A road detection coverage detection method and system based on three-dimensional ground penetrating radar

Abstract

The present invention provides a road detection coverage detection method and system based on a three-dimensional ground penetrating radar, comprising: step S1, depicting the roads in the detection area on a map; step S2, extracting all tile picture sets containing the detection area, drawing the road surface depicted in step S1 on the tile map of the tile picture set, and marking it with a preset first single color; step S3, drawing the trajectory detected by the three-dimensional radar onto the tile map of the corresponding position, intercepting the information outside the detection area, marking it with a preset second single color, and obtaining the detection trajectory plane; step S4, overlapping and comparing the detection trajectory plane of step S3 with the picture of step S2, and calculating the road detection coverage. The present invention can quickly and accurately calculate the corresponding detection coverage during the road detection process, effectively prevent problems such as missed detection and repeated detection, and has strong flexibility and applicability.

Description

Technical Field

[0001] The present invention relates to a road detection coverage detection method, in particular to a road detection coverage detection method based on a three-dimensional ground penetrating radar, and further to a system adopting the road detection coverage detection method based on a three-dimensional ground penetrating radar. Background Art

[0002] In urban road detection, the current road detection coverage is usually calculated by first importing the detection trajectory in the map application, and then roughly judging which roads have been detected through manual visual methods. In other words, managers are usually required to grasp and judge whether the roads in the detection area have been fully detected and what the coverage completion rate is. Obviously, this manual judgment method can only roughly determine whether a certain road has been detected, and cannot accurately determine the coverage rate, and cannot provide a fast and accurate road detection coverage rate. Therefore, it is particularly important to provide a method that can quickly and accurately calculate the detection coverage rate of roads in a specific area. Summary of the invention

[0003] The technical problem to be solved by the present invention is a road detection coverage detection method based on three-dimensional ground penetrating radar, which aims to quickly and accurately calculate the corresponding detection coverage during the road detection process to prevent missed detection and repeated detection. Compared with the existing technology of manual visual judgment, it can not only achieve more accurate and efficient results, but also freely plan the road area to be calculated, thereby improving its flexibility and applicability. On this basis, a system using the road detection coverage detection method based on three-dimensional ground penetrating radar is further provided.

[0004] In this regard, the present invention provides a road detection coverage detection method based on three-dimensional ground penetrating radar, comprising the following steps:

[0005] Step S1, drawing the roads within the detection area on a map;

[0006] Step S2, extracting all tile image sets containing the detection area at a preset map zoom level, drawing the road surface depicted in step S1 on the tile image of the tile image set, and marking it with a preset first single color;

[0007] Step S3, drawing the trajectory detected by the three-dimensional radar onto the tile map at the corresponding position, intercepting the information outside the detection area, marking it with a preset second single color, and obtaining the detection trajectory plane; the second single color is different from the first single color;

[0008] Step S4, overlapping and comparing the detection trajectory plane of step S3 and the image of step S2, and calculating the road detection coverage.

[0009] A further improvement of the present invention is that step S1 includes the following sub-steps:

[0010] Step S101, in the map application visualization library Cesium, find the road to be detected, then click the road boundary on the map to obtain the WGS84 longitude and latitude coordinate set corresponding to the entire road boundary;

[0011] Step S102, converting the boundary trajectory coordinate set of the road boundary into a polygon element road_polygon of the road plane;

[0012] Step S103, in the map application visualization library Cesium, find the area to be detected, then click the area boundary on the map to obtain the WGS84 longitude and latitude coordinate set corresponding to the entire area boundary;

[0013] Step S104: convert the boundary trajectory coordinate set of the area boundary into a polygon element area_polygon of the area plane.

[0014] A further improvement of the present invention is that in step S101 and step S103, the process of obtaining the WGS84 longitude and latitude coordinate set is: listening to the click event of the left mouse button on the map, obtaining the coordinate value corresponding to the click event in the parameters of the event callback function, and forming the corresponding WGS84 longitude and latitude coordinate set through each click event; in step S102 and step S104, the conversion process of the polygon element is: adding a series of point sets to a first coordinate, and putting in the last digit, completing the first digit combination to enclose a plane, using this plane as the boundary of the area, and drawing the boundary of the area to be detected by clicking on the map to convert it into a polygon element of the corresponding plane.

[0015] A further improvement of the present invention is that step S2 includes the following sub-steps:

[0016] Step S201, the map zoom level is set to 18, and each coordinate coord (lng, lat) in the coordinate set coords of the geographic spatial data road_polygon is calculated by the tile coordinate position calculation formula and Calculate the horizontal coordinate x and vertical coordinate y of the tile coordinate position (x, y) respectively, where lng represents the horizontal coordinate of the longitude and latitude position, and lat represents the vertical coordinate of the longitude and latitude position; obtain the tile image set tiles where all road boundaries are located through the calculation of the tile coordinate position, take out the maximum value xMax and minimum value xMin of the horizontal coordinate x, the maximum value yMax and minimum value yMin of the vertical coordinate y from the tile image set tiles, and the tiles containing all road surfaces are the tile set from the minimum value (xMin, yMin) to the maximum value (xMax, yMax), and the tile set has a total of (xMax-xMin+1)*(yMax-yMin+1) tiles, set as the road tile set road_tiles, and copy a copy of the road tile set road_tiles to set as the detection track tile set trace_tiles;

[0017] Step S202: In the road tile set road_tiles, first use the tile pixel position calculation formula and Calculate the pixel coordinates (pixelX, pixelY) in each tile image respectively, where pixelX is the horizontal axis coordinate of the tile image, pixelY is the vertical axis coordinate of the tile image, and the tile size is 256*256 pixels. Then mark the preset first single color at the horizontal axis coordinate pixelX and the vertical axis coordinate pixelY of the tile image.

[0018] A further improvement of the present invention is that step S3 includes the following sub-steps:

[0019] Step S301, setting the trajectory coordinate set collected by the three-dimensional ground penetrating radar as path, and filtering all coordinate points in the trajectory coordinate set path collected by the three-dimensional ground penetrating radar in turn, removing the coordinates that are not within the detection boundary area_polygon corresponding to the detection area drawn in step S1;

[0020] Step S302: for each filtered coordinate, set the map zoom level to 18, obtain the tile (x, y) by the tile coordinate position calculation formula in step S201, and obtain the pixel coordinates (pixelX, pixelY) of the detection point in the tile (x, y) by the tile pixel position calculation formula in step S202, mark the color as the second single color, and write it to the pixel coordinates (pixelX, pixelY) of the corresponding tile (x, y);

[0021] Step S303, then according to the number of channels of the acquisition radar device, the coordinate set path is translated to form a translated trajectory, and all coordinate points in the translated trajectory are drawn on the tile image to obtain a detection trajectory plane.

[0022] A further improvement of the present invention is that in step S301, it is preferred to use the horizontal ray intersection method to determine whether the coordinate point is in the geometric plane. The process of filtering all coordinate points in the trajectory coordinate set path collected by the three-dimensional ground penetrating radar in turn is: assuming that the detected coordinate point is p(x,y), the geometric plane coordinate set is polygon, assuming that the geometric plane coordinate set polygon is an array [(p(0,0), p(0,1), p(1,1), ..., p(1,0), p(0,0))], the array length is length, assuming i=0, j=length-1, start looping the array of the geometric plane coordinate set polygon, xi = polygon[i][0], yi = polygon[i][1], xj = polygon[j][0], yj = polygon[j][1], by the formula ((yi>y) !== (yj>y))&&(x<(xj - xi) * (y - yi) / (yj - yi) + xi) Calculate, if it is satisfied, then the intersect crossing times are increased by 1, then j=i, i is increased by 1 again, until i is greater than or equal to the array length length, and the loop ends; otherwise, proceed to the next loop; after the loop ends, make a judgment, if the intersect crossing times is an odd number, it is judged that the detected coordinate point is within the detection boundary area_polygon; if the intersect crossing times is an even number, it is judged that the detected coordinate point is not within the detection boundary area_polygon.

[0023] A further improvement of the present invention is that in step S303, the process of translating the coordinate set path is as follows: obtain the current coordinate point p0 (x0, y0) and the next coordinate point p1 (x1, y1), whose direction vector is dV=[x1-x0, y1-y0], calculate the vertical normal vector nV by the formula nV=[-dV[1], dV[0]], calculate the normal vector length nVL by the formula nVL=Math.sqrt(nV[0]*nV[0]+ nV[1]*nV[1]), where Math.sqrt() is for root finding, and then calculate the normalized normal vector nnV by the formula nnV=[nV[0] / nVL, nV[1] / nVL], then the coordinate point after the current coordinate point p0 is translated is [x0 *nnV[0], x1 * nnV[1]], in this way, the positions of all coordinate points in the coordinate set path after translation are obtained in turn to form a translated trajectory, and all coordinate points of the translated trajectory are plotted on the tile image according to the tile coordinate position calculation formula of step S201 to obtain the detection trajectory tile set trace_tiles.

[0024] A further improvement of the present invention is that the first single color is preset to RGBA (255, 0, 0, 255) red, and the second single color is preset to RGBA (0, 0, 255, 255) blue; in the step S303, the number of radar channels is preset to 16, the radar detection width is 1 meter, each translation is 1 / 16 meter, the detection starting point is channel 8, and in the process of translating the coordinate set path, it is first translated to the left side of the track for 7 times and then translated to the right for 8 times, and a total of 15 track lines are obtained; all coordinate points of the 15 track lines after translation are drawn on the tile image to obtain a detection track plane composed of 16 blue lines.

[0025] A further improvement of the present invention is that step S4 includes the following sub-steps:

[0026] Step S401, according to the tile coordinates (x, y), the road tile set road_tiles and the detection track tile set trace_tiles are respectively stitched into a png picture in the order of the x horizontal axis from left to right and the y vertical axis from bottom to top, to obtain the road tile picture roadPic.png and the detection track tile picture tracePic.png;

[0027] Step S402, first traverse all the pixel points of the road tile image roadPic.png, if the pixel point color is the first single color, then determine whether the pixel point color in the detection track tile image tracePic.png is the second single color, if yes, increase the detected point parameter checkNum by 1; otherwise, increase the undetected point parameter uncheckNum by 1;

[0028] Step S403, calculating the percentage value of the road detection coverage rate by the formula (checkNum / (checkNum+uncheckNum))*100.

[0029] The present invention also provides a road detection coverage detection system based on three-dimensional ground penetrating radar, which adopts the road detection coverage detection method based on three-dimensional ground penetrating radar as described above, and comprises:

[0030] The road depiction module depicts the roads within the detection area on the map;

[0031] A road pavement drawing module extracts a tile image set containing all detection areas at a preset map zoom level, draws the road pavement drawn by the road drawing module on the tile image of the tile image set, and marks it with a preset first single color;

[0032] The detection track plane acquisition module draws the track detected by the three-dimensional radar onto the tile map at the corresponding position, cuts off the information outside the detection area, and marks it with a preset second single color to obtain the detection track plane; the second single color is different from the first single color;

[0033] The road detection coverage calculation module overlaps and compares the detection trajectory plane of the detection trajectory plane acquisition module with the image of the road pavement drawing module to calculate the road detection coverage.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows: firstly, the roads in the detection area are depicted on the map; then, all tile image sets containing the detection area are extracted at a preset map magnification level, the depicted road surface is drawn on the tile image of the tile image set, and marked by a preset first single color; then, the trajectory detected by the three-dimensional radar is drawn on the tile image of the corresponding position, and the information outside the detection area is intercepted, and the detection trajectory plane is obtained by marking with a preset second single color different from the first single color; finally, the detection trajectory plane and the road surface image are overlapped and compared to calculate the road detection coverage. Therefore, the present invention can quickly and accurately calculate the corresponding detection coverage during the road detection process, effectively preventing problems such as missed detection and repeated detection. Compared with the prior art of manual visual judgment, the present invention can not only realize more accurate and efficient calculation of road detection coverage, but also freely plan the road area to be calculated, thereby improving its flexibility and applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the working process of an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0037] like Figure 1 As shown, this embodiment provides a road detection coverage detection method based on three-dimensional ground penetrating radar, comprising the following steps:

[0038] Step S1, drawing the roads within the detection area on a map;

[0039] Step S2, extracting all tile image sets containing the detection area at a preset map zoom level, drawing the road surface depicted in step S1 on the tile image of the tile image set, and marking it with a preset first single color;

[0040] Step S3, drawing the trajectory detected by the three-dimensional radar onto the tile map at the corresponding position, intercepting the information outside the detection area, marking it with a preset second single color, and obtaining the detection trajectory plane; the second single color is different from the first single color;

[0041] Step S4, overlapping and comparing the detection trajectory plane of step S3 and the image of step S2, and calculating the road detection coverage.

[0042] In this embodiment, step S1 includes the following sub-steps:

[0043] Step S101, in the map application visualization library Cesium, find the road to be detected, then click the road boundary on the map to obtain the WGS84 longitude and latitude coordinate set corresponding to the entire road boundary; wherein, the way to obtain the WGS84 longitude and latitude coordinate set by clicking the map is to listen to the left mouse button click event on the map, and the coordinate value of the click event can be obtained in the parameters of the event callback function (such as the MouseEvent interface function). Different maps will provide corresponding API references; API refers to Application Programming Interface, and the API reference is used to describe the specifications of each endpoint, method or function in the API, and the specifications of the method or function include parameters, return values ​​and error codes, etc.;

[0044] Step S102, converting the boundary trajectory coordinate set of the road boundary into a polygon element road_polygon of the road plane; the polygon conversion method is to add a series of point sets to a first coordinate and put it into the last digit, that is, to complete the first digit combination to form a plane, and the boundary of this plane is the regional boundary of the road plane;

[0045] Step S103, in the map application visualization library Cesium, find the area to be detected, then click the area boundary on the map to obtain the WGS84 longitude and latitude coordinate set corresponding to the entire area boundary; the method for obtaining the area boundary is the same as step S101;

[0046] Step S104, converting the boundary track coordinate set of the area boundary into a polygon element area_polygon of the area plane. The polygon conversion method of the boundary track coordinate set is the same as step S102.

[0047] Therefore, in step S101 and step S103 described in this embodiment, the process of obtaining the WGS84 longitude and latitude coordinate set is: listening to the click event of the left mouse button on the map, obtaining the coordinate value corresponding to the click event in the parameters of the event callback function, and forming the corresponding WGS84 longitude and latitude coordinate set through each click event; in step S102 and step S104, the conversion process of the polygon element is: adding a series of point sets to a first coordinate, and putting in the last digit, completing the first digit combination to enclose a plane, using this plane as the boundary of the area, and drawing the boundary of the area to be detected by clicking on the map to convert it into a polygon element of the corresponding plane.

[0048] Step S2 in this embodiment includes the following sub-steps:

[0049] Step S201, the map zoom level is set to 18, and each coordinate coord (lng, lat) in the coordinate set coords of the geographic spatial data road_polygon is calculated by the tile coordinate position calculation formula and Calculate the horizontal coordinate x and vertical coordinate y of the tile coordinate position (x, y) respectively, where lng represents the horizontal coordinate of the longitude and latitude position, and lat represents the vertical coordinate of the longitude and latitude position; obtain the tile image set tiles where all road boundaries are located through the calculation of the tile coordinate position, take out the maximum value xMax and minimum value xMin of the horizontal coordinate x, the maximum value yMax and minimum value yMin of the vertical coordinate y from the tile image set tiles, and the tiles containing all road surfaces are the tile set from the minimum value (xMin, yMin) to the maximum value (xMax, yMax), and the tile set has a total of (xMax-xMin+1)*(yMax-yMin+1) tiles, set as the road tile set road_tiles, and copy a copy of the road tile set road_tiles to set as the detection track tile set trace_tiles;

[0050] Step S202: In the road tile set road_tiles, first use the tile pixel position calculation formula and Calculate the pixel coordinates (pixelX, pixelY) in each tile image respectively, where pixelX is the horizontal axis coordinate of the tile image, pixelY is the vertical axis coordinate of the tile image, and the tile size is 256*256 pixels. Then mark the first single color set in advance at the horizontal axis pixelX and vertical axis pixelY positions of the tile image. The first single color is preferably RGBA (255, 0, 0, 255) red, and can also be set and adjusted according to actual conditions and needs; the red part of the image is the road surface, and other places are transparent.

[0051] Step S3 in this embodiment includes the following sub-steps:

[0052] Step S301, setting the trajectory coordinate set collected by the three-dimensional ground penetrating radar as path, and filtering all coordinate points in the trajectory coordinate set path collected by the three-dimensional ground penetrating radar in turn, removing the coordinates that are not within the detection boundary area_polygon corresponding to the detection area drawn in step S1;

[0053] Step S302, for each filtered coordinate, set the map zoom level to 18, obtain the tile (x, y) by the tile coordinate position calculation formula in step S201, and obtain the pixel coordinates (pixelX, pixelY) of the detection point in the tile (x, y) by the tile pixel position calculation formula in step S202, mark the color as the second single color, and write it to the pixel coordinates (pixelX, pixelY) of the corresponding tile (x, y); the second single color is preferably RGBA (0, 0, 255, 255) blue, which can also be set and adjusted according to actual conditions and needs;

[0054] Step S303, then according to the number of channels of the acquisition radar device, the coordinate set path is translated to form a translated trajectory, and all coordinate points in the translated trajectory are drawn on the tile image to obtain a detection trajectory plane.

[0055] In step S301 of the present embodiment, the process of filtering all coordinate points in the trajectory coordinate set path collected by the three-dimensional ground penetrating radar in sequence is as follows: assuming that the detected coordinate point is p(x,y), the geometric plane coordinate set is polygon, assuming that the geometric plane coordinate set polygon is an array [(p(0,0), p(0,1), p(1,1), ..., p(1,0), p(0,0))], the array length is length, assuming i=0, j=length-1, and starting to loop the array of the geometric plane coordinate set polygon, xi = polygon[i][0], yi = polygon[i][1], xj = polygon[j][0], yj = polygon[j][1], by the formula ((yi>y) !== (yj>y))&&(x<(xj - xi) * (y - yi) / (yj - yi) + xi) Calculate, if it is satisfied, then the intersect crossing times are increased by 1, then j=i, i is increased by 1 again, until i is greater than or equal to the array length length, and the loop ends; otherwise, proceed to the next loop; after the loop ends, make a judgment, if the intersect crossing times is an odd number, it is judged that the detected coordinate point is within the detection boundary area_polygon; if the intersect crossing times is an even number, it is judged that the detected coordinate point is not within the detection boundary area_polygon.

[0056] In step S303 of this embodiment, the process of translating the coordinate set path is as follows: obtain the current coordinate point p0 (x0, y0) and the next coordinate point p1 (x1, y1), whose direction vector is dV=[x1-x0, y1-y0], calculate the vertical normal vector nV by the formula nV=[-dV[1], dV[0]], calculate the normal vector length nVL by the formula nVL=Math.sqrt(nV[0]*nV[0] + nV[1]*nV[1]), where Math.sqrt() is for finding the root, and then calculate the normalized normal vector nnV by the formula nnV=[nV[0] / nVL, nV[1] / nVL], then the coordinate point after the current coordinate point p0 is translated is [x0 * nnV[0], x1* nnV[1]], in this way, the positions of all coordinate points of the coordinate set path after translation are obtained in turn to form a translated trajectory, and all coordinate points of the translated trajectory are drawn onto the tile image according to the tile coordinate position calculation formula of step S201 to obtain the detection trajectory tile set trace_tiles.

[0057] In step S303 described in this embodiment, the number of radar channels is preset to 16, the radar detection width is 1 meter, and the translation is 1 / 16 meter each time; because the positioned coordinates are the middle position of the radar detection width, all starting points are taken as the midpoint of the number of radar channels, that is, 16 / 2=8, therefore, the detection starting point is channel 8, and in the process of translating the coordinate set path, it is first translated to the left side of the track 7 times, and then translated to the right side 8 times, and a total of 15 track lines are obtained; all coordinate points of the 15 track lines after translation are drawn on the tile image, and a detection track plane composed of 16 blue lines is obtained.

[0058] Step S4 in this embodiment includes the following sub-steps:

[0059] Step S401, according to the tile coordinates (x, y), the road tile set road_tiles and the detection track tile set trace_tiles are respectively stitched into a png picture in the order of the x horizontal axis from left to right and the y vertical axis from bottom to top, to obtain the road tile picture roadPic.png and the detection track tile picture tracePic.png;

[0060] Step S402, first traverse all the pixel points of the road tile image roadPic.png, if the pixel point color is the first single color, then determine whether the pixel point color in the detection track tile image tracePic.png is the second single color, if yes, increase the detected point parameter checkNum by 1; otherwise, increase the undetected point parameter uncheckNum by 1;

[0061] Step S403, calculating the percentage value of the road detection coverage rate by the formula (checkNum / (checkNum+uncheckNum))*100.

[0062] This embodiment also provides a road detection coverage detection system based on a three-dimensional ground penetrating radar, which adopts the road detection coverage detection method based on a three-dimensional ground penetrating radar as described above, and includes:

[0063] The road depiction module depicts the roads within the detection area on the map;

[0064] A road pavement drawing module extracts a tile image set containing all detection areas at a preset map zoom level, draws the road pavement drawn by the road drawing module on the tile image of the tile image set, and marks it with a preset first single color;

[0065] The detection track plane acquisition module draws the track detected by the three-dimensional radar onto the tile map at the corresponding position, cuts off the information outside the detection area, and marks it with a preset second single color to obtain the detection track plane; the second single color is different from the first single color;

[0066] The road detection coverage calculation module overlaps and compares the detection trajectory plane of the detection trajectory plane acquisition module with the image of the road pavement drawing module to calculate the road detection coverage.

[0067] In summary, the present embodiment first depicts the roads within the detection area on the map; then, extracts all tile image sets containing the detection area at a preset map zoom level, draws the depicted road surface on the tile image of the tile image set, and marks it with a preset first single color; then, draws the trajectory detected by the three-dimensional radar onto the tile image of the corresponding position, intercepts the information outside the detection area, marks it with a preset second single color different from the first single color, and obtains the detection trajectory plane; finally, overlaps and compares the detection trajectory plane with the image of the road surface, and calculates the road detection coverage. Therefore, the present invention can quickly and accurately calculate the corresponding detection coverage during the road detection process, effectively preventing problems such as missed detection and repeated detection. Compared with the prior art of manual visual judgment, the present invention can not only achieve more accurate and efficient calculation of road detection coverage, but also freely plan the road area to be calculated, thereby improving its flexibility and applicability.

[0068] The above contents are further detailed descriptions of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A road detection coverage detection method based on three-dimensional ground penetrating radar, characterized in that: The following steps are involved: Step S1, drawing the roads within the detection area on a map; Step S2, extracting all tile image sets containing the detection area at a preset map zoom level, drawing the road surface depicted in step S1 on the tile image of the tile image set, and marking it with a preset first single color; Step S3, drawing the trajectory detected by the three-dimensional radar onto the tile map at the corresponding position, intercepting the information outside the detection area, marking it with a preset second single color, and obtaining the detection trajectory plane; the second single color is different from the first single color; Step S4, overlapping and comparing the detection trajectory plane of step S3 and the image of step S2, and calculating the road detection coverage rate; The step S2 comprises the following sub-steps: Step S201, the map zoom level is set to 18, and each coordinate coord (lng, lat) in the coordinate set coords of the geographic spatial data road_polygon is calculated by the tile coordinate position calculation formula and Calculate the horizontal coordinate x and vertical coordinate y of the tile coordinate position (x, y) respectively, where lng represents the horizontal coordinate of the longitude and latitude position, and lat represents the vertical coordinate of the longitude and latitude position; obtain the tile image set tiles where all road boundaries are located through the calculation of the tile coordinate position, take out the maximum value xMax and minimum value xMin of the horizontal coordinate x, the maximum value yMax and minimum value yMin of the vertical coordinate y from the tile image set tiles, and the tiles containing all road surfaces are the tile set from the minimum value (xMin, yMin) to the maximum value (xMax, yMax), which has a total of (xMax-xMin+1)·(yMax-yMin+1) tiles, set as the road tile set road_tiles, and copy a copy of the road tile set road_tiles to set as the detection track tile set trace_tiles; Step S202: In the road tile set road_tiles, first calculate the tile pixel position using the formula and Calculate the pixel coordinates (pixelX, pixelY) in each tile image respectively, where pixelX is the horizontal axis coordinate of the tile image, pixelY is the vertical axis coordinate of the tile image, and the tile size is 256*256 pixels. Then mark the preset first single color at the horizontal axis coordinate pixelX and the vertical axis coordinate pixelY of the tile image.

2. The road detection coverage detection method based on three-dimensional ground penetrating radar according to claim 1 is characterized in that: The step S1 comprises the following sub-steps: Step S101, in the map application visualization library Cesium, find the road to be detected, then click the road boundary on the map to obtain the WGS84 longitude and latitude coordinate set corresponding to the entire road boundary; Step S102, converting the boundary trajectory coordinate set of the road boundary into a polygon element road_polygon of the road plane; Step S103, in the map application visualization library Cesium, find the area to be detected, then click the area boundary on the map to obtain the WGS84 longitude and latitude coordinate set corresponding to the entire area boundary; Step S104: convert the boundary trajectory coordinate set of the area boundary into a polygon element area_polygon of the area plane.

3. The road detection coverage detection method based on three-dimensional ground penetrating radar according to claim 2 is characterized in that: In step S101 and step S103, the process of obtaining the WGS84 longitude and latitude coordinate set is: monitoring the click event of the left mouse button on the map, obtaining the coordinate value corresponding to the click event in the parameters of the event callback function, and forming the corresponding WGS84 longitude and latitude coordinate set through each click event.

4. The road detection coverage detection method based on three-dimensional ground penetrating radar according to any one of claims 1 to 3, characterized in that: The step S3 comprises the following sub-steps: Step S301, setting the trajectory coordinate set collected by the three-dimensional ground penetrating radar as path, and filtering all coordinate points in the trajectory coordinate set path collected by the three-dimensional ground penetrating radar in turn, removing the coordinates that are not within the detection boundary area_polygon corresponding to the detection area drawn in step S1; Step S302: for each filtered coordinate, set the map zoom level to 18, obtain the tile (x, y) by the tile coordinate position calculation formula in step S201, and obtain the pixel coordinates (pixelX, pixelY) of the detection point in the tile (x, y) by the tile pixel position calculation formula in step S202, mark the color as the second single color, and write it to the pixel coordinates (pixelX, pixelY) of the corresponding tile (x, y); Step S303, then according to the number of channels of the acquisition radar device, the coordinate set path is translated to form a translated trajectory, and all coordinate points in the translated trajectory are drawn on the tile image to obtain a detection trajectory plane.

5. The road detection coverage detection method based on three-dimensional ground penetrating radar according to claim 4 is characterized in that: The first single color is preset as RGBA (255, 0, 0, 255) red, and the second single color is preset as RGBA (0, 0, 255, 255) blue; in the step S303, the number of radar channels is preset to 16, the radar detection width is 1 meter, the translation is 1 / 16 meter each time, the detection starting point is channel 8, and in the process of translating the coordinate set path, it is first translated to the left side of the track for 7 times, and then translated to the right side for 8 times, and a total of 15 track lines are obtained; all coordinate points of the 15 track lines after translation are drawn on the tile image to obtain a detection track plane composed of 16 blue lines.

6. The road detection coverage detection method based on three-dimensional ground penetrating radar according to claim 4 is characterized in that: The step S4 comprises the following sub-steps: Step S401, according to the tile coordinates (x, y), the road tile set road_tiles and the detection track tile set trace_tiles are respectively stitched into a png picture in the order of the x horizontal axis from left to right and the y vertical axis from bottom to top, to obtain the road tile picture roadPic.png and the detection track tile picture tracePic.png; Step S402, first traverse all the pixel points of the road tile image roadPic.png, if the pixel point color is the first single color, then determine whether the pixel point color in the detection track tile image tracePic.png is the second single color, if yes, increase the detected point parameter checkNum by 1; Otherwise, increase the unchecked point parameter uncheckNum by 1; Step S403, calculating the percentage value of the road detection coverage rate by the formula (checkNum / (checkNum+uncheckNum))*100.

7. A road detection coverage detection system based on three-dimensional ground penetrating radar, characterized in that: The method for detecting road detection coverage based on three-dimensional ground penetrating radar as claimed in any one of claims 1 to 6 is adopted, and includes: The road depiction module depicts the roads within the detection area on the map; A road pavement drawing module extracts a tile image set containing all detection areas at a preset map zoom level, draws the road pavement drawn by the road drawing module on the tile image of the tile image set, and marks it with a preset first single color; The detection track plane acquisition module draws the track detected by the three-dimensional radar onto the tile map at the corresponding position, cuts off the information outside the detection area, and marks it with a preset second single color to obtain the detection track plane; the second single color is different from the first single color; The road detection coverage calculation module overlaps and compares the detection trajectory plane of the detection trajectory plane acquisition module with the image of the road pavement drawing module to calculate the road detection coverage.

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