectively scan materials that are inconvenient to move; and traditional technologies may lack effective early warning systems, resulting in untimely discovery of problems and affecting road safety. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a structure and method for automatic road surface detection based on laser scanning.

[0006] The present invention adopts the following technical solution: a road surface automatic detection structure based on laser scanning, comprising:

[0007] A support assembly; the support assembly comprises at least: at least two support frames arranged opposite to each other, and a plurality of Fuma wheels arranged at the bottom of the support frames;

[0008] A sliding assembly is arranged on the support assembly; the sliding assembly at least comprises: a Y-axis sliding assembly arranged on the support frame, an X-axis sliding assembly vertically slidably connected to the Y-axis sliding assembly, and a Z-axis sliding assembly vertically slidably connected to the X-axis sliding assembly;

[0009] A multi-angle scanning assembly is slidably connected to the Z-axis sliding assembly; the multi-angle scanning assembly at least comprises: a module connecting mechanism disposed on the Z-axis sliding assembly, a plurality of clamping mechanisms disposed at the bottom of the module connecting mechanism, a high-precision scanning mechanism connected to the clamping mechanism, a plurality of anti-collision brackets disposed at the bottom of the high-precision scanning mechanism, and a pressure sensor connected to the anti-collision bracket;

[0010] The control system is connected to the sliding assembly and the multi-angle scanning assembly; the control system at least includes: a travel switch, a positioning system, a controller, and a display.

[0011] Preferably, the Y-axis sliding assembly includes: a Y-axis module slide arranged on the support frame, a first module connecting plate arranged between the support frame and the Y-axis module slide, a first driving assembly transmission-connected to the Y-axis module slide, a first sheet metal arranged on one side of the Y-axis module slide, and a Y-axis drag chain connected to one end of the first sheet metal;

[0012] The X-axis sliding assembly includes: an X-axis module slide slidably connected to the Y-axis module slide, a second module connecting plate arranged between the X-axis module slide and the Y-axis module slide, a second driving assembly transmission-connected to the X-axis module slide, a second sheet metal arranged on one side of the X-axis module slide, and an X-axis drag chain connected to one end of the second sheet metal;

[0013] The Z-axis sliding assembly includes: a Z-axis module slide slidably connected to the X-axis module slide, and a third driving assembly transmission-connected to the Z-axis module slide;

[0014] The other end of the Y-axis drag chain is connected to the end of the X-axis module slide, and the other end of the X-axis drag chain is connected to the end of the Z-axis module slide.

[0015] Preferably, the first drive assembly, the second drive assembly and the third drive assembly all include: a motor, a brake controller connected to the motor, a housing sleeved on the outside of the motor, and a manual operating lever connected to the motor.

[0016] Preferably, the module connecting mechanism includes: a third module connecting plate slidably connected to the Z-axis module slide, a fourth module connecting plate vertically arranged at the bottom of the third module connecting plate, and at least two fifth module connecting plates relatively arranged between the third module connecting plate and the fourth module connecting plate.

[0017] Preferably, the first module connecting plate, the second module connecting plate, the third module connecting plate, the fourth module connecting plate and the fifth module connecting plate all include: a fixing plate, and a plurality of reinforcing ribs arranged inside the fixing plate.

[0018] Preferably, the clamping mechanism includes: a connecting block arranged at the bottom of the fourth module connecting plate, a rotating shaft passing through the connecting block, a mounting plate transmission-connected to both ends of the rotating shaft, a grabbing clamp arranged at the bottom of the mounting plate, a plurality of anti-slip strips arranged on the grabbing clamp, and a spring connected to the grabbing clamp.

[0019] Preferably, the high-precision scanning mechanism is provided with a plurality of cross beams, and the gripping clamps are connected to the cross beams.

[0020] Preferably, the controller includes: an OLED display screen, a numeric key, a direction key, a start key, a status key, a repeat key and several function keys; the direction keys include: an X-axis key, a Y-axis key, a Z-axis key, a clockwise rotation key and a clockwise rotation key; the status keys include: an emergency stop key, a start key, a pause key, and a reset key.

[0021] A road surface automatic detection method based on laser scanning is used to realize a road surface automatic detection structure based on laser scanning, comprising the following steps:

[0022] S1, preparation stage; placing the detection structure in the area where the material to be detected is located, installing the high-precision scanning mechanism on the clamping mechanism, setting parameters, starting the travel switch and positioning through the positioning system, and the display shows the position and data;

[0023] S2, operation stage; the controller controls the high-precision scanning mechanism to move in the X, Y, and Z axes through the X-axis sliding assembly, the Y-axis sliding assembly, and the Z-axis sliding assembly, and to adjust multiple angles through the clamping mechanism, so that the high-precision scanning mechanism scans according to a preset route, and performs three-dimensional reconstruction and digitization of the scanning result;

[0024] S3, transmission stage; the digitized laser scanning data is transmitted to the data processing unit of the controller, the data processing unit pre-processes, filters and extracts the contour of the laser scanning data, calculates the wear amount, deformation amount and road surface wheel track index, compares the wheel track index with the preset standard, and determines whether the road surface meets the maintenance standard;

[0025] S4, output stage: output test results and generate test report

[0026] Beneficial effects of the present invention:

[0027] 1. The present invention can quickly and accurately capture the texture information of the material surface by setting up a multi-angle scanning component and a control system. Through high-speed scanning and image stitching processing, a high-precision three-dimensional model can be generated in a short time, which greatly improves work efficiency and provides reliable data support for subsequent inspection, design, analysis and manufacturing. The clamping mechanism allows the high-precision scanning mechanism to easily adapt to material surfaces of different shapes and sizes. Whether it is a flat surface, a curved surface or a complex shape, it can be scanned by adjusting the position and angle of the device to ensure that complete texture information is obtained.

[0028] 2. The equipment of the present invention achieves stable support through the bracket assembly and the module connection mechanism, and achieves stable sliding through the slide and the drag chain. It can not only provide a stable connection, enhance the structural strength, disperse the stress, and operate stably for a long time; but also can be adjusted according to different application environments and load conditions, adapt to various complex working environments, and can perform high-precision scanning on large materials or materials with complex shapes that are inconvenient to move, and has the advantages of high reliability and low maintenance.

[0029] 3. The device of the present invention uses a controller to set its scanning range and scanning speed, avoiding interference caused by manual debugging, and is simple and convenient to operate, realizing automated detection. Based on a precise pavement model, the pavement deformation is analyzed, including the depth, width, length, etc. of the deformation, to determine whether it affects the operation of the pavement. If it exceeds the preset standard, the system will issue a warning signal to notify the airport management department for maintenance and processing. After regular laser scanning, the three-dimensional point cloud data of the pavement can be updated according to positioning, and the wheel rutting conditions of the pavement can be continuously monitored to detect and deal with problems in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of a structure of an automatic road surface detection structure based on laser scanning;

[0031] Figure 2 is a structural schematic diagram of the clamping mechanism;

[0032] Figure 3is a schematic diagram of the structure of the second module connection plate;

[0033] Figure 4 It is a schematic diagram of the structure of the controller;

[0034] Figure 5 It is a flow chart of an automatic road surface detection method based on laser scanning;

[0035] Figure numerals: support frame 1, clamping mechanism 2, high-precision scanning mechanism 3, Foma wheel 4, anti-collision bracket 5, pressure sensor 6, first module connecting plate 7, first drive assembly 8, Y-axis drag chain 9, second module connecting plate 10, Y-axis module slide 11, second drive assembly 12, X-axis module slide 13, Z-axis module slide 14, second sheet metal 15, X-axis drag chain 16, third drive assembly 17, motor 18, support plate 19, manual operating lever 20, third module connecting plate 21, fifth module connecting plate 22, fixing plate 23, reinforcing rib 24, connecting block 25, rotating shaft 26, mounting plate 27, grabbing clamp 28, anti-slip strip 29, spring 30, crossbeam 31, OLED display screen 32, numeric key 33, direction key 34, start key 35, status key 36, repeat key 37, function key 38. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the embodiments.

[0037] Embodiment 1

[0038] A road surface automatic detection structure based on laser scanning, such as Figures 1 to 5 , including: a support assembly, including at least: two supporting frames 1 arranged opposite to each other and a plurality of Fuma wheels 4 arranged at the bottom of the supporting frames 1. The Fuma wheels 4 can not only move, but also adjust the level and have a shock-absorbing function. In a further embodiment, a support plate 19 can be further arranged between the legs of the supporting frames 1 for further support and fixation.

[0039] The sliding assembly is arranged on the bracket assembly, and at least includes: a Y-axis sliding assembly arranged on the support frame 1, an X-axis sliding assembly vertically slidably connected to the Y-axis sliding assembly, and a Z-axis sliding assembly vertically slidably connected to the X-axis sliding assembly. The Y-axis sliding assembly includes: a Y-axis module slide 11 arranged on the support frame 1, a first module connecting plate 7 arranged between the support frame 1 and the Y-axis module slide 11, a first driving assembly 8 transmission-connected to the Y-axis module slide 11, a first sheet metal arranged on one side of the Y-axis module slide 11, and a Y-axis drag chain 9 connected to one end of the first sheet metal; the X-axis sliding assembly includes: an X-axis module slide 13 slidably connected to the Y-axis module slide 11, a second module connecting plate 7 arranged between the X-axis module slide 13 and the Y-axis module slide 11 The connecting plate 10 is a second driving component 12 that is transmission-connected to the X-axis module slide 13, a second sheet metal 15 that is arranged on one side of the X-axis module slide 13, and an X-axis drag chain 16 that is connected to one end of the second sheet metal 15; the Z-axis sliding component includes: a Z-axis module slide 14 that is slidably connected to the X-axis module slide 13, and a third driving component 17 that is transmission-connected to the Z-axis module slide 14; the other end of the Y-axis drag chain 9 is connected to the end of the X-axis module slide 13, and the other end of the X-axis drag chain 16 is connected to the end of the Z-axis module slide 14. The setting of the drag chain auxiliary sliding can not only play a role of guidance and support, but also ensure the flexibility and scalability of the sliding process.

[0040] The multi-angle scanning assembly is slidably connected to the Z-axis sliding assembly; the multi-angle scanning assembly at least includes: a module connection mechanism disposed on the Z-axis sliding assembly, a plurality of clamping mechanisms 2 disposed at the bottom of the module connection mechanism, a high-precision scanning mechanism 3 connected to the clamping mechanism 2, a plurality of anti-collision brackets 5 disposed at the bottom of the high-precision scanning mechanism 3, and a pressure sensor 6 connected to the anti-collision bracket 5. The module connection mechanism is used to achieve a stable connection between the clamping mechanism 2 and the Z-axis module slide 14, the clamping mechanism 2 is used to clamp the high-precision scanning mechanism 3, and the anti-collision bracket 5 is used to protect the high-precision scanning mechanism 3 from being damaged by collision.

[0041] The control system is connected to the sliding assembly and the multi-angle scanning assembly; the control system at least includes: a travel switch, a positioning system, a controller, and a display, and is used to realize the automation of detection and data information processing.

[0042] In a further embodiment, the first drive assembly 8, the second drive assembly 12, and the third drive assembly 17 all include: a motor 18, a brake controller connected to the motor 18, a housing sleeved on the outside of the motor 18, and a manual operating rod 20 connected to the motor 18. The first drive assembly 8 is used to drive the X-axis sliding assembly to slide on the Y-axis module slide 11, the second drive assembly 12 is used to drive the Z-axis sliding assembly to slide on the X-axis module slide 13, and the third drive assembly 17 is used to drive the multi-angle scanning assembly to slide on the Z-axis module slide 14. The main function of setting the manual operating rod 20 is to provide a backup operation mode to ensure that when the automatic control system fails or needs to be debugged or maintained, the operator can still manually control the movement of the slide.

[0043] In a further embodiment, the module connection mechanism includes: a third module connection plate 21 slidably connected to the Z-axis module slide 14, a fourth module connection plate vertically arranged at the bottom of the third module connection plate 21, and at least two fifth module connection plates 22 relatively arranged between the third module connection plate 21 and the fourth module connection plate. The first module connection plate 7, the second module connection plate 10, the third module connection plate 21, the fourth module connection plate and the fifth module connection plate 22 all include: a fixed plate 23, and a plurality of reinforcing ribs 24 arranged inside the fixed plate 23. The fixed plate 23 is used as the main body, and the structural parts are connected by bolts, welding or other fixing methods. The internal reinforcing ribs 24 can not only provide a stable connection, enhance the structural strength, and disperse the stress, but also can be adjusted according to different application environments and load conditions to adapt to various complex working environments.

[0044] In a further embodiment, the clamping mechanism 2 comprises: a connecting block 25 disposed at the bottom of the fourth module connecting plate, a rotating shaft 26 passing through the connecting block 25, a mounting plate 27 connected to both ends of the rotating shaft 26, a gripper 28 disposed at the bottom of the mounting plate 27, a plurality of anti-slip strips 29 disposed on the gripper 28, and a spring 30 connected to the gripper 28. The high-precision scanning mechanism 3 is provided with a plurality of crossbeams 31, and the gripper 28 is connected to the crossbeams 31. The rotating shaft 26 enables the clamping mechanism 2 to rotate, so that it can easily adapt to the material surface of different shapes and sizes. Whether it is a plane, a curved surface or a complex shape of the material, it can be scanned by adjusting the position and angle of the device to ensure that the complete texture information is obtained. The spring 30 is located inside the gripper 28, and under the action of the spring 30, the gripper 28 is switched between an open state and a closed state. The anti-slip strip 29 is provided to improve the stability and reliability of the connection with the high-precision scanning mechanism 3.

[0045] In a further embodiment, the controller includes: an OLED display screen 32, a numerical key 33, a direction key 34, a start key 35, a state key 36, a repeat key 37 and a plurality of function keys 38; the direction key 34 includes: an X-axis direction key, a Y-axis direction key, a Z-axis direction key, a clockwise rotation key and a clockwise rotation key, which can control the forward, backward, left, right, up and down movement of the X, Y and Z axes and the rotation movement of the clamping mechanism 2; the state key 36 includes: an emergency stop key, a start key 35, a pause key, and a reset key. The numerical key 33 refers to the speed of the equipment operation process, that is, the scanning trajectory speed, which is a percentage of the speed set when the command is edited, ranging from 0 to 100%; the function key 38 can scan at different speeds or accuracies according to the pre-set parameters, which is simple and convenient to operate. The user only needs to undergo simple training to master the operation method, and can easily complete the scanning task without professional skills.

[0046] Embodiment 2

[0047] This embodiment describes a road surface automatic detection method based on laser scanning, which is used to implement a road surface automatic detection structure based on laser scanning, and includes the following steps:

[0048] S1, preparation stage; place the detection structure in the area where the material to be detected is located, and set the installation position to the effective monitoring range. Install the high-precision scanning mechanism 3 on the clamping mechanism 2, set the parameters, start the travel switch and position it through the positioning system, and the display shows the position and data;

[0049] S2, operation stage; the controller controls the high-precision scanning mechanism 3 to move in the X, Y, and Z axes through the X-axis sliding assembly, the Y-axis sliding assembly, and the Z-axis sliding assembly, and to adjust multiple angles through the clamping mechanism 2, so that the high-precision scanning mechanism 3 scans according to the preset route, and the scanning result is three-dimensionally reconstructed and digitized;

[0050] Through the control function of the controller, the height adjustment in the Z axis is first performed, and the pressure sensor 6 monitors the data. When the distance between the anti-collision bracket 5 and the material to be detected is within the predetermined range, the control system will sound an alarm and control the stop of the descent; click the start button of the controller to preview the key scanning area first, and improve the resolution parameters for fine scanning in the local area. The rotating button can tilt the clamping mechanism 2 and adjust it at multiple angles according to the scanner body, so that it can easily adapt to material surfaces of different shapes and sizes. The high-precision scanning mechanism 3 is used to automatically, systematically and quickly obtain the three-dimensional point cloud data of the target surface and the elevation difference of each point on the road surface, and extract the road surface contour features, including parameters such as length, width, and depth.

[0051] S3, transmission stage; the digitized laser scanning data is transmitted to the data processing unit of the controller, the data processing unit pre-processes and filters the laser scanning data, extracts the road surface contour features through the contour extraction algorithm, and calculates the wear amount, deformation amount and road surface wheel track index, compares the wheel track index with the preset standard, and determines whether the road surface meets the maintenance standard;

[0052] S4, output stage; automatically output the test results and generate a test report based on the judgment results. Finally, move the instrument to the next station, set the corresponding monitoring sample points in a push-up manner, repeat the above steps, and complete the material surface scanning work.

[0053] The above is a detailed introduction to an automatic road surface detection structure and method based on laser scanning provided by the present invention. It is worth noting that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical details described in the aforementioned embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent replacements, modifications, etc. made within the core ideas and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A road surface automatic detection structure based on laser scanning, characterized in that: include: Bracket assembly; The support assembly at least comprises: at least two supporting frames arranged opposite to each other, and a plurality of Forma wheels arranged at the bottom of the supporting frames; A sliding assembly is arranged on the support assembly; the sliding assembly at least comprises: a Y-axis sliding assembly arranged on the support frame, an X-axis sliding assembly vertically slidably connected to the Y-axis sliding assembly, and a Z-axis sliding assembly vertically slidably connected to the X-axis sliding assembly; A multi-angle scanning assembly is slidably connected to the Z-axis sliding assembly; the multi-angle scanning assembly at least comprises: a module connecting mechanism disposed on the Z-axis sliding assembly, a plurality of clamping mechanisms disposed at the bottom of the module connecting mechanism, a high-precision scanning mechanism connected to the clamping mechanism, a plurality of anti-collision brackets disposed at the bottom of the high-precision scanning mechanism, and a pressure sensor connected to the anti-collision bracket; The control system is connected to the sliding assembly and the multi-angle scanning assembly; the control system at least includes: a travel switch, a positioning system, a controller, and a display.

2. The automatic road surface detection structure based on laser scanning according to claim 1 is characterized in that: The Y-axis sliding assembly includes: a Y-axis module slide arranged on the support frame, a first module connecting plate arranged between the support frame and the Y-axis module slide, a first driving assembly transmission-connected to the Y-axis module slide, a first sheet metal arranged on one side of the Y-axis module slide, and a Y-axis drag chain connected to one end of the first sheet metal; The X-axis sliding assembly includes: an X-axis module slide slidably connected to the Y-axis module slide, a second module connecting plate arranged between the X-axis module slide and the Y-axis module slide, a second driving assembly transmission-connected to the X-axis module slide, a second sheet metal arranged on one side of the X-axis module slide, and an X-axis drag chain connected to one end of the second sheet metal; The Z-axis sliding assembly includes: a Z-axis module slide slidably connected to the X-axis module slide, and a third driving assembly transmission-connected to the Z-axis module slide; The other end of the Y-axis drag chain is connected to the end of the X-axis module slide, and the other end of the X-axis drag chain is connected to the end of the Z-axis module slide.

3. The automatic road surface detection structure based on laser scanning according to claim 2 is characterized in that: The first drive assembly, the second drive assembly and the third drive assembly all include: a motor, a brake controller connected to the motor, a shell sleeved on the outside of the motor, and a manual operating lever connected to the motor.

4. The automatic road surface detection structure based on laser scanning according to claim 3 is characterized in that: The module connection mechanism includes: a third module connection plate slidably connected to the Z-axis module slide, a fourth module connection plate vertically arranged at the bottom of the third module connection plate, and at least two fifth module connection plates relatively arranged between the third module connection plate and the fourth module connection plate.

5. The automatic road surface detection structure based on laser scanning according to claim 4 is characterized in that: The first module connecting plate, the second module connecting plate, the third module connecting plate, the fourth module connecting plate and the fifth module connecting plate all include: a fixing plate and a plurality of reinforcing ribs arranged inside the fixing plate.

6. The automatic road surface detection structure based on laser scanning according to claim 5 is characterized in that: The clamping mechanism includes: a connecting block arranged at the bottom of the fourth module connecting plate, a rotating shaft passing through the connecting block, a mounting plate transmission-connected to both ends of the rotating shaft, a grabbing clamp arranged at the bottom of the mounting plate, a plurality of anti-slip strips arranged on the grabbing clamp, and a spring connected to the grabbing clamp.

7. The automatic road surface detection structure based on laser scanning according to claim 6 is characterized in that: The high-precision scanning mechanism is provided with a plurality of cross beams, and the grabbing clamps are connected to the cross beams.

8. The automatic road surface detection structure based on laser scanning according to claim 1 is characterized in that: The controller includes: an OLED display screen, a numeric key, a direction key, a start key, a status key, a repeat key and several function keys; the direction keys include: an X-axis direction key, a Y-axis direction key, a Z-axis direction key, a clockwise rotation key and a clockwise rotation key; the status keys include: an emergency stop key, a start key, a pause key, and a reset key.

9. A method for automatic road surface detection based on laser scanning, characterized in that: The method is used to implement an automatic road surface detection structure based on laser scanning according to any one of claims 1 to 8, comprising the following steps: S1, preparation stage; placing the detection structure in the area where the material to be detected is located, installing the high-precision scanning mechanism on the clamping mechanism, setting parameters, starting the travel switch and positioning through the positioning system, and the display shows the position and data; S2, operation stage; the controller controls the high-precision scanning mechanism to move in the X, Y, and Z axes through the X-axis sliding assembly, the Y-axis sliding assembly, and the Z-axis sliding assembly, and to adjust multiple angles through the clamping mechanism, so that the high-precision scanning mechanism scans according to a preset route, and performs three-dimensional reconstruction and digitization of the scanning result; S3, transmission stage; the digitized laser scanning data is transmitted to the data processing unit of the controller, the data processing unit pre-processes, filters and extracts the contour of the laser scanning data, calculates the wear amount, deformation amount and road surface wheel track index, compares the wheel track index with the preset standard, and determines whether the road surface meets the maintenance standard; S4, output stage; output the test results and generate a test report.

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