Intelligent road surface detection system and method based on three-dimensional laser scanning

Abstract

The invention discloses an intelligent road surface detection system and method based on three-dimensional laser scanning, and relates to the technical field of road surface detection, and three groups of algorithm units are matched with one another to jointly form a core architecture of the intelligent road surface detection system based on three-dimensional laser scanning. According to three-dimensional data of a to-be-detected road surface provided by a three-dimensional laser scanning technology, the flatness of the to-be-detected road surface and the speed degree of gradient change of the road surface are comprehensively considered, a comprehensive quality index PQi of the detected road surface is obtained through calculation, the comprehensive quality index PQi is compared with a warning threshold Y1 and a danger threshold Y2, and the warning threshold Y1 and the danger threshold Y2 are compared. According to the method, the transportation market management department can be reminded to take corresponding maintenance measures at the first time when the problems of large deformation, cracks or pits and the like in the road are detected, and personnel of the road transportation management department can quickly know the quality condition of the road surface through a real-time feedback mechanism, so that timely repair or maintenance decisions are made, and the maintenance efficiency is improved. And a scientific basis is provided for detection, repair and maintenance of the pavement.

Description

Technical Field

[0001] The present invention relates to the technical field of road surface detection, and in particular to a road surface intelligent detection system and method based on three-dimensional laser scanning. Background Art

[0002] Road surface defect detection is an important part of road maintenance and care. Through detection, problems with the road surface, such as cracks, potholes, looseness, etc., can be discovered, providing a basis for timely repair of the road surface.

[0003] Traditional road surface inspection uses a level to measure, which can only measure and inspect the relatively clear bumps and potholes on the road surface to be inspected. It is unable to compare the road surface flatness and slope at the time of inspection with the reference height and slope when the road surface was built, conduct more detailed inspections on the road surface to be inspected, predict the quality of the road surface in the future, and issue early warnings, so the inspection effect is poor.

[0004] In addition, traditional level measurement and detection requires a lot of manpower, material resources and time, has low detection efficiency, and the range of roads that can be detected is also small.

[0005] In order to improve the detection accuracy and efficiency of road surfaces, there is an urgent need for an intelligent road surface detection system based on three-dimensional laser scanning. Summary of the invention

[0006] The purpose of the present invention is to provide a road surface intelligent detection system based on three-dimensional laser scanning to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solution: a road surface intelligent detection system based on three-dimensional laser scanning, comprising:

[0008] Data collection module, used to obtain the reference height value R of multiple detection points on the road surface to be detected i , and measure the actual height values ​​H of multiple detection points i and the three-dimensional coordinates of multiple detection points;

[0009] The data processing and calculation module is used to decode and pre-process the parameter values ​​collected by the data collection module and then participate in the calculation to obtain the comprehensive quality index PQ of the road surface. i ;

[0010] The data storage module is used to store the comprehensive quality index PQ of different detection sections calculated in the data processing and calculation module. i Stored in the database, and compared with the warning threshold Y1 and the danger threshold Y2, the comprehensive quality index PQ i An early warning is issued for the detected road section with a low value, reminding the road management department to take corresponding maintenance measures for the road section.

[0011] Optionally, the data processing and calculation module includes a road surface height deviation algorithm unit, a road surface slope change rate algorithm unit and a road surface comprehensive quality index algorithm unit.

[0012] Optionally, the equipment used by the data collection module includes satellite remote sensing equipment and a three-dimensional laser scanner.

[0013] Optionally, the road height deviation algorithm unit is as follows:

[0014]

[0015] in:

[0016] R d Represents the average deviation of road surface height;

[0017] H i Represents the actual height of the i-th point;

[0018] R i Represents the reference height of the i-th point;

[0019] n represents the total number of detection points on the road surface.

[0020] Optionally, the road surface slope change rate algorithm unit is as follows:

[0021]

[0022] in:

[0023] S c Represents the average rate of change of road slope;

[0024] n represents the total number of detection points;

[0025] X i Represents the horizontal coordinate of the i-th detection point;

[0026] H i Represents the actual height of the i-th point;

[0027] R d Represents the average deviation of the road surface height.

[0028] Optionally, the pavement comprehensive quality index algorithm unit is as follows:

[0029]

[0030] in:

[0031] PQ i Represents the comprehensive quality index of the road surface, PQ iThe larger the value, the better the quality of the road surface;

[0032] R d Represents the average deviation of road surface height;

[0033] S c Represents the average rate of change of road slope;

[0034] α and β are weight coefficients, representing the average deviation of road height R d and the average rate of change of road slope S c The comprehensive quality index PQ of the road surface i The weight in the value calculation.

[0035] Optionally, in the database of the road intelligent detection system, set the comprehensive quality index PQ i The warning threshold Y1 is 15%, and the comprehensive quality index PQ is set i The danger threshold Y2 is 8%.

[0036] Optionally, a detection method of a road surface intelligent system based on three-dimensional laser scanning comprises the following steps:

[0037] Data collection includes:

[0038] The reference height values ​​R of multiple detection points on the road surface to be detected are obtained through satellite remote sensing data i

[0039] The actual height values ​​H of multiple detection points are obtained by field measurement with a 3D laser scanner i and the three-dimensional coordinates of multiple detection points;

[0040] Data preprocessing, the collected reference height value R i , actual height value H i，以及 The three-dimensional coordinates of multiple detection points are transmitted to the data processing and calculation module for decoding preprocessing to obtain the average deviation R affecting the road surface height. d and the average rate of change of road slope S c Important parameters of

[0041] The road intelligent detection system includes:

[0042] Substitute the decoded parameter value into the height deviation algorithm unit and the road surface slope change rate algorithm unit in the data processing calculation module to calculate the average deviation R of the road surface height. d and the average rate of change of slope S c ;

[0043] Next, the average deviation R of the road surface height is calculated. d and the average rate of change of slope S cSubstitute them into the pavement comprehensive quality index algorithm unit in the data processing calculation module to calculate the comprehensive quality index PQ of the pavement i ;

[0044] Threshold feedback will calculate the comprehensive quality index PQ of the road surface i Record and store in the database, set the comprehensive quality index PQ i The warning threshold Y1 is 15%, and the comprehensive quality index PQ is set i The danger threshold Y2 is 8%, and the comprehensive quality index PQ of the detected road surface calculated by the road surface comprehensive quality index algorithm unit algorithm is i Comprehensively compare with the warning threshold Y1 and the danger threshold Y2;

[0045] When the PQ i When the value is higher than the warning threshold Y1, it means that the overall quality of the tested road surface is good and can be used safely;

[0046] When the PQ i When the value is lower than the warning threshold Y1 and higher than the danger threshold Y2, it means that the comprehensive quality of the road surface under test is at the warning value, and the road transport market management department should immediately reduce the speed limit of the tested section to half of the original speed limit;

[0047] When the PQ i When the value is lower than the danger threshold Y2, it means that there are major problems with the overall quality of the tested road surface. The road transport market management department should immediately stop the use of the road section and carry out repairs or maintenance on the road section.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] 1. The present invention cooperates with three groups of algorithm units to form the core architecture of the road intelligent detection system based on 3D laser scanning. The 3D data of the road to be detected provided by the 3D laser scanning technology is comprehensively considered, and the flatness of the road to be detected and the speed of the road slope change are comprehensively considered to calculate the comprehensive quality index PQ of the detected road surface. i , and compare it with the warning threshold Y1 and the danger threshold Y2:

[0050] When the PQ i When the value is higher than the warning threshold Y1, it means that the overall quality of the tested road surface is good and can be used safely;

[0051] When the PQ iWhen the value is lower than Y1 and higher than Y2, it means that the comprehensive quality of the road surface under test is at a warning value. The road transport market management department should immediately reduce the speed limit of the tested section to half of the original speed limit and reduce the speed of vehicles on the tested road to reduce the probability of safety accidents.

[0052] When the PQ i When the value is lower than the danger threshold Y2, it means that there are major problems with the overall quality of the tested road surface. There may be major deformations, cracks or potholes on the road. The road transport market management department should immediately stop the use of the road section and repair or maintain the road section to avoid safety accidents for moving vehicles.

[0053] Second, in the intelligent detection system of the present invention, data collection, processing and analysis can be automated and real-time, which means that once the 3D laser scan of the road is completed, the system can immediately calculate the road height deviation value R. d and the average rate of change of road slope S c , and then the comprehensive quality index PQ of the road surface is obtained i This real-time feedback mechanism enables personnel in the road transport management department to quickly understand the quality status of the road surface, so as to make timely repair or maintenance decisions, providing a scientific basis for road surface inspection, repair and maintenance.

[0054] 3. In the algorithm unit for calculating the comprehensive quality index of the road surface to be detected, the weight coefficients α and β can be adjusted automatically in the road surface intelligent detection system according to the characteristics of the road surface to be detected. For example, when performing intelligent detection on roads that need to bear heavy traffic, the road height deviation value R is more important because the road section that bears heavy traffic d , at this time α will be greater than β.

[0055] On the contrary, when intelligent detection is performed on roads with complex terrain conditions such as mountainous or hilly areas, more attention is paid to the average rate of change of slope S because of the complex terrain conditions such as mountainous or hilly areas. c， Therefore, α will be smaller than β in the calculation; that is, the intelligent detection system of the present invention can adapt to the intelligent detection of road surfaces to be detected with different characteristics, has stronger applicability, and is worthy of promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a flow chart of a road intelligent detection system based on three-dimensional laser scanning;

[0057] Figure 2 It is a schematic diagram of the overall structure of an intelligent road surface detection system based on three-dimensional laser scanning. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] For examples, see Figure 1 to Figure 2 The present invention provides a road surface intelligent detection system based on three-dimensional laser scanning, comprising:

[0060] Data collection module, used to obtain the reference height value R of multiple detection points on the road surface to be detected i , and measure the actual height values ​​H of multiple detection points i and the three-dimensional coordinates of multiple detection points;

[0061] The data processing and calculation module is used to decode and pre-process the parameter values ​​collected by the data collection module and then participate in the calculation to obtain the comprehensive quality index PQ of the road surface. i ;

[0062] The data storage module is used to store the comprehensive quality index PQ of different detection sections calculated in the data processing and calculation module. i Stored in the database, and compared with the warning threshold Y1 and the danger threshold Y2, the comprehensive quality index PQ i An early warning is issued for the detected road section with a low value, reminding the road management department to take corresponding maintenance measures for the road section.

[0063] In this embodiment, firstly, the 3D laser scanning technology of the 3D laser instrument can provide high-precision 3D road surface data, including the x, y, and z coordinates of each measuring point. These data are the road surface height deviation value R d and the average rate of change of road slope S c The calculation provides solid data support. Compared with the traditional level measurement, 3D laser scanning can capture the slight changes of the road surface more comprehensively, thus more accurately evaluating the quality of the road surface.

[0064] In addition, in the intelligent detection system of the present invention, data collection, processing and analysis can be automated and real-time, which means that once the three-dimensional laser instrument completes scanning of the road, the system can immediately calculate the road surface height deviation value R. d and the average rate of change of road slope S c , and then the comprehensive quality index PQ of the road surface is obtained i This real-time feedback mechanism enables road transport management personnel to quickly understand the quality of the road surface and make timely repair or maintenance decisions;

[0065] The intelligent detection system of the present invention performs comprehensive quality index PQ on the road surface to be detected. i The system can calculate the historical data and the current comprehensive quality index PQ i The changing trend of the value can be used to predict the quality of the road surface in the future and issue early warnings. This intelligent evaluation and early warning mechanism can help managers better plan road maintenance plans and reduce traffic accidents and safety hazards caused by road damage.

[0066] The data processing and calculation module includes a road height deviation algorithm unit, a road slope change rate algorithm unit and a road comprehensive quality index algorithm unit. The equipment used in the data collection module includes satellite remote sensing equipment and a three-dimensional laser scanner.

[0067] See also Figure 1 to Figure 2 , the road height deviation algorithm unit is as follows:

[0068]

[0069] in:

[0070] R d Represents the average deviation of road height; it is a statistic that combines the height differences between all measurement points and the reference point, and is used to quantify the overall deviation of road height. d The smaller the value, the closer the road surface is to its expected height, that is, the better the road surface flatness;

[0071] H i represents the actual height of the i-th point, which is measured by a 3D laser scanner;

[0072] R i Represents the reference height of the i-th point; obtained through satellite remote sensing data, it represents the height that the detection point should have if there is no road deformation or damage;

[0073] n represents the total number of detection points on the road surface, which is the number of intelligent detection points on the road surface involved in the calculation. The more the total number of detection points, the higher the calculated road height deviation value R. d The more precise;

[0074] H i With R i The difference between the two reflects the degree of deviation of each measuring point from its reference height. The larger the difference, the farther the height of the point deviates from its expected height, which has an impact on the calculated road height deviation value R. dThe greater the positive contribution of the road surface, the greater the deviation between the road surface condition at that point and the ideal condition (or design standard). This deviation may be caused by road damage, settlement, uplift or other road damage reasons, indicating that the tested road surface needs more attention and maintenance.

[0075] And in calculating R d When H i With R i The differences will be squared. On the one hand, it can ensure that all differences are positive, and on the other hand, H i With R i The points with larger differences between them, that is, the points with larger deviations, are d The influence of the value will be amplified, making these points in R d It plays a more important role in the calculation of value.

[0076] In this example:

[0077] By combining the actual measured height of all detection points with the reference height, the overall deviation value R of the road height is quantified. d , when the overall deviation value of the road surface height R d When the value is small, it means that the road surface is relatively smooth, without obvious deformation or damage;

[0078] On the contrary, when R d When the value is large, it means that the road surface has large deformation, cracks or potholes. d The value and corresponding maintenance measures can significantly improve the driving conditions of the road and reduce the risk of traffic accidents;

[0079] In the traffic planning stage, the R d Statistical analysis of the values ​​can provide useful reference information for road design, material selection, and construction quality control. The overall deviation value R of the road surface height at different sections or at different time points can be used to calculate the value of the deviation value. d Comparative analysis can timely discover the changing trends of road conditions and provide a scientific basis for road repair and maintenance.

[0080] See also Figure 1 to Figure 2 , the road surface slope change rate algorithm unit is as follows:

[0081]

[0082] in:

[0083] S c Represents the average rate of change of road slope;

[0084] n represents the total number of detection points, which is the number of intelligent detection points of the road surface involved in the calculation. n determines the adequacy of the detection sampling of the road surface;

[0085] X i Represents the horizontal coordinate of the i-th detection point; the three-dimensional coordinates of the detection point can be obtained by emitting laser pulses to the detection point and receiving the reflected signal;

[0086] H i represents the actual height of the i-th point, which is measured by a 3D laser scanner;

[0087] R d Represents the average deviation of road surface height; reflects the overall deviation between road surface height and reference height;

[0088] H i and H i+1 The difference between the heights of adjacent detection points indicates the height difference between adjacent detection points. The greater the height difference, the greater the slope change between adjacent detection points. In the formula, the actual calculation of the formula is "(H i+1 -A)-(H i -A)”, that is, the height deviation R of adjacent detection points is taken into account d The height difference after deviation adjustment is used as the numerator in the formula. The adjusted height difference has an influence on S c The calculation of the value has a direct positive impact, that is, the greater the height difference, the higher the average rate of change of the road slope S c The bigger;

[0089] “(H i+1 -A)-(H i -A)”, the calculation result of this part takes the absolute value, which can ensure that when the height difference between two adjacent detection points after deviation adjustment is a negative number, its absolute value is taken to participate in the calculation;

[0090] X i and X i+1 The difference between the two adjacent detection points indicates the horizontal distance between them. The larger the distance, the greater the slope change between the adjacent detection points. It is used as the denominator in the calculation formula. i and X i+1 The difference between S c The calculation of the value has a reverse effect, that is, when the height difference between adjacent detection points remains unchanged, the larger the lateral distance between two adjacent detection points, the smaller the slope change rate of the detection road.

[0091] In this embodiment, the actual measured height of all detection points and the reference height are combined to quantify the average change rate of the road slope S c , although the average change rate of road slope Sc The value mainly reflects the change in the slope of the road surface in the horizontal direction, but it can also indirectly reflect the flatness of the road surface. c When the value is small, it means that the road surface has small fluctuations in the horizontal direction and is relatively flat overall; c When the value is large, it may mean that the road surface has large undulations or wave-shaped deformations. Through data analysis, when the road slope change rate S c When the abnormal increase occurs, it may mean that there are some defects in the road surface, such as cracks, subsidence, bulges, etc. c Continuous monitoring and analysis of the values ​​can timely detect these potential problems and take appropriate maintenance measures to avoid further development and spread of the disease;

[0092] In addition, during the road design stage, by analyzing the S c Statistical analysis of the values ​​can provide more scientific reference information for road design. For example, for road sections that need to withstand heavy traffic, a gentler slope needs to be designed to reduce the impact and wear of vehicles on the road surface; while for road designs in complex terrain conditions such as mountainous or hilly areas, more attention needs to be paid to the reasonable setting of the slope to ensure driving safety and comfort.

[0093] See also Figure 1 to Figure 2 , the pavement comprehensive quality index algorithm unit is as follows:

[0094]

[0095] in:

[0096] PQ i Represents the comprehensive quality index of the road surface; it is an evaluation index that combines multiple factors and is used to comprehensively evaluate the quality of the road surface. i The larger the value, the better the quality of the road surface;

[0097] R d Represents the average deviation of road surface height;

[0098] S c Represents the average rate of change of road slope;

[0099] α and β represent the average deviation of road height R d and the average rate of change of road slope S c The comprehensive quality index PQ of the road surface i The weight in the value calculation can be adjusted automatically with the road intelligent detection system and always satisfy α+β=10;

[0100] When conducting intelligent inspection on roads that need to bear heavy traffic, the road height deviation value R is more important because the road sections that bear heavy traffic are d , so α will be greater than β in the calculation;

[0101] On the contrary, when intelligent detection is performed on roads with complex terrain conditions such as mountainous or hilly areas, more attention is paid to the average rate of change of slope S because of the complex terrain conditions such as mountainous or hilly areas. c , so α will be smaller than β in the calculation;

[0102] R d The value directly reflects the quality of the road surface flatness. i In the calculation of the value, R d It is weighted by α and compared with the average rate of change of road slope S c values ​​interact, i.e., subtracting their geometric mean, thus representing R d The larger the value (the worse the road surface smoothness), the i The value will decrease; S c Represents the average rate of change of road slope;

[0103] S c The value reflects the speed of the road slope change, and is an important indicator of the road surface quality index PQ. i In the calculation of the value, S c Weighted by β and R d values ​​interact (again by subtracting their geometric means), so S c The larger the value is (the faster the road surface slope changes), the road surface's comprehensive quality index value will also be affected and become smaller (the road surface's comprehensive quality index decreases).

[0104] In the calculation of the formula of the pavement comprehensive quality index algorithm unit, the pavement height deviation value R is also considered. d and the average rate of change of road slope S c The interaction between the road surface height deviation value R d and the average rate of change of road slope S c In addition to being weighted by α and β respectively, they also need to reflect the influence of each other by subtracting their geometric mean, which means that when the road height deviation value R d and the average rate of change of road slope S c When the pavement roughness is poor and the slope changes rapidly, their geometric mean will also be large, further reducing the comprehensive quality index PQ of the pavement. i The value of .

[0105] In this embodiment, the intelligent detection system of the present invention is also provided with a threshold feedback mechanism, specifically including:

[0106] Setting the comprehensive quality index PQ i The warning threshold Y1 is 15%, and the comprehensive quality index PQ is set i The danger threshold Y2 is 8%;

[0107] The road surface comprehensive quality index algorithm unit calculates the comprehensive quality index PQ of the road surface to be tested by comprehensively considering the flatness of the road surface to be tested and the speed of the road surface slope change. i , and compare it with the warning threshold Y1 and the danger threshold Y2:

[0108] When the PQ i When the value is higher than the warning threshold Y1, it means that the overall quality of the tested road surface is good and can be used safely;

[0109] When the PQ i When the value is lower than the warning threshold Y1 and higher than the danger threshold Y2, it means that the comprehensive quality of the road surface under test is at the warning value. The road transport market management department should immediately reduce the speed limit of the tested section to half of the original speed limit and reduce the speed of vehicles on the tested road to reduce the probability of safety accidents.

[0110] When the PQ i When the value is lower than the danger threshold Y2, it means that there are major problems with the overall quality of the tested road surface. There may be major deformations, cracks or potholes on the road. The road transport market management department should immediately stop the use of the road section and repair or maintain the road section to avoid safety accidents for moving vehicles.

[0111] The detection method of the road surface intelligent system based on three-dimensional laser scanning includes the following steps:

[0112] Data collection includes:

[0113] The reference height values ​​R of multiple detection points on the road surface to be detected are obtained through satellite remote sensing data i

[0114] The actual height values ​​H of multiple detection points are obtained by field measurement with a 3D laser scanner i and the three-dimensional coordinates of multiple detection points;

[0115] Data preprocessing, the collected reference height value R i , actual height value H i，以及 The three-dimensional coordinates of multiple detection points are transmitted to the data processing and calculation module for decoding preprocessing to obtain the average deviation R affecting the road surface height. dand the average rate of change of road slope S c Important parameters of

[0116] The road intelligent detection system includes:

[0117] Substitute the decoded parameter value into the height deviation algorithm unit and the road surface slope change rate algorithm unit in the data processing calculation module to calculate the average deviation R of the road surface height. d and the average rate of change of slope S c ;

[0118] Next, the average deviation R of the road surface height is calculated. d and the average rate of change of slope S c Substitute them into the pavement comprehensive quality index algorithm unit in the data processing calculation module to calculate the comprehensive quality index PQ of the pavement i ;

[0119] Threshold feedback will calculate the comprehensive quality index PQ of the road surface i Record and store in the database, set the comprehensive quality index PQ i The warning threshold Y1 is 15%, and the comprehensive quality index PQ is set i The danger threshold Y2 is 8%, and the comprehensive quality index PQ of the detected road surface calculated by the road surface comprehensive quality index algorithm unit algorithm is i Comprehensively compare with the warning threshold Y1 and the danger threshold Y2;

[0120] When the PQ i When the value is higher than the warning threshold Y1, it means that the overall quality of the tested road surface is good and can be used safely;

[0121] When the PQ i When the value is lower than the warning threshold Y1 and higher than the danger threshold Y2, it means that the comprehensive quality of the road surface under test is at the warning value, and the road transport market management department should immediately reduce the speed limit of the tested section to half of the original speed limit;

[0122] When the PQ i When the value is lower than the danger threshold Y2, it means that there are major problems with the overall quality of the tested road surface. The road transport market management department should immediately stop the use of the road section and carry out repairs or maintenance on the road section.

[0123] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A road intelligent detection system based on three-dimensional laser scanning, characterized in that: include: Data collection module, used to obtain the reference height value R of multiple detection points on the road surface to be detected i , and measure the actual height values ​​H of multiple detection points i and the three-dimensional coordinates of multiple detection points; The data processing and calculation module is used to decode and pre-process the parameter values ​​collected by the data collection module and then participate in the calculation to obtain the comprehensive quality index PQ of the road surface. i ; The data storage module is used to store the comprehensive quality index PQ of different detection sections calculated in the data processing and calculation module. i Stored in the database, and compared with the warning threshold Y1 and the danger threshold Y2, the comprehensive quality index PQ i An early warning is issued for the detected road section with a low value, reminding the road management department to take corresponding maintenance measures for the road section.

2. The intelligent road surface detection system based on three-dimensional laser scanning according to claim 1 is characterized in that: The data processing and calculation module includes a road surface height deviation algorithm unit, a road surface slope change rate algorithm unit and a road surface comprehensive quality index algorithm unit.

3. The intelligent road surface detection system based on three-dimensional laser scanning according to claim 1 is characterized in that: The equipment used in the data collection module includes satellite remote sensing equipment and a three-dimensional laser scanner.

4. The intelligent road surface detection system based on three-dimensional laser scanning according to claim 3 is characterized in that: The road height deviation algorithm unit is as follows: in: R d Represents the average deviation of road surface height; H i Represents the actual height of the i-th point; R i Represents the reference height of the i-th point; n represents the total number of detection points on the road surface.

5. The intelligent road surface detection system based on three-dimensional laser scanning according to claim 4 is characterized in that: The road surface slope change rate algorithm unit is as follows: in: S c Represents the average rate of change of road slope; n represents the total number of detection points; X i Represents the horizontal coordinate of the i-th detection point; H i Represents the actual height of the i-th point; R d Represents the average deviation of the road surface height.

6. The intelligent road surface detection system based on three-dimensional laser scanning according to claim 5 is characterized in that: The pavement comprehensive quality index algorithm unit is as follows: in: PQ i Represents the comprehensive quality index of the road surface, PQ i The larger the value, the better the quality of the road surface; R d Represents the average deviation of road surface height; S c Represents the average rate of change of road slope; α and β are weight coefficients, representing the average deviation of road height R d and the average rate of change of road slope S c The comprehensive quality index PQ of the road surface i The weight in the value calculation.

7. The intelligent road surface detection system based on three-dimensional laser scanning according to claim 6 is characterized in that: In the database of the road intelligent detection system, set the comprehensive quality index PQ i The warning threshold Y1 is 15%, and the comprehensive quality index PQ is set i The danger threshold Y2 is 8%.

8. The detection method of the road surface intelligent detection system based on three-dimensional laser scanning according to claim 1 is characterized in that: The following steps are involved: Data collection includes: The reference height values ​​R of multiple detection points on the road surface to be detected are obtained through satellite remote sensing data i The actual height values ​​H of multiple detection points are obtained by field measurement with a 3D laser scanner i and the three-dimensional coordinates of multiple detection points; Data preprocessing, the collected reference height value R i , actual height value H i，以及 The three-dimensional coordinates of multiple detection points are transmitted to the data processing and calculation module for decoding preprocessing to obtain the average deviation R affecting the road surface height. d and the average rate of change of road slope S c Important parameters of The road intelligent detection system includes: Substitute the decoded parameter value into the height deviation algorithm unit and the road surface slope change rate algorithm unit in the data processing calculation module to calculate the average deviation R of the road surface height. d and the average rate of change of slope S c ; Next, the average deviation R of the road surface height is calculated. d and the average rate of change of slope S c Substitute them into the pavement comprehensive quality index algorithm unit in the data processing calculation module to calculate the comprehensive quality index PQ of the pavement i ; Threshold feedback will calculate the comprehensive quality index PQ of the road surface i Record and store in the database, set the comprehensive quality index PQ i The warning threshold Y1 is 15%, and the comprehensive quality index PQ is set i The danger threshold Y2 is 8%, and the comprehensive quality index PQ of the detected road surface calculated by the road surface comprehensive quality index algorithm unit algorithm is i Comprehensively compare with the warning threshold Y1 and the danger threshold Y2.

9. The method for intelligent road surface detection based on three-dimensional laser scanning according to claim 8, characterized in that: When the PQ i When the value is higher than the warning threshold Y1, it means that the overall quality of the detected road surface is good and can be used safely.

10. The method for intelligent road surface detection based on three-dimensional laser scanning according to claim 9, characterized in that: When the PQ i When the value is lower than the warning threshold Y1 and higher than the danger threshold Y2, it means that the comprehensive quality of the road surface under test is at the warning value, and the road transport market management department should immediately reduce the speed limit of the tested section to half of the original speed limit; When the PQ i When the value is lower than the danger threshold Y2, it means that there are major problems with the overall quality of the tested road surface. The road transport market management department should immediately stop the use of the road section and carry out repairs or maintenance on the road section.

Images