Method for detecting maximum water accumulation cross-sectional area of road surface based on line scanning three dimensions

Abstract

The application relates to the road surface detection technical field and provides a road surface maximum water accumulation cross section area detection method based on line scanning three dimensions. The method comprises the following steps: three-dimensional modeling of a to-be-detected road surface based on three-dimensional cross section elevation data of the to-be-detected road surface, so as to obtain a cross section splicing contour of the to-be-detected road surface; extracting key points in the cross section splicing contour based on the distribution characteristics of rut grooves of the to-be-detected road surface in the lane range; determining the maximum water accumulation cross section area of each cross section contour of the cross section splicing contour based on the key points and the cross section splicing contour; calculating the area of the maximum water accumulation cross section area by integral, so as to obtain the maximum water accumulation cross section area of the cross section contour. The application is suitable for road surface detection which has not yet produced water accumulation, can predict the road water accumulation condition, and thus helps to form a reasonable road surface maintenance scheme and timely prevent the influence of road water accumulation on road driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of road surface detection, in particular to a road surface maximum water cross-section area detection method based on line scanning three dimensions. BACKGROUND

[0002] By detecting the maximum water cross-section area of the road surface, the severity of potential water accumulation on the road surface can be intuitively understood. The larger the water cross-section area, the more likely the water depth will be larger, and the more significant the impact on traffic and road facilities. This helps relevant departments to take timely measures, such as increasing drainage equipment, timely road maintenance, etc., to reduce or eliminate the negative impact of road water accumulation.

[0003] The existing detection of the maximum water cross-section area of the road surface can be realized by various technical means, mainly including radar or laser range finder, liquid level sensor, camera, soil moisture sensor and temperature and humidity sensor, etc. However, these detection methods are mainly used for detection of existing road water accumulation, and cannot detect the maximum water cross-section area that may occur on the road surface under the condition of water accumulation on the road surface, so they cannot predict the road water accumulation situation, which will affect the rationality of the road maintenance plan to a certain extent, and cannot prevent the impact of road water accumulation on road traffic safety in a timely manner. SUMMARY

[0004] The embodiment of the present application provides a road surface maximum water cross-section area detection method based on line scanning three dimensions, to solve the technical problem that the current detection method cannot predict the road water accumulation situation, which will affect the rationality of the road maintenance plan to a certain extent, and cannot prevent the impact of road water accumulation on road traffic safety in a timely manner.

[0005] The embodiment of the present application provides a road surface maximum water cross-section area detection method based on line scanning three dimensions, comprising:

[0006] Based on the three-dimensional cross-section elevation data of the road surface to be detected, a three-dimensional model of the road surface to be detected is established, and a cross-section splicing contour of the road surface to be detected is obtained;

[0007] Based on the distribution characteristics of the rut groove on the road surface to be detected within the lane range, key points in the cross-section splicing contour are extracted; the key points include left highest points, middle highest points and right highest points;

[0008] Based on the key points and the cross-section splicing contour, the maximum water cross-section area of each cross-section contour of the cross-section splicing contour is determined, the area of the maximum water cross-section area is calculated by integration, and the maximum water cross-section area of the cross-section contour is obtained.

[0009] In one embodiment, the three-dimensional cross-section elevation data of the to-be-tested road surface is used to model the to-be-tested road surface in three dimensions to obtain a cross-section splicing profile of the to-be-tested road surface, comprising:

[0010] The three-dimensional cross-section elevation data is subjected to object-side conversion to obtain object-side cross-section elevation data;

[0011] The object-side cross-section elevation data is subjected to measurement posture correction to obtain corrected cross-section elevation data;

[0012] The corrected cross-section elevation data is subjected to abnormal measurement point processing to obtain processed cross-section elevation data;

[0013] If the three-dimensional cross-section elevation data is obtained by using a line scanning three-dimensional measurement sensor, the processed cross-section elevation data is spliced in the driving direction to obtain the cross-section splicing profile;

[0014] If the three-dimensional cross-section elevation data is obtained by using a plurality of line scanning three-dimensional measurement sensors, the processed cross-section elevation data is spliced in the cross-section direction to obtain transversely spliced elevation data, and the transversely spliced elevation data is spliced in the driving direction to obtain the cross-section splicing profile.

[0015] In one embodiment, the splicing of the processed cross-section elevation data in the cross-section direction to obtain transversely spliced elevation data comprises:

[0016] The measurement interval in the driving direction between adjacent line scanning three-dimensional measurement sensors in the plurality of line scanning three-dimensional measurement sensors is obtained;

[0017] Based on the sampling interval in the driving direction of each line scanning three-dimensional measurement sensor in the adjacent line scanning three-dimensional measurement sensors, the number of sampling intervals of each line scanning three-dimensional measurement sensor in the measurement interval is obtained;

[0018] For any adjacent line scanning three-dimensional measurement sensor, the corresponding processed cross-section elevation data of the adjacent line scanning three-dimensional measurement sensor is obtained based on the number of sampling intervals;

[0019] Based on the sampling interval in the cross-section direction of each line scanning three-dimensional measurement sensor in the adjacent line scanning three-dimensional measurement sensors, an initial sampling overlap area of the adjacent line scanning three-dimensional measurement sensors in the cross-section direction is obtained;

[0020] Based on the consistency of the corresponding processed cross-section elevation data of the adjacent line scanning three-dimensional measurement sensors in the initial sampling overlap area, same-name feature point data in the initial sampling overlap area is obtained;

[0021] determining a target sampling overlap area of the adjacent line-scan three-dimensional measurement sensors on the cross section based on the same-named feature point data;

[0022] calculating an average value of the processed cross section elevation data corresponding to the adjacent line-scan three-dimensional measurement sensors in the target sampling overlap area to obtain spliced elevation data in the target sampling overlap area;

[0023] determining the spliced elevation data in the target sampling overlap area on the cross section and the processed cross section elevation data outside the target sampling overlap area on the cross section as lateral splicing elevation data of the cross section.

[0024] In one embodiment, the extracting the key points in the cross section splicing profile based on the distribution characteristics of the rut grooves in the lane range on the road surface to be measured comprises:

[0025] performing data filtering on the cross section profile to obtain a cross section filtered profile for each cross section profile of the cross section splicing profile;

[0026] dividing the cross section filtered profile into a first left filtered profile and a first right filtered profile by taking a middle measuring point of the cross section filtered profile in the cross section direction as a division point;

[0027] taking a lowest point of the first left filtered profile as a left rut groove center point and taking a lowest point of the first right filtered profile as a right rut groove center point;

[0028] taking a cross section filtered profile to the left of the left rut groove center point as a second left filtered profile and taking a highest point of the second left filtered profile as a left highest point of the cross section profile;

[0029] taking a cross section filtered profile to the right of the right rut groove center point as a second right filtered profile and taking a highest point of the second right filtered profile as a right highest point of the cross section profile;

[0030] taking a cross section filtered profile between the left rut groove center point and the right rut groove center point as an intermediate filtered profile and taking a highest point of the intermediate filtered profile as an intermediate highest point of the cross section profile.

[0031] In one embodiment, the determining the maximum water accumulation cross section area of each cross section profile of the cross section splicing profile based on the key points and the cross section splicing profile and calculating an area of the maximum water accumulation cross section area by integration to obtain a maximum water accumulation cross section area of the cross section profile comprises:

[0032] determining, based on the key point and the cross-section filtering profile, a left maximum water cross-section area and a right maximum water cross-section area if the elevation data of the middle highest point of the cross-section profile is greater than or equal to at least one of the elevation data of the left highest point and the elevation data of the right highest point;

[0033] calculating the area of the left maximum water cross-section area and the area of the right maximum water cross-section area by integral calculation;

[0034] calculating the sum of the area of the left maximum water cross-section area and the area of the right maximum water cross-section area to obtain the maximum water cross-section area of the cross-section profile.

[0035] In one embodiment, the determining, based on the key point and the cross-section filtering profile, a left maximum water cross-section area and a right maximum water cross-section area comprises:

[0036] taking the lower one of the left highest point and the middle highest point as a left water highest horizontal position, obtaining a first intersection point of a first horizontal line corresponding to the left water highest horizontal position and the cross-section filtering profile on the left and right sides of the left rut groove center point, and determining a region surrounded by the cross-section filtering profile between the first intersection points obtained on the left and right sides of the left rut groove center point and the first horizontal line as the left maximum water cross-section area.

[0037] taking the lower one of the right highest point and the middle highest point as a right water highest horizontal position, obtaining a second intersection point of a second horizontal line corresponding to the right water highest horizontal position and the cross-section filtering profile on the left and right sides of the right rut groove center point, and determining a region surrounded by the cross-section filtering profile between the second intersection points obtained on the left and right sides of the right rut groove center point and the second horizontal line as the right maximum water cross-section area.

[0038] In one embodiment, the determining, based on the key point and the cross-section filtering profile, a left maximum water cross-section area and a right maximum water cross-section area comprises:

[0039] if the elevation data of the middle highest point of the cross-section profile is less than the elevation data of the left highest point and the elevation data of the right highest point, taking the lower one of the left highest point and the right highest point as a water highest horizontal position;

[0040] acquire a first intersection point of the third horizontal line corresponding to the highest water level and the cross-section filtering profile on the left side of the left rut center point, and acquire a first intersection point of the third horizontal line corresponding to the highest water level and the cross-section filtering profile on the right side of the right rut center point;

[0041] determine a region surrounded by the cross-section filtering profile between the first intersection point acquired on the left side of the left rut center point and the first intersection point acquired on the right side of the right rut center point and the third horizontal line as a maximum water cross-section region;

[0042] calculate an area of the maximum water cross-section region by integration to obtain a maximum water cross-section area of the cross-section profile.

[0043] In an embodiment, the measurement attitude correction on the object-side cross-section elevation data to obtain corrected cross-section elevation data comprises:

[0044] The object-side cross-section elevation data is obtained by object-side conversion based on a calibration file, and the object-side cross-section elevation data corresponds to a line-scan three-dimensional measurement sensor comprising a sensing head and a three-dimensional camera;

[0045] acquire an installation inclination angle of the sensing head relative to a horizontal plane, a lens focal length of the three-dimensional camera, and a first working distance of the three-dimensional camera in an elevation direction;

[0046] correct the object-side cross-section elevation data by a first attitude correction mode or a second attitude correction mode to obtain corrected cross-section elevation data;

[0047] The first attitude correction mode is a measurement attitude correction mode based on the lens focal length, the first working distance, the attitude angle of the sensing head at a current time, and a second working distance of the sensing head in the elevation direction at the current time;

[0048] The second attitude correction mode is a measurement attitude correction mode based on the installation inclination angle, the lens focal length, the first working distance, the attitude angle of the sensing head at a current time, and a second working distance of the sensing head in the elevation direction at the current time.

[0049] In an embodiment, the measurement attitude correction on the object-side cross-section elevation data to obtain corrected cross-section elevation data comprises:

[0050] If the calibration file is acquired before the line-scan three-dimensional measurement sensor is installed to the measurement carrier, and the attitude angle of the sensing head at the current time is the included angle between the sensing head and the horizontal plane, then based on the first attitude correction mode, the object-side cross-sectional elevation data is corrected in measurement attitude to obtain corrected cross-sectional elevation data;

[0051] If the calibration file is acquired after the line-scan three-dimensional measurement sensor is installed to the measurement carrier, and the attitude angle of the sensing head at the current time is the motion angle relative to the installation attitude, then based on the second attitude correction mode, the object-side cross-sectional elevation data is corrected in measurement attitude to obtain corrected cross-sectional elevation data.

[0052] In one embodiment, the measurement attitude correction of the object-side cross-sectional elevation data based on the first attitude correction mode or the second attitude correction mode to obtain corrected cross-sectional elevation data comprises:

[0053] If the calibration file is acquired after the line-scan three-dimensional measurement sensor is installed to the measurement carrier, and the attitude angle of the sensing head at the current time is the included angle between the sensing head and the horizontal plane, then based on the second attitude correction mode, the object-side cross-sectional elevation data is corrected in measurement attitude to obtain corrected cross-sectional elevation data;

[0054] If the calibration file is acquired after the line-scan three-dimensional measurement sensor is installed to the measurement carrier, and the attitude angle of the sensing head at the current time is the motion angle relative to the installation attitude, then based on the first attitude correction mode, the object-side cross-sectional elevation data is corrected in measurement attitude to obtain corrected cross-sectional elevation data.

[0055] The method for detecting the maximum water cross-sectional area of a road surface based on line-scan three-dimensions provided in the present application performs three-dimensional modeling on a to-be-measured road surface based on three-dimensional cross-sectional elevation data of the to-be-measured road surface, obtains a cross-sectional splicing contour of the to-be-measured road surface, extracts key points in the cross-sectional splicing contour based on the distribution characteristics of rut grooves on the to-be-measured road surface within the lane range, the key points including a left-side highest point, a middle highest point and a right-side highest point, determines the maximum water cross-sectional area of each cross-sectional contour of the cross-sectional splicing contour based on the key points and the cross-sectional splicing contour, calculates the area of the maximum water cross-sectional area by integration, and obtains the maximum water cross-sectional area of the cross-sectional contour. The present application obtains the maximum water cross-sectional area of the cross-sectional contour of the to-be-measured road surface through three-dimensional modeling, key point extraction, maximum water cross-sectional area identification and maximum water cross-sectional area area calculation on the three-dimensional cross-sectional elevation data of the to-be-measured road surface, and the method is suitable for road surface detection before water accumulation, can predict the road water accumulation situation, and thus helps to form a reasonable road maintenance plan and prevent the influence of road water accumulation on road driving safety in a timely manner. BRIEF DESCRIPTION OF DRAWINGS

[0056] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 This is one of the flowcharts of the method for detecting the maximum water accumulation cross-sectional area of ​​a road surface based on line scanning three-dimensional provided in this application embodiment;

[0058] Figure 2 This is the second flowchart of the method for detecting the maximum water accumulation cross-sectional area of ​​a road surface based on line scanning three-dimensional provided in this application embodiment;

[0059] Figure 3 This is the third flowchart of the method for detecting the maximum water accumulation cross-sectional area of ​​a road surface based on line scanning three-dimensional provided in this application embodiment;

[0060] Figure 4 This is a schematic diagram of the distribution of line-scan three-dimensional measurement sensors in the method for detecting the maximum water accumulation cross-sectional area of ​​a road surface based on line-scan three-dimensional measurement provided in the embodiments of this application;

[0061] Figure 5 This is the fourth flowchart of the method for detecting the maximum water accumulation cross-sectional area of ​​a road surface based on line scanning three-dimensional provided in this application embodiment;

[0062] Figure 6 This is one of the schematic diagrams of the maximum water accumulation section of the road surface in the method for detecting the maximum water accumulation section area of ​​the road surface based on line scanning three-dimensional provided in the embodiments of this application;

[0063] Figure 7 This is the second schematic diagram of the maximum water accumulation section of the road surface in the method for detecting the maximum water accumulation section area of ​​the road surface based on line scanning three-dimensional provided in the embodiments of this application;

[0064] Figure 8 This is the third schematic diagram of the maximum water accumulation section of the road surface in the method for detecting the maximum water accumulation section area of ​​the road surface based on line scanning three-dimensional provided in the embodiments of this application;

[0065] Figure 9 This is the fourth schematic diagram of the maximum water accumulation section of the road surface in the method for detecting the maximum water accumulation section area of ​​the road surface based on line scanning three-dimensional provided in the embodiments of this application;

[0066] Figure 10 This is the fifth flowchart of the method for detecting the maximum water accumulation cross-sectional area of ​​a road surface based on line scanning three-dimensional provided in the embodiments of this application;

[0067] Figure 11 FIG. 6 is a flowchart of a method for detecting a maximum accumulated water cross-sectional area of a road surface based on line scanning three-dimensionality, according to an embodiment of the disclosure;

[0068] Figure 12 FIG. 7 is a flowchart of a method for detecting a maximum accumulated water cross-sectional area of a road surface based on line scanning three-dimensionality, according to an embodiment of the disclosure;

[0069] Figure 13 FIG. 8 is a structural diagram of an electronic device according to an embodiment of the disclosure. DETAILED DESCRIPTION

[0070] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the following will be combined with the accompanying drawings for a clear and complete description of the technical solutions in the present disclosure. Obviously, the described embodiments are some but not all of the embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0071] It should be noted that in the description of the embodiments of the present disclosure, the terms "comprising", "containing" or any other variants thereof are intended to cover the non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element. The terms "upper", "lower" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present disclosure and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure. Unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For a person of ordinary skill in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0072] The terms "first", "second", and the like in this application are used to distinguish similar objects, and are not used to describe a particular order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally a class, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" means at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0073] Figure 1 is one of the flowcharts of the method for detecting the maximum accumulated water cross-sectional area of the road surface based on line scanning three dimensions provided by the embodiments of the present application. Referring to Figure 1 , the embodiments of the present application provide a method for detecting the maximum accumulated water cross-sectional area of the road surface based on line scanning three dimensions, which can include:

[0074] 101, three-dimensional modeling of the road surface to be measured based on three-dimensional cross-sectional elevation data of the road surface to be measured, to obtain a cross-sectional splicing contour of the road surface to be measured;

[0075] 102, extracting key points in the cross-sectional splicing contour based on the distribution characteristics of the rut grooves in the lane range on the road surface to be measured;

[0076] The key points include the left highest point, the middle highest point and the right highest point;

[0077] 103, determining the maximum accumulated water cross-sectional area of each cross-sectional contour of the cross-sectional splicing contour based on the key points and the cross-sectional splicing contour, calculating the area of the maximum accumulated water cross-sectional area by integration, and obtaining the maximum accumulated water cross-sectional area of the cross-sectional contour.

[0078] In step 101, the three-dimensional cross-sectional elevation data can be obtained by using a line scanning three-dimensional road surface data acquisition system, which can include a line scanning three-dimensional measurement unit, a mileage encoder and a measurement carrier. The line scanning three-dimensional measurement unit and the mileage encoder are installed on the measurement carrier, and the three-dimensional cross-sectional elevation data of the road surface to be measured is collected as the measurement carrier moves on the road surface to be measured.

[0079] The line scanning three-dimensional measurement unit can include one or more line scanning three-dimensional measurement sensors, each of which can include a laser, a three-dimensional camera and a posture measurement sensor. The laser is used to project a line laser along the width direction of the road surface to be measured. The three-dimensional camera is used to obtain three-dimensional cross-section elevation data of the line laser at the projected position on the road surface to be measured by using the triangulation principle. The posture measurement sensor is used to obtain the measurement posture information of the line scanning three-dimensional measurement sensor. The sampling interval of the line scanning three-dimensional measurement unit in the cross-section direction can be less than or equal to 2 mm, the sampling interval in the driving direction can be less than or equal to 5 mm, and the measurement width can be greater than or equal to 3.5 m.

[0080] The line scanning three-dimensional road surface data acquisition system can be shared in the three-dimensional road surface detection system and the road surface maximum water cross-section area detection system, so as to realize the detection of road surface damage, flatness and rut index, avoid increasing the equipment cost of the road surface maximum water cross-section area detection, and facilitate the maintenance of the system.

[0081] In step 102, since the road water position is usually located at the rut groove, it is necessary to extract the key points in the cross-section splicing contour based on the distribution characteristics, wherein the left side, the middle and the right side are arranged along the width direction of the road.

[0082] The line scanning three-dimensional road surface maximum water cross-section area detection method provided in the embodiment is based on the three-dimensional cross-section elevation data of the road surface to be measured to perform three-dimensional modeling on the road surface to be measured, to obtain the cross-section splicing contour of the road surface to be measured. Based on the distribution characteristics of the rut groove in the lane range on the road surface to be measured, the key points in the cross-section splicing contour are extracted, the key points include the left highest point, the middle highest point and the right highest point. Based on the key points and the cross-section splicing contour, the maximum water cross-section area of each cross-section contour of the cross-section splicing contour is determined. The area of the maximum water cross-section area is calculated by integration, to obtain the maximum water cross-section area of the cross-section contour. Through the three-dimensional modeling of the three-dimensional cross-section elevation data of the road surface to be measured, the key point extraction, the maximum water cross-section area identification and the maximum water cross-section area calculation, the maximum water cross-section area of the cross-section contour of the road surface to be measured is obtained. The method is suitable for the detection of the road surface without water, can predict the road water situation, and thus helps to form a reasonable road maintenance plan and prevent the influence of road water on road driving safety in time.

[0083] Figure 2 FIG. 2 is a flowchart of a line scanning three-dimensional road surface maximum water cross-section area detection method provided by an embodiment of the application. Referring to FIG. 2, the line scanning three-dimensional road surface maximum water cross-section area detection method provided by the embodiment of the application can include the following steps. Figure 2 In one embodiment, the three-dimensional modeling of the road surface to be measured based on the three-dimensional cross-section elevation data of the road surface to be measured to obtain the cross-section splicing contour of the road surface to be measured can include the following steps.

[0084] 201. performing object-side conversion on the three-dimensional cross-section elevation data to obtain object-side cross-section elevation data;

[0085] 202. performing measurement attitude correction on the object-side cross-section elevation data to obtain corrected cross-section elevation data;

[0086] 203. performing abnormal measurement point processing on the corrected cross-section elevation data to obtain processed cross-section elevation data;

[0087] 204. if the three-dimensional cross-section elevation data is obtained by using one line scanning three-dimensional measurement sensor, then splicing the processed cross-section elevation data along the driving direction to obtain cross-section splicing profile;

[0088] 205. if the three-dimensional cross-section elevation data is obtained by using multiple line scanning three-dimensional measurement sensors, then splicing the processed cross-section elevation data along the cross-section direction to obtain transverse splicing elevation data, and then splicing the transverse splicing elevation data along the driving direction to obtain cross-section splicing profile.

[0089] In step 201, the three-dimensional cross-section elevation data can be converted from image side to object side based on the calibration file.

[0090] In step 202, the object-side cross-section elevation data can be corrected in measurement attitude based on the installation parameters of the line scanning three-dimensional measurement sensor and the measurement attitude information of the line scanning three-dimensional measurement sensor obtained by the attitude measurement sensor.

[0091] In step 203, the abnormal measurement points are mainly smoothed or removed.

[0092] In step 204, if the three-dimensional cross-section elevation data is obtained by using one line scanning three-dimensional measurement sensor, it means that for each cross-section, only one line scanning three-dimensional measurement sensor is used to collect elevation data, and all the processed cross-section elevation data can be directly spliced along the driving direction.

[0093] In step 205, if the three-dimensional cross-section elevation data is obtained by using multiple line scanning three-dimensional measurement sensors, it means that for each cross-section, multiple different line scanning three-dimensional measurement sensors are used to collect elevation data in different areas of the cross-section. Therefore, the processed cross-section elevation data corresponding to the multiple line scanning three-dimensional measurement sensors need to be spliced along the cross-section direction first, and then the transverse splicing elevation data of each cross-section is spliced along the driving direction.

[0094] The embodiment first converts the three-dimensional cross-section elevation data of the to-be-measured road surface into an object side, corrects the measurement posture, and processes the abnormal measurement points, and then splices the processed cross-section elevation data according to different acquisition methods of the three-dimensional cross-section elevation data, so as to complete the three-dimensional modeling of the to-be-measured road surface, obtain the accurate cross-section splicing profile of the to-be-measured road surface, and improve the accuracy of subsequent detection of the maximum water accumulation cross-section area of the road surface.

[0095] Figure 3 FIG. 3 is a flowchart of a method for detecting the maximum water accumulation cross-section area of a road surface based on line scanning three-dimensional data according to an embodiment of the present application. Referring to FIG. 3, Figure 3 In one embodiment, the processed cross-section elevation data is spliced in the cross-section direction to obtain transverse splicing elevation data, which can include:

[0096] 301. Obtain the measurement interval in the driving direction between adjacent line scanning three-dimensional measurement sensors in the plurality of line scanning three-dimensional measurement sensors;

[0097] 302. Based on the sampling interval in the driving direction of each line scanning three-dimensional measurement sensor in the adjacent line scanning three-dimensional measurement sensors, obtain the number of sampling intervals of each line scanning three-dimensional measurement sensor within the measurement interval;

[0098] 303. For any adjacent line scanning three-dimensional measurement sensor, based on the number of sampling intervals, match the processed cross-section elevation data corresponding to the adjacent line scanning three-dimensional measurement sensor;

[0099] 304. Based on the sampling interval in the cross-section direction of each line scanning three-dimensional measurement sensor in the adjacent line scanning three-dimensional measurement sensors, obtain the initial sampling overlap area of the adjacent line scanning three-dimensional measurement sensors in the cross-section direction;

[0100] 305. Based on the consistency of the processed cross-section elevation data corresponding to the adjacent line scanning three-dimensional measurement sensors within the initial sampling overlap area, obtain the homonymic feature point data within the initial sampling overlap area;

[0101] 306. Determine the target sampling overlap area of the adjacent line scanning three-dimensional measurement sensors in the cross-section direction based on the homonymic feature point data;

[0102] 307. Calculate the average value of the processed cross-section elevation data corresponding to the adjacent line scanning three-dimensional measurement sensors within the target sampling overlap area to obtain the splicing elevation data within the target sampling overlap area;

[0103] 308. Determine the splicing elevation data within the target sampling overlap area in the cross-section and the processed cross-section elevation data outside the target sampling overlap area in the cross-section as the transverse splicing elevation data of the cross-section.

[0104] In step 301, the arrangement of the multiple line-scan 3D measurement sensors is as follows: Figure 4 As shown, according to Figure 4 It can be seen that multiple line-scan 3D measurement sensors , and The sensors are arranged generally along the width of the road surface, that is, along the cross-sectional direction of the road surface, but there is a slight misalignment between two adjacent line-scan 3D measurement sensors in the driving direction. This tiny misalignment This refers to the measurement distance between adjacent line-scan 3D measurement sensors in the driving direction, which can be obtained through static calibration.

[0105] In step 302, the number of sampling intervals within the measurement interval can be obtained by dividing the measurement interval by the sampling interval.

[0106] In step 303, based on the number of sampling intervals, the corresponding processed cross-sectional elevation data can be obtained by matching any adjacent line scanning three-dimensional measurement sensor.

[0107] In steps 305 to 306, the area covered by the data of the same feature points in the initial sampling overlap area is determined as the target sampling overlap area.

[0108] In step 307, the overall elevation data of the target sampling overlap area is measured by the average value.

[0109] In step 308, for each cross section, the processed cross section elevation data that does not require splicing and the spliced ​​elevation data that has been spliced ​​together are collectively determined as the transverse spliced ​​elevation data of that cross section.

[0110] It should be noted that, referring to Figure 4 For each cross section, we can first... and The corresponding processed cross-sectional elevation data are spliced ​​along the cross-sectional direction, and then the spliced ​​transverse elevation data is combined with... The corresponding processed cross-sectional elevation data are spliced ​​along the cross-sectional direction, and so on, until the overall transverse spliced ​​elevation data of the cross-section is obtained.

[0111] This embodiment is based on the acquisition of three-dimensional cross-sectional elevation data by multiple line-scan three-dimensional measurement sensors. The elevation data of the same cross-section are horizontally stitched together. Moreover, it can accurately match and identify the cross-sectional elevation data after processing by each line-scan three-dimensional measurement sensor in the case of slight misalignment between multiple line-scan three-dimensional measurement sensors during actual data acquisition, thereby improving the accuracy of data stitching.

[0112] Figure 5FIG. 4 is a fourth flowchart of a method for detecting a maximum accumulated water cross-sectional area of a road surface based on line scanning three dimensions, according to an embodiment of the present application. Figure 5 In one embodiment, based on the distribution characteristics of the rut grooves on the road surface to be measured within the lane range, the key points in the cross-sectional spliced contour can be extracted, which can include:

[0113] 501. For each cross-sectional contour of the cross-sectional spliced contour, data filtering is performed on the cross-sectional contour to obtain a cross-sectional filtered contour.

[0114] 502. The middle measuring point of the cross-sectional filtered contour in the cross-sectional direction is taken as a segmentation point, and the cross-sectional filtered contour is divided into a first left filtered contour and a first right filtered contour.

[0115] 503. The lowest point of the first left filtered contour is taken as a left rut groove center point, and the lowest point of the first right filtered contour is taken as a right rut groove center point.

[0116] 504. The cross-sectional filtered contour to the left of the left rut groove center point is taken as a second left filtered contour, and the highest point of the second left filtered contour is taken as a left highest point of the cross-sectional contour.

[0117] 505. The cross-sectional filtered contour to the right of the right rut groove center point is taken as a second right filtered contour, and the highest point of the second right filtered contour is taken as a right highest point of the cross-sectional contour.

[0118] 506. The cross-sectional filtered contour between the left rut groove center point and the right rut groove center point is taken as an intermediate filtered contour, and the highest point of the intermediate filtered contour is taken as an intermediate highest point of the cross-sectional contour.

[0119] In step 501, filtering can remove abnormal noise in the data, making the cross-sectional contour more accurate.

[0120] Referring to Figures 6 to 9 The left highest point, the right highest point, and the intermediate highest point can be determined based on steps 502 to 506.

[0121] Since the rut grooves are divided into left and right sides and form depressions on the road surface, there are high and low points in the cross-sectional contour. Based on the above characteristics, the cross-sectional filtered contour is segmented in this embodiment to determine the left highest point, the right highest point, and the intermediate highest point, which facilitates subsequent identification of the maximum accumulated water cross-sectional area of the road surface and area calculation.

[0122] Figure 10 FIG. 5 is a fifth flowchart of a method for detecting a maximum accumulated water cross-sectional area of a road surface based on line scanning three dimensions, according to an embodiment of the present application. Figure 10In one embodiment, determining the maximum water cross-section area of each cross-section profile of the cross-section spliced profile based on the key points and the cross-section spliced profile, calculating the area of the maximum water cross-section area by integration, and obtaining the maximum water cross-section area of the cross-section profile can include:

[0123] 1001. If the elevation data of the middle highest point of the cross-section profile is greater than or equal to at least one of the elevation data of the left highest point and the elevation data of the right highest point, determining the left maximum water cross-section area and the right maximum water cross-section area based on the key points and the cross-section filtered profile;

[0124] 1002. Calculating the area of the left maximum water cross-section area and the area of the right maximum water cross-section area by integration;

[0125] 1003. Calculating the sum of the area of the left maximum water cross-section area and the area of the right maximum water cross-section area to obtain the maximum water cross-section area of the cross-section profile.

[0126] Step 1001 is specifically as follows:

[0127] 1001a. Taking the lower one of the left highest point and the middle highest point as the left water highest horizontal position, obtaining the first intersection point between the first horizontal line corresponding to the left water highest horizontal position and the cross-section filtered profile on the left and right sides of the left rut groove center point, and determining the area surrounded by the cross-section filtered profile between the first intersection points obtained on the left and right sides of the left rut groove center point and the first horizontal line as the left maximum water cross-section area;

[0128] 1001b. Taking the lower one of the right highest point and the middle highest point as the right water highest horizontal position, obtaining the first intersection point between the second horizontal line corresponding to the right water highest horizontal position and the cross-section filtered profile on the left and right sides of the right rut groove center point, and determining the area surrounded by the cross-section filtered profile between the first intersection points obtained on the left and right sides of the right rut groove center point and the second horizontal line as the right maximum water cross-section area.

[0129] In step 1001a, refer to Figure 6 and Figure 7 , adopt to represent the left water highest horizontal position, to represent the first intersection point obtained on the left and right sides of the left rut groove center point, and the left maximum water cross-section area is in the figure.

[0130] In step 1001b, refer to Figure 6 and Figure 7 , adopt to represent the right water highest horizontal position, represents the first intersection point obtained on the left and right sides of the center point of the right rut groove, and the maximum water cross-sectional area on the right is the area of the rectangle in the figure .

[0131] In steps 1002 and 1003, the integral algorithm is used to calculate the area of the maximum water cross-sectional area on the left and the area of the maximum water cross-sectional area on the right. Figure 6 The area of the maximum water cross-sectional area on the left is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the right is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the left is the area of the rectangle in the figure Figure 7 The area of the maximum water cross-sectional area on the right is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the left is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the right is the area of the rectangle in the figure Figure 6 The area of the maximum water cross-sectional area on the left is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the right is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the left is the area of the rectangle in the figure Figure 6 The area of the maximum water cross-sectional area on the right is the area of the rectangle in the figure Figure 7 The area of the maximum water cross-sectional area on the left is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the right is the area of the rectangle in the figure The area of the maximum water cross-sectional area on the left is the area of the rectangle in the figure Figure 7 The area of the maximum water cross-sectional area on the right is the area of the rectangle in the figure

[0132] In the embodiment, when the elevation data of the middle highest point of the cross-sectional profile is greater than or equal to at least one of the elevation data of the left highest point and the elevation data of the right highest point, the maximum water cross-sectional area on the left and the maximum water cross-sectional area on the right are accurately positioned on the left and the right by using the distribution characteristics of the cross-sectional profile data and the key points, and then the integral algorithm is used to calculate the maximum water cross-sectional area on the left and the maximum water cross-sectional area on the right, and finally the maximum water cross-sectional area of the entire cross-sectional profile is obtained by adding up.

[0133] Figure 11 is a sixth flowchart of the method for detecting the maximum water cross-sectional area of a road surface based on line scanning three-dimensional data provided by the embodiment of the present application. Referring to Figure 11 In an embodiment, based on the key points and the cross-sectional spliced profile, the maximum water cross-sectional area of each cross-sectional profile of the cross-sectional spliced profile is determined, the area of the maximum water cross-sectional area is calculated by using the integral, and the maximum water cross-sectional area of the cross-sectional profile can include:

[0134] 1101. If the elevation data of the middle highest point of the cross-sectional profile is less than the elevation data of the left highest point and the elevation data of the right highest point, the lower point of the left highest point and the right highest point is taken as the highest water level;

[0135] 1102. The third horizontal line corresponding to the highest water level is obtained on the left side of the left rut groove center point, and the first intersection point of the third horizontal line and the cross-sectional filtered profile is obtained on the right side of the right rut groove center point.

[0136] 1103、the cross section filtering profile between the first intersection point obtained on the left side of the center point of the left rut groove and the first intersection point obtained on the right side of the center point of the right rut groove and the area surrounded by the third horizontal line are determined as the maximum water accumulation cross section area;

[0137] 1104、the area of the maximum water accumulation cross section area is calculated by integration, and the maximum water accumulation cross section area of the cross section profile is obtained.

[0138] In step 1101, refer to Figure 8 and Figure 9 , adopt to represent the highest water level.

[0139] In step 1102, refer to Figure 8 and Figure 9 , adopt to represent the first intersection point obtained on the left side of the center point of the left rut groove, to represent the first intersection point obtained on the right side of the center point of the right rut groove.

[0140] In step 1103, refer to Figure 8 and Figure 9 , adopt to represent the maximum water accumulation cross section area.

[0141] In step 1104, the area of Figure 8 and Figure 9 is calculated by integral algorithm, and the maximum water accumulation cross section area of the cross section profile corresponding to and Figure 8 is obtained. Figure 9

[0142] In this embodiment, when the elevation data of the middle highest point of the cross section profile is less than the elevation data of the left highest point and the elevation data of the right highest point, the maximum water accumulation cross section area is accurately located by the key points according to the distribution characteristics of the cross section profile data, and then the maximum water accumulation cross section area is calculated by integral algorithm, and the maximum water accumulation cross section area of the whole cross section profile is obtained.

[0143] Figure 12 is the seventh flowchart of the method for detecting the maximum water accumulation cross section area of the road surface based on line scanning three dimensions provided by the embodiment of the application. Refer to Figure 12 , in an embodiment, the measurement posture correction is performed on the object side cross section elevation data to obtain the corrected cross section elevation data, which can include:

[0144] The object side cross section elevation data is obtained by image object side conversion based on the calibration file, and the line scanning three dimensional measurement sensor corresponding to the object side cross section elevation data includes a sensor head and a three dimensional camera;

[0145] ​1201、obtain an installation inclination angle of the sensing head relative to a horizontal plane, a lens focal length of the three-dimensional camera, and a first working distance of the three-dimensional camera in an elevation direction;

[0146] 1202、based on a first attitude correction mode or a second attitude correction mode, perform measurement attitude correction on the object-side cross-sectional elevation data to obtain corrected cross-sectional elevation data.

[0147] The first attitude correction mode is a measurement attitude correction mode based on the lens focal length, the first working distance, the attitude angle of the sensing head at the current time, and a second working distance of the sensing head in the elevation direction at the current time.

[0148] The second attitude correction mode is a measurement attitude correction mode based on the installation inclination angle, the lens focal length, the first working distance, the attitude angle of the sensing head at the current time, and the second working distance of the sensing head in the elevation direction at the current time.

[0149] Step 1202 specifically includes:

[0150] 1202a、if the calibration file is obtained before the online scanning three-dimensional measurement sensor is installed on the measurement carrier, and the attitude angle of the sensing head at the current time is the angle between the sensing head and the horizontal plane, then based on the first attitude correction mode, perform measurement attitude correction on the object-side cross-sectional elevation data to obtain corrected cross-sectional elevation data;

[0151] 1202b、if the calibration file is obtained before the online scanning three-dimensional measurement sensor is installed on the measurement carrier, and the attitude angle of the sensing head at the current time is the motion angle relative to the installation attitude, then based on the second attitude correction mode, perform measurement attitude correction on the object-side cross-sectional elevation data to obtain corrected cross-sectional elevation data.

[0152] 1202c、if the calibration file is obtained after the online scanning three-dimensional measurement sensor is installed on the measurement carrier, and the attitude angle of the sensing head at the current time is the angle between the sensing head and the horizontal plane, then based on the second attitude correction mode, perform measurement attitude correction on the object-side cross-sectional elevation data to obtain corrected cross-sectional elevation data;

[0153] 1202d、if the calibration file is obtained after the online scanning three-dimensional measurement sensor is installed on the measurement carrier, and the attitude angle of the sensing head at the current time is the motion angle relative to the installation attitude, then based on the first attitude correction mode, perform measurement attitude correction on the object-side cross-sectional elevation data to obtain corrected cross-sectional elevation data.

[0154] If the calibration file is acquired before the online scanning three-dimensional measurement sensor is installed to the measurement carrier, it means that the image space to object space conversion does not consider the measurement error caused by the installation angle of the sensor head relative to the horizontal plane, and thus the measurement error cannot be eliminated; if the calibration file is acquired after the online scanning three-dimensional measurement sensor is installed to the measurement carrier, it means that the image space to object space conversion considers the measurement error caused by the installation angle of the sensor head relative to the horizontal plane, and thus the measurement error can be eliminated, based on which:

[0155] In step 1202a, the object space cross section elevation data can be measured attitude corrected based on the following formula:

[0156] ; (12-1)

[0157] wherein, is the current time corrected cross section elevation data of the mth measurement point in the measurement cross section, is the object space cross section elevation data of the mth measurement point in the measurement cross section at the current time, is the first working distance of the three-dimensional camera in the elevation direction, is the second working distance of the sensor head in the elevation direction at the current time, is the pixel size in the cross section direction, is the number of all measurement points of the line scanning three-dimensional measurement sensor on the measurement cross section, is the focal length of the lens of the three-dimensional camera, is the attitude angle of the sensor head at the current time. In step 1202b, the object space cross section elevation data can be measured attitude corrected based on the following formula:

[0158] ; (12-2)

[0159] wherein, is the installation angle of the sensor head relative to the horizontal plane.

[0160] In step 1202c, the object space cross section elevation data can be measured attitude corrected based on formula (12-2).

[0161] In step 1202d, the object space cross section elevation data can be measured attitude corrected based on formula (12-1).

[0162]

[0163] ​​​This embodiment uses the order of time between acquiring the calibration file used for object-side conversion and installing the line-scan 3D measurement sensor onto the measurement carrier, combined with the different posture angles of the sensor head at the current moment, to perform targeted posture correction on the object-side cross-sectional elevation data. This maximizes the correction effect and yields accurate corrected cross-sectional elevation data.

[0164] Figure 13 is a schematic diagram of the structure of the electronic device provided in an embodiment of this application, as shown below. Figure 13 As shown, the electronic device may include: a processor 1310, a communication interface 1320, a memory 1330, and a communication bus 1340, wherein the processor 1310, the communication interface 1320, and the memory 1330 communicate with each other via the communication bus 1340. The processor 1310 can call the computer program in the memory 1330 to execute the steps of the method for detecting the maximum cross-sectional area of ​​road surface water accumulation based on line scan three-dimensional measurement, such as including:

[0165] Based on the three-dimensional cross-sectional elevation data of the road surface to be tested, a three-dimensional model of the road surface to be tested is performed to obtain the cross-sectional splicing outline of the road surface to be tested.

[0166] Based on the distribution characteristics of vehicle ruts on the road surface under test within the lane range, key points in the cross-sectional splicing profile are extracted; the key points include the highest point on the left, the highest point in the middle, and the highest point on the right.

[0167] Based on the key points and the cross-sectional splicing contour, the maximum water accumulation cross-sectional area of ​​each cross-sectional contour of the cross-sectional splicing contour is determined, and the area of ​​the maximum water accumulation cross-sectional area is calculated by integration to obtain the maximum water accumulation cross-sectional area of ​​the cross-sectional contour.

[0168] Further, the logic instructions in the memory 1330 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or parts of the present application that essentially contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0169] In another aspect, the embodiments of the present application also provide a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program is executed by a processor, so that the computer can execute the steps of the road maximum water cross-sectional area detection method based on line scanning three dimensions provided by the above-mentioned embodiments, for example, including:

[0170] Based on the three-dimensional cross-section elevation data of the to-be-tested road, a three-dimensional model of the to-be-tested road is established, and a cross-sectional splicing contour of the to-be-tested road is obtained;

[0171] Based on the distribution characteristics of the rut grooves in the lane range on the to-be-tested road, key points in the cross-sectional splicing contour are extracted; the key points include a left highest point, a middle highest point and a right highest point;

[0172] Based on the key points and the cross-sectional splicing contour, a maximum water cross-sectional area of each cross-sectional contour of the cross-sectional splicing contour is determined, the area of the maximum water cross-sectional area is calculated by integration, and a maximum water cross-sectional area of the cross-sectional contour is obtained.

[0173] In another aspect, the embodiments of the present application also provide a non-transitory computer readable storage medium, which stores a computer program, and the computer program is used to make a processor execute the steps of the road maximum water cross-sectional area detection method based on line scanning three dimensions provided by the above-mentioned embodiments, for example, including:

[0174] Based on the three-dimensional cross-section elevation data of the to-be-tested road, a three-dimensional model of the to-be-tested road is established, and a cross-sectional splicing contour of the to-be-tested road is obtained;

[0175] Based on the distribution characteristics of the rut grooves on the to-be-tested road surface in the lane range, key points in the cross-section splicing contour are extracted; the key points include a left-side highest point, a middle highest point and a right-side highest point;

[0176] Based on the key points and the cross-section splicing contour, a maximum water accumulation cross-section area of each cross-section contour of the cross-section splicing contour is determined, an area of the maximum water accumulation cross-section area is calculated by integration, and a maximum water accumulation cross-section area of the cross-section contour is obtained.

[0177] The non-transitory computer-readable storage medium can be any available medium or data storage device that the processor can access including, but not limited to, a magnetic storage (e.g., floppy disks, hard disks, tape, MO, etc.), an optical storage (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor storage (e.g., ROM, EPROM, EEPROM, NAND FLASH, SSD, etc.), etc.

[0178] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by means of software plus necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in terms of contribution to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0179] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting the maximum water accumulation cross-sectional area of a road surface based on line scanning three dimensions, characterized in that, The method comprises the following steps: three-dimensional modeling of the to-be-tested road surface based on three-dimensional cross-section elevation data of the to-be-tested road surface, to obtain a cross-section splicing profile of the to-be-tested road surface; based on the distribution characteristics of the rut grooves on the to-be-tested road surface within the lane range, extracting key points in the cross-section splicing profile, comprising: for each cross-section profile of the cross-section splicing profile, data filtering is performed on the cross-section profile to obtain a cross-section filtered profile; taking the middle measuring point of the cross-section filtered profile in the cross-section direction as a segmentation point, the cross-section filtered profile is divided into a first left filtered profile and a first right filtered profile; taking the lowest point of the first left filtered profile as a left rut groove center point, and taking the lowest point of the first right filtered profile as a right rut groove center point; taking the cross-section filtered profile to the left of the left rut groove center point as a second left filtered profile, and taking the highest point of the second left filtered profile as the left highest point of the cross-section profile; taking the cross-section filtered profile to the right of the right rut groove center point as a second right filtered profile, and taking the highest point of the second right filtered profile as the right highest point of the cross-section profile; taking the cross-section filtered profile between the left rut groove center point and the right rut groove center point as an intermediate filtered profile, and taking the highest point of the intermediate filtered profile as the intermediate highest point of the cross-section profile; the key points include the left highest point, the intermediate highest point, and the right highest point; based on the key points and the cross-section splicing profile, determining a maximum water accumulation cross-section area of each cross-section profile of the cross-section splicing profile, calculating the area of the maximum water accumulation cross-section area by integration, to obtain a maximum water accumulation cross-section area of the cross-section profile, comprising: if the elevation data of the intermediate highest point of the cross-section profile is greater than or equal to at least one of the elevation data of the left highest point and the elevation data of the right highest point, then based on the key points and the cross-section filtered profile, determining a left maximum water accumulation cross-section area and a right maximum water accumulation cross-section area; calculating the area of the left maximum water accumulation cross-section area and the area of the right maximum water accumulation cross-section area by integration; calculating the sum of the area of the left maximum water accumulation cross-section area and the area of the right maximum water accumulation cross-section area, to obtain the maximum water accumulation cross-section area of the cross-section profile.

2. The line-scan three-dimensional-based maximum water accumulation cross-sectional area detection method for a road surface according to claim 1, characterized by, The three-dimensional modeling of the to-be-tested road surface based on the three-dimensional cross-section elevation data of the to-be-tested road surface, to obtain the cross-section splicing profile of the to-be-tested road surface, comprises the following steps: performing object-side conversion on the three-dimensional cross-section elevation data to obtain object-side cross-section elevation data; performing measurement attitude correction on the object-side cross-section elevation data to obtain corrected cross-section elevation data; performing abnormal measuring point processing on the corrected cross-section elevation data to obtain processed cross-section elevation data; if the three-dimensional cross-section elevation data is obtained by using a line scanning three-dimensional measuring sensor, then the processed cross-section elevation data is spliced along the driving direction to obtain the cross-section splicing profile; If the three-dimensional cross-section elevation data is obtained by using a plurality of line scanning three-dimensional measurement sensors, the processed cross-section elevation data is spliced in the cross-section direction to obtain lateral spliced elevation data, and then the lateral spliced elevation data is spliced in the driving direction to obtain the cross-section spliced profile.

3. The line-scan three-dimensional-based maximum water accumulation cross-sectional area detection method for a road surface according to claim 2, characterized by, The method further includes: obtaining a measurement interval in the driving direction between adjacent line scanning three-dimensional measurement sensors in the plurality of line scanning three-dimensional measurement sensors; based on a sampling interval in the driving direction of each line scanning three-dimensional measurement sensor in the adjacent line scanning three-dimensional measurement sensors, obtaining a number of sampling intervals of each line scanning three-dimensional measurement sensor within the measurement interval; for any adjacent line scanning three-dimensional measurement sensor, based on the number of sampling intervals, matching the processed cross-section elevation data corresponding to the adjacent line scanning three-dimensional measurement sensor; based on a sampling interval in the cross-section direction of each line scanning three-dimensional measurement sensor in the adjacent line scanning three-dimensional measurement sensors, obtaining an initial sampling overlap area of the adjacent line scanning three-dimensional measurement sensors in the cross-section; based on consistency of the processed cross-section elevation data corresponding to the adjacent line scanning three-dimensional measurement sensors in the initial sampling overlap area, obtaining same-name feature point data in the initial sampling overlap area; based on the same-name feature point data, determining a target sampling overlap area of the adjacent line scanning three-dimensional measurement sensors in the cross-section; calculating an average value of the processed cross-section elevation data corresponding to the adjacent line scanning three-dimensional measurement sensors in the target sampling overlap area to obtain spliced elevation data in the target sampling overlap area; determining, as lateral spliced elevation data of the cross-section, the spliced elevation data in the target sampling overlap area and the processed cross-section elevation data outside the target sampling overlap area in the cross-section.

4. The line-scan three-dimensional-based maximum water accumulation cross-sectional area detection method for a road surface according to claim 1, characterized by, The method further includes: taking the lower one of the left highest point and the intermediate highest point as a left highest water level, obtaining a first intersection point of a first horizontal line corresponding to the left highest water level and the cross-section filter profile on the left and right sides of the left rut center point, and determining, as a left maximum water cross-section area, an area enclosed by the cross-section filter profile between the first intersection points obtained on the left and right sides of the left rut center point and the first horizontal line. taking the lower one of the right highest point and the intermediate highest point as a right highest water level, obtaining a second intersection point of a second horizontal line corresponding to the right highest water level and the cross-section filter profile on the left and right sides of the right rut center point, and determining, as a right maximum water cross-section area, an area enclosed by the cross-section filter profile between the second intersection points obtained on the left and right sides of the right rut center point and the second horizontal line.

5. The line-scan three-dimensional-based maximum water accumulation cross-sectional area detection method for a road surface according to claim 1, characterized by, The maximum water cross-section area of the cross-section profile is obtained by calculating the area of the maximum water cross-section region by integration. If the elevation data of the middle highest point of the cross-section profile is less than the elevation data of the left highest point and the elevation data of the right highest point, the lower one of the left highest point and the right highest point is taken as the highest water level; A first intersection point of a third horizontal line corresponding to the highest water level and the cross-section filtering profile is obtained on the left side of the left rut groove center point, and a first intersection point of the third horizontal line and the cross-section filtering profile is obtained on the right side of the right rut groove center point; The region surrounded by the cross-section filtering profile between the first intersection point obtained on the left side of the left rut groove center point and the first intersection point obtained on the right side of the right rut groove center point and the third horizontal line is determined as the maximum water cross-section region. The maximum water cross-section area of the cross-section profile is obtained by calculating the area of the maximum water cross-section region by integration.

6. The line-scan three-dimensional-based method for detecting the maximum water accumulation cross-sectional area of a road surface according to claim 2, wherein The object-side cross-section elevation data is obtained by object-side conversion based on a calibration file, and the line-scan three-dimensional measurement sensor corresponding to the object-side cross-section elevation data comprises a sensing head and a three-dimensional camera; An installation inclination angle of the sensing head relative to a horizontal plane, a lens focal length of the three-dimensional camera, and a first working distance of the three-dimensional camera in an elevation direction are obtained; The object-side cross-section elevation data is corrected in a measurement attitude based on a first attitude correction mode or a second attitude correction mode to obtain corrected cross-section elevation data; The first attitude correction mode is a measurement attitude correction mode based on the lens focal length, the first working distance, the attitude angle of the sensing head at a current time, and a second working distance of the sensing head in the elevation direction at the current time; The second attitude correction mode is a measurement attitude correction mode based on the installation inclination angle, the lens focal length, the first working distance, the attitude angle of the sensing head at the current time, and the second working distance of the sensing head in the elevation direction at the current time. The object-side cross-section elevation data is corrected in a measurement attitude based on a first attitude correction mode or a second attitude correction mode to obtain corrected cross-section elevation data, comprising:

7. The line-scan three-dimensional-based maximum water accumulation cross-sectional area detection method for a road surface according to claim 6, characterized by, If the calibration file is obtained before the line-scan three-dimensional measurement sensor is installed on a measurement carrier, and the attitude angle of the sensing head at the current time is the included angle between the sensing head and the horizontal plane, the object-side cross-section elevation data is corrected in a measurement attitude based on the first attitude correction mode to obtain corrected cross-section elevation data; ​ If the calibration file is acquired before the line-scan three-dimensional measurement sensor is installed to a measurement carrier, and the posture angle of the sensing head at the current time is a motion angle relative to the installation posture, then based on the second posture correction mode, the object-side cross-section elevation data is corrected in measurement posture to obtain corrected cross-section elevation data.

8. The line-scan three-dimensional-based method for detecting the maximum water accumulation cross-sectional area of a road surface according to claim 6, wherein, The measurement posture correction of the object-side cross-section elevation data based on the first posture correction mode or the second posture correction mode to obtain corrected cross-section elevation data comprises: If the calibration file is acquired after the line-scan three-dimensional measurement sensor is installed to a measurement carrier, and the posture angle of the sensing head at the current time is an included angle between the sensing head and a horizontal plane, then based on the second posture correction mode, the object-side cross-section elevation data is corrected in measurement posture to obtain corrected cross-section elevation data. If the calibration file is acquired after the line-scan three-dimensional measurement sensor is installed to a measurement carrier, and the posture angle of the sensing head at the current time is a motion angle relative to the installation posture, then based on the first posture correction mode, the object-side cross-section elevation data is corrected in measurement posture to obtain corrected cross-section elevation data.

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