Road damage detection method and system based on ultrasonic principle and medium

Abstract

The embodiment of the invention provides a road damage detection method and system based on the ultrasonic principle and a medium. The method comprises the steps that a detection area is obtained, the surface of a road in the detection area is cleaned, ultrasonic data in the detection area are obtained, the ultrasonic data are preprocessed, and preprocessed data are obtained; analyzing the preprocessed data based on a signal processing and analysis model to generate abnormal data; analyzing road damage state information based on the abnormal data, and analyzing road damage characteristics and damage position information based on the road damage state information to obtain an analysis result; the road damage condition is evaluated based on the analysis result, and the type, degree and distribution range of damage are determined; the ultrasonic data in the detection area are acquired in real time according to the ultrasonic principle, and the damage characteristics and the damage position of the road in the detection area are analyzed according to the ultrasonic data, so that damage detection is accurately performed on the road, and the detection precision is improved.

Description

Technical Field

[0001] The present application relates to the technical field of road damage detection, and more specifically, to a road damage detection method, system and medium based on the ultrasonic principle. Background Art

[0002] Urban roads, highways, bridge pavements, etc. are all asphalt pavements formed by laying asphalt. Due to the action of driving loads and the influence of natural factors, cracks will occur on the asphalt pavement. If the cracks are not repaired in time, pavement potholes will be generated, which will cause deeper damage to the asphalt pavement and also affect driving safety. Ultrasonic waves are sound waves with a frequency higher than 20 kHz, and have characteristics such as short wavelength, strong directivity, and concentrated energy. When ultrasonic waves propagate in road materials (such as concrete, asphalt, etc.), when encountering damages (such as cracks, cavities, etc.), phenomena such as reflection, refraction, and scattering will occur, resulting in changes in characteristics such as the amplitude, phase, and frequency of the received signal. By analyzing these changes, it is possible to determine whether there are damages on the road and information such as the location and size of the damages. Traditional road damage detection methods perform image recognition on the road surface through vision technology, and can only detect damages on the road surface, and it is difficult to accurately analyze the degree of internal road damage, affecting the detection effect. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a road damage detection method, system and medium based on the ultrasonic principle, which can obtain ultrasonic data in the detection area in real time through the ultrasonic principle, and analyze the damage characteristics and damage locations of the road in the detection area according to the ultrasonic data analysis, so as to accurately detect road damages and improve the detection accuracy.

[0004] The embodiments of the present application also provide a road damage detection method based on the ultrasonic principle, including:

[0005] Obtain a detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area;

[0006] Based on the detection devices, obtain ultrasonic data in the detection area in real time, and preprocess the ultrasonic data to obtain preprocessed data;

[0007] Analyze the preprocessed data based on a signal processing and analysis model to generate abnormal data;

[0008] Analyze road damage status information based on the abnormal data, and analyze road damage characteristics and damage location information based on the road damage status information to obtain an analysis result;

[0009] Evaluate the road damage situation based on the analysis result, and determine the type, degree and distribution range of the damage.

[0010] Optionally, in the road damage detection method based on the ultrasonic principle described in the embodiments of the present application, to obtain a detection area, clean the road surface within the detection area, and set a plurality of detection devices on the road surface within the detection area, specifically including:

[0011] Obtain a detection area and analyze the cleanliness of the road surface within the detection area;

[0012] Judge whether the cleanliness of the road surface is greater than or equal to a set cleanliness threshold;

[0013] If it is greater than or equal to, then analyze the shape and area of the detection area;

[0014] Set a plurality of detection points based on the shape and area of the detection area, and set detectors at the positions of the plurality of detection points;

[0015] If it is less than, then analyze the dirt distribution information of the road surface and clean the road surface based on the dirt distribution information.

[0016] Optionally, in the road damage detection method based on the ultrasonic principle described in the embodiments of the present application, based on the detection device, obtain the ultrasonic data within the detection area in real time, preprocess the ultrasonic data to obtain preprocessed data, specifically including:

[0017] Obtain the ultrasonic data within the detection area and analyze the data frequency of the ultrasonic data;

[0018] Analyze the noise data in the ultrasonic data based on a set cut-off frequency threshold, eliminate the noise data, and obtain noise-free data;

[0019] Extract the data features of the noise-free data and analyze whether the data features are within a set feature interval;

[0020] If it is within the set feature interval, then optimize and reconstruct the noise-free data to obtain preprocessed data;

[0021] If it is not within the set feature interval, then perform normalization processing based on the noise-free data to obtain preprocessed data.

[0022] Optionally, in the road damage detection method based on the ultrasonic principle described in the embodiments of the present application, analyze the preprocessed data based on a signal processing and analysis model to generate abnormal data, specifically including:

[0023] Obtain the ultrasonic data of known road damage conditions, label the road damage conditions to obtain labeled data, and establish a training set according to the labeled data;

[0024] Iteratively train the initial model framework based on the training set to obtain the training result;

[0025] Determine whether the training result converges;

[0026] If it converges, generate a signal processing and analysis model, input the preprocessed data into the signal processing and analysis model to generate abnormal data;

[0027] If it does not converge, generate correction information, and correct the hyperparameters of the initial model framework based on the correction information.

[0028] Optionally, in the road damage detection method based on the ultrasonic principle described in the embodiments of the present application, analyze the road damage status information based on the abnormal data, and analyze the road damage characteristics and damage location information based on the road damage status information to obtain the analysis result, specifically including:

[0029] Obtain the abnormal data, and analyze the signal amplitude, phase and frequency characteristics in the abnormal data;

[0030] Compare the signal amplitude, phase and frequency characteristics in the abnormal data with the set amplitude, phase and frequency characteristics to obtain the change information of the signal amplitude, phase and frequency characteristics;

[0031] Analyze the road damage status information based on the change information of the signal amplitude, phase and frequency characteristics;

[0032] Analyze the road damage change trend based on the road damage status information to obtain the change trend information;

[0033] Analyze the type of road damage based on the change trend information, and the road damage types include cracks, cavities and voids;

[0034] Analyze the road damage characteristics and damage location information based on the type of road damage.

[0035] Optionally, in the road damage detection method based on the ultrasonic principle described in the embodiments of the present application, evaluate the road damage situation based on the analysis result to determine the type, degree and distribution range of the damage, specifically including:

[0036] Obtain the analysis result, analyze the road damage situation based on the analysis result, and analyze the road damage shape information based on the road damage situation;

[0037] Generate the type of damage based on the road damage shape information;

[0038] Analyze the road damage area and the diffusion situation of the road damage area based on the road damage situation information;

[0039] Generate the road damage degree based on the road damage area and the diffusion situation of the road calculation area;

[0040] Analyze the road damage location based on the road damage condition, and obtain the road damage distribution range based on the road damage location and the road damage area.

[0041] In a second aspect, an embodiment of the present application provides a road damage detection system based on the ultrasonic principle. The system includes: a memory and a processor. The memory includes a program of a road damage detection method based on the ultrasonic principle. When the program of the road damage detection method based on the ultrasonic principle is executed by the processor, the following steps are implemented:

[0042] Obtain a detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area;

[0043] Based on the detection devices, obtain ultrasonic data in the detection area in real time, preprocess the ultrasonic data to obtain preprocessed data;

[0044] Analyze the preprocessed data based on a signal processing and analysis model to generate abnormal data;

[0045] Analyze the road damage status information based on the abnormal data, analyze the road damage characteristics and damage location information based on the road damage status information to obtain an analysis result;

[0046] Evaluate the road damage condition based on the analysis result to determine the type, degree and distribution range of the damage.

[0047] Optionally, in the road damage detection system based on the ultrasonic principle described in the embodiment of the present application, obtaining a detection area, cleaning the road surface in the detection area, and setting a plurality of detection devices on the road surface in the detection area specifically includes:

[0048] Obtain a detection area and analyze the cleanliness of the road surface in the detection area;

[0049] Judge whether the cleanliness of the road surface is greater than or equal to a set cleanliness threshold;

[0050] If it is greater than or equal to, analyze the shape and area of the detection area;

[0051] Set a plurality of detection points based on the shape and area of the detection area, and set detectors at the positions of the plurality of detection points;

[0052] If it is less than, analyze the dirt distribution information on the road surface and clean the road surface based on the dirt distribution information.

[0053] Optionally, in the road damage detection system based on the ultrasonic principle described in the embodiments of the present application, ultrasonic data within the detection area is obtained in real time based on the detection device, and the ultrasonic data is preprocessed to obtain preprocessed data, which specifically includes:

[0054] Obtain ultrasonic data within the detection area and analyze the data frequency of the ultrasonic data;

[0055] Analyze the noise data in the ultrasonic data based on a set cut-off frequency threshold, eliminate the noise data, and obtain noise-free data;

[0056] Extract the data features of the noise-free data and analyze whether the data features are within a set feature interval;

[0057] If it is within the set feature interval, optimize and reconstruct the noise-free data to obtain preprocessed data;

[0058] If it is not within the set feature interval, perform normalization processing based on the noise-free data to obtain preprocessed data.

[0059] In a third aspect, the embodiments of the present application further provide a computer-readable storage medium, which includes a program for the road damage detection method based on the ultrasonic principle. When the program for the road damage detection method based on the ultrasonic principle is executed by a processor, the steps of the road damage detection method based on the ultrasonic principle as described in any one of the above are implemented.

[0060] As can be seen from the above, a road damage detection method, system, and medium based on the ultrasonic principle provided by the embodiments of the present application obtain a detection area, clean the road surface within the detection area, and set a plurality of detection devices on the road surface within the detection area; obtain ultrasonic data within the detection area in real time based on the detection device, preprocess the ultrasonic data to obtain preprocessed data; analyze the preprocessed data based on a signal processing and analysis model to generate abnormal data; analyze the road damage state information based on the abnormal data, analyze the road damage characteristics and damage location information based on the road damage state information to obtain an analysis result; evaluate the road damage situation based on the analysis result to determine the type, degree, and distribution range of the damage; obtain ultrasonic data within the detection area in real time based on the ultrasonic principle, and analyze the road damage characteristics and damage location within the detection area according to the ultrasonic data, thereby accurately detecting road damage and improving the detection accuracy. Description of the Drawings

[0061] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the accompanying drawings required for the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.

[0062] Figure 1 It is a flowchart of a road damage detection method based on the ultrasonic principle provided by an embodiment of the present application;

[0063] Figure 2 It is a flowchart of a detection area cleaning method for a road damage detection method based on the ultrasonic principle provided by an embodiment of the present application;

[0064] Figure 3 It is a flowchart of an ultrasonic data preprocessing method for a road damage detection method based on the ultrasonic principle provided by an embodiment of the present application. Detailed implementation manners

[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Usually, the components of the embodiments of the present application described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0066] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present application, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0067] Please refer to Figure 1 , Figure 1 which is a flowchart of a road damage detection method based on the ultrasonic principle in some embodiments of the present application. This road damage detection method based on the ultrasonic principle is used in a terminal device. This road damage detection method based on the ultrasonic principle includes the following steps:

[0068] S101, obtain a detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area;

[0069] S102. Based on the detection device, obtain the ultrasonic data in the detection area in real time, preprocess the ultrasonic data to obtain preprocessed data;

[0070] S103. Analyze the preprocessed data based on the signal processing and analysis model to generate abnormal data;

[0071] S104. Analyze the road damage status information based on the abnormal data, analyze the road damage characteristics and damage location information based on the road damage status information to obtain the analysis result;

[0072] S105. Evaluate the road damage situation based on the analysis result, and determine the type, degree and distribution range of the damage.

[0073] It should be noted that by cleaning the detection area, obtaining the ultrasonic data in real time, and analyzing the road damage status information in the detection area, the road damage situation can be accurately analyzed.

[0074] Please refer to Figure 2 , Figure 2 is a flowchart of the detection area cleaning method of a road damage detection method based on the ultrasonic principle in some embodiments of the present application. According to the embodiments of the present invention, obtain the detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area, specifically including:

[0075] S201. Obtain the detection area and analyze the cleanliness of the road surface in the detection area;

[0076] S202. Determine whether the cleanliness of the road surface is greater than or equal to the set cleanliness threshold;

[0077] S203. If it is greater than or equal to, analyze the shape and area of the detection area;

[0078] S204. Set a plurality of detection points based on the shape and area of the detection area, and set detectors at the positions of the plurality of detection points;

[0079] S205. If it is less than, analyze the dirt distribution information on the road surface, and clean the road surface based on the dirt distribution information.

[0080] It should be noted that clean the detection area to ensure that the road surface is clean and flat to ensure good contact between the ultrasonic transducer and the road surface. According to the road type, structure and expected damage situation, select ultrasonic transducers and detection equipment with appropriate frequencies and models, and perform calibration and debugging.

[0081] Please refer to Figure 3 ,Figure 3 It is a flowchart of an ultrasonic data preprocessing method for a road damage detection method based on the ultrasonic principle in some embodiments of the present application. According to the embodiments of the present invention, ultrasonic data within a detection area is acquired in real time by a detection device, and the ultrasonic data is preprocessed to obtain preprocessed data, specifically including:

[0082] S301, acquire ultrasonic data within the detection area and analyze the data frequency of the ultrasonic data;

[0083] S302, analyze the noise data in the ultrasonic data based on a set cut-off frequency threshold, eliminate the noise data, and obtain noise-free data;

[0084] S303, extract the data features of the noise-free data and analyze whether the data features are within a set feature interval;

[0085] S304, if it is within the set feature interval, optimize and reconstruct the noise-free data to obtain preprocessed data;

[0086] S305, if it is not within the set feature interval, perform normalization processing based on the noise-free data to obtain preprocessed data.

[0087] It should be noted that the collected ultrasonic data is processed by using signal processing and analysis software, including operations such as filtering, denoising, and feature extraction. Analyze the changes in characteristic parameters such as the amplitude, phase, frequency, and propagation time of the signal, and judge whether there is damage and the characteristics and location of the damage by comparing with a standard sample or a theoretical model.

[0088] According to the embodiments of the present invention, analyze the preprocessed data based on a signal processing and analysis model to generate abnormal data, specifically including:

[0089] Acquire ultrasonic data of known road damage conditions, label the road damage conditions to obtain labeled data, and establish a training set according to the labeled data;

[0090] Iteratively train an initial model framework based on the training set to obtain a training result;

[0091] Judge whether the training result converges;

[0092] If it converges, generate a signal processing and analysis model, input the preprocessed data into the signal processing and analysis model, and generate abnormal data;

[0093] If it does not converge, generate correction information and correct the hyperparameters of the initial model framework based on the correction information.

[0094] It should be noted that the ultrasonic data of known road damage conditions are used for data annotation, so as to accurately train the model and improve the output accuracy of the model.

[0095] According to an embodiment of the present invention, the road damage status information is analyzed based on the abnormal data, and the road damage characteristics and damage location information are analyzed based on the road damage status information to obtain an analysis result, which specifically includes:

[0096] Obtain abnormal data and analyze the signal amplitude, phase and frequency characteristics in the abnormal data;

[0097] Compare the signal amplitude, phase and frequency characteristics in the abnormal data with the set amplitude, phase and frequency characteristics to obtain the change information of the signal amplitude, phase and frequency characteristics;

[0098] Analyze the road damage status information based on the change information of the signal amplitude, phase and frequency characteristics;

[0099] Analyze the road damage change trend based on the road damage status information to obtain the change trend information;

[0100] Analyze the type of road damage based on the change trend information. The types of road damage include cracks, cavities and voids;

[0101] Analyze the road damage characteristics and damage location information based on the type of road damage.

[0102] It should be noted that different types of road damage often lead to specific abnormal characteristics of ultrasonic signals. For example, when ultrasonic waves encounter cracks, due to the large difference in acoustic impedance between the air at the crack and the road material, a strong reflected wave will be generated, causing the amplitude of the signal to increase significantly, and there may be a peak change at a specific frequency in the spectrum. The existence of a cavity will change the propagation path of the ultrasonic wave, resulting in obvious energy attenuation, causing the amplitude of the received signal to decrease, and at the same time, the propagation time may be extended. By analyzing the characteristics such as signal amplitude, phase and frequency in the abnormal data, combined with the ultrasonic propagation theory and previous detection experience, the type of road damage, such as cracks, cavities, voids, etc., is initially judged.

[0103] According to an embodiment of the present invention, the road damage situation is evaluated based on the analysis result to determine the type, degree and distribution range of the damage, which specifically includes:

[0104] Obtain the analysis result, analyze the road damage situation based on the analysis result, and analyze the road damage shape information based on the road damage situation;

[0105] Generate the type of damage based on the road damage shape information;

[0106] Analyze the road damage area and the diffusion situation of the road damage area based on the road damage situation information;

[0107] Generate the road damage degree based on the diffusion of the road damage area and the calculated area of the road.

[0108] Analyze the road damage location based on the road damage situation, and obtain the road damage distribution range based on the road damage location and the road damage area.

[0109] It should be noted that by using the propagation time of ultrasonic waves and the position information of the transducer, the damage location can be accurately determined. In the pulse reflection method, the propagation speed of ultrasonic waves in the road material is known. According to the time difference between the transmitted signal and the received reflected signal, combined with the coupling position of the transducer and the road surface, the depth position of the damage in the road structure can be determined through simple geometric calculations.

[0110] According to the embodiments of the present invention, it further includes: organizing the road damage characteristics and the damage location information to generate a detailed analysis report. The report includes the damage type, damage degree, damage development trend, specific descriptions of the damage characteristics (such as the width, depth, and direction of cracks, the shape and size of cavities, etc.), and the accurate position information of the damage (including the coordinates on the road surface and the depth in the road structure). At the same time, relevant detection data and analysis charts should be attached to the report, such as the time-domain waveform diagram of the ultrasonic signal, the frequency-domain spectrum diagram, the three-dimensional schematic diagram of the damage location, etc., so as to intuitively display the analysis results.

[0111] It should be noted that in order to more intuitively present the road damage situation, the geographic information system (GIS) technology or specialized road detection visualization software is used to mark the damage location information on the road map, and different types and degrees of damage are represented by different colors, shapes, and sizes. For example, red represents severe damage, and blue represents mild damage; circles are used to represent cavities, and lines are used to represent cracks. The size of the circle and the width of the line correspond to the degree of damage. Through this visualization display method, road maintenance and management personnel can quickly understand the overall damage distribution of the road and provide a basis for formulating a reasonable maintenance plan.

[0112] In a second aspect, the embodiments of the present application provide a road damage detection system based on the ultrasonic principle. The system includes: a memory and a processor. The memory includes a program for the road damage detection method based on the ultrasonic principle. When the program for the road damage detection method based on the ultrasonic principle is executed by the processor, the following steps are implemented:

[0113] Obtain the detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area;

[0114] Based on the detection devices, obtain the ultrasonic data in the detection area in real time, and preprocess the ultrasonic data to obtain preprocessed data;

[0115] Analyze the preprocessed data based on the signal processing and analysis model to generate abnormal data;

[0116] Analyze the road damage status information based on the abnormal data analysis, analyze the road damage characteristics and damage location information based on the road damage status information, and obtain the analysis results;

[0117] Evaluate the road damage situation based on the analysis results, and determine the type, degree and distribution range of the damage.

[0118] It should be noted that by cleaning the detection area and obtaining ultrasonic data in real time, the road damage status information in the detection area is analyzed, so as to accurately analyze the road damage situation.

[0119] According to the embodiment of the present invention, obtain the detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area, specifically including:

[0120] Obtain the detection area and analyze the cleanliness of the road surface in the detection area;

[0121] Judge whether the cleanliness of the road surface is greater than or equal to the set cleanliness threshold;

[0122] If it is greater than or equal to, analyze the shape and area of the detection area;

[0123] Set a plurality of detection points based on the shape and area of the detection area, and set detectors at the positions of the plurality of detection points;

[0124] If it is less than, analyze the dirt distribution information on the road surface, and clean the road surface based on the dirt distribution information.

[0125] It should be noted that clean the detection area to ensure that the road surface is clean and flat to ensure good contact between the ultrasonic transducer and the road surface. According to the road type, structure and expected damage situation, select ultrasonic transducers and detection equipment with appropriate frequencies and models, and perform calibration and debugging.

[0126] According to the embodiment of the present invention, based on the detection device, obtain the ultrasonic data in the detection area in real time, preprocess the ultrasonic data to obtain preprocessed data, specifically including:

[0127] Obtain the ultrasonic data in the detection area and analyze the data frequency of the ultrasonic data;

[0128] Analyze the noise data in the ultrasonic data based on the set cut-off frequency threshold, eliminate the noise data, and obtain noise-free data;

[0129] Extract the data features of the noise-free data and analyze whether the data features are within the set feature interval;

[0130] If it is within the set feature interval, optimize and reconstruct the noise-free data to obtain preprocessed data;

[0131] If it is not within the set feature interval, perform normalization processing based on the noise-free data to obtain preprocessed data.

[0132] It should be noted that the collected ultrasonic data is processed using signal processing and analysis software, including operations such as filtering, denoising, and feature extraction. Analyze the changes in characteristic parameters such as the amplitude, phase, frequency, and propagation time of the signal, and judge whether there is damage and the characteristics and location of the damage by comparing with the standard sample or theoretical model.

[0133] According to the embodiment of the present invention, analyze the preprocessed data based on the signal processing and analysis model to generate abnormal data, specifically including:

[0134] Obtain the ultrasonic data of the known road damage situation, label the road damage situation to obtain labeled data, and establish a training set according to the labeled data;

[0135] Iteratively train the initial model framework based on the training set to obtain the training result;

[0136] Judge whether the training result converges;

[0137] If it converges, generate a signal processing and analysis model, input the preprocessed data into the signal processing and analysis model, and generate abnormal data;

[0138] If it does not converge, generate correction information and correct the hyperparameters of the initial model framework based on the correction information.

[0139] It should be noted that data annotation is performed through the ultrasonic data of the known road damage situation, so as to accurately train the model and improve the output accuracy of the model.

[0140] According to the embodiment of the present invention, analyze the road damage state information based on the abnormal data, analyze the road damage characteristics and damage location information based on the road damage state information, and obtain the analysis result, specifically including:

[0141] Obtain the abnormal data and analyze the signal amplitude, phase, and frequency characteristics in the abnormal data;

[0142] Compare the signal amplitude, phase, and frequency characteristics in the abnormal data with the set amplitude, phase, and frequency characteristics to obtain the change information of the signal amplitude, phase, and frequency characteristics;

[0143] Analyze the road damage status information based on the change information of signal amplitude, phase and frequency characteristics;

[0144] Analyze the change trend of road damage based on the road damage status information to obtain the change trend information;

[0145] Analyze the type of road damage based on the change trend information. The types of road damage include cracks, cavities and voids;

[0146] Analyze the road damage characteristics and damage location information based on the type of road damage.

[0147] It should be noted that different types of road damage often cause specific abnormal characteristics in ultrasonic signals. For example, when ultrasonic waves encounter cracks, due to the large difference in acoustic impedance between the air at the crack and the road material, strong reflected waves will be generated, causing the amplitude of the signal to increase significantly, and there may be peak value changes at specific frequencies in the spectrum. The existence of cavities will change the propagation path of ultrasonic waves, resulting in obvious energy attenuation, causing the amplitude of the received signal to decrease, and the propagation time may be extended. By analyzing the characteristics such as signal amplitude, phase, and frequency in the abnormal data, combined with the ultrasonic propagation theory and previous detection experience, the type of road damage, such as cracks, cavities, voids, etc., can be initially judged.

[0148] According to the embodiments of the present invention, evaluate the road damage situation based on the analysis results, and determine the type, degree and distribution range of the damage, specifically including:

[0149] Obtain the analysis results, analyze the road damage situation based on the analysis results, and analyze the road damage shape information based on the road damage situation;

[0150] Generate the type of damage based on the road damage shape information;

[0151] Analyze the road damage area and the diffusion situation of the road damage area based on the road damage situation information;

[0152] Generate the degree of road damage based on the road damage area and the diffusion situation of the road area;

[0153] Analyze the road damage location based on the road damage situation, and obtain the road damage distribution range based on the road damage location and the road damage area.

[0154] It should be noted that by using the propagation time of ultrasonic waves and the position information of the transducer, the location of the damage can be accurately determined. In the pulse reflection method, knowing the propagation speed of ultrasonic waves in the road material, according to the time difference between the transmitted signal and the received reflected signal, combined with the coupling position of the transducer and the road surface, the depth position of the damage in the road structure can be determined through simple geometric calculations.

[0155] According to an embodiment of the present invention, it further includes: organizing road damage characteristics and damage location information to generate a detailed analysis report. The report includes damage types, damage degrees, damage development trends, specific descriptions of damage characteristics (such as the width, depth, and direction of cracks, the shape and size of cavities, etc.), and precise location information of the damage (including coordinates on the road surface and depth in the road structure). At the same time, relevant detection data and analysis charts should also be attached to the report, such as time-domain waveforms of ultrasonic signals, frequency-domain spectrograms, three-dimensional schematic diagrams of damage locations, etc., so as to visually display the analysis results.

[0156] It should be noted that, in order to more intuitively present the road damage situation, geographic information system (GIS) technology or specialized road detection visualization software is used to mark the damage location information on the road map, and different types and degrees of damage are represented by different colors, shapes, and sizes. For example, red represents severe damage, and blue represents mild damage; circles are used to represent cavities, and lines are used to represent cracks. The size of the circles and the width of the lines correspond to the degree of damage. Through this visual display method, road maintenance management personnel can quickly understand the overall damage distribution of the road and provide a basis for formulating a reasonable maintenance plan.

[0157] The third aspect of the present invention provides a computer-readable storage medium, which includes a program for a road damage detection method based on the ultrasonic principle. When the program for the road damage detection method based on the ultrasonic principle is executed by a processor, the steps of the road damage detection method based on the ultrasonic principle as described in any one of the above are implemented.

[0158] A road damage detection method, system, and medium based on the ultrasonic principle disclosed by the present invention, by obtaining a detection area, cleaning the road surface within the detection area, and setting a plurality of detection devices on the road surface within the detection area; obtaining ultrasonic data within the detection area in real time based on the detection devices, preprocessing the ultrasonic data to obtain preprocessed data; analyzing the preprocessed data based on a signal processing and analysis model to generate abnormal data; analyzing road damage state information based on the abnormal data, analyzing road damage characteristics and damage location information based on the road damage state information to obtain an analysis result; evaluating the road damage situation based on the analysis result to determine the type, degree, and distribution range of the damage; obtaining ultrasonic data within the detection area in real time based on the ultrasonic principle, and analyzing the damage characteristics and damage location of the road within the detection area according to the ultrasonic data, so as to accurately detect road damage and improve the detection accuracy.

[0159] In several embodiments provided by this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces. The indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms.

[0160] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units; they can be located in one place or distributed to multiple network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0161] In addition, in each embodiment of the present invention, the various functional units can all be integrated in one processing unit, or each unit can be separately used as a unit, or two or more units can be integrated in one unit; the above-mentioned integrated units can be implemented in the form of hardware, or in the form of hardware plus software functional units.

[0162] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc., which can store program codes.

[0163] Or, if the above-mentioned integrated units of the present invention are implemented in the form of software function modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on such an understanding, the technical solution of the embodiments of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the various embodiments of the present invention. And the foregoing storage medium includes: removable storage devices, ROM, RAM, magnetic disks or optical disks, etc., which can store program codes.

Claims

1. A road damage detection method based on ultrasonic principle, characterized in that: include: Acquire a detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area; Acquire ultrasonic data in the detection area in real time based on the detection device, pre-process the ultrasonic data to obtain pre-processed data; Analyze the preprocessed data based on the signal processing and analysis model to generate abnormal data; Analyze the road damage status information based on the abnormal data, analyze the road damage characteristics and damage location information based on the road damage status information, and obtain analysis results; Based on the analysis results, the road damage is assessed to determine the type, extent and distribution of the damage.

2. The road damage detection method based on ultrasonic principle according to claim 1, characterized in that: Acquiring a detection area, cleaning the road surface in the detection area, and setting a plurality of detection devices on the road surface in the detection area, specifically including: Acquire the detection area and analyze the cleanliness of the road surface in the detection area; Determine whether the cleanliness of the road surface is greater than or equal to a set cleanliness threshold; If it is greater than or equal to, then analyze the shape and area of ​​the detection area; A plurality of detection points are set based on the shape and area of ​​the detection area, and detectors are set at the positions of the plurality of detection points; If it is less than, the dirt distribution information of the road surface is analyzed, and the road surface is cleaned based on the dirt distribution information.

3. The road damage detection method based on ultrasonic principle according to claim 2 is characterized in that: Based on the detection device, the ultrasonic data in the detection area is acquired in real time, and the ultrasonic data is preprocessed to obtain preprocessed data, which specifically includes: Acquire ultrasonic data within the detection area and analyze the data frequency of the ultrasonic data; Analyze the noise data in the ultrasonic data based on the set cutoff frequency threshold, remove the noise data, and obtain noise-free data; Extract the data features of noise-free data and analyze whether the data features are within the set feature range; If it is in the set characteristic interval, the noise-free data is optimized and reconstructed to obtain preprocessed data; If it is not in the set characteristic interval, normalization processing is performed based on the noise-free data to obtain preprocessed data.

4. The road damage detection method based on ultrasonic principle according to claim 3 is characterized in that: Analyze the preprocessed data based on the signal processing and analysis model to generate abnormal data, including: Acquire ultrasonic data of known road damage conditions, annotate the road damage conditions, obtain annotated data, and establish a training set based on the annotated data; Iteratively train the initial model framework based on the training set to obtain training results; Determine whether the training results converge; If converged, a signal processing and analysis model is generated, and the preprocessed data is input into the signal processing and analysis model to generate abnormal data; If it does not converge, correction information is generated, and the hyperparameters of the initial model framework are corrected based on the correction information.

5. The road damage detection method based on ultrasonic principle according to claim 4 is characterized in that: Analyze the road damage status information based on the abnormal data, analyze the road damage characteristics and damage location information based on the road damage status information, and obtain the analysis results, including: Acquire abnormal data and analyze the signal amplitude, phase and frequency characteristics in the abnormal data; Compare the signal amplitude, phase and frequency characteristics in the abnormal data with the set amplitude, phase and frequency characteristics to obtain the change information of the signal amplitude, phase and frequency characteristics; Analyze road damage status information based on the change information of signal amplitude, phase and frequency characteristics; Analyze the road damage change trend based on the road damage status information to obtain the change trend information; Analyzing the types of road damage based on the change trend information, wherein the road damage types include cracks, holes and voids; Analyze road damage characteristics and damage location information based on road damage types.

6. The road damage detection method based on ultrasonic principle according to claim 5, characterized in that: Based on the analysis results, the road damage is assessed to determine the type, extent and distribution of the damage, including: Obtain analysis results, analyze road damage conditions based on the analysis results, and analyze road damage shape information based on the road damage conditions; Generate damage types based on road damage shape information; Analyze the road damage area and the spread of the road damage area based on the road damage information; Generate road damage degree based on the diffusion of road damage area and road calculation area; The road damage location is analyzed based on the road damage situation, and the road damage distribution range is obtained based on the road damage location and road damage area.

7. A road damage detection system based on ultrasonic principle, characterized in that: The system includes: a memory and a processor, wherein the memory includes a program of a road damage detection method based on an ultrasonic principle, and when the program of the road damage detection method based on an ultrasonic principle is executed by the processor, the following steps are implemented: Acquire a detection area, clean the road surface in the detection area, and set a plurality of detection devices on the road surface in the detection area; Acquire ultrasonic data in the detection area in real time based on the detection device, pre-process the ultrasonic data to obtain pre-processed data; Analyze the preprocessed data based on the signal processing and analysis model to generate abnormal data; Analyze the road damage status information based on the abnormal data, analyze the road damage characteristics and damage location information based on the road damage status information, and obtain analysis results; Based on the analysis results, the road damage is assessed to determine the type, extent and distribution of the damage.

8. The road damage detection system based on ultrasonic principle according to claim 7, characterized in that: Acquiring a detection area, cleaning the road surface in the detection area, and setting a plurality of detection devices on the road surface in the detection area, specifically including: Acquire the detection area and analyze the cleanliness of the road surface in the detection area; Determine whether the cleanliness of the road surface is greater than or equal to a set cleanliness threshold; If it is greater than or equal to, then analyze the shape and area of ​​the detection area; A plurality of detection points are set based on the shape and area of ​​the detection area, and detectors are set at the positions of the plurality of detection points; If it is less than, the dirt distribution information of the road surface is analyzed, and the road surface is cleaned based on the dirt distribution information.

9. The road damage detection system based on ultrasonic principle according to claim 8, characterized in that: Based on the detection device, the ultrasonic data in the detection area is acquired in real time, and the ultrasonic data is preprocessed to obtain preprocessed data, which specifically includes: Acquire ultrasonic data within the detection area and analyze the data frequency of the ultrasonic data; Analyze the noise data in the ultrasonic data based on the set cutoff frequency threshold, remove the noise data, and obtain noise-free data; Extract the data features of noise-free data and analyze whether the data features are within the set feature range; If it is in the set characteristic interval, the noise-free data is optimized and reconstructed to obtain preprocessed data; If it is not in the set characteristic interval, normalization processing is performed based on the noise-free data to obtain preprocessed data.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a road damage detection method program based on the ultrasonic principle. When the road damage detection method program based on the ultrasonic principle is executed by a processor, the steps of the road damage detection method based on the ultrasonic principle as described in any one of claims 1 to 6 are implemented.

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