Road surface abrasion detection device
By using line laser three-dimensional measurement sensors in the road wear detection device to collect and correct pavement data, the problem that traditional detection methods cannot accurately obtain wheel trace data is solved, and high accuracy detection and full-frame data analysis of pavement wear are achieved.
Patent Information
- Application Number
- CN202411868709.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-18
- Publication Date
- 2025-04-15
AI Technical Summary
Traditional pavement wear detection methods cannot accurately obtain wheel trace data at the position of the wheel trace belt, resulting in inaccurate detection results and cannot obtain wear detection results at different positions along the road width direction.
The road surface wear detection device including a data acquisition module, an attitude measurement module and a host computer is adopted to collect the road surface three-dimensional data and grayscale data through a linear laser three-dimensional measurement sensor, perform attitude correction, and calculate the pavement structure depth set in the lane area, thereby obtaining the road surface wear detection results.
It improves the completeness and accuracy of data acquisition, and can accurately obtain road surface wear detection results at different locations along the road width direction, enhancing the diversity and accuracy of the detection results.
Smart Images
Figure CN119824765A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of road surface detection, and in particular to a road surface wear detection device. Background Art
[0002] Pavement wear is an important indicator for evaluating the technical condition of a pavement. The current method for detecting it is mainly to obtain the longitudinal section curve of the center of the wheel track through a construction depth meter, and then calculate the pavement construction depth through a theoretical model, and calculate the pavement wear based on the pavement construction depth.
[0003] However, in the above road wear detection method, the depth meter is constructed to acquire data of the wheel tracks on the road surface as the mobile carrier moves on the road surface. The acquired data range is affected by the moving trajectory of the mobile carrier. In order to ensure the stability and safety of its own movement, the mobile carrier will avoid the wheel track positions with poor road conditions during the movement. In addition, the moving trajectory of the mobile carrier is also easily affected by driving habits and misses the wheel track positions in some areas of the road surface, resulting in the inability of the depth meter to acquire the wheel track data of these wheel track positions, which in turn leads to inaccurate road wear detection results, and the inability to acquire road wear detection results at different positions along the road width direction. Summary of the invention
[0004] The embodiment of the present application provides a road wear detection device to solve the technical problem that the traditional depth meter cannot accurately obtain the wheel track data of the wheel track belt position, which leads to inaccurate road wear detection results and cannot obtain road wear detection results at different positions along the road width direction.
[0005] The present application provides a road wear detection device, comprising: Data acquisition module, attitude measurement module and host computer; The data acquisition module is used to: acquire the road surface three-dimensional data and road surface grayscale data of the road surface to be measured based on the line laser three-dimensional measurement sensor; The posture measurement module is used to: obtain the measurement posture information of the data acquisition module; The host computer is used for: Performing posture correction on the three-dimensional road surface data based on the measured posture information to obtain road surface correction data; Based on the road surface correction data and the road surface grayscale data, a road surface structure depth set at preset interval positions in the lane area of the road surface to be tested is obtained; Based on the pavement structure depth set, obtaining a pavement wear detection result in the lane area; The road wear detection results include a normal wear rate, a weighted wear rate, a representative wear rate, a normal wear index, a weighted wear index and a representative wear index.
[0006] In one embodiment, based on the pavement structure depth set, obtaining the conventional wear rate and conventional wear index in the lane area includes: Obtaining the maximum pavement structure depth in the pavement structure depth set; Based on the relationship between any pavement structure depth in the pavement structure depth set and the maximum pavement structure depth, a conventional wear rate corresponding to a target position of any pavement structure depth in the lane area is obtained; Based on the normal wear rate, a normal wear index of the target position in the lane area is obtained.
[0007] In one embodiment, based on the pavement structure depth set, a weighted wear rate and a weighted wear index in the lane area are obtained, including: Based on the road surface correction data and the road surface grayscale data, obtaining a left wheel track position and a right wheel track position in the lane area; Calculating a first distance between the target position and the left wheel track position, a second distance between the target position and the right wheel track position, and a third distance between the left wheel track position and the right wheel track position; Obtaining a target weight corresponding to the target position based on a smaller value between the first distance and the second distance, and the third distance; Based on the target weights corresponding to the multiple target positions, weighting the conventional wear rates of the multiple target positions to obtain a weighted wear rate in the lane area; Based on the weighted wear rate, a weighted wear index in the lane area is obtained.
[0008] In one embodiment, based on the pavement structure depth set, obtaining a representative wear rate and a representative wear index in the lane area includes: Sorting the conventional wear rates of the plurality of target positions to obtain a wear rate sequence; Determine the conventional wear rate at a preset percentile in the wear rate sequence as the representative wear rate in the lane area; Based on the representative wear rate, a representative wear index in the lane area is obtained.
[0009] In one embodiment, it also includes: a mobile vehicle and a positioning control module; The data acquisition module and the positioning control module are installed on the mobile vehicle; The positioning control module is used to obtain the mileage of the mobile vehicle and, when the mileage reaches a preset mileage, send a trigger signal to the data acquisition module so that the data acquisition module acquires the road surface three-dimensional data and the road surface grayscale data according to a preset sampling interval.
[0010] In one embodiment, the data acquisition module includes the line laser three-dimensional measurement sensor, and the line laser three-dimensional measurement sensor includes a line laser and a high-speed 3D camera; The line laser is used to: continuously emit a line laser perpendicular to the driving direction of the mobile vehicle to the road surface to be tested; The high-speed 3D camera is used to: after receiving the trigger signal sent by the positioning control module according to the preset sampling interval, collect the three-dimensional data of the road surface and the grayscale data of the road surface at the position where the line laser is located, and transmit the three-dimensional data of the road surface and the grayscale data of the road surface to the host computer.
[0011] In one embodiment, it further includes: a remote server; The remote server is used to receive the road wear detection result transmitted back in real time by the host computer.
[0012] In one embodiment, it further includes: a power supply module; The power supply module is used to provide target direct current or target alternating current for the data acquisition module, the posture measurement module, the positioning control module and the host computer; the target direct current includes 5 volts direct current, 12 volts direct current and 24 volts direct current, and the target alternating current includes 220 volts alternating current.
[0013] In one embodiment, the sampling interval of the road surface three-dimensional data along the width direction of the road surface to be measured is less than or equal to 3 mm, and the sampling interval along the driving direction of the mobile vehicle is less than or equal to 6 mm.
[0014] In one embodiment, the coverage range of the road surface three-dimensional data and the road surface grayscale data along the width direction of the road surface to be tested is greater than 3000 mm.
[0015] The pavement wear detection device provided in the present application includes a data acquisition module, a posture measurement module and a host computer. The data acquisition module is used to collect pavement three-dimensional data and pavement grayscale data of the road surface to be tested based on a line laser three-dimensional measurement sensor. The posture measurement module is used to obtain the measurement posture information of the data acquisition module. The host computer is used to perform posture correction on the pavement three-dimensional data based on the measurement posture information to obtain pavement correction data. Based on the pavement correction data and the pavement grayscale data, a pavement structure depth set at preset intervals in the lane area of the road surface to be tested is obtained. Based on the pavement structure depth set, a pavement wear detection result in the lane area is obtained. The data acquisition module of the present application collects data of the road surface to be measured based on a line laser three-dimensional measurement sensor. Since the line laser has a wide emission range and is not easily affected by the moving trajectory of the moving vehicle, even if the moving vehicle avoids the wheel track position with poor road conditions or the driver misses part of the wheel track position, the line laser can still be emitted to these wheel track positions for the data acquisition module to collect data, thereby improving the completeness of data collection and thus improving the accuracy of the road wear detection results. Moreover, since the line laser can cover the width of the road surface, the road wear detection results at different positions along the width of the road surface can be obtained based on the full-width road surface data. Further In particular, the data collected by the present application include road surface three-dimensional data and road surface grayscale data, including both road surface spatial data and road surface color data, and the road surface three-dimensional data has been subjected to posture correction, which can further improve the accuracy of the road surface wear detection results in terms of data diversity and accuracy; further, the road surface wear detection results of the present application include conventional wear rate, weighted wear rate, representative wear rate, conventional wear index, weighted wear index and representative wear index, that is, the road surface wear detection results can be characterized from multiple angles, so that abnormal detection results can be identified based on the mutual comparison results of multi-angle detection results, further improving the accuracy of the road surface wear detection results. In summary, the present application collects diversified road surface data based on a line laser three-dimensional measurement sensor, and performs posture correction on the collected data, which can effectively improve the accuracy of the road surface wear detection results, and obtain road surface wear detection results at different positions along the road surface width direction. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0017] Figure 1 is a schematic diagram of the structure of a road wear detection device provided in an embodiment of the present application; Figure 2This is one of the schematic diagrams of the process of detecting road wear by the road wear detection device provided in the embodiment of the present application; Figure 3 This is the second schematic diagram of the process of detecting road wear by the road wear detection device provided in the embodiment of the present application; Figure 4 This is the third flow chart of the road wear detection device for detecting road wear provided in the embodiment of the present application. DETAILED DESCRIPTION
[0018] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0019] It should be noted that in the description of the embodiments of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0020] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.
[0021] Figure 1 Schematic diagram of the structure of the road wear detection device provided in the embodiment of the present application. Figure 1 , the embodiment of the present application provides a road wear detection device, which may include: a data acquisition module, a posture measurement module and a host computer; A data acquisition module is used to: acquire road surface three-dimensional data and road surface grayscale data of the road surface to be measured based on a line laser three-dimensional measurement sensor; The posture measurement module is used to obtain the measurement posture information of the data acquisition module; Host computer, used for: Performing posture correction on the road surface three-dimensional data based on the measured posture information to obtain road surface correction data; Based on the road surface correction data and the road surface grayscale data, a road surface structure depth set at a preset interval position in the lane area of the road surface to be tested is obtained; Based on the pavement structure depth set, the pavement wear detection results in the lane area are obtained; The road wear test results include conventional wear rate, weighted wear rate, representative wear rate, conventional wear index, weighted wear index and representative wear index.
[0022] The distribution of pavement grayscale data is closely related to the distribution of pavement three-dimensional data. The grayscale change of pavement data usually also means the spatial change of pavement data. Both play a key role in the identification of pavement structure depth. Therefore, one or more algorithms selected from neural network algorithms, deep learning algorithms, and machine learning algorithms can be used to accurately locate the wheel track position from the pavement grayscale data and the posture-corrected pavement three-dimensional data. Combined with the preset interval and structure depth definition, the pavement structure depth set at the preset interval position in the lane area can be obtained to improve the accuracy of pavement structure depth acquisition, thereby improving the accuracy of pavement wear detection results.
[0023] The posture measurement module comprises an inertial measurement unit, which is rigidly connected to the data acquisition module and is used to obtain measurement posture information of the data acquisition module.
[0024] The pavement wear detection device provided in this embodiment includes a data acquisition module, a posture measurement module and a host computer. The data acquisition module is used to collect pavement three-dimensional data and pavement grayscale data of the road surface to be measured based on a line laser three-dimensional measurement sensor. The posture measurement module is used to obtain measurement posture information of the data acquisition module. The host computer is used to perform posture correction on the pavement three-dimensional data based on the measurement posture information to obtain pavement correction data. Based on the pavement correction data and the pavement grayscale data, a pavement structure depth set at preset intervals in the lane area of the road surface to be measured is obtained. Based on the pavement structure depth set, a pavement wear detection result in the lane area is obtained. The data acquisition module of this embodiment collects data of the road surface to be measured based on a line laser three-dimensional measurement sensor. Since the line laser has a wide emission range and is not easily affected by the moving track of the moving vehicle, even if the moving vehicle avoids the wheel track position with poor road conditions or the driver misses part of the wheel track position, the line laser can still be emitted to these wheel track positions for the data acquisition module to collect data, thereby improving the completeness of data collection and thus improving the accuracy of the road wear detection results. Moreover, since the line laser can cover the width of the road surface, the road wear detection results at different positions along the width of the road surface can be obtained based on the full-width road surface data. Further First, the data collected by this embodiment include road surface three-dimensional data and road surface grayscale data, including both road surface spatial data and road surface color data, and the three-dimensional road surface data has been subjected to posture correction, which can further improve the accuracy of road surface wear detection results in terms of data diversity and accuracy; further, the road surface wear detection results of this embodiment include conventional wear rate, weighted wear rate, representative wear rate, conventional wear index, weighted wear index and representative wear index, that is, the road surface wear detection results can be characterized from multiple angles, so that abnormal detection results can be identified based on the mutual comparison results of multi-angle detection results, further improving the accuracy of road surface wear detection results. In summary, this embodiment collects diversified road surface data based on a line laser three-dimensional measurement sensor, and performs posture correction on the collected data, which can effectively improve the accuracy of road surface wear detection results and obtain road surface wear detection results at different positions along the road surface width direction.
[0025] Figure 2 This is one of the flow charts of the road wear detection device for detecting road wear provided in the embodiment of the present application; Figure 2 In one embodiment, obtaining the conventional wear rate and conventional wear index in the lane area based on the pavement structure depth set may include: 201. Obtain the maximum pavement structure depth in the pavement structure depth set; 202. Based on the relationship between any pavement structure depth in the pavement structure depth set and the maximum pavement structure depth, obtain a conventional wear rate of the pavement structure depth corresponding to a target position in the lane area; 203. Based on the normal wear rate, obtain the normal wear index of the target position in the lane area.
[0026] Assume that the maximum pavement construction depth in the pavement construction depth set is , the first The road surface structure depth is , then Conventional wear rate at target location corresponding to pavement structural depth It can be obtained according to the following formula: ; Further, Conventional wear index of the target location corresponding to the pavement structure depth It can be obtained according to the following formula: ; in, and is a preset parameter, which can be set according to actual conditions and is not limited here. In this embodiment, The value of can be 1.696, The value of can be 0.785.
[0027] This embodiment measures the wear degree of a target position corresponding to the pavement structure depth based on the ratio of the difference between any pavement structure depth and the maximum structure depth, and can obtain the conventional wear rate and conventional wear index of any target position more efficiently and accurately.
[0028] Figure 3 This is a second flow chart of the road wear detection device for detecting road wear provided in the embodiment of the present application; Figure 3 In one embodiment, based on the pavement structure depth set, obtaining the weighted wear rate and the weighted wear index in the lane area may include: 301. Obtaining a left wheel track position and a right wheel track position in a lane area based on the road surface correction data and the road surface grayscale data; 302. Calculate a first distance between the target position and the left wheel track position, a second distance between the target position and the right wheel track position, and a third distance between the left wheel track position and the right wheel track position; 303. Obtain a target weight corresponding to the target position based on the smaller value between the first distance and the second distance, and the third distance; 304. Based on the target weights corresponding to the multiple target positions, weight the conventional wear rates of the multiple target positions to obtain a weighted wear rate in the lane area; 305. Based on the weighted wear rate, a weighted wear index in the lane area is obtained.
[0029] Assume The first distance between the target position and the left wheel track position corresponding to the road surface structure depth is , No. The second distance between the target position and the right wheel track position corresponding to the road surface structure depth is , the third distance between the left wheel track position and the right wheel track position is , then The target weight of the target position corresponding to the road surface structural depth It can be obtained according to the following formula: ; The weighted wear rate in the lane area is It can be obtained according to the following formula: ; in, is the number of pavement construction depths in the pavement construction depth set, that is, the number of target locations corresponding to the pavement construction depths, is the preset coefficient.
[0030] Furthermore, the weighted wear index in the lane area It can be obtained according to the following formula: ; This embodiment measures the importance of the wear degree of the target position corresponding to any pavement structure depth based on the distance between the target position, the left wheel track position and the right wheel track position, and then calculates the weighted wear degree based on the wear degree of each target position in the lane area and its importance. The weighted wear rate and weighted wear index in the lane area can be obtained more efficiently and accurately, and the overall wear degree of the pavement in the lane area can be measured based on this.
[0031] Figure 4 This is a third flow chart of the road wear detection device for detecting road wear provided in the embodiment of the present application; Figure 4 In one embodiment, obtaining a representative wear rate and a representative wear index in a lane area based on a pavement structure depth set may include: 401. Sort the conventional wear rates of multiple target positions to obtain a wear rate sequence; 402. Determine the conventional wear rate at a preset percentile in the wear rate sequence as the representative wear rate in the lane area; 403. Based on the representative wear rate, obtain a representative wear index in the lane area.
[0032] In step 401, the conventional wear rates of the plurality of target positions may be sorted from large to small or from small to large, which is not limited here.
[0033] In step 402, the preset percentile can be set based on actual conditions and is not limited here.
[0034] In step 403, it is assumed that the representative wear rate in the lane area is , represents the wear index It can be obtained according to the following formula: ; This embodiment selects a representative wear rate based on a preset percentile in a conventional wear rate sequence of multiple target positions to obtain a representative wear index, so that the representative wear rate and the representative wear index can more accurately characterize the distribution and concentration of the road surface wear degree in the lane area.
[0035] Reference Figure 1 ,In one embodiment, the road wear detection device further includes: a mobile vehicle and a positioning control module; The data acquisition module and the positioning control module are installed on the mobile vehicle; The positioning control module is used to obtain the mileage of the mobile vehicle and send a trigger signal to the data acquisition module when the mileage reaches a preset mileage, so that the data acquisition module collects road surface three-dimensional data and road surface grayscale data according to a preset sampling interval.
[0036] The mobile vehicle may be a bus, a taxi, a cleaning vehicle or a special vehicle chassis, etc., which is not limited here.
[0037] The positioning control module includes a synchronization control unit, a first communication unit and a positioning unit. The synchronization control unit is connected to the positioning unit through the first communication unit. The synchronization control unit receives the mileage sent by the positioning unit through the first communication unit, and when the mileage reaches a preset mileage, the synchronization control unit synchronously sends a trigger signal to at least one data acquisition module. Since multiple preset mileages are set based on a preset sampling interval, each time the mileage reaches a preset mileage, the synchronization control unit will synchronously send a trigger signal to the data acquisition module, so that the data acquisition module can collect road surface three-dimensional data and road surface grayscale data according to the preset sampling interval.
[0038] The sampling spacing of the road surface three-dimensional data along the width direction of the road surface to be tested may be less than or equal to 3 mm, the sampling spacing along the driving direction of the mobile vehicle may be less than or equal to 6 mm, and the coverage of the road surface three-dimensional data and the road surface grayscale data along the width direction of the road surface to be tested may be greater than 3000 mm. In this embodiment, the sampling spacing of the road surface three-dimensional data along the width direction of the road surface to be tested is less than or equal to 1 mm, the sampling spacing along the driving direction of the mobile vehicle is less than or equal to 5 mm, and the coverage of the road surface three-dimensional data and the road surface grayscale data along the width direction of the road surface to be tested is greater than 3700 mm.
[0039] The positioning unit includes an encoder, a GPS receiving processor and a second communication unit, and the encoder and the GPS receiving processor are connected to the host computer through the second communication unit. The encoder and the GPS receiving processor are used to collect spatial positioning data including mileage, and send the spatial positioning data to the synchronization control unit through the first communication unit, and at the same time, send the spatial positioning data to the host computer through the second communication unit.
[0040] It should be noted that the attitude measurement module and the host computer are also installed on the mobile vehicle.
[0041] In this embodiment, the positioning control module and the data acquisition module are installed on the mobile vehicle, so that the positioning control module can follow the movement of the mobile vehicle on the road to obtain the mileage of the mobile vehicle, and send a trigger signal to the data acquisition module based on the preset mileage. The data acquisition module can also collect the three-dimensional road surface data and road surface grayscale data of the current position according to the preset sampling interval based on the movement of the mobile vehicle on the road, thereby realizing comprehensive and diversified collection of road surface data.
[0042] In one embodiment, the data acquisition module includes a line laser three-dimensional measurement sensor, which includes a line laser and a high-speed 3D camera; Line laser, used to: continuously emit line laser perpendicular to the driving direction of the moving vehicle to the road surface to be tested; The high-speed 3D camera is used to collect the three-dimensional data and grayscale data of the road surface at the position of the line laser after receiving the trigger signal sent by the positioning control module according to the preset sampling interval, and transmit the three-dimensional data and grayscale data of the road surface to the host computer.
[0043] The high-speed 3D camera is connected to the synchronization control unit to receive a trigger signal sent by the synchronization control unit and collect road surface three-dimensional data and road surface grayscale data according to a preset sampling interval.
[0044] It should be noted that the data acquisition module can also include an industrial control computer and a network switch. The high-speed 3D camera is connected to the industrial control computer, and the industrial control computer is connected to the host computer through the network switch. The three-dimensional road surface data and road surface grayscale data collected by the high-speed 3D camera can be transmitted to the host computer through the industrial control computer and the network switch.
[0045] In this embodiment, the line laser continuously emits the line laser toward the road surface to be tested as the mobile vehicle moves. The high-speed 3D camera collects the three-dimensional data and the grayscale data of the road surface at the location of the line laser according to the preset sampling interval based on the trigger signal, and can achieve full coverage collection of the three-dimensional data and the grayscale data of the road surface on the driving route of the mobile vehicle.
[0046] Reference Figure 1 ,In one embodiment, the road wear detection device further includes: a remote server; The remote server is used to receive the road wear detection results sent back in real time from the host computer.
[0047] In this embodiment, the remote server is connected to the host computer to receive and save the road wear detection results transmitted back by the host computer in real time for subsequent analysis.
[0048] Reference Figure 1 ,In one embodiment, the road wear detection device further includes: a power supply module; The power supply module is used to provide target DC power or target AC power to the data acquisition module, attitude measurement module, positioning control module and host computer; the target DC power includes 5V DC power, 12V DC power and 24V DC power, and the target AC power includes 220V AC power.
[0049] In this embodiment, the power supply module is also installed on the mobile carrier and provides diversified power supply to various modules on the vehicle to ensure stable wear detection.
[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A road wear detection device, characterized in that: include: Data acquisition module, attitude measurement module and host computer; The data acquisition module is used to: acquire the road surface three-dimensional data and road surface grayscale data of the road surface to be measured based on the line laser three-dimensional measurement sensor; The posture measurement module is used to: obtain the measurement posture information of the data acquisition module; The host computer is used for: Performing posture correction on the three-dimensional road surface data based on the measured posture information to obtain road surface correction data; Based on the road surface correction data and the road surface grayscale data, a road surface structure depth set at preset interval positions in the lane area of the road surface to be tested is obtained; Based on the pavement structure depth set, obtaining a pavement wear detection result in the lane area; The road wear detection results include a normal wear rate, a weighted wear rate, a representative wear rate, a normal wear index, a weighted wear index and a representative wear index.
2. The road wear detection device according to claim 1, characterized in that: Based on the pavement structure depth set, a conventional wear rate and a conventional wear index in the lane area are obtained, including: Obtaining the maximum pavement structure depth in the pavement structure depth set; Based on the relationship between any pavement structure depth in the pavement structure depth set and the maximum pavement structure depth, a conventional wear rate of a target position corresponding to any pavement structure depth in the lane area is obtained; Based on the normal wear rate, a normal wear index of the target position in the lane area is obtained.
3. The road wear detection device according to claim 2, characterized in that: Based on the pavement structure depth set, a weighted wear rate and a weighted wear index in the lane area are obtained, including: Based on the road surface correction data and the road surface grayscale data, obtaining a left wheel track position and a right wheel track position in the lane area; Calculating a first distance between the target position and the left wheel track position, a second distance between the target position and the right wheel track position, and a third distance between the left wheel track position and the right wheel track position; Obtaining a target weight corresponding to the target position based on a smaller value between the first distance and the second distance, and the third distance; Based on the target weights corresponding to the multiple target positions, weighting the conventional wear rates of the multiple target positions to obtain a weighted wear rate in the lane area; Based on the weighted wear rate, a weighted wear index in the lane area is obtained.
4. The road wear detection device according to claim 2, characterized in that: Based on the pavement structure depth set, a representative wear rate and a representative wear index in the lane area are obtained, including: Sorting the conventional wear rates of the plurality of target positions to obtain a wear rate sequence; Determine the conventional wear rate at a preset percentile in the wear rate sequence as the representative wear rate in the lane area; Based on the representative wear rate, a representative wear index in the lane area is obtained.
5. The road wear detection device according to claim 1, characterized in that: Also includes: Mobile vehicle and positioning control module; The data acquisition module and the positioning control module are installed on the mobile vehicle; The positioning control module is used to obtain the mileage of the mobile vehicle and, when the mileage reaches a preset mileage, send a trigger signal to the data acquisition module so that the data acquisition module acquires the road surface three-dimensional data and the road surface grayscale data according to a preset sampling interval.
6. The road wear detection device according to claim 5, characterized in that: The data acquisition module includes the line laser three-dimensional measurement sensor, and the line laser three-dimensional measurement sensor includes a line laser and a high-speed 3D camera; The line laser is used to: continuously emit a line laser perpendicular to the driving direction of the mobile vehicle to the road surface to be tested; The high-speed 3D camera is used to: after receiving the trigger signal sent by the positioning control module according to the preset sampling interval, collect the three-dimensional data of the road surface and the grayscale data of the road surface at the position where the line laser is located, and transmit the three-dimensional data of the road surface and the grayscale data of the road surface to the host computer.
7. The road wear detection device according to claim 1, characterized in that: Also includes: Remote server; The remote server is used to receive the road wear detection result transmitted back in real time by the host computer.
8. The road wear detection device according to claim 5, characterized in that: Also includes: Power supply module; The power supply module is used to provide target direct current or target alternating current for the data acquisition module, the posture measurement module, the positioning control module and the host computer; the target direct current includes 5 volts direct current, 12 volts direct current and 24 volts direct current, and the target alternating current includes 220 volts alternating current.
9. The road wear detection device according to claim 5, characterized in that: The sampling interval of the road surface three-dimensional data along the width direction of the road surface to be measured is less than or equal to 3 mm, and the sampling interval along the driving direction of the mobile vehicle is less than or equal to 6 mm.
10. The road wear detection device according to claim 1, characterized in that: The coverage range of the road surface three-dimensional data and the road surface grayscale data along the width direction of the road surface to be tested is greater than 3000 mm.