High-precision detection method, system and device for quality of asphalt pavement

Abstract

The invention relates to the technical field of ultrasonic signal analysis, in particular to a high-precision detection method, system and device for the quality of an asphalt pavement, and the method comprises the steps: arranging a plurality of ultrasonic detectors to collect ultrasonic signals of the pavement at the same time, and analyzing the performance of noise components in the ultrasonic signals at the same moment; acquiring the environmental interference degree of the ultrasonic signal; further analysis is carried out according to the sudden change of the ultrasonic signal in the local range, the possibility that the position detected by the ultrasonic signal is located at the defect is obtained, the ultrasonic signal is de-noised in a self-adaptive mode in combination with the environment interference degree borne by the ultrasonic signal, and the quality of the asphalt pavement is detected. According to the method, the noise components and the defect information are accurately distinguished according to the ultrasonic signals and the difference between the defect information and the noise in the ultrasonic signals, so that the ultrasonic signals are denoised, loss of the defect information is avoided while denoising is realized, and finally, the accuracy of detecting the quality of the asphalt pavement is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic signal analysis, and in particular to a method, system and device for high-precision detection of asphalt pavement quality. Background Art

[0002] When using an ultrasonic detection device to detect the quality of asphalt pavement, the ultrasonic signal will be disturbed by the external environment during the propagation process, causing the ultrasonic signal to generate noise information, which will reduce the quality of the ultrasonic signal and reduce the accuracy of detecting the quality of asphalt pavement. In order to improve the accuracy of detecting the quality of asphalt pavement, it is necessary to remove the noise in the ultrasonic signal. In addition, when using an ultrasonic detection device to detect the quality of asphalt pavement, defects such as cavities and cracks in the asphalt pavement will cause the ultrasonic signal to mutate locally, and the performance in the signal is similar to noise. Therefore, the traditional method of denoising by fixing a wavelet threshold may cause the defect information in the ultrasonic signal to be judged as noise, resulting in the loss of defect information, and ultimately reducing the accuracy of detecting the quality of asphalt pavement. Summary of the invention

[0003] The present invention provides a high-precision asphalt pavement quality detection method, system and device to solve the existing problem that denoising an ultrasonic signal with a fixed wavelet threshold will cause the loss of defect information in the ultrasonic signal and reduce the accuracy of detecting the quality of the asphalt pavement.

[0004] The high-precision asphalt pavement quality detection method, system and device of the present invention adopt the following technical solutions: An embodiment of the present invention provides a method for high-precision detection of asphalt pavement quality, the method comprising the following steps: Using multiple ultrasonic detection devices to collect multi-dimensional ultrasonic signals, wherein the multi-dimensional ultrasonic signals are ultrasonic signals collected by different ultrasonic detection devices; The ultrasonic signals in different dimensions are grouped according to the acquisition time to obtain several ultrasonic signal groups and obtain the local signal segment of each ultrasonic signal; the local signal segment of each ultrasonic signal is decomposed to obtain several harmonic components of the local signal segment of each ultrasonic signal; according to the difference in the harmonic components of the local signal segments of different ultrasonic signals in the same ultrasonic signal group, the noise factor of the harmonic component is obtained; according to the noise factor of the harmonic component, the degree of environmental interference of the ultrasonic signal corresponding to the harmonic component is obtained; According to the difference in frequency between adjacent signals in the local signal segment of the ultrasonic signal, the degree of mutation of the ultrasonic signal is obtained; according to the fluctuation of the instantaneous frequency of the signal in the local signal segment of the ultrasonic signal, combined with the degree of mutation of the ultrasonic signal, the possibility that the position detected by the ultrasonic signal is located at the defect is obtained; According to the possibility that the position detected by the ultrasonic signal is located at a defect, the ultrasonic signal is adaptively denoised to obtain a denoised ultrasonic signal; the quality of the asphalt pavement is detected by the denoised ultrasonic signal.

[0005] Preferably, the method of collecting multi-dimensional ultrasonic signals by using multiple ultrasonic detection devices includes: Installed on the bottom of the rover An ultrasonic detection device, the The number of ultrasonic detection devices installed is set to a certain value, so that the detection vehicle moves at a constant speed. On asphalt roads, the The sampling frequency of all ultrasonic detection devices is set to , while the detection vehicle is driving, each ultrasonic detection device is used to collect ultrasonic signals of the asphalt road surface; is the preset sampling frequency of the ultrasonic detection device.

[0006] Preferably, the ultrasonic signals in different dimensions are grouped according to the acquisition time to obtain a plurality of ultrasonic signal groups and acquire a local signal segment of each ultrasonic signal, including the specific method of: For ultrasonic signals of all dimensions, ultrasonic signals with the same acquisition time in all dimensions are classified into the same ultrasonic signal group; a local signal range is preset , for an ultrasonic signal at any time in an ultrasonic signal of any dimension, the distance from the ultrasonic signal in the dimension All ultrasonic signals within seconds are recorded as the local signal segment of the ultrasonic signal.

[0007] Preferably, the noise factor of the harmonic component is obtained by a specific calculation formula: In the formula, Indicates the first The local signal segment of the ultrasonic signal The noise factor of the harmonic components; represents the number of ultrasonic signals in the ultrasonic signal group; Indicates the first The number of harmonic components of a local signal segment of an ultrasonic signal; Indicates the first The local signal segment of the ultrasonic signal The amplitude of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The amplitude of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The period of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The period of the harmonic components; Indicates the first The harmonic components of the local signal segments of the ultrasonic signal are traversed and the minimum value function is taken; It represents the absolute value function; represents the linear normalization function.

[0008] Preferably, the step of obtaining the degree of environmental interference to the ultrasonic signal corresponding to the harmonic component comprises the following specific methods: For any ultrasonic signal, the noise factors of all harmonic components of a local signal segment of the ultrasonic signal are obtained, and the average value of the noise factors of all harmonic components of the local signal segment of the ultrasonic signal is taken as the degree of environmental interference to which the ultrasonic signal is subjected.

[0009] Preferably, the method of obtaining the mutation degree of the ultrasonic signal includes: For any ultrasonic signal, the instantaneous frequency of all signals in the local signal segment of the ultrasonic signal is obtained by using Hilbert transform, and the mutation degree of the ultrasonic signal is obtained according to the frequency difference between adjacent ultrasonic signals in the local signal segment of the ultrasonic signal. The specific calculation formula is: In the formula, Indicates The degree of mutation of the ultrasound signal; Indicates The instantaneous frequency of an ultrasonic signal; Indicates The instantaneous frequency of an ultrasonic signal; Indicates The number of signals in a local signal segment of an ultrasonic signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; It represents the absolute value function; represents the linear normalization function.

[0010] Preferably, the specific calculation formula for obtaining the probability that the position detected by the ultrasonic signal is located at the defect is: In the formula, Indicates the possibility that the position detected by the ultrasonic signal is located at a defect; Indicates The degree of mutation of the ultrasound signal; Indicates The number of signals in a local signal segment of an ultrasonic signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; represents the linear normalization function.

[0011] Preferably, the adaptive denoising of the ultrasonic signal includes the following specific methods: Preset an initial wavelet threshold , for any ultrasonic signal, according to the possibility that the position detected by the ultrasonic signal is located at a defect and the degree of environmental interference to which the ultrasonic signal is subjected, obtain the wavelet threshold of the ultrasonic signal; The wavelet threshold of the ultrasonic signal is positively correlated with the degree of environmental interference to which the ultrasonic signal is subjected, and the wavelet threshold of the ultrasonic signal is negatively correlated with the possibility that the position detected by the ultrasonic signal is located at a defect; The ultrasonic signal is denoised using the wavelet threshold denoising algorithm combined with the wavelet threshold of each ultrasonic signal.

[0012] Another embodiment of the present invention provides a high-precision quality detection system for an asphalt pavement, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned high-precision quality detection method for an asphalt pavement when executing the computer program.

[0013] Another embodiment of the present invention provides a high-precision quality detection device for an asphalt pavement, comprising a high-precision quality detection device body for an asphalt pavement, and a high-precision quality detection system for an asphalt pavement, wherein the high-precision quality detection system for an asphalt pavement comprises a signal acquisition module, a multi-dimensional signal analysis module, a single-dimensional signal analysis module, and a quality detection module; The signal acquisition module is used to use multiple ultrasonic detection devices to collect multi-dimensional ultrasonic signals, where the multi-dimensional ultrasonic signals are ultrasonic signals collected by different ultrasonic detection devices; The multidimensional signal analysis module is used to group the ultrasonic signals in different dimensions according to the acquisition time to obtain a plurality of ultrasonic signal groups and obtain the local signal segment of each ultrasonic signal; decompose the local signal segment of each ultrasonic signal to obtain a plurality of harmonic components of the local signal segment of each ultrasonic signal; obtain the noise factor of the harmonic component according to the difference in the harmonic component between the local signal segments of different ultrasonic signals in the same ultrasonic signal group; and obtain the degree of environmental interference of the ultrasonic signal corresponding to the harmonic component according to the noise factor of the harmonic component; The one-dimensional signal analysis module is used to obtain the degree of mutation of the ultrasonic signal according to the difference in frequency between adjacent signals in the local signal segment of the ultrasonic signal; and to obtain the possibility that the position detected by the ultrasonic signal is located at a defect according to the fluctuation of the signal at the instantaneous frequency in the local signal segment of the ultrasonic signal and the degree of mutation of the ultrasonic signal; The quality detection module is used to adaptively denoise the ultrasonic signal according to the possibility that the position detected by the ultrasonic signal is located at a defect, so as to obtain a denoised ultrasonic signal; and detect the quality of the asphalt pavement through the denoised ultrasonic signal.

[0014] The beneficial effect of the technical solution of the present invention is: the present application sets up multiple ultrasonic detectors to collect ultrasonic signals at the same time, utilizes the similar characteristics of environmental interference experienced by the ultrasonic detectors at the same moment, decomposes and compares the ultrasonic signals at the same moment, and quantifies the degree of environmental interference experienced by the ultrasonic signals.

[0015] Furthermore, based on the characteristic that the ultrasonic signal will mutate the moment it touches the edge of the defect during propagation, and considering that the defects in the highway are a complete space, the effects on the signal at two adjacent positions in the highway defect are similar, so as to further distinguish the defect information and noise components in the ultrasonic signal, and obtain the possibility that the position detected by the ultrasonic signal is located at the defect. Based on this, the wavelet threshold of the ultrasonic signal is adaptively generated, so as to denoise the ultrasonic signal, thereby avoiding the loss of defect information while denoising, and ultimately improving the accuracy of asphalt pavement quality detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flowchart of the steps of a high-precision detection method for the quality of an asphalt pavement according to the present invention; Figure 2 Schematic diagram of the detection vehicle collecting road ultrasonic signals. DETAILED DESCRIPTION

[0018] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the high-precision quality detection method, system and device of an asphalt pavement proposed by the present invention, its specific implementation method, structure, features and effects in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0019] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0020] The specific scheme of the high-precision detection method, system and device for the quality of an asphalt pavement provided by the present invention is described in detail below with reference to the accompanying drawings.

[0021] See also Figure 1 , which shows a flowchart of a method for high-precision quality detection of asphalt pavement provided by an embodiment of the present invention, the method comprising the following steps: Step S001: using multiple ultrasonic detection devices to collect multi-dimensional ultrasonic signals.

[0022] It should be noted that this embodiment is a high-precision quality detection method for asphalt pavement. Its specific process is to denoise the ultrasonic signal of the asphalt pavement while retaining the defect information in the ultrasonic signal, so as to improve the accuracy of detecting the quality of the asphalt pavement. To this end, it is first necessary to obtain the ultrasonic signal of the asphalt pavement.

[0023] It should be further explained that the noise in the ultrasonic signal of asphalt pavement detection is mainly caused by the environmental interference during detection, and the environmental interference in the local range is the same. Therefore, multiple ultrasonic detection devices can be set up to collect ultrasonic signals of asphalt pavement. By comparing and analyzing the ultrasonic signals collected by different ultrasonic detection devices, the noise in the ultrasonic signal caused by environmental influences can be obtained more accurately, which is more conducive to denoising the noise of subsequent ultrasonic signals.

[0024] Specifically, install it at the bottom of the rover. An ultrasonic detection device, such as Figure 2 As shown, Figure 2 Schematic diagram of the detection vehicle collecting road ultrasonic signals. The number of ultrasonic detection devices to be installed; The specific value of can be set according to the actual situation. This embodiment does not make a hard requirement. As an example, let the probe car move at a constant speed On asphalt roads, the is the preset speed of the probe car, The specific value of can be set according to the actual situation. This embodiment does not make a hard requirement. kilometers per hour as an example; set the sampling frequency of all ultrasonic detection devices to During the driving process of the detection vehicle, each ultrasonic detection device is used to collect ultrasonic signals of the asphalt road surface, and the ultrasonic signals collected by each ultrasonic detection device are recorded as ultrasonic signals of each dimension. is the sampling frequency of the preset ultrasonic detection device, The specific value of can be set according to the situation of the period. This embodiment does not impose a rigid high requirement. Hertz narrates.

[0025] Step S002: grouping the ultrasonic signals in different dimensions according to the acquisition time to obtain several ultrasonic signal groups and obtaining the local signal segment of each ultrasonic signal; decomposing the local signal segment of each ultrasonic signal to obtain several harmonic components of the local signal segment of each ultrasonic signal; obtaining the noise factor of the harmonic component according to the difference in the harmonic component between the local signal segments of different ultrasonic signals in the same ultrasonic signal group; and obtaining the degree of environmental interference of the ultrasonic signal corresponding to the harmonic component according to the noise factor of the harmonic component.

[0026] It should be noted that the ultrasonic signal collected by the ultrasonic detector includes road surface components and noise components; and the environmental interferences received by multiple ultrasonic detection devices at the same time are similar, so the noise components of ultrasonic signals of different dimensions at the same time are similar, and because the asphalt pavement contains crushed stone, gravel and asphalt, and the distribution of crushed stone and gravel on the asphalt pavement is random, the irregular shapes of crushed stone and gravel lead to differences between ultrasonic signals collected at different positions, that is, ultrasonic signals of different dimensions have different road surface components at the same time; therefore, the ultrasonic signals are grouped and analyzed according to the collection time of the ultrasonic signals, and because it is difficult to extract the component characteristics of a single signal, it is also necessary to obtain the local signal segment of the single signal and decompose the ultrasonic signal at the same time to more accurately quantify the components in the ultrasonic signal, and finally, the degree of environmental interference of the ultrasonic signal is obtained through the components in the harmonics after the decomposition of the ultrasonic signal.

[0027] Preferably, in one embodiment of the present invention, for ultrasonic signals of all dimensions, ultrasonic signals collected at the same time in all dimensions are classified into the same ultrasonic signal group; a local signal range is preset. , The specific value of can be set according to the actual situation. This embodiment does not make a hard requirement. For an ultrasonic signal at any time in an ultrasonic signal of any dimension, the distance between the ultrasonic signal and the dimension is All ultrasonic signals within seconds are recorded as the local signal segment of the ultrasonic signal.

[0028] Further, for any ultrasonic signal group, local signal segments of all ultrasonic signals in the ultrasonic signal group are obtained, and the local signal segment of each ultrasonic signal is Fourier transformed to obtain a number of harmonic components of the local signal segment of each ultrasonic signal. Since the specific process of Fourier transform is a well-known prior art, it will not be described in detail in this embodiment. Furthermore, according to the differences between the harmonic components of the local signal segments of different ultrasonic signals in the ultrasonic signal group, the noise factors of the harmonic components are obtained, and the specific calculation formula is: In the formula, Indicates the first The local signal segment of the ultrasonic signal The noise factor of the harmonic components; represents the number of ultrasonic signals in the ultrasonic signal group; Indicates the first The number of harmonic components of a local signal segment of an ultrasonic signal; Indicates the first The local signal segment of the ultrasonic signal The amplitude of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The amplitude of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The period of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The period of the harmonic components; Indicates the first The harmonic components of the local signal segments of the ultrasonic signal are traversed and the minimum value function is taken; It represents the absolute value function; represents a linear normalization function, and its normalization object is all the harmonic components of the local signal segments of all ultrasonic signals in all ultrasonic signal groups. .

[0029] It should be noted that and Respectively represent the differences in amplitude and period of different harmonic components in the same ultrasonic signal group. Since the ultrasonic signals in the same ultrasonic signal group have similar noise components but different road surface components, and The smaller the value of , the more similar the harmonic components are, that is, the more noise components are contained in the harmonic components; by traversing all harmonic components and taking the harmonic component with the smallest difference, the noise component content contained in the harmonic component can be obtained, and further combined with all the harmonics of the local signal segment of the ultrasonic signal to quantify the degree of environmental interference to the ultrasonic signal.

[0030] Preferably, in one embodiment of the present invention, for any ultrasonic signal, the noise factors of all harmonic components of the local signal segment of the ultrasonic signal are obtained, and the average value of the noise factors of all harmonic components of the local signal segment of the ultrasonic signal is used as the degree of environmental interference to the ultrasonic signal, and the specific calculation formula is: In the formula, Indicates The degree of environmental interference to which an ultrasonic signal is subjected; Indicates The number of harmonic components of a local signal segment of an ultrasonic signal; Indicates The local signal segment of the ultrasonic signal The noise factor of the harmonic components.

[0031] It should be noted that, when the noise factor in the harmonic component of the local signal segment of the ultrasonic signal is larger, it means that there are more noise components in the ultrasonic signal, that is, the environmental interference to the ultrasonic signal is stronger.

[0032] At this point, the degree of environmental interference to the ultrasonic signal is obtained.

[0033] Step S003: According to the difference in frequency between adjacent signals in the local signal segment of the ultrasonic signal, the mutation degree of the ultrasonic signal is obtained; according to the fluctuation of the instantaneous frequency of the signal in the local signal segment of the ultrasonic signal, combined with the mutation degree of the ultrasonic signal, the possibility that the position detected by the ultrasonic signal is located at the defect is obtained.

[0034] It should be noted that when using ultrasonic detection devices to detect the quality of asphalt pavement, defects such as cavities and cracks in the asphalt pavement will cause the ultrasonic signal to mutate locally, and the performance in the signal is similar to noise. In order to avoid the loss of defect information in the process of denoising the ultrasonic signal, it is necessary to further distinguish the defect information from the noise in the ultrasonic signal. During the ultrasonic inspection of the asphalt pavement, when cracks, cavities and other defects appear on the asphalt pavement, the ultrasonic signal will suddenly pass through different media during the propagation process, and the ultrasonic signal will mutate when passing through different media. Therefore, the noise and defects in the ultrasonic signal can be preliminarily distinguished by the degree of mutation; and because the defects in the highway are a complete space, the effects on the signal at two adjacent positions in the highway defect are similar. Therefore, the similarity of the corresponding signals at two adjacent positions in the highway defect can be used to obtain the possibility of defects in the highway.

[0035] Preferably, in one embodiment of the present invention, for any ultrasonic signal, the instantaneous frequency of all signals in the local signal segment of the ultrasonic signal is obtained by using Hilbert transform. Since Hilbert transform is a well-known prior art, it will not be described in detail in this embodiment. According to the frequency difference between adjacent ultrasonic signals in the local signal segment of the ultrasonic signal, the mutation degree of the ultrasonic signal is obtained, and the specific calculation formula is: In the formula, Indicates The degree of mutation of the ultrasound signal; Indicates The instantaneous frequency of an ultrasonic signal; Indicates The instantaneous frequency of an ultrasonic signal; Indicates The number of signals in a local signal segment of an ultrasonic signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; It represents the absolute value function; Represents a linear normalization function, and the normalized object is all ultrasonic signals. .

[0036] It should be noted that It means that in In the local signal segment of each ultrasonic signal, the difference between each ultrasonic signal and the previous ultrasonic signal is The ultrasonic signal and The greater the difference between the first and second ultrasonic signals, the The greater the mutation degree of the ultrasonic signal.

[0037] Preferably, in one embodiment of the present invention, for any ultrasonic signal, the possibility that the position detected by the ultrasonic signal is located at a defect is obtained according to the fluctuation degree of all signals in the local signal segment of the ultrasonic signal at the instantaneous frequency, combined with the mutation degree of the ultrasonic signal, and the calculation formula thereof is: In the formula, Indicates the possibility that the position detected by the ultrasonic signal is located at a defect; Indicates The degree of mutation of the ultrasound signal; Indicates The number of signals in a local signal segment of an ultrasonic signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Represents a linear normalization function, whose normalization object is all ultrasonic signals .

[0038] It should be noted that the noise component in the ultrasonic signal will quickly return to the normal fluctuation range after a mutation occurs, and the defect in the road is a complete space. The defect information in the ultrasonic signal will remain in this state for a period of time after a mutation occurs. At this time, the greater the mutation degree of the ultrasonic signal, the more likely it is that the position detected by the ultrasonic signal is at the defect.

[0039] At this point, the possibility that the position detected by the ultrasonic signal is located at the defect is obtained.

[0040] Step S004: According to the possibility that the position detected by the ultrasonic signal is located at a defect, the ultrasonic signal is adaptively denoised to obtain a denoised ultrasonic signal; and the quality of the asphalt pavement is detected by the denoised ultrasonic signal.

[0041] It should be noted that, by respectively obtaining the degree of environmental interference to the ultrasonic signal and the possibility that the position detected by the ultrasonic signal is located at a defect through step S002 and step S003, the ultrasonic signal can be denoised while avoiding the loss of defect information, thereby ultimately improving the accuracy of asphalt pavement quality detection.

[0042] Preferably, in one embodiment of the present invention, an initial wavelet threshold is preset , The specific value of can be set according to the actual situation. This embodiment does not make a hard requirement. Describe; for any ultrasonic signal, according to the possibility that the position detected by the ultrasonic signal is located at a defect and the degree of environmental interference to the ultrasonic signal, obtain the wavelet threshold of the ultrasonic signal; The wavelet threshold of the ultrasonic signal is positively correlated with the degree of environmental interference to the ultrasonic signal, and the wavelet threshold of the ultrasonic signal is negatively correlated with the possibility that the position detected by the ultrasonic signal is located at a defect; the specific calculation formula is: In the formula, Indicates Wavelet threshold of ultrasonic signal; Represents the preset initial wavelet threshold; Indicates The degree of environmental interference to which an ultrasonic signal is subjected; Indicates the possibility that the position detected by the ultrasonic signal is located at a defect; represents an exponential function with a natural constant as the base. In this embodiment, Model to present inverse proportional relationship and normalization, As the input of the model, the implementer can set the inverse proportional function and normalization function according to the actual situation.

[0043] It should be noted that the stronger the environmental interference to the ultrasonic signal, the more noise components there are in the ultrasonic signal. Therefore, it is necessary to assign a larger wavelet threshold to the ultrasonic signal to remove the noise components in the ultrasonic signal. The greater the possibility that the ultrasonic signal is located at a defect, the more likely it is that the ultrasonic signal contains defect information in the road surface, and a smaller wavelet threshold should be assigned to avoid the loss of defect information.

[0044] Furthermore, the ultrasonic signal is denoised by using a wavelet threshold denoising algorithm, combined with the wavelet threshold of each ultrasonic signal, to obtain a denoised ultrasonic signal. Since the wavelet threshold denoising algorithm is a well-known prior art, it will not be described in detail in this embodiment. After obtaining the denoised ultrasonic signal, the reflection time of different materials and structures is different during the propagation of the ultrasonic signal through time domain reflection technology. Through the time delay of the peaks and troughs in the denoised signal, problems such as stratification, cracks and cavities of the road surface can be detected. Since the time domain reflection technology is a well-known prior art, it will not be described in detail in this embodiment.

[0045] Another embodiment of the present invention provides a high-precision quality detection system for an asphalt pavement, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a high-precision quality detection method for an asphalt pavement in steps S001 to S004 is implemented.

[0046] Another embodiment of the present invention provides a high-precision quality detection device for an asphalt pavement, comprising a high-precision quality detection device body for an asphalt pavement, and a high-precision quality detection system for an asphalt pavement, wherein the high-precision quality detection system for an asphalt pavement comprises a signal acquisition module, a multi-dimensional signal analysis module, a single-dimensional signal analysis module, and a quality detection module; The signal acquisition module is used to use multiple ultrasonic detection devices to collect multi-dimensional ultrasonic signals, where the multi-dimensional ultrasonic signals are ultrasonic signals collected by different ultrasonic detection devices; The multidimensional signal analysis module is used to group the ultrasonic signals in different dimensions according to the acquisition time to obtain a plurality of ultrasonic signal groups and obtain the local signal segment of each ultrasonic signal; decompose the local signal segment of each ultrasonic signal to obtain a plurality of harmonic components of the local signal segment of each ultrasonic signal; obtain the noise factor of the harmonic component according to the difference in the harmonic component between the local signal segments of different ultrasonic signals in the same ultrasonic signal group; and obtain the degree of environmental interference of the ultrasonic signal corresponding to the harmonic component according to the noise factor of the harmonic component; The one-dimensional signal analysis module is used to obtain the degree of mutation of the ultrasonic signal according to the difference in frequency between adjacent signals in the local signal segment of the ultrasonic signal; and to obtain the possibility that the position detected by the ultrasonic signal is located at a defect according to the fluctuation of the signal at the instantaneous frequency in the local signal segment of the ultrasonic signal and the degree of mutation of the ultrasonic signal; The quality detection module is used to adaptively denoise the ultrasonic signal according to the possibility that the position detected by the ultrasonic signal is located at a defect, so as to obtain a denoised ultrasonic signal; and detect the quality of the asphalt pavement through the denoised ultrasonic signal.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision detection method for the quality of an asphalt pavement, characterized in that: The method comprises the following steps: Using multiple ultrasonic detection devices to collect multi-dimensional ultrasonic signals, wherein the multi-dimensional ultrasonic signals are ultrasonic signals collected by different ultrasonic detection devices; The ultrasonic signals in different dimensions are grouped according to the acquisition time to obtain several ultrasonic signal groups and obtain the local signal segment of each ultrasonic signal; the local signal segment of each ultrasonic signal is decomposed to obtain several harmonic components of the local signal segment of each ultrasonic signal; according to the difference in the harmonic components of the local signal segments of different ultrasonic signals in the same ultrasonic signal group, the noise factor of the harmonic component is obtained; according to the noise factor of the harmonic component, the degree of environmental interference of the ultrasonic signal corresponding to the harmonic component is obtained; According to the difference in frequency between adjacent signals in the local signal segment of the ultrasonic signal, the degree of mutation of the ultrasonic signal is obtained; according to the fluctuation of the instantaneous frequency of the signal in the local signal segment of the ultrasonic signal, combined with the degree of mutation of the ultrasonic signal, the possibility that the position detected by the ultrasonic signal is located at the defect is obtained; According to the possibility that the position detected by the ultrasonic signal is located at a defect, the ultrasonic signal is adaptively denoised to obtain a denoised ultrasonic signal; the quality of the asphalt pavement is detected by the denoised ultrasonic signal.

2. According to claim 1, a high-precision detection method for asphalt pavement quality is characterized in that: The method of collecting multi-dimensional ultrasonic signals by using multiple ultrasonic detection devices includes: Installed on the bottom of the rover An ultrasonic detection device, the The number of ultrasonic detection devices installed is set to a certain value, so that the detection vehicle moves at a constant speed. On asphalt roads, the The sampling frequency of all ultrasonic detection devices is set to , while the detection vehicle is driving, each ultrasonic detection device is used to collect ultrasonic signals of the asphalt road surface; is the preset sampling frequency of the ultrasonic detection device.

3. According to claim 1, a high-precision detection method for asphalt pavement quality is characterized in that: The method of grouping the ultrasonic signals in different dimensions according to the acquisition time to obtain a plurality of ultrasonic signal groups and acquiring a local signal segment of each ultrasonic signal includes the following specific methods: For ultrasonic signals of all dimensions, ultrasonic signals with the same acquisition time in all dimensions are classified into the same ultrasonic signal group; a local signal range is preset , for an ultrasonic signal at any time in an ultrasonic signal of any dimension, the distance from the ultrasonic signal in the dimension All ultrasonic signals within seconds are recorded as the local signal segment of the ultrasonic signal.

4. According to claim 1, a high-precision detection method for asphalt pavement quality is characterized in that: The noise factor of the harmonic component is obtained, and the specific calculation formula is: In the formula, Indicates the first The local signal segment of the ultrasonic signal The noise factor of the harmonic components; represents the number of ultrasonic signals in the ultrasonic signal group; Indicates the first The number of harmonic components of a local signal segment of an ultrasonic signal; Indicates the first The local signal segment of the ultrasonic signal The amplitude of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The amplitude of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The period of the harmonic components; Indicates the first The local signal segment of the ultrasonic signal The period of the harmonic components; Indicates the first The harmonic components of the local signal segments of the ultrasonic signal are traversed and the minimum value function is taken; It represents the absolute value function; represents the linear normalization function.

5. The high-precision detection method for asphalt pavement quality according to claim 1 is characterized in that: The specific method of obtaining the degree of environmental interference to the ultrasonic signal corresponding to the harmonic component includes: For any ultrasonic signal, the noise factors of all harmonic components of a local signal segment of the ultrasonic signal are obtained, and the average value of the noise factors of all harmonic components of the local signal segment of the ultrasonic signal is taken as the degree of environmental interference to which the ultrasonic signal is subjected.

6. A high-precision detection method for asphalt pavement quality according to claim 1, characterized in that: The specific method of obtaining the mutation degree of the ultrasonic signal includes: For any ultrasonic signal, the instantaneous frequency of all signals in the local signal segment of the ultrasonic signal is obtained by using Hilbert transform, and the mutation degree of the ultrasonic signal is obtained according to the frequency difference between adjacent ultrasonic signals in the local signal segment of the ultrasonic signal. The specific calculation formula is: In the formula, Indicates The degree of mutation of the ultrasound signal; Indicates The instantaneous frequency of an ultrasonic signal; Indicates The instantaneous frequency of an ultrasonic signal; Indicates The number of signals in a local signal segment of an ultrasonic signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; It represents the absolute value function; represents the linear normalization function.

7. A high-precision detection method for asphalt pavement quality according to claim 1, characterized in that: The specific calculation formula for the possibility that the position detected by the ultrasonic signal is located at the defect is: In the formula, Indicates the possibility that the position detected by the ultrasonic signal is located at a defect; Indicates The degree of mutation of the ultrasound signal; Indicates The number of signals in a local signal segment of an ultrasonic signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; Indicates The first local signal segment of the ultrasonic signal The instantaneous frequency of a signal; represents the linear normalization function.

8. The high-precision detection method for asphalt pavement quality according to claim 1 is characterized in that: The specific method of adaptively denoising the ultrasonic signal includes: Preset an initial wavelet threshold , for any ultrasonic signal, according to the possibility that the position detected by the ultrasonic signal is located at a defect and the degree of environmental interference to which the ultrasonic signal is subjected, the wavelet threshold of the ultrasonic signal is obtained; The wavelet threshold of the ultrasonic signal is positively correlated with the degree of environmental interference to which the ultrasonic signal is subjected, and the wavelet threshold of the ultrasonic signal is negatively correlated with the possibility that the position detected by the ultrasonic signal is located at a defect; The ultrasonic signal is denoised using the wavelet threshold denoising algorithm combined with the wavelet threshold of each ultrasonic signal.

9. A high-precision asphalt pavement quality detection system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is executed by a processor, the steps of a high-precision detection method for the quality of an asphalt pavement as described in any one of claims 1 to 8 are implemented.

10. A high-precision detection device for the quality of an asphalt pavement, comprising a body of the high-precision detection device for the quality of an asphalt pavement, characterized in that: It also includes a high-precision quality detection system for an asphalt pavement, the high-precision quality detection system for an asphalt pavement including a signal acquisition module, a multi-dimensional signal analysis module, a single-dimensional signal analysis module, and a quality detection module; The signal acquisition module is used to use multiple ultrasonic detection devices to collect multi-dimensional ultrasonic signals, where the multi-dimensional ultrasonic signals are ultrasonic signals collected by different ultrasonic detection devices; The multidimensional signal analysis module is used to group the ultrasonic signals in different dimensions according to the acquisition time to obtain a plurality of ultrasonic signal groups and obtain the local signal segment of each ultrasonic signal; decompose the local signal segment of each ultrasonic signal to obtain a plurality of harmonic components of the local signal segment of each ultrasonic signal; obtain the noise factor of the harmonic component according to the difference in the harmonic component between the local signal segments of different ultrasonic signals in the same ultrasonic signal group; and obtain the degree of environmental interference of the ultrasonic signal corresponding to the harmonic component according to the noise factor of the harmonic component; The one-dimensional signal analysis module is used to obtain the degree of mutation of the ultrasonic signal according to the difference in frequency between adjacent signals in the local signal segment of the ultrasonic signal; and to obtain the possibility that the position detected by the ultrasonic signal is located at a defect according to the fluctuation of the signal at the instantaneous frequency in the local signal segment of the ultrasonic signal and the degree of mutation of the ultrasonic signal; The quality detection module is used to adaptively denoise the ultrasonic signal according to the possibility that the position detected by the ultrasonic signal is located at a defect, so as to obtain a denoised ultrasonic signal; and detect the quality of the asphalt pavement through the denoised ultrasonic signal.

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