A method and system for non-destructive testing of roads based on ultrasonic technology

Abstract

This invention provides a method and system for non-destructive testing of roads based on ultrasonic technology, relating to the field of road infrastructure maintenance and monitoring technology. The method includes: transmitting an initial ultrasonic signal to the target road using an ultrasonic transmitter on a target detection vehicle; receiving the reflected initial ultrasonic signal using an ultrasonic acquisition device on the target detection vehicle, and converting the initial ultrasonic signal into a target ultrasonic signal using digital signal processing technology; acquiring road feature information and constructing a three-dimensional road structure model based on the target ultrasonic signal; and performing anomaly detection on the target road based on the three-dimensional road structure model. This improves the accuracy and efficiency of non-destructive testing of roads, enhances the adaptability of the testing technology to complex structures and materials, and reduces the impact of the testing process on traffic.

Description

Technical Field

[0001] This invention relates to the field of road infrastructure maintenance and monitoring technology, and in particular to a method and system for non-destructive testing of roads based on ultrasonic technology. Background Technology

[0002] Traditional road inspection methods, such as core drilling and pit drilling, can obtain relatively accurate test results, but they are costly and inefficient, and they are destructive to roads, affecting normal traffic flow.

[0003] Existing non-destructive testing technologies, such as radar scanning and infrared thermal imaging, while reducing the extent of road damage, lack sufficient accuracy in complex road surface environments. For concrete structures with high metal content and multi-layered composite materials, current technologies are ineffective in detecting deep structural damage.

[0004] Therefore, it is necessary to provide a road non-destructive testing method and system based on ultrasonic technology to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a road non-destructive testing method and system based on ultrasonic technology. This method solves the problems of insufficient accuracy and low efficiency of existing road testing methods, poor adaptability to complex structures and materials, difficulty in effectively identifying deep structural damage, and disruption to normal traffic flow.

[0006] This invention provides a non-destructive testing method for roads based on ultrasonic technology, the testing method comprising:

[0007] The target detection vehicle emits an initial ultrasonic signal into the target detection road via its ultrasonic transmitter.

[0008] The target detection vehicle receives the reflected initial ultrasonic signal through its ultrasonic acquisition device, and performs signal conversion on the initial ultrasonic signal based on digital signal processing technology to generate the target ultrasonic signal.

[0009] Based on the target ultrasonic signal, road feature information is obtained and a three-dimensional road structure model is constructed.

[0010] Anomaly detection is performed on the target road based on the three-dimensional road structure model.

[0011] Preferably, based on the vehicle structure of the target detection vehicle and the detection requirements of the target detection road, the ultrasonic transmitting device is fixedly installed on the chassis of the target detection vehicle, and the ultrasonic emission direction of the ultrasonic transmitting device is adjusted until the ultrasonic emission direction is perpendicular to the target detection road.

[0012] Preferably, the step of receiving the reflected initial ultrasonic signal through the ultrasonic acquisition device of the target detection vehicle and generating the target ultrasonic signal by signal conversion based on digital signal processing technology specifically includes:

[0013] The ultrasonic acquisition device of the target detection vehicle receives the reflected initial ultrasonic signal according to a preset acquisition frequency and a preset acquisition duration.

[0014] Based on the aforementioned digital signal processing technology, the time-domain signal corresponding to the initial ultrasonic signal is converted into a frequency-domain signal to generate the target ultrasonic signal. The calculation formula for the frequency-domain signal is as follows:

[0015] In the formula, Q(k) represents the k-th frequency domain signal corresponding to the initial ultrasonic signal; q(m) represents the m-th time domain signal corresponding to the initial ultrasonic signal; M represents the number of initial ultrasonic signals; j represents the imaginary unit; and e represents the natural constant.

[0016] Preferably, the step of acquiring road feature information and constructing a three-dimensional road structure model based on the target ultrasonic signal specifically includes:

[0017] At the i-th target detection location point on the target detection road, the road depth at the i-th target detection location point is calculated based on the signal propagation speed of the target ultrasonic signal and the transmission-reception time interval as follows:

[0018] In the formula, This represents the road depth at the i-th target detection location, i.e., road feature information; This represents the signal propagation speed of the ultrasonic signal at the i-th target detection location; This represents the time interval between the transmission and reception of the ultrasonic signal of the target at the i-th target detection location.

[0019] Obtain the planar coordinates of the i-th target detection location point. Combined with the road feature information Determine the corresponding 3D model coordinates as .

[0020] Preferably, the function for constructing the three-dimensional road structure model is as follows:

[0021] In the formula, A function representing a three-dimensional road structure model; This represents the weight coefficient corresponding to the nth target detection location point; N represents the total number of target detection locations on the target detection path. Represents the Gaussian function; Indicates shape parameters; This represents the coordinates of the nth target detection location point; represents a polynomial function; a, b, and c represent polynomial coefficients;

[0022] The three-dimensional model coordinates corresponding to the i-th target detection location point The function substituted into the three-dimensional road structure model The following system of equations is obtained:

[0023] By solving the above system of equations, the weight coefficients corresponding to the nth target detection location point are obtained. And the polynomial coefficients a, b, c, and the function that determines the three-dimensional road structure model. .

[0024] Preferably, the anomaly detection of the target road based on the three-dimensional road structure model specifically includes:

[0025] Based on the aforementioned three-dimensional road structure model, the regional smoothness, regional slope, and regional edge distance of the target detection road are calculated as follows:

[0026] In the formula, PZD represents the flatness of the target detection road area; PD represents the slope of the target detection road area; and BYJL represents the edge distance of the target detection road area. These represent the coordinates of adjacent model data points A and B in the three-dimensional road structure model, respectively.

[0027] Obtain the preset flatness threshold, preset slope threshold, and preset edge distance threshold corresponding to the target detection road. If the flatness of the area is greater than the preset flatness threshold, or the slope of the area is greater than the preset slope threshold, or the edge distance of the area is greater than the preset edge distance threshold, then it is determined that there is an abnormal area in the target detection road.

[0028] Preferably, after determining that there is an abnormal area on the target detection road, the vehicle speed of the target detection vehicle and the ultrasonic emission parameters of the ultrasonic transmitting device are adjusted.

[0029] Preferably, a road non-destructive testing method based on ultrasonic technology further includes a target detection vehicle equipped with a lidar, and supports the coordinated operation of the lidar, the ultrasonic transmitting device, and the ultrasonic acquiring device.

[0030] A road non-destructive testing system based on ultrasonic technology, the testing system comprising:

[0031] An ultrasonic transmitting module is used to transmit initial ultrasonic signals to the target detection road via the ultrasonic transmitting device of the target detection vehicle;

[0032] An ultrasonic receiving module is used to receive the reflected initial ultrasonic signal through the ultrasonic acquisition device of the target detection vehicle, and to perform signal conversion on the initial ultrasonic signal based on digital signal processing technology to generate a target ultrasonic signal.

[0033] The model building module is used to acquire road feature information and build a three-dimensional road structure model based on the target ultrasonic signal;

[0034] An anomaly detection module is used to perform anomaly detection on the target road based on the three-dimensional road structure model.

[0035] Compared with related technologies, the road non-destructive testing method and system based on ultrasonic technology provided by the present invention has the following beneficial effects:

[0036] This invention can transmit an initial ultrasonic signal to the target detection road through the ultrasonic transmitting device of the target detection vehicle; receive the reflected initial ultrasonic signal through the ultrasonic acquisition device of the target detection vehicle, and convert the initial ultrasonic signal into a target ultrasonic signal based on digital signal processing technology; acquire road feature information based on the target ultrasonic signal and construct a three-dimensional road structure model; and perform anomaly detection on the target detection road based on the three-dimensional road structure model. This can improve the accuracy and efficiency of non-destructive road inspection, enhance the adaptability of inspection technology under complex structures and materials, and reduce the impact of the inspection process on traffic.

[0037] This invention employs phased array ultrasonic technology and digital signal processing technology. By extracting road feature information and constructing a three-dimensional road structure model, it enables non-destructive testing of real-time road conditions. This significantly improves the resolution and penetration in the testing of complex structural materials, accurately identifying deep structural damage. Through vehicle speed matching and dynamic frequency modulation strategies, this invention reduces traffic interference during the testing process, improving the smoothness and efficiency of the overall testing workflow. Furthermore, by utilizing the coordinated operation of lidar, ultrasonic transmitters, and ultrasonic acquisition devices, this invention maintains high-precision testing even in adverse weather conditions, enhancing the environmental adaptability of ultrasonic testing. Attached Figure Description

[0038] Figure 1 This is a flowchart of a road non-destructive testing method based on ultrasonic technology according to the present invention;

[0039] Figure 2 This is a schematic diagram of the ultrasonic transmitting device of the present invention;

[0040] Figure 3 This is a system block diagram of a road non-destructive testing system based on ultrasonic technology according to the present invention. Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0042] Example 1

[0043] like Figure 1 As shown, a non-destructive testing method for roads based on ultrasonic technology is provided, the method comprising:

[0044] S1, the initial ultrasonic signal is emitted to the target detection road through the ultrasonic transmitter of the target detection vehicle;

[0045] In this context, "target inspection vehicle" refers to a vehicle used for non-destructive testing of roads. "Target inspection road" refers to a road requiring non-destructive testing. "Ultrasonic transmitting device" refers to a device used to emit ultrasonic signals into the road being inspected. "Initial ultrasonic signal" refers to the unprocessed ultrasonic signal emitted by the ultrasonic transmitting device.

[0046] In practical applications, before transmitting ultrasonic signals, the parameters of the ultrasonic transmitting device can be adjusted according to the specific conditions of the target road, such as the road material and the expected detection depth, to determine the frequency and power of the transmitted ultrasonic waves.

[0047] For example, for thicker concrete pavements, low-frequency, high-power ultrasound can be selected to ensure that the ultrasound signal can penetrate to a sufficient depth; while for thinner asphalt pavements, higher-frequency ultrasound can be selected to improve the detection resolution.

[0048] S2, the initial ultrasonic signal reflected by the ultrasonic acquisition device of the target detection vehicle is received, and the initial ultrasonic signal is converted into a target ultrasonic signal based on digital signal processing technology.

[0049] It should be noted that digital signal processing technology refers to the technology of using digital computing methods to analyze, transform, filter, detect, modulate, demodulate, and process ultrasonic signals.

[0050] When ultrasonic signals propagate inside a road, they are reflected, carrying structural information about the road's interior. After receiving these reflected signals, the ultrasonic acquisition device can use digital signal processing technology to process the initial signal, which contains noise and interference. Through a series of operations such as filtering, amplification, and analog-to-digital conversion, the initial ultrasonic signal is transformed into a clear and accurate target ultrasonic signal, providing reliable data for subsequent analysis.

[0051] S3, Based on the target ultrasonic signal, obtain road feature information and construct a three-dimensional road structure model;

[0052] Among them, road feature information refers to information used to reflect the structural characteristics and condition of a road. A three-dimensional road structure model is a three-dimensional model used to display the structural characteristics and condition of a road. It presents various structural features of the road in a three-dimensional form, such as the thickness of the pavement, the distribution of different layers, and the location and shape of cracks.

[0053] The target ultrasonic signal contains rich information about the road structure. By analyzing the target ultrasonic signal, features such as the thickness of each layer, material properties, and the presence of defects can be extracted. Then, modeling software and algorithms can be used to convert this feature information into a three-dimensional model. When constructing the model, the road structure can be accurately represented according to the actual size and proportions of the road, allowing inspectors to observe the internal condition of the road from different angles.

[0054] S4, anomaly detection is performed on the target road based on the three-dimensional road structure model.

[0055] In the constructed 3D road structure model, inspectors can visually observe whether the road structure is normal. When certain areas are found to be non-compliant with normal standards, it can be determined that there is an anomaly in that area.

[0056] For example, based on this model, when it is found that the road surface thickness at a certain location is significantly greater than the standard value or that there are irregular voids, it can be determined that there is an anomaly in the area, and further road assessment and repair are required.

[0057] In the specific implementation process, such as Figure 2 As shown, based on the vehicle structure of the target detection vehicle and the detection requirements of the target detection road, the ultrasonic transmitting device is fixedly installed on the chassis of the target detection vehicle, and the ultrasonic emission direction of the ultrasonic transmitting device is adjusted until the ultrasonic emission direction is perpendicular to the target detection road.

[0058] In practical applications, because the vehicle chassis is relatively stable and close to the road surface, the emitted ultrasonic signals can propagate efficiently to the road. Therefore, the ultrasonic transmitter can be fixedly installed on the chassis of the target detection vehicle, based on its unique vehicle structure and the specific detection requirements of the target detection road. Furthermore, suitable mounting brackets and fasteners, such as bolts and welded brackets, can be used to ensure the ultrasonic transmitter is stable.

[0059] After installation, the ultrasonic emission direction of the ultrasonic transmitter can be finely adjusted until the ultrasonic emission direction is perpendicular to the target detection road.

[0060] It should be noted that a vertical transmission direction allows ultrasonic signals to penetrate the road surface in the most direct and effective way, reducing signal loss and interference during propagation. This ensures clear and accurate reception of reflected signals for subsequent road detection and analysis.

[0061] The process of receiving the reflected initial ultrasonic signal through the ultrasonic acquisition device of the target detection vehicle and converting the initial ultrasonic signal into a target ultrasonic signal based on digital signal processing technology specifically includes:

[0062] The ultrasonic acquisition device of the target detection vehicle receives the reflected initial ultrasonic signal according to a preset acquisition frequency and a preset acquisition duration.

[0063] Based on the aforementioned digital signal processing technology, the time-domain signal corresponding to the initial ultrasonic signal is converted into a frequency-domain signal to generate the target ultrasonic signal. The calculation formula for the frequency-domain signal is as follows:

[0064] In the formula, Q(k) represents the k-th frequency domain signal corresponding to the initial ultrasonic signal; q(m) represents the m-th time domain signal corresponding to the initial ultrasonic signal; M represents the number of initial ultrasonic signals; j represents the imaginary unit; and e represents the natural constant.

[0065] The ultrasonic acquisition device of the target detection vehicle can receive the reflected initial ultrasonic signals according to a preset acquisition frequency and duration to ensure the comprehensiveness and systematic nature of signal collection. The preset acquisition frequency and duration can be flexibly adjusted based on road characteristics, detection accuracy requirements, etc., to fully acquire signals reflected from road structures at different depths and avoid missing crucial information.

[0066] In signal conversion based on digital signal processing technology, converting the time-domain signal of the initial ultrasonic signal into a frequency-domain signal can greatly enhance the analytical capability of the signal characteristics. The time-domain signal can reflect the changes of the signal over time, while the frequency-domain signal can clearly present the frequency composition of the signal.

[0067] For example, the differences in material properties of different structural layers inside a road will cause changes in the frequency characteristics of reflected waves. Frequency domain analysis can keenly capture these changes, providing more accurate data support for subsequent construction of three-dimensional road structure models and anomaly detection. This helps inspection personnel to clearly and accurately obtain the internal conditions of the road, effectively improving the accuracy and reliability of road inspection.

[0068] The process of acquiring road feature information and constructing a three-dimensional road structure model based on the target ultrasonic signal specifically includes:

[0069] At the i-th target detection location point on the target detection road, the road depth at the i-th target detection location point is calculated based on the signal propagation speed of the target ultrasonic signal and the transmission-reception time interval as follows:

[0070] In the formula, This represents the road depth at the i-th target detection location, i.e., road feature information; This represents the signal propagation speed of the ultrasonic signal at the i-th target detection location; This represents the time interval between the transmission and reception of the ultrasonic signal of the target at the i-th target detection location.

[0071] Obtain the planar coordinates of the i-th target detection location point. Combined with the road feature information Determine the corresponding 3D model coordinates as .

[0072] The function for constructing the three-dimensional road structure model is as follows:

[0073] In the formula, A function representing a three-dimensional road structure model; This represents the weight coefficient corresponding to the nth target detection location point; N represents the total number of target detection locations on the target detection path. Represents the Gaussian function; Indicates shape parameters; This represents the coordinates of the nth target detection location point; represents a polynomial function; a, b, and c represent polynomial coefficients;

[0074] The three-dimensional model coordinates corresponding to the i-th target detection location point The function substituted into the three-dimensional road structure model The following system of equations is obtained:

[0075]

[0076] By solving the above system of equations, the weight coefficients corresponding to the nth target detection location point are obtained. And the polynomial coefficients a, b, c, and the function that determines the three-dimensional road structure model. .

[0077] In practical applications, by obtaining the propagation speed of the target ultrasonic signal and the transmission-reception time interval, the road depth at each target detection location can be accurately calculated, which helps to determine whether the thickness of each layer of the road meets the standards.

[0078] By obtaining the planar coordinates of the target detection location points and combining them with the road depth, a function for determining the 3D model coordinates and constructing the 3D road structure model can be generated. Then, by determining the weighting coefficients and polynomial coefficients corresponding to this function, data from different location points can be effectively integrated to comprehensively and meticulously reflect the actual road conditions.

[0079] In addition, this three-dimensional road structure model can present road features in an intuitive and three-dimensional form, which helps inspectors to clearly view the overall shape of the road and quickly discover potential road problems, such as local depth anomalies and structural layer misalignment, thus greatly improving the efficiency and accuracy of road inspection.

[0080] The anomaly detection of the target road based on the three-dimensional road structure model specifically includes:

[0081] Based on the aforementioned three-dimensional road structure model, the regional smoothness, regional slope, and regional edge distance of the target detection road are calculated as follows:

[0082] In the formula, PZD represents the flatness of the target detection road area; PD represents the slope of the target detection road area; and BYJL represents the edge distance of the target detection road area. These represent the coordinates of adjacent model data points A and B in the three-dimensional road structure model, respectively.

[0083] Obtain the preset flatness threshold, preset slope threshold, and preset edge distance threshold corresponding to the target detection road. If the flatness of the area is greater than the preset flatness threshold, or the slope of the area is greater than the preset slope threshold, or the edge distance of the area is greater than the preset edge distance threshold, then it is determined that there is an abnormal area in the target detection road.

[0084] Understandably, by comparing the coordinates of adjacent model data points, the flatness, slope, and edge distance of a region can be accurately calculated. This allows for quantitative analysis of road conditions from multiple dimensions, helping inspectors to fully understand the undulations, inclinations, and edge conditions of the road surface.

[0085] Furthermore, by comparing the flatness, slope, and distance to the edge of a region with pre-set thresholds, it is possible to quickly and accurately identify whether there are abnormal areas on the road.

[0086] For example, when the flatness of a region is greater than the preset flatness threshold, it indicates that there may be unevenness such as potholes or bumps on the road surface, which will affect the comfort and safety of vehicle driving; when the slope of a region is greater than the preset slope threshold, it means that the road slope is beyond the normal range, which may lead to difficulty in driving or even loss of control of the vehicle; when the distance between the edges of a region is greater than the preset edge distance threshold, it reflects that there are problems such as damage or collapse at the edge of the road.

[0087] Therefore, this model- and threshold-based anomaly detection method greatly improves the efficiency and accuracy of road detection, helping to identify road defects in a timely manner and take targeted maintenance measures.

[0088] After determining that there is an abnormal area on the target detection road, the vehicle speed of the target detection vehicle and the ultrasonic emission parameters of the ultrasonic transmitting device are adjusted.

[0089] In practical applications, after identifying anomalies in the target detection road, the vehicle's speed and the parameters of the ultrasonic transmitter can be adjusted promptly. Specifically, reducing the vehicle speed allows ample time for signal acquisition within the anomaly area, preventing the loss of crucial information due to excessive speed. Simultaneously, adjusting ultrasonic transmission parameters, such as transmission frequency and power, allows the ultrasonic signal to effectively penetrate complex anomaly areas, obtaining clearer and more accurate reflected signals.

[0090] A road non-destructive testing method based on ultrasonic technology further includes a target detection vehicle equipped with a lidar, and supports the coordinated operation of the lidar, the ultrasonic transmitter, and the ultrasonic acquisition device.

[0091] It should be noted that lidar can quickly acquire information such as road terrain contours, and by working in conjunction with ultrasonic transmitting and collecting devices, it can achieve precise positioning.

[0092] Specifically, ultrasonic devices focus on detecting the internal structure of roads, while lidar provides positional references. The combination of the two results in a wider detection range and higher accuracy. In complex road conditions or inclement weather, this collaborative mechanism ensures accurate road detection in various environments, providing a more comprehensive and reliable basis for road maintenance and thus improving the overall efficiency of road inspection.

[0093] Example 2

[0094] like Figure 3 As shown, a road non-destructive testing system based on ultrasonic technology includes:

[0095] An ultrasonic transmitting module is used to transmit initial ultrasonic signals to the target detection road via the ultrasonic transmitting device of the target detection vehicle;

[0096] An ultrasonic receiving module is used to receive the reflected initial ultrasonic signal through the ultrasonic acquisition device of the target detection vehicle, and to perform signal conversion on the initial ultrasonic signal based on digital signal processing technology to generate a target ultrasonic signal.

[0097] The model building module is used to acquire road feature information and build a three-dimensional road structure model based on the target ultrasonic signal;

[0098] An anomaly detection module is used to perform anomaly detection on the target road based on the three-dimensional road structure model.

[0099] Through the above embodiments, the present invention provides a road non-destructive testing method and system based on ultrasonic technology. This method involves transmitting an initial ultrasonic signal to the target road using an ultrasonic transmitter on a target detection vehicle; receiving the reflected initial ultrasonic signal using an ultrasonic acquisition device on the target detection vehicle; converting the initial ultrasonic signal into a target ultrasonic signal using digital signal processing technology; acquiring road feature information and constructing a three-dimensional road structure model based on the target ultrasonic signal; and performing anomaly detection on the target road based on the three-dimensional road structure model. This improves the accuracy and efficiency of road non-destructive testing, enhances the adaptability of the testing technology to complex structures and materials, and reduces the impact of the testing process on traffic.

[0100] This invention employs phased array ultrasonic technology and digital signal processing technology. By extracting road feature information and constructing a three-dimensional road structure model, it enables non-destructive testing of real-time road conditions. This significantly improves the resolution and penetration in the testing of complex structural materials, accurately identifying deep structural damage. Through vehicle speed matching and dynamic frequency modulation strategies, this invention reduces traffic interference during the testing process, improving the smoothness and efficiency of the overall testing workflow. Furthermore, by utilizing the coordinated operation of lidar, ultrasonic transmitters, and ultrasonic acquisition devices, this invention maintains high-precision testing even in adverse weather conditions, enhancing the environmental adaptability of ultrasonic testing.

[0101] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0102] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0103] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

Claims

1. A method for non-destructive testing of a road based on ultrasonic technology, characterized in that, The detection method comprises: An ultrasonic emission device of the target detection vehicle emits an initial ultrasonic signal to the target detection road; An ultrasonic collection device of the target detection vehicle receives the reflected initial ultrasonic signal and generates a target ultrasonic signal by signal conversion based on a digital signal processing technology; Road feature information is obtained based on the target ultrasonic signal and a three-dimensional road structure model is constructed; Anomaly detection is performed on the target detection road based on the three-dimensional road structure model; The road depth at the ith target detection position point on the target detection road is calculated according to the signal propagation speed of the target ultrasonic signal and the transmission-reception time interval as follows: The function for constructing the three-dimensional road structure model is as follows: wherein, represents a road depth at the i-th target detection position point, i.e., road feature information; represents a signal propagation speed of the target ultrasonic wave signal at the i-th target detection position point; represents a transmission-reception time interval of the target ultrasonic wave signal at the i-th target detection position point; acquiring the planar coordinates at the ith target detection position point , in combination with the road feature information , determining the corresponding three-dimensional model coordinates as ; The ultrasonic emission device is fixedly installed on the chassis of the target detection vehicle according to the vehicle structure of the target detection vehicle and the detection requirements of the target detection road, and the ultrasonic emission direction of the ultrasonic emission device is adjusted until the ultrasonic emission direction is perpendicular to the target detection road. wherein, represents a function of a three-dimensional road structure model; represents a weight coefficient corresponding to the nth target detection position point; N represents the total number of target detection position points on the target detection road; represents a Gaussian function; represents a shape parameter; represents the coordinates of the nth target detection position point; represents a polynomial function; a, b, c represent polynomial coefficients; corresponding to the ith target detection position point substituting the function of the three-dimensional road structure model , and the following equation group is obtained: By solving the above equation set, the weight coefficient corresponding to the nth target detection position point is obtained and the polynomial coefficients a, b, c, and the function of the three-dimensional road structure model is determined .

2. The method of claim 1, wherein, The ultrasonic collection device of the target detection vehicle receives the reflected initial ultrasonic signal according to a preset collection frequency and a preset collection time length; 3. The method of claim 1, wherein the method is characterized by, Based on the digital signal processing technology, the time-domain signal corresponding to the initial ultrasonic signal is converted into a frequency-domain signal to generate the target ultrasonic signal, and the calculation formula of the frequency-domain signal is as follows: The three-dimensional road structure model is used to calculate the regional flatness, regional slope and regional edge distance of the target detection road as follows: The preset flatness threshold, preset slope threshold and preset edge distance threshold corresponding to the target detection road are obtained, and if the regional flatness is greater than the preset flatness threshold or the regional slope is greater than the preset slope threshold or the regional edge distance is greater than the preset edge distance threshold, it is determined that the target detection road has an abnormal region. In the formula, Q(k) represents the kth frequency domain signal corresponding to the initial ultrasonic signal; q(m) represents the mth time domain signal corresponding to the initial ultrasonic signal; M represents the number of initial ultrasonic signals; j represents an imaginary unit; and e represents a natural constant.

4. The method of claim 1, wherein the method is characterized by, After it is determined that the target detection road has an abnormal region, the vehicle speed of the target detection vehicle and the ultrasonic emission parameters of the ultrasonic emission device are adjusted. The target detection vehicle is provided with a laser radar, and the laser radar, the ultrasonic emission device and the ultrasonic collection device support cooperative work. In the formula, PZD represents the area flatness of the target detected road; PD represents the area slope of the target detected road; and BYJL represents the area edge distance of the target detected road. respectively represent the coordinates of adjacent model data points A and B in the three-dimensional road structure model.

7. A road non-destructive detection system based on ultrasonic technology, applied to the road non-destructive detection method based on ultrasonic technology according to any one of claims 1-6, the detection system comprising:

5. The method of claim 4, wherein the method is characterized by, ​ 6. The method of claim 1, wherein the method is characterized by, ​ ​ An ultrasonic wave emitting module is configured to emit an initial ultrasonic wave signal to a target detection road through an ultrasonic wave emitting device of a target detection vehicle; An ultrasonic wave receiving module is configured to receive a reflected initial ultrasonic wave signal through an ultrasonic wave collecting device of the target detection vehicle, and to generate a target ultrasonic wave signal by performing signal conversion on the initial ultrasonic wave signal based on a digital signal processing technology; A model construction module is configured to acquire road feature information and construct a three-dimensional road structure model based on the target ultrasonic wave signal; An anomaly detection module is configured to perform anomaly detection on the target detection road based on the three-dimensional road structure model.

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