A roadbed compaction quality detection method and device based on three-dimensional laser scanning

Abstract

The present invention provides a method and device for detecting the quality of roadbed compaction based on three-dimensional laser scanning, which relates to the technical field of roadbed quality detection. The method includes dividing the roadbed to be compacted into regions; conducting a pre-test on the pre-test area based on three-dimensional laser scanning to obtain a compaction calculation formula for the compression amount; dividing the area to be compacted into sections and compacting the roadbed, and performing compaction quality detection based on the compaction calculation formula and real-time three-dimensional laser scanning to obtain a compaction quality result for each section; obtaining sections with unqualified quality based on the compaction quality results, and performing additional compaction on the unqualified sections until the compaction quality results of each section in the area to be compacted are all qualified, at which point the additional compaction is stopped. The present invention solves the problem that traditional quality detection methods cannot well reflect the compaction quality of the entire site, and that quality detection efficiency is low due to the time-consuming nature of traditional methods, the proficiency of detection personnel, and weather conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of roadbed quality detection, and in particular to a roadbed compaction quality detection method and device based on three-dimensional laser scanning. Background Art

[0002] The roadbed is a crucial structural foundation underlying the upper loads. A qualified roadbed foundation is crucial for the safety and durability of the upper structure. Common methods for testing roadbed compaction include sand injection, water injection, and blade replacement. Traditional compaction quality testing involves operators digging a pit at a selected point on the roadbed surface after a vibratory roller has rolled the roadbed. Sand is then injected and the pit volume is measured. The excavated soil particles are then measured for their actual density, moisture content, and maximum indoor dry density. The degree of compaction is then determined to determine whether the roadbed layer meets the compaction standards.

[0003] However, traditional compaction quality technology uses a point-to-surface testing method to reflect the overall compaction quality, which is poorly representative. Secondly, measuring the on-site density of each layer and the maximum dry density in the room consumes a lot of manpower and time, and sometimes even requires stopping work to wait for the test results, which is inefficient. In addition, the weather at the compaction site is uncertain, so the measured compaction degree and the real-time on-site density may not correspond in real time. At the same time, on-site sampling is affected by factors such as the location of the sampling point, the proficiency of the test personnel, and the weather, resulting in a large dispersion of test results, affecting the reliability of the compaction quality evaluation. Summary of the Invention

[0004] The purpose of the present invention is to provide a method and device for detecting roadbed compaction quality based on three-dimensional laser scanning to improve the above-mentioned problem. To achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows:

[0005] In a first aspect, the present application provides a roadbed compaction quality detection method based on three-dimensional laser scanning, comprising:

[0006] Divide the roadbed to be compacted into areas to obtain a pre-test area and an area to be compacted;

[0007] A preliminary test was conducted on the pre-test area based on 3D laser scanning to obtain a compaction calculation formula related to the compression amount;

[0008] The area to be compacted is divided into sections and the roadbed is compacted. The compaction quality is tested based on the compaction degree calculation formula and real-time 3D laser scanning to obtain the compaction quality results for each section.

[0009] According to the compaction quality results, the intervals with unqualified quality are obtained, and the intervals with unqualified quality are supplemented with compaction until the compaction quality results of each interval in the area to be compacted are all qualified.

[0010] In a second aspect, the present application also provides a roadbed compaction quality detection device based on three-dimensional laser scanning, comprising:

[0011] A division module is used to divide the roadbed to be compacted into regions to obtain a pre-test area and an area to be compacted;

[0012] A pre-test module is used to conduct pre-tests on the pre-test area based on 3D laser scanning to obtain a compaction calculation formula based on the compression amount;

[0013] The detection module is used to divide the area to be compacted and perform roadbed compaction. It also performs compaction quality detection based on the compaction degree calculation formula and real-time 3D laser scanning to obtain the compaction quality results for each interval.

[0014] The judgment module is used to obtain the intervals with unqualified quality according to the compaction quality results, and to perform additional compaction on the intervals with unqualified quality until the compaction quality results of each interval in the area to be compacted are all qualified.

[0015] The beneficial effects of the present invention are as follows: the present invention uses a three-dimensional laser scanner to perform full coverage scanning of the compaction site, replacing the traditional point-to-surface detection method, significantly improving the accuracy and representativeness of the detection. At the same time, it adopts non-contact measurement, has a fast scanning speed, can collect data in real time during the compaction process, realizes the synchronization of compaction and measurement, and greatly improves the detection efficiency. At the same time, by constructing a compaction degree calculation formula based on the compression amount, the compaction quality results can be quickly obtained, non-destructive testing can be achieved, and a scientific basis for construction decisions can be provided. In addition, the method of the present invention has strong environmental adaptability, can work stably under different construction conditions, reduces manual operation and downtime waiting time, reduces construction costs, and has broad application prospects.

[0016] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the embodiments of the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 Schematic diagram of the process of the roadbed compaction quality detection method based on three-dimensional laser scanning according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of a pre-test area in an embodiment of the present invention;

[0020] Figure 3 Schematic diagram of compaction degree at different measuring points in an embodiment of the present invention;

[0021] Figure 4 Schematic diagram of the partitioning of the area to be pressed in an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] 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 or explained in subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance.

[0024] Example 1:

[0025] This embodiment provides a roadbed compaction quality detection method based on three-dimensional laser scanning.

[0026] See also Figure 1 , the figure shows that the method includes step S100, step S200, step S300 and step S400.

[0027] Step S100: Divide the roadbed to be compacted into regions to obtain a pre-test region and a region to be compacted;

[0028] In this embodiment, according to the specification requirements, a test site should be selected for preliminary testing before roadbed compaction to provide guidance for a series of subsequent indicators. A rectangular site is selected as the pre-test area. Considering that the scanning range of the scanner should not be too large, the following is obtained: Figure 2 The pre-test area shown is 50 meters long and 30 meters wide.

[0029] Step S200: performing a preliminary test on the preliminary test area based on three-dimensional laser scanning to obtain a compaction calculation formula related to the compression amount;

[0030] The step S200 includes:

[0031] Step S201: Divide the pre-test area into a plurality of equally spaced test intervals, and set a measuring point in each test interval;

[0032] In this embodiment, the four vertices of the pre-test area are set as boundary points, and then boundary points are also set at the midpoints of each side. Secondly, one or more points are set outside the pre-test area for placing a three-dimensional laser scanner, so that the scanning range of one or more three-dimensional laser scanners can cover the entire pre-test area. Figure 2 As shown, a point 10 m outside the pre-test area was selected to place the 3D laser scanner.

[0033] Multiple boundary points are used to define the 3D laser scanning range and the scanner's working area, ensuring that the scanner covers the entire test site and avoiding missed or duplicate scans. They also serve as calibration points to correct for scanner measurement errors. If the pre-test area is large, multiple scanners may be required to cover the entire area. Boundary points can be used as reference points to stitch data from multiple scanners together to obtain a complete 3D point cloud.

[0034] Step S202: After statically pressing the pre-test area, the initial average height of each test interval is obtained by three-dimensional laser scanning, and the compaction degree of each measuring point is measured by the sand filling method;

[0035] In this example, a vibratory roller, such as the Sany SSR330c-6, is used to initiate the first static compaction pass. After the pre-test area is compacted and leveled by static compaction, it is scanned using a 3D laser scanner. During scanning, the 3D laser scanner emits a laser beam, which hits the filler surface in the pre-test area, reflects, and returns to the 3D laser scanner's receiver. Based on the laser's light speed and the time difference between emission and reception, the 3D laser scanner calculates the distance from the laser to the filler surface, obtaining positional information for each point in the pre-test area and generating a dense 3D point cloud. This dense 3D point cloud information is then used to calculate the initial average height of each test interval.

[0036] At the same time, the compaction degree of the measuring point is measured. A pit is dug at each measuring point on site to take samples. The sampling volume is , measure its dry density and maximum dry density in the laboratory, and calculate the compaction degree of each measuring point by the sand filling method formula, which represents the compaction degree of the corresponding test interval. The compaction degree calculated by the sand filling method formula is specifically:

[0037] ;

[0038] Where, Indicates the After the first compaction The compaction degree was measured at each measuring point using the sand filling method. Indicates the After the first compaction The dry density measured at the laboratory at each measuring point is Indicates the After the first compaction The maximum dry density measured at the laboratory at the measurement point. The compaction degree measured by sand filling method at each measuring point is express.

[0039] Step S203: performing multiple compactions on the pre-test area after static pressure, and calculating the compression amount of each test interval and the compaction degree of each measuring point after each compaction based on the initial average height;

[0040] The step S203 includes:

[0041] Step A100: performing multiple compactions on the pre-test area after static pressure according to a preset number of compactions, and obtaining three-dimensional point cloud information of each test area after each compaction through three-dimensional laser scanning;

[0042] Step A200: measuring the compaction degree of each measuring point after each compaction by using the sand filling method;

[0043] Step A300: Calculating the average height of each test interval after each compaction using the three-dimensional point cloud information of each test interval;

[0044] Step A400: Calculate the compression of each test interval after each compaction based on the initial average height and the average height.

[0045] In this embodiment, the calculation formula of the compression amount is:

[0046] ;

[0047] Where, Indicates the After the first compaction The compression amount of each measuring point, Indicates the After the first compaction The average height of the measuring points, Indicates the static pressure after The initial average height of the measuring points, where The compression amount of each measuring point actually represents the The compression amount of the test interval where the measuring point is located.

[0048] Step S204: performing linear fitting based on the compression amount and compaction degree information to obtain a compaction degree calculation formula.

[0049] The step S204 includes:

[0050] Step B100: performing correlation calculation on the compaction degree of each measuring point after each compaction and the compression amount of the corresponding test interval to obtain a correlation result;

[0051] In this embodiment, the formula for calculating the correlation is:

[0052] ;

[0053] Where, Indicates the After the first compaction The correlation results of the measurement points are Indicates the After the first compaction The compression amount of each measuring point, Indicates the After the first compaction The compaction degree was measured at each measuring point using the sand filling method. represents the covariance, Represents variance.

[0054] Step B200: Determine whether the correlation requirement is met based on the correlation result. If so, calculate the average compaction degree after each compaction based on the compaction degrees of multiple measuring points, and calculate the average compression after each compaction based on the compression amounts of multiple test intervals. Otherwise, repeat the preliminary test.

[0055] In this embodiment, the most standardized compaction measurement is the sand filling method. The detection indicators currently available on the market and in research need to be analyzed for correlation with the actual compaction before the feasibility of the corresponding indicators can be verified. According to the standard correlation calculation, a value greater than 0.7 can meet the requirements. Therefore, in this step, when When the compression is high, it indicates a high correlation between the compression amount and the degree of compaction, which can be used to guide actual compaction quality testing. If the requirements are not met, a new preliminary test is required. Generally speaking, the requirements can be met, but due to measurement errors, calculation errors, etc., there is a chance that the requirements will not be met.

[0056] At the same time, due to the existence of errors, the measured compaction degree cannot be completely matched with the actual compaction degree. Moreover, for the same number of compaction times, the compaction degree at different measuring points obtained by the sand filling method is also inconsistent, such as Figure 3Therefore, it is necessary to calculate the average compaction degree through the compaction degree of multiple measuring points to represent the compaction degree after each compaction, and at the same time calculate the average compression amount through the compression amount of multiple test intervals to represent the compression amount after each compaction.

[0057] B300: Function fitting is performed based on the average compaction degree and average compression amount after each compaction to obtain the compaction degree calculation formula based on the compression amount.

[0058] In this embodiment, multiple fitting methods can be selected when performing function fitting. It is found through experimental data that the relationship between compression and compaction degree shows an overall linear growth trend, which means that as the compression amount increases, the compaction degree also increases roughly linearly. Therefore, the linear fitting method is selected to obtain the compaction degree calculation formula, which is specifically:

[0059] ;

[0060] Where, Indicates the degree of compaction, and are fitting parameters, Indicates the amount of compression.

[0061] Step S300: Divide the area to be compacted into sections and compact the roadbed, and perform compaction quality detection based on a compaction degree calculation formula and real-time three-dimensional laser scanning to obtain compaction quality results for each section;

[0062] In this embodiment, the boundary points of the area to be pressed are set in the same manner as those of the pre-test area, and a three-dimensional laser scanner is arranged outside the area to be pressed.

[0063] The step S300 includes:

[0064] Step S301: After statically pressing the area to be pressed, three-dimensional point cloud information after static pressing is obtained by three-dimensional laser scanning, and the area to be pressed is divided into multiple zones;

[0065] In this embodiment, the smaller the partition length, the higher the accuracy, and the more comprehensive the degree of compaction can be reflected. In actual partitioning, the intervals of 4m-10m are selected, such as Figure 4 As shown, the area to be pressed is divided into 10 intervals.

[0066] Step S302: obtaining the initial average height information of each interval after static pressure through the three-dimensional point cloud information after static pressure;

[0067] In this embodiment, the average height value within the divided interval is calculated, that is, the initial average height information.

[0068] Step S303: Compact the area to be compacted after static pressing, and perform compaction quality detection on each interval using the compaction degree calculation formula and the initial average height information to obtain the compaction quality result of each interval.

[0069] The step S303 includes:

[0070] Step C100: obtaining average height information of each interval after compaction through a three-dimensional laser scanner;

[0071] Step C200: Calculating a standard compression amount corresponding to the target compaction degree based on the target compaction degree and the compaction degree calculation formula;

[0072] In this embodiment, the target compaction degree is substituted into the compaction degree calculation formula to obtain the target compression amount. Meanwhile, the target compression amount is adjusted to obtain the standard compression amount by taking into account the calculation error. Specifically, the standard compression amount is:

[0073] ;

[0074] ;

[0075] Where, represents the target compression amount, represents the target compaction degree, and are fitting parameters, Indicates the standard compression amount.

[0076] Target compaction Set it according to actual requirements, for example, the target compaction degree needs to reach 0.91, 0.92, 0.94, 0.96, etc.

[0077] Step C300: Calculate the actual compression amount of each interval using the initial average height information and the average height information;

[0078] Step C400: obtaining a compaction quality result of each interval by comparing the actual compression amount with the standard compression amount, wherein the compaction quality result includes qualified quality and unqualified quality.

[0079] Step S400: obtaining intervals with unqualified quality according to the compaction quality results, and performing additional compaction on the intervals with unqualified quality until the compaction quality results of each interval in the area to be compacted are all qualified.

[0080] In this embodiment, the required number of compactions varies across different sites and regions, which is one of the reasons why under- and over-compaction often occur during the compaction process. Because the number of compactions is generally specified, some areas fail to meet or exceed the actual compaction requirements, making it difficult to detect under-compaction areas during actual measurements.

[0081] Therefore, this step obtains the actual compression of each interval and compares it with the standard compression. If the compression is lower than the standard, it indicates that the compaction degree has not yet met the requirements; if it is higher than the standard, it indicates that the requirements have been met. Based on actual needs, additional compression is applied to the uncompacted areas, while the qualified areas do not require additional compression. This step allows for the rapid detection of unsatisfactory areas after the required number of compactions has been reached, and additional compression is then applied to these areas.

[0082] In summary, the present invention uses three-dimensional laser scanning technology to perform a full-coverage scan of the entire compaction site by setting boundary points, avoiding the limitations of traditional methods that use points instead of surfaces, and significantly improving the accuracy and reliability of the test results. Simultaneously, the use of three-dimensional laser scanning technology enables rapid acquisition of target information, with high scanning speeds, significantly shortening the test time and improving test efficiency. This avoids the significant manpower and time required by traditional compaction quality testing methods, particularly when measuring the on-site dry density of each layer and the maximum indoor dry density, which often requires work to be stopped pending test results, seriously impacting construction efficiency.

[0083] Utilizing 3D laser scanning technology for non-contact compaction quality testing, the system eliminates the need for surveyors to frequently travel to the site; data collection can be completed using a scanner, saving labor costs. Furthermore, non-contact measurement avoids errors caused by improper operation, enabling non-destructive testing and improving the stability and reliability of testing.

[0084] The method also uses 3D laser scanning technology to collect data in real time during the compaction process, enabling simultaneous compaction and measurement. This allows for timely detection of problems and avoids rework due to substandard compaction. Furthermore, by developing a compaction degree calculation formula based on the compression volume, compaction quality results can be quickly obtained, providing a scientific basis for construction decision-making. This non-destructive testing and real-time feedback provide guidance to construction personnel, further improving construction quality and efficiency.

[0085] Example 2:

[0086] This embodiment provides a roadbed compaction quality detection device based on three-dimensional laser scanning, the device comprising:

[0087] A division module is used to divide the roadbed to be compacted into regions to obtain a pre-test area and an area to be compacted;

[0088] A pre-test module is used to conduct pre-tests on the pre-test area based on 3D laser scanning to obtain a compaction calculation formula based on the compression amount;

[0089] The detection module is used to divide the area to be compacted and perform roadbed compaction. It also performs compaction quality detection based on the compaction degree calculation formula and real-time 3D laser scanning to obtain the compaction quality results for each interval.

[0090] The judgment module is used to obtain the intervals with unqualified quality according to the compaction quality results, and to perform additional compaction on the intervals with unqualified quality until the compaction quality results of each interval in the area to be compacted are all qualified.

[0091] The pre-test module includes:

[0092] A setting unit is used to divide the pre-test area into multiple equally spaced test intervals and set measurement points in each test interval;

[0093] The measuring unit is used to obtain the initial average height of each test interval through 3D laser scanning after static pressure is applied to the pre-test area, and to measure the compaction degree of each measuring point through the sand filling method;

[0094] The compaction unit is used to compact the pre-test area multiple times after static pressure, and calculate the compression amount of each test interval and the compaction degree of each measuring point after each compaction based on the initial average height;

[0095] The fitting unit is used to perform linear fitting based on the compression amount and compaction degree information to obtain a compaction degree calculation formula.

[0096] The compacting unit comprises:

[0097] The compaction subunit is used to perform multiple compactions on the pre-test area after static pressure according to a preset number of compactions, and obtain the three-dimensional point cloud information of each test interval after each compaction through three-dimensional laser scanning;

[0098] The measuring subunit is used to measure the compaction degree of each measuring point after each compaction by the sand filling method;

[0099] The first calculation subunit is used to calculate the average height of each test interval after each compaction based on the three-dimensional point cloud information of each test interval;

[0100] The second calculation subunit is used to calculate the compression amount of each test interval after each compaction based on the initial average height and the average height.

[0101] The detection module includes:

[0102] A scanning unit is used to obtain three-dimensional point cloud information after static pressure is applied to the area to be pressed by three-dimensional laser scanning, and to partition the area to be pressed into multiple intervals;

[0103] An acquisition unit, configured to acquire initial average height information of each interval after static pressure through the three-dimensional point cloud information after static pressure;

[0104] The detection unit is used to compact the area to be compacted after static pressing, and to perform compaction quality detection on each interval through the compaction degree calculation formula and the initial average height information to obtain the compaction quality result of each interval.

[0105] It should be noted that, regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated on here.

[0106] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

[0107] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A roadbed compaction quality detection method based on three-dimensional laser scanning, characterized in that: include: Divide the roadbed to be compacted into areas to obtain a pre-test area and an area to be compacted; A preliminary test was conducted on the pre-test area based on 3D laser scanning to obtain a compaction calculation formula related to the compression amount; The area to be compacted is divided into sections and the roadbed is compacted. The compaction quality is tested based on the compaction degree calculation formula and real-time 3D laser scanning to obtain the compaction quality results for each section. Obtain the intervals with unqualified quality according to the compaction quality results, and perform additional compaction on the intervals with unqualified quality until the compaction quality results of each interval in the area to be compacted are all qualified; Based on 3D laser scanning, a preliminary test was conducted on the preliminary test area to obtain the compaction calculation formula for the compression amount, including: Divide the pre-test area into multiple equally spaced test intervals and set measurement points in each test interval; After statically pressing the pre-test area, the initial average height of each test interval was obtained through 3D laser scanning, and the compaction degree of each measuring point was measured by the sand filling method; The pre-test area after static pressure is compacted multiple times, and the compression of each test interval after each compaction is calculated based on the initial average height, and the compaction degree of each measuring point after each compaction is obtained by measurement; Linear fitting is performed based on the compression amount and compaction degree information to obtain the compaction degree calculation formula.

2. The roadbed compaction quality detection method based on three-dimensional laser scanning according to claim 1 is characterized in that , the pre-test area after static pressure is compacted multiple times, and the compression of each test interval after each compaction is calculated based on the initial average height, and the compaction degree of each measuring point after each compaction is obtained by measurement, including: The pre-test area after static pressure is compacted multiple times according to the preset compaction times, and the 3D point cloud information of each test interval after each compaction is obtained through 3D laser scanning; The compaction degree of each measuring point after each compaction is measured by the sand filling method; The average height of each test interval after each compaction is calculated using the three-dimensional point cloud information of each test interval; The compression of each test interval after each compaction was calculated based on the initial average height and the average height.

3. The roadbed compaction quality detection method based on three-dimensional laser scanning according to claim 1 is characterized in that ,Based on the compression amount and compaction degree information, linear fitting is performed to obtain the compaction degree calculation formula, including: The correlation calculation is performed on the compaction degree of each measuring point and the compression amount of the corresponding test interval after each compaction to obtain the correlation result; Determine whether the correlation requirements are met based on the correlation results. If so, calculate the average compaction degree after each compaction using the compaction degrees of multiple measuring points, and calculate the average compression after each compaction using the compression amounts of multiple test intervals. Otherwise, repeat the preliminary test. Function fitting is performed based on the average compaction degree and average compression amount after each compaction to obtain the compaction degree calculation formula related to the compression amount.

4. The roadbed compaction quality detection method based on three-dimensional laser scanning according to claim 1 is characterized in that , the area to be compacted is divided into sections and the roadbed is compacted. The compaction quality is tested based on the compaction degree calculation formula and real-time 3D laser scanning to obtain the compaction quality results of each section, including: After statically pressing the area to be pressed, three-dimensional point cloud information after static pressing is obtained through three-dimensional laser scanning, and the area to be pressed is partitioned to obtain multiple intervals; The initial average height information of each interval after static pressure is obtained through the three-dimensional point cloud information after static pressure; The area to be compacted after static pressing is compacted, and the compaction quality of each interval is tested using the compaction degree calculation formula and the initial average height information to obtain the compaction quality results of each interval.

5. The roadbed compaction quality detection method based on three-dimensional laser scanning according to claim 4 is characterized in that , compact the area to be compacted after static pressure, and perform compaction quality detection on each interval using the compaction degree calculation formula and the initial average height information to obtain the compaction quality results of each interval, including: The average height information of each interval after compaction is obtained through a three-dimensional laser scanner; Calculate the standard compression amount corresponding to the target compaction based on the target compaction and the compaction calculation formula; Calculate the actual compression amount of each interval through the initial average height information and the average height information; The compaction quality result of each interval is obtained by comparing the actual compression amount with the standard compression amount, and the compaction quality result includes qualified quality and unqualified quality.

6. A roadbed compaction quality detection device based on three-dimensional laser scanning, characterized in that: include: A division module is used to divide the roadbed to be compacted into regions to obtain a pre-test area and an area to be compacted; A pre-test module is used to conduct pre-tests on the pre-test area based on 3D laser scanning to obtain a compaction calculation formula based on the compression amount; The detection module is used to divide the area to be compacted and perform roadbed compaction. It also performs compaction quality detection based on the compaction degree calculation formula and real-time 3D laser scanning to obtain the compaction quality results for each interval. The judgment module is used to obtain the intervals with unqualified quality according to the compaction quality results, and to perform additional compaction on the intervals with unqualified quality until the compaction quality results of each interval in the area to be compacted are all qualified; The pre-test module includes: A setting unit is used to divide the pre-test area into multiple equally spaced test intervals and set measurement points in each test interval; The measuring unit is used to obtain the initial average height of each test interval through 3D laser scanning after static pressure is applied to the pre-test area, and to measure the compaction degree of each measuring point through the sand filling method; The compaction unit is used to compact the pre-test area multiple times after static pressure, and calculate the compression amount of each test interval after each compaction based on the initial average height, and obtain the compaction degree of each measuring point after each compaction by measurement; The fitting unit is used to perform linear fitting based on the compression amount and compaction degree information to obtain a compaction degree calculation formula.

7. The roadbed compaction quality detection device based on three-dimensional laser scanning according to claim 6, characterized in that: The compacting unit comprises: The compaction subunit is used to perform multiple compactions on the pre-test area after static pressure according to a preset number of compactions, and obtain the three-dimensional point cloud information of each test interval after each compaction through three-dimensional laser scanning; The measuring subunit is used to measure the compaction degree of each measuring point after each compaction by the sand filling method; The first calculation subunit is used to calculate the average height of each test interval after each compaction based on the three-dimensional point cloud information of each test interval; The second calculation subunit is used to calculate the compression amount of each test interval after each compaction based on the initial average height and the average height.

8. The roadbed compaction quality detection device based on three-dimensional laser scanning according to claim 6, characterized in that: The detection module includes: A scanning unit is used to obtain three-dimensional point cloud information after static pressure is applied to the area to be pressed by three-dimensional laser scanning, and to partition the area to be pressed into multiple intervals; An acquisition unit, configured to acquire initial average height information of each interval after static pressure through the three-dimensional point cloud information after static pressure; The detection unit is used to compact the area to be compacted after static pressing, and to perform compaction quality detection on each interval through the compaction degree calculation formula and the initial average height information to obtain the compaction quality result of each interval.

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