Pavement deformation detection method and system based on millimeter wave radar, medium, program product and terminal

Abstract

The invention provides a pavement deformation detection method and system based on a millimeter-wave radar, a medium, a program product and a terminal, and solves the technical problems of low efficiency, large manual error and insufficient real-time performance in a traditional pavement monitoring method by comprehensively applying the technical means of high-precision scanning and automatic deformation judgment of a millimeter-wave radar technology. Rapid and non-contact real-time pavement deformation monitoring is realized, the average height and three-dimensional coordinate information of the pavement can be accurately obtained in different environments, and a deformation result is fed back in time. The efficiency and accuracy of data processing are improved, and the adaptability and economy of pavement deformation detection are enhanced, so that the overall level of traffic safety management is remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of ground deformation monitoring, and in particular to a road deformation detection method, system, medium, program product and terminal based on millimeter wave radar. Background Art

[0002] Millimeter-wave radars are gradually being used in aviation and military fields due to their advantages such as high resolution, high precision and small antenna aperture. However, due to technical difficulties and high costs, the development of millimeter-wave radars has been greatly restricted. With the breakthrough of core components and the resolution of technical bottlenecks, the price of millimeter-wave radar products has been significantly reduced, allowing them to gradually expand into civilian application fields such as industrial detection, smart cars, home monitoring, security monitoring and smart transportation.

[0003] Pavement deformation is an important issue in terms of traffic safety and driving comfort, which refers to the deformation and damage of the road surface caused by various factors. Common deformation types include cracks (lateral, longitudinal and reticular), rutting (grooves formed by vehicle rolling), subsidence (local ground subsidence, usually caused by foundation settlement or groundwater flow), humps (local uplift, usually caused by water immersion), potholes (caused by water and load), slurrying (surface deformation caused by the upwelling of roadbed soil after water immersion) and looseness (material shedding due to fatigue or aging).

[0004] Monitoring and evaluating road deformation requires a variety of detection methods. Existing methods mainly include manual visual inspection, accelerometers, and photogrammetry. Manual inspection relies on on-site inspections, which is inefficient and has limited coverage. Accelerometers use vibration data to determine road deformation, but require professional equipment support. Photogrammetry uses high-resolution images to analyze road conditions, but the complexity of image processing limits its real-time application. Common defects of existing technologies include: low efficiency, limited accuracy, susceptibility to environmental influences, high cost, safety risks, and complex data processing. Summary of the invention

[0005] In view of the shortcomings of the prior art mentioned above, the purpose of the present application is to provide a road deformation detection method, system, medium, program product and terminal based on millimeter wave radar, which is used to solve the problems of low efficiency, limited accuracy, susceptibility to environmental influences, high cost and lack of real-time performance in road deformation detection.

[0006] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a method for detecting road deformation based on millimeter-wave radar, comprising: obtaining radar acquisition parameters of a road surface to be tested, wherein the road surface to be tested includes multiple points to be tested; based on the radar acquisition parameters, performing a radar scanning operation on the road surface to be tested in a preset scanning mode to generate an average height of all points to be tested and three-dimensional coordinate information of each point to be tested; based on the average height of all points to be tested and the three-dimensional coordinate information of each point to be tested, performing a deformation determination operation on each point to be tested to generate a deformation result of the road surface to be tested; in response to the absence of deformation of the road surface to be tested, adjusting the radar acquisition parameters and performing the radar scanning operation and the deformation determination operation again; in response to the presence of deformation of the road surface to be tested, determining whether the deformation in the road surface to be tested is regional; if it is not regional, adjusting the radar acquisition parameters and performing the radar scanning operation and the deformation determination operation again; otherwise extracting and sending the deformation detection result.

[0007] In some embodiments of the first aspect of the present application, the radar acquisition parameters include: one or more of a vertical pitch angle and a horizontal rotation angle.

[0008] In some embodiments of the first aspect of the present application, a radar scanning operation is performed on the road surface to be tested in a preset scanning mode, wherein the preset scanning mode includes any one of the following scanning modes: generating parallel lines from one side of the road surface to be tested to the other side according to a preset spacing, and extracting the points to be tested on each parallel line; based on the vertical pitch angle and the horizontal rotation angle, scanning the points to be tested on each parallel line in turn; according to a preset grid spacing, dividing the entire road surface to be tested into a number of equal grid units, and extracting the corresponding points to be tested from each grid unit in turn; based on the vertical pitch angle and the horizontal rotation angle, scanning the points to be tested in each grid unit in turn.

[0009] In some embodiments of the first aspect of the present application, the process of performing a deformation judgment operation on each point to be measured includes: judging the relationship between the height coordinate of each point to be measured and the average height of all points to be measured; if the absolute difference between the height coordinates of all points to be measured and the average height is greater than a preset deformation threshold, the road surface to be measured is deformed; otherwise, the road surface to be measured is not deformed.

[0010] In some embodiments of the first aspect of the present application, the process of determining whether the deformation in the road surface to be tested is regional includes: marking all test points through a deformation judgment operation to generate deformed test points and non-deformed test points; performing analysis based on the area formed by all deformed test points, if the area formed by all deformed test points meets the regional standard, then the deformation in the road surface to be tested is regional; otherwise, the deformation in the road surface to be tested is not regional.

[0011] In some embodiments of the first aspect of the present application, the regional criteria include one or more of the following parameters: density threshold, minimum region area, cluster distance, shape factor, area-to-perimeter ratio, and coverage.

[0012] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides a road deformation detection system based on millimeter wave radar, including: a scanning control module: used to obtain radar acquisition parameters of a road surface to be tested, wherein the road surface to be tested includes multiple points to be tested; based on the radar acquisition parameters, a radar scanning operation is performed on the road surface to be tested in a preset scanning mode to generate an average height of all points to be tested and three-dimensional coordinate information of each point to be tested; a deformation judgment module: used to perform a deformation judgment operation on each point to be tested based on the average height of all points to be tested and the three-dimensional coordinate information of each point to be tested to generate a deformation result of the road surface to be tested; in response to the absence of deformation of the road surface to be tested, the radar acquisition parameters are adjusted and the radar scanning operation and the deformation judgment operation are performed again; a regional analysis module: used to determine whether the deformation in the road surface to be tested is regional in response to the presence of deformation of the road surface to be tested, and if it is not regional, the radar acquisition parameters are adjusted and the radar scanning operation and the deformation judgment operation are performed again, otherwise the deformation detection result is extracted and sent.

[0013] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the millimeter-wave radar-based road deformation detection method is implemented.

[0014] To achieve the above-mentioned purpose and other related purposes, the fourth aspect of the present application provides a computer program product, which includes a computer program code. When the computer program code is run on a computer, the computer implements the road deformation detection method based on millimeter wave radar.

[0015] To achieve the above-mentioned purpose and other related purposes, the fifth aspect of the present application provides an electronic terminal, including a memory, a processor and a computer program stored in the memory; the processor executes the computer program to implement the millimeter-wave radar-based road deformation detection method.

[0016] As described above, the millimeter-wave radar-based road deformation detection method, system, medium, program product and terminal of the present application have the following beneficial effects: by adopting millimeter-wave radar technology, the efficiency, accuracy and real-time performance of road deformation monitoring are significantly improved. Compared with traditional manual detection methods, the present application can quickly and non-contactly obtain the average height and three-dimensional coordinate information of the road surface to be tested in real time, and automatically perform deformation judgment, reducing human intervention and errors. In addition, it also has the ability to dynamically adjust radar acquisition parameters, so that it has good adaptability in different environments, and can promptly feedback deformation results, thereby effectively ensuring traffic safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of an embodiment of a road deformation detection method based on millimeter wave radar of the present application is shown.

[0018] Figure 2 A schematic diagram of the scanning process in an embodiment of a road deformation detection method based on millimeter wave radar of the present application is shown.

[0019] Figure 3 A flow chart of another embodiment of the road deformation detection method based on millimeter wave radar of the present application is shown.

[0020] Figure 4 A schematic structural diagram of an embodiment of a road deformation detection device based on millimeter wave radar of the present application is shown.

[0021] Figure 5 A schematic structural diagram of another embodiment of the road deformation detection device based on millimeter wave radar of the present application is shown.

[0022] Figure 6 A schematic structural diagram of an embodiment of a road deformation detection terminal based on millimeter-wave radar of the present application is shown. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0024] Before further explaining the present application in detail, the nouns and terms involved in the embodiments of the present application are explained. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations:

[0025] <1> Millimeter wave radar: Millimeter wave radar is a technology that uses electromagnetic waves in the 30GHz to 300GHz frequency band for detection and imaging. By transmitting millimeter wave signals and receiving reflected waves, it can effectively identify the shape, position and movement of the target, and is widely used in high-precision measurement, object recognition, vehicle detection and ground monitoring.

[0026] <2> Pavement deformation: Pavement deformation refers to the geometric changes of the road surface or foundation caused by external forces or environmental factors, including depressions, ridges, cracks and ruts, which affect the road smoothness and traffic safety.

[0027] <3> Grid scanning method: Grid scanning method is a systematic data collection technology that divides the target area into small grids and collects data one by one to ensure comprehensive coverage and effective identification and analysis of deformation features. It is often used in engineering monitoring and geographic information systems.

[0028] <4> Linear scanning method: The linear scanning method is a method of collecting data on a specific straight path. The equipment moves along the predetermined route and obtains height and status information in real time. It is suitable for quickly detecting the conditions of specific road sections and is easy to operate.

[0029] <5> Cracks: Cracks are elongated openings that form in the pavement or foundation and can be horizontal, vertical or in a web pattern. Cracks are usually caused by temperature changes, material fatigue or external pressure and can lead to water penetration and structural damage.

[0030] <6> Ruts: Ruts are strip-shaped indentations formed by heavy vehicles rolling over the road surface. They affect vehicle stability, increase tire wear, and may cause water accumulation, affecting road safety.

[0031] <7> Subsidence: Subsidence is the sinking of a local area due to external factors, usually causing the area to be lower than the surrounding ground, forming a pit and posing a potential safety threat.

[0032] <8> Bump: Bump is a localized bulge in the road surface, usually caused by water intrusion or soil expansion. It manifests as a significant increase in height and may cause road damage and safety hazards.

[0033] <9> Pothole: A pothole is a noticeable depression caused by external force, erosion or water flow. It has clear edges and varying depths. It poses a direct threat to vehicle safety and may cause traffic accidents.

[0034] <10> Mud boiling: Mud boiling is the phenomenon that soil rises due to excessive moisture when soaked in water, usually causing surface bulges and irregular deformations, increasing the unevenness of the road surface and increasing driving risks.

[0035] <11> Looseness: Looseness is the uneven surface of pavement materials caused by long-term use, fatigue or external factors, which manifests as height changes and bumps, which may cause material falling off and structural damage, increasing safety hazards.

[0036] To facilitate understanding of the embodiments of the present application, first Figure 1 Detailed description. Figure 1 The following is a flow chart of a road deformation detection method based on millimeter wave radar in an embodiment of the present application. It should be noted that the present application collects road deformation data through millimeter wave radar and realizes deformation detection through data analysis. The road deformation detection method based on millimeter wave radar in this embodiment mainly includes the following steps:

[0037] Step S11: obtaining radar acquisition parameters of a road surface to be tested, wherein the road surface to be tested includes a plurality of points to be tested.

[0038] In one embodiment of the present application, after the millimeter wave radar is installed on the newly paved road surface, the geographical location of the radar can be used as a position reference point. Subsequently, the millimeter wave radar is controlled to scan the road surface within the detection range, and the distance value between each road surface to be measured and the millimeter wave radar is collected one by one.

[0039] Furthermore, the millimeter-wave radar is installed on the roadside equipment, and the roadside equipment includes one or more combinations of smart street lights, street lights, tunnel lights, fill lights, guardrail lights, warning lights, information boards, induction screens, ETC display screens, variable information screens, and control cabinets. The advantage of setting the millimeter-wave radar on the above-mentioned roadside equipment is that it can significantly improve the accuracy and reliability of data collection. The roadside equipment provides a wide field of view and can fully scan the road surface to be tested, and the fixed position ensures high stability and reduces measurement errors. In addition, roadside equipment such as smart street lights have power supply and network access, which facilitates radar installation and data transmission, and can reduce costs and improve the efficiency of road deformation detection through resource integration. At the same time, the roadside is easy to install protective equipment, thereby reducing the risk of damage to the millimeter-wave radar equipment, while avoiding traffic interference and ensuring driving safety. These factors jointly promote the accuracy, stability and safety of road deformation detection.

[0040] Preferably, the millimeter wave radar is installed on a street lamp. Figure 2 As shown, in this embodiment, the position of the street lamp is used as a reference point for the subsequent detected road deformation, thereby combining the radar with the existing infrastructure, while ensuring the accuracy and reliability of data collection, thereby providing effective support for road deformation detection.

[0041] In an embodiment of the present application, the radar acquisition parameters include: one or more of a vertical pitch angle and a horizontal rotation angle.

[0042] In this embodiment, the vertical pitch angle refers to the vertical tilt angle of the radar antenna relative to the ground. By adjusting this angle, the radar can optimize the scanning range and capture targets or areas at different heights. The horizontal rotation angle refers to the angle at which the radar antenna rotates horizontally around its installation point. Changing this angle allows the radar to scan areas in different directions to obtain more comprehensive road deformation.

[0043] In this embodiment, radar acquisition parameters refer to radar parameters set by the radar when performing data acquisition scanning operations. The radar acquisition parameters also include one or more of the following parameters: radar frequency, sampling rate, pulse width and transmission power, which affect the radar's detection capability, the level of detail in data acquisition and the propagation distance of the signal. By controlling the radar acquisition parameters, the scanning range can be optimized, the detection accuracy can be improved, the data quality can be enhanced, the signal propagation can be guaranteed and the system integration can be promoted, thereby ensuring the accurate detection of road deformation and the improvement of overall performance.

[0044] Step S12: Based on the radar acquisition parameters, a radar scanning operation is performed on the road surface to be tested in a preset scanning mode to generate an average height of all the points to be tested and three-dimensional coordinate information of each point to be tested.

[0045] In one embodiment of the present application, a radar scanning operation is performed on the road surface to be tested in a preset scanning mode, wherein the preset scanning mode includes any one of the following scanning modes: generating parallel lines from one side of the road surface to be tested to the other side according to a preset spacing, and extracting the points to be tested on each parallel line; based on the vertical pitch angle and the horizontal rotation angle, scanning the points to be tested on each parallel line in turn; according to a preset grid spacing, dividing the entire road surface to be tested into a number of equal grid units, and extracting the corresponding points to be tested (including the points to be tested on the grid unit) from each grid unit in turn; based on the vertical pitch angle and the horizontal rotation angle, scanning the points to be tested in each grid unit in turn.

[0046] In one embodiment of the present application, when using a millimeter-wave radar to scan the road surface within the detection range, the points to be measured can be gradually selected from one side of the road to the other side through equally spaced parallel lines or equally spaced grids, and the millimeter-wave radar can be controlled to adjust to the corresponding vertical pitch angle and horizontal rotation angle so as to collect the distance value between the millimeter-wave radar and each point to be measured within the detection range one by one.

[0047] Specifically, Figure 2 As shown, the process of the parallel line equidistant scanning method includes: selecting the test points from one side of the road to the other side in sequence according to the equidistant parallel lines, and calculating the initial average value of the road surface height. Specifically, it includes: setting the millimeter wave radar to rotate to a vertical pitch angle α, adjusting the millimeter wave radar horizontal rotation angle β i, to scan the test points on different parallel lines in turn. Collect the distance value s between the millimeter wave radar and each test point i , and the average road height Δh in the detection range is calculated by formula 1, where α represents the vertical pitch angle, s i Represents the horizontal rotation angle of the millimeter wave radar as β i is the distance value between it and the point to be measured, and n represents the number of numerical samples.

[0048]

[0049] Specifically, Figure 2 As shown in the figure, the process of the grid scanning method includes: selecting test points from one side of the road to the other side to calculate the initial average value of the road height. The specific steps are as follows: First, adjust the millimeter wave radar to a vertical pitch angle α ij and horizontal rotation angle β ij ; Then, select the test points at equal intervals along the grid layout from one side of the road; Next, collect the distance value s between the millimeter wave radar and each test point ij , and calculate the average road height Δh within the detection range according to Formula 2. Where, α ij represents the vertical pitch angle, s ij Represents the millimeter wave radar vertical pitch angle α ij and horizontal rotation angle β ij is the distance value between it and the point to be measured, and n and m represent the number of numerical samples.

[0050]

[0051] Furthermore, the three-dimensional coordinates of the point to be measured are calculated based on the collected distance value between the millimeter-wave radar and the point to be measured. The specific steps are as follows: First, the coordinates of the position reference point are set to (0,0) as the starting point of the calculation; then, the vertical pitch angle of the millimeter-wave radar is set to α and the horizontal rotation angle is set to β, where α represents the angle at which the radar is tilted upward or downward and β represents the angle at which the radar rotates around the vertical axis. Subsequently, the distance value s between the millimeter-wave radar and the point to be measured is collected by radar. Then, the vertical height value h from the point to be measured to the millimeter-wave radar is calculated by formula 3, where h represents the height of the point to be measured in the vertical direction.

[0052] h=s×sin(α) (Formula 3)

[0053] l = s × cos(α) (Formula 4)

[0054] Next, the horizontal distance l between the point to be measured and the millimeter-wave radar is calculated by formula 4 to determine its relative position in the horizontal direction.

[0055] x=l×cos(β) (Formula 5)

[0056] y=l×cos(β) (Formula 6)

[0057] Finally, the horizontal abscissa value x and the horizontal ordinate value y are calculated by formula 5 and formula 6, where x and y represent the position of the point to be measured on the horizontal plane, and are adjusted according to the horizontal rotation angle β. Finally, the three-dimensional coordinates of the point to be measured are expressed as (x, y, h), where x and y are horizontal coordinates and h is the vertical coordinate, thereby fully describing the position of the point to be measured in three-dimensional space.

[0058] Step S13: Based on the average height of all the points to be measured and the three-dimensional coordinate information of each point to be measured, a deformation determination operation is performed on each point to be measured to generate a deformation result of the road surface to be measured.

[0059] In one embodiment of the present application, the process of performing a deformation determination operation on each point to be measured includes: determining the relationship between the height coordinate of each point to be measured and the average height of all points to be measured; if the absolute difference between the height coordinates of all points to be measured and the average height is greater than a preset deformation threshold, the road surface to be measured is deformed; otherwise, the road surface to be measured is not deformed.

[0060] In this embodiment, the main basis for judging whether the road surface is deformed is the height value of the test point detected during the road surface deformation detection and the initial average value of the road surface height. Taking the initial average value as a benchmark, the deformation of the road surface is judged by comparing the initial average height when the new road surface is paved with the average height of each test point within the detection range.

[0061] Exemplarily, when the deformation threshold is 2 cm, the process of performing deformation determination operation on each test point includes: first, taking the average height of the test point as the reference. If within the detection range, the absolute difference between the average height of the road surface test point and the initial average height is less than 2 cm (that is, the absolute difference refers to higher or lower than, and the absolute difference ignores the positive and negative directions and only considers the number of deviations), then it is judged that the road surface has no deformation; if the average height within the detection range exceeds the initial average height by more than 2 cm, then it is judged that there are potholes on the road surface; if the average height within the detection range is lower than the initial average height by 2 cm, then it is judged that there are ridges on the road surface. It should be noted that 2 cm in this embodiment is only an exemplary value, and does not limit the deformation determination parameters of this application. The specific value can be adjusted according to actual conditions.

[0062] Preferably, for the road surface quality of highways, the depth of potholes should be controlled within 2 cm to ensure driving safety and the long-term service life of the highway. When the depth of the potholes is less than 2 cm or the area is less than 0.1 square meters, it is generally considered to be light damage, and the impact of such damage on vehicle driving is relatively small. However, if the depth of the potholes reaches or exceeds 2 cm, or its area reaches or exceeds 0.1 square meters, it is considered to be severe damage. This situation may seriously affect the driving safety of vehicles, increase the risk of accidents, and significantly shorten the service life of the highway.

[0063] Step S14: In response to the absence of deformation of the road surface to be tested, the radar acquisition parameters are adjusted and the radar scanning operation and the deformation determination operation are performed again.

[0064] In one embodiment of the present application, the process of adjusting the radar acquisition parameters is to perform multiple rounds of scanning by the millimeter wave radar according to preset intervals. During each scan, the radar will translate in the horizontal direction according to the preset interval to ensure that all target areas are covered. For linear scanning, the interval of each translation remains consistent to form a straight scanning path, so that dynamic parameters such as the distance and speed of the target can be effectively obtained. For grid scanning, the radar translates alternately in the horizontal and vertical directions to form a grid-like scanning pattern, which can fully cover the detection area and improve the accuracy and resolution of target recognition.

[0065] In one embodiment of the present application, when the road surface to be tested is determined to have no deformation, it is necessary to adjust the radar acquisition parameters to optimize the scanning accuracy and efficiency, and perform the radar scanning and deformation determination operations again. The above process includes the following steps: data collection based on preset parameters, and then re-evaluating and adjusting the parameters to improve the detection capability after confirming that there is no significant deformation through data analysis, such as increasing the transmission frequency, improving the resolution and adjusting the scanning angle; then, re-scanning with the optimized parameters, collecting more detailed data and re-determining to ensure that potential anomalies are captured; finally, analyzing the new data and comparing it with the previous results to guide subsequent maintenance, while forming a dynamic feedback mechanism to continuously optimize the parameter settings to ensure the best detection effect. This series of steps ensures that the detection process can be dynamically adjusted and optimized when detecting no deformation, thereby improving the accuracy and adaptability of the system.

[0066] Step S15: In response to deformation of the road surface to be tested, determine whether the deformation in the road surface to be tested is regional; if not, adjust the radar acquisition parameters and perform the radar scanning operation and the deformation determination operation again; otherwise, extract and send the deformation detection results.

[0067] In one embodiment of the present application, before determining whether the deformation in the road surface to be tested is regional, the following operations are performed: first, the actual measured height value and the average height value in the deformation data are stored for subsequent analysis and comparison; after confirming that the deformation is regional, the scope of the road surface deformation is further determined, including relevant coordinates and specific deformation conditions; then, this information is fed back to the control center for timely processing and decision-making. This process ensures comprehensive monitoring of road conditions, enables the control center to accurately grasp the distribution characteristics of road surface deformation, and provides a scientific basis for subsequent maintenance and repair. In this way, the accuracy and response speed of road surface management can be effectively improved, thereby ensuring traffic safety.

[0068] In one embodiment of the present application, the process of determining whether the deformation in the road surface to be tested is regional includes: marking all test points through a deformation determination operation to generate deformed test points and non-deformed test points; performing analysis based on the area formed by all deformed test points, if the area formed by all deformed test points meets the regional standard, then the deformation in the road surface to be tested is regional; otherwise, the deformation in the road surface to be tested is not regional.

[0069] In this embodiment, the process of marking all test points includes: determining the state of each test point based on the comparison of the acquired height measurement data with the set threshold value. The test points that meet the set height change standard are marked as deformed test points, while those that do not meet the standard are marked as non-deformed test points; next, an analysis is performed based on the area formed by all deformed test points, and a spatial clustering analysis is performed on the marking results to identify the distribution of deformed test points in the same area. If these test points show clustering and meet the preset regional standards. Exemplarily, if the deformation persists and the height change relative to the surrounding environment is within a certain range, it is considered that the deformation in the road surface to be tested is regional. Otherwise, if the deformed test points are scattered or the change is not obvious, it is determined that the deformation in the road surface to be tested is not regional.

[0070] Specifically, the process of determining whether the road surface deformation is regional in this embodiment includes the following steps: Identify the road surface area where deformation exists through detection, and set a new detection range based on this to cover the surrounding area. Select a suitable detection method, such as the scanning line method or the grid method, to ensure that comprehensive data is obtained. Measure the road surface height within this range, calculate the average value, and compare it with the initial height average value. When the difference exceeds 2 cm, record the geographical location of these test points and integrate them into the corresponding deformation range coordinates. Finally, accurately evaluate the road surface deformation in the area based on the obtained data to facilitate subsequent maintenance and repair work.

[0071] Furthermore, deformation conditions include but are not limited to cracks, rutting, subsidence, bumps, potholes, slurry and looseness, which may affect the smoothness and safety of the road surface. Specifically, cracks can be identified by linear or mesh height changes and depth differences; rutting is manifested as depressions in a specific road section, showing a height lower than the surrounding ground; subsidence is common in local areas that are significantly lower than the surrounding ground, forming pits; bumps are characterized by local bulges, usually distributed in elliptical or circular shapes; potholes are significantly lower than the surrounding ground and have clear edges; slurry is manifested as abnormal bulges under water immersion; and looseness is manifested as frequent height fluctuations and irregular surfaces.

[0072] In one embodiment of the present application, the regional standard includes one or more of the following parameters: density threshold, minimum region area, cluster distance, shape factor, area-to-perimeter ratio, and coverage.

[0073] It should be noted that the density threshold represents the minimum number of deformation points per unit area to determine the degree of deformation concentration; the minimum area represents the standard for ensuring that the deformation area is of sufficient size for effective evaluation; the cluster distance represents the maximum allowable distance between adjacent deformation points to ensure the continuity between points; the shape factor represents the shape used to evaluate the deformation area, and the larger the value, the more concentrated the area; the area to perimeter ratio represents the ratio of the deformation area area to the perimeter, which is used to exclude areas that are too slender or irregular; the coverage rate represents the proportion of deformation points in a specific area to ensure the representativeness and effectiveness of monitoring. These parameters together constitute the basis for defining regionality to achieve more accurate deformation monitoring and evaluation.

[0074] In this embodiment, one or more of the following schemes can be used to perform regional detection. First, by calculating the point density in the area and combining it with the density threshold, high-density deformation areas can be effectively identified. This method is particularly effective when detecting dense cracks or damaged roads; second, a minimum area standard is set to select key damaged areas, thereby excluding secondary noise areas and improving detection accuracy. At the same time, a clustering algorithm is applied to determine the correlation between the detection points based on the cluster distance, so as to accurately define the boundaries of the deformation area; in addition, the shape factor and area-perimeter ratio of the target area are calculated to ensure that the shape of the detection area meets the preset standards, which is particularly suitable for scenarios that require regularity evaluation; finally, the coverage of road damage is evaluated through coverage analysis to determine the effectiveness and severity of the deformation area.

[0075] Figure 3The flowchart of road deformation detection based on millimeter wave radar in one embodiment of the present application is shown. The processor unit sends the preset values ​​of the millimeter wave radar pitch angle α and the horizontal rotation angle β to the servo unit. After receiving the control parameters α and β, the servo unit controls the millimeter wave radar to make corresponding position adjustments. The millimeter wave radar collects the scanning interval s value of the point to be measured and sends it to the processor unit. The processor calculates the three-dimensional coordinates (x, y, h) of the corresponding road surface point to be measured based on the α value, β value and s value, and determines whether the calculated height value h is approximately equal to the ideal height value Δh of the corresponding position stored in the storage unit. If h is greater than or less than Δh, h and Δh are respectively placed in different spaces in the storage unit, and the α value and β value are adjusted, and the scanning operation is performed again. If h is approximately equal to Δh, the α value and β value are adjusted, and the scanning operation is performed again. For the scanning result determined to be deformed, it is further determined whether the deformation range of the road surface is regional. If it is not regional, the α value and β value are adjusted, and the scanning operation is performed again. If it is regional, the road deformation range coordinates and specific deformation conditions are determined and sent to the transmission unit, and finally the transmission unit uploads the road deformation detection results to the control center.

[0076] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" represent examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0077] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, ab, ac, bc or abc, where a, b, c can be single or multiple.

[0078] Figure 4 is a schematic block diagram of a road deformation detection system based on millimeter wave radar provided in an embodiment of the present application. Figure 4 As shown, the system includes a scanning control module 401 , a deformation determination module 402 and a regional analysis module 403 .

[0079] Scanning control module 401: used to obtain radar acquisition parameters of a road surface to be tested, wherein the road surface to be tested includes a plurality of points to be tested; based on the radar acquisition parameters, perform radar scanning operation on the road surface to be tested in a preset scanning mode to generate an average height of all points to be tested and three-dimensional coordinate information of each point to be tested;

[0080] The deformation determination module 402 is used to perform a deformation determination operation on each of the test points based on the average height of all the test points and the three-dimensional coordinate information of each of the test points to generate a deformation result of the road surface to be tested; in response to the absence of deformation of the road surface to be tested, adjust the radar acquisition parameters and perform the radar scanning operation and the deformation determination operation again;

[0081] Regional analysis module 403: used to respond to the presence of deformation in the road surface to be tested, determine whether the deformation in the road surface to be tested is regional; if not, adjust the radar acquisition parameters and perform the radar scanning operation and the deformation determination operation again; otherwise, extract and send the deformation detection results.

[0082] In one embodiment of the present application, a road deformation detection system based on millimeter wave radar includes multiple modules and units to form an efficient road surface detection system. The scanning control module 401 is used to obtain the radar acquisition parameters of the road surface to be tested, and the road surface to be tested includes multiple points to be tested. Based on these initial parameters, the module performs radar scanning in a preset scanning mode to generate the average height of all points to be tested and the three-dimensional coordinate information of each point to be tested. The deformation determination module 402 performs a deformation determination operation on each point to be tested based on the average height and three-dimensional coordinates of all points to be tested, and generates a deformation result of the road surface to be tested. When the determination result shows that there is no deformation on the road surface to be tested, the system will adjust the radar acquisition parameters and perform radar scanning and deformation determination operations again. The regional analysis module 403 is responsible for determining whether the deformation existing in the road surface to be tested is regional. If the deformation is not regional, the system will adjust the parameters in time and rescan; if it is regional, the deformation detection result will be extracted and sent.

[0083] Furthermore, if Figure 5As shown in the figure, the road deformation detection system based on millimeter wave radar also includes a millimeter wave radar, a storage unit, a processor unit, a servo unit and a transmission unit. Among them, the storage unit, the processor unit and the transmission unit are bidirectionally connected. The millimeter wave radar collects the distance value between each test point and the radar through the parameters sent by the servo unit, and sends the collected data to the processor unit. The storage unit is used to store the average value and calculation result of the road height, and send the judgment result to the transmission unit. The processor unit receives the distance data from the millimeter wave radar, and calculates the average height Δh of the road surface and the three-dimensional coordinates (x, y, h) of each test point using the scanning line method or the grid method. Based on these data, the processor unit determines whether the road surface is deformed, and sends the corresponding control signal to the servo unit to adjust the millimeter wave radar to the preset vertical pitch angle and horizontal rotation angle. The transmission unit is responsible for receiving the judgment result of the processor unit and sending it to the control center, while receiving the control instructions from the control center and sending them to the storage unit and the processor unit respectively. Through the close cooperation of each unit, the system realizes efficient and accurate road deformation detection.

[0084] It should be understood that the specific process of each module executing the above corresponding steps has been described in detail in the above method embodiment, and for the sake of brevity, it will not be repeated here.

[0085] It should also be understood that the division of modules in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present application may be integrated into a processor, or may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0086] Figure 6 is a schematic block diagram of an electronic terminal provided in an embodiment of the present application. Figure 6 As shown, the electronic terminal includes: at least one processor 601, a memory 602, at least one network interface 603 and a user interface 605. The various components in the device are coupled together through a bus system 604. It can be understood that the bus system 604 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 604 also includes a power bus, a control bus and a status signal bus. However, for the sake of clarity, Figure 6 In the specification, various buses are labeled as bus systems.

[0087] The user interface 605 may include a display, a keyboard, a mouse, a trackball, a click gun, keys, buttons, a touch pad or a touch screen.

[0088] It is understood that the memory 602 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), which is used as an external cache. By way of exemplary but not limiting explanation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM). The memory described in the embodiments of the present application is intended to include but is not limited to these and any other suitable categories of memory.

[0089] The memory 602 in the embodiment of the present application is used to store various categories of data to support the operation of the electronic terminal 600. Examples of these data include: any executable program for operating on the electronic terminal 600, such as an operating system 6021 and an application 6022; the operating system 6021 includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application 6022 may include various applications, such as a media player (Media Player), a browser (Browser), etc., for implementing various application services. The millimeter-wave radar-based road deformation detection method provided in the embodiment of the present application may be included in the application 6022.

[0090] The method disclosed in the above embodiment of the present application can be applied to the processor 601, or implemented by the processor 601. The processor 601 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor 601 or an instruction in the form of software. The above processor 601 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 601 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor 601 may be a microprocessor or any conventional processor, etc. In combination with the steps of the accessory optimization method provided in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0091] In an exemplary embodiment, the electronic terminal 600 can be used by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD) to execute the aforementioned method.

[0092] According to the method provided in the embodiments of the present application, the present application also provides a computer program product, which includes: computer program code, when the computer program code is run on a computer, the computer executes the road deformation detection method based on millimeter wave radar in any of the embodiments shown above.

[0093] According to the method provided in the embodiments of the present application, the present application also provides a computer-readable storage medium, which stores a program code. When the program code is run on a computer, the computer executes the road deformation detection method based on millimeter-wave radar in any of the embodiments shown above.

[0094] The terms "component", "module", "system", etc. used in this specification are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program and / or a computer. By way of illustration, both applications running on a computing device and a computing device can be components. One or more components may reside in a process and / or an execution thread, and a component may be located on a computer and / or distributed between two or more computers. In addition, these components may be executed from various computer-readable media having various data structures stored thereon. Components may, for example, communicate through local and / or remote processes according to signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system and / or a network, such as the Internet interacting with other systems through signals).

[0095] Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0096] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0097] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0099] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0100] In the above embodiments, the functions of each functional unit can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions (programs). When loading and executing computer program instructions (programs) on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. Available media may be magnetic media (e.g., floppy disks, hard disks, tapes), optical media (e.g., high-density digital video discs (DVDs), or semiconductor media (e.g., solid state disks (SSDs)).

[0101] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., and other media that can store program codes.

[0102] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0103] In summary, the present application provides a road deformation detection method, system, medium, program product and terminal based on millimeter wave radar. The present application provides a method for improving the real-time and accuracy of road deformation detection. By comprehensively applying the high-precision scanning and automatic deformation judgment technical means of millimeter wave radar technology, the technical problems of low efficiency, large manual errors and insufficient real-time performance in traditional road monitoring methods are solved. Fast, non-contact real-time road deformation monitoring is achieved, and the average height and three-dimensional coordinate information of the road surface can be accurately obtained under different environments, and deformation results can be fed back in a timely manner. This not only improves the efficiency and accuracy of data processing, but also enhances the adaptability and economy of the system, thereby significantly improving the overall level of traffic safety management. Therefore, the present application effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value.

[0104] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A road deformation detection method based on millimeter wave radar, characterized in that: include: Acquire radar acquisition parameters of a road surface to be tested, wherein the road surface to be tested includes a plurality of points to be tested; Based on the radar acquisition parameters, a radar scanning operation is performed on the road surface to be tested in a preset scanning mode to generate an average height of all points to be tested and three-dimensional coordinate information of each point to be tested; Based on the average height of all the test points and the three-dimensional coordinate information of each test point, a deformation determination operation is performed on each test point to generate a deformation result of the road surface to be tested; In response to the absence of deformation of the road surface to be tested, adjusting the radar acquisition parameters and performing the radar scanning operation and the deformation determination operation again; In response to deformation of the road surface to be tested, it is determined whether the deformation in the road surface to be tested is regional; if not, the radar acquisition parameters are adjusted and the radar scanning operation and the deformation determination operation are performed again; otherwise, the deformation detection result is extracted and sent.

2. The road deformation detection method based on millimeter wave radar according to claim 1 is characterized in that: The radar acquisition parameters include: one or more of a vertical pitch angle and a horizontal rotation angle.

3. The road deformation detection method based on millimeter wave radar according to claim 2 is characterized in that: The radar scan operation is performed on the road surface to be tested in a preset scanning mode, wherein the preset scanning mode includes any one of the following scanning modes: Generate parallel lines from one side of the road surface to be tested to the other side according to a preset spacing, and extract the points to be tested on each parallel line; based on the vertical pitch angle and the horizontal rotation angle, scan the points to be tested on each parallel line in sequence; According to the preset grid spacing, the entire road surface to be tested is divided into a number of equal grid units, and the corresponding points to be tested are extracted from each grid unit in turn; based on the vertical pitch angle and the horizontal rotation angle, the points to be tested in each grid unit are scanned in turn.

4. The road deformation detection method based on millimeter wave radar according to claim 2 is characterized in that: The process of performing deformation determination operation on each point to be measured includes: judging the size relationship between the height coordinate of each point to be measured and the average height of all points to be measured. If the absolute difference between the height coordinate of all points to be measured and the average height is greater than a preset deformation threshold, the road surface to be measured is deformed; otherwise, the road surface to be measured is not deformed.

5. The method for detecting road deformation based on millimeter wave radar according to claim 2, characterized in that: The process of determining whether the deformation in the road surface to be tested is regional includes: Through the deformation determination operation, all the test points are marked to generate deformed test points and non-deformed test points; Based on the analysis of the area formed by all the deformation test points, if the area formed by all the deformation test points meets the regional standard, the deformation in the road surface to be tested is regional; otherwise, the deformation in the road surface to be tested is not regional.

6. The method for detecting road deformation based on millimeter wave radar according to claim 5, characterized in that: Regional criteria include one or more of the following parameters: density threshold, minimum region area, cluster distance, shape factor, area-to-perimeter ratio, and coverage.

7. A road deformation detection system based on millimeter wave radar, characterized in that: include: Scanning control module: used to obtain radar acquisition parameters of a road surface to be tested, where the road surface to be tested includes a plurality of points to be tested; Based on the radar acquisition parameters, a radar scanning operation is performed on the road surface to be tested in a preset scanning mode to generate an average height of all points to be tested and three-dimensional coordinate information of each point to be tested; Deformation determination module: used to perform deformation determination operation on each test point based on the average height of all test points and the three-dimensional coordinate information of each test point to generate a deformation result of the road surface to be tested; In response to the absence of deformation of the road surface to be tested, adjusting the radar acquisition parameters and performing the radar scanning operation and the deformation determination operation again; Regional analysis module: used to respond to the presence of deformation in the road surface to be tested and determine whether the deformation in the road surface to be tested is regional. If it is not regional, the radar acquisition parameters are adjusted and the radar scanning operation and the deformation determination operation are performed again. Otherwise, the deformation detection results are extracted and sent.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the road deformation detection method based on millimeter wave radar described in any one of claims 1 to 6 is implemented.

9. A computer program product, characterized in that The computer program product includes computer program codes, and when the computer program codes are executed on a computer, the computer is enabled to implement the road deformation detection method based on millimeter wave radar as claimed in any one of claims 1 to 6.

10. An electronic terminal comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the road deformation detection method based on millimeter wave radar as described in any one of claims 1 to 6.

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