Road surface disease scanning and measuring device based on structured light three-dimensional imaging

Abstract

The utility model relates to a kind of road surface disease scanning measurement devices based on structured light three-dimensional imaging, belong to road engineering detection technical field, solve the problem that existing road surface disease detection technology has poor environmental adaptability, equipment is complex, limited representation capability.Folded expansion mechanism is installed on the mounting support platform, central fixed frame is connected with both sides folding arm by hinge;Laser emission assembly includes linear laser, rigid support rod and flexible steel cable, the laser for projecting plane laser beam to road surface is installed in central fixed frame by rigid support rod, and is reinforced by flexible steel cable;Multi-camera imaging assembly contains multiple visible light cameras and positioning sensors distributed on folding arm, and camera optical axis is perpendicular to laser surface, for collecting road surface image containing laser stripe;Main controller coordinates the work of each component and processes data.The utility model realizes three-dimensional quantitative automatic detection to road surface disease under mobile vehicle environment, compact structure, strong environmental adaptability.

Description

Technical Field

[0001] This utility model belongs to the field of road engineering inspection technology, specifically relating to a road surface defect scanning and measurement device based on structured light three-dimensional imaging, which is particularly suitable for rapid inspection and structured assessment of large-area road networks such as high-grade highways, urban roads and airport runways. Background Technology

[0002] Currently, road surface defect detection mainly relies on a combination of manual visual inspection and semi-automated detection equipment. Traditional manual inspection methods have inherent drawbacks such as strong subjectivity, low efficiency, non-standard data recording, and high safety risks, making it difficult to meet the routine maintenance and management needs of my country's increasingly large road network. Automated pavement inspection technology faces significant technical bottlenecks: First, passive vision systems heavily rely on ambient lighting conditions, with performance deteriorating sharply in backlight, at night, or in rainy or foggy weather; second, the depth measurement accuracy of binocular vision is directly proportional to the baseline length, requiring a large baseline distance to achieve millimeter-level accuracy, leading to complex equipment and making it difficult to adapt to vehicle-mounted mobile inspection scenarios; third, infrared and hyperspectral technologies mainly reflect the material characteristics of the pavement surface and have limited ability to characterize the three-dimensional morphology of structural damage. Utility Model Content

[0003] The purpose of this invention is to address the problems of poor environmental adaptability, complex equipment, and limited characterization capabilities in existing pavement defect detection technologies by providing a pavement defect scanning and measurement device based on structured light three-dimensional imaging. This device achieves a technological leap in pavement defect detection from qualitative description to quantitative analysis, from local sampling to comprehensive survey, and from manual interpretation to intelligent diagnosis, providing reliable technical support for building a modern and intelligent road maintenance and management system.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A pavement distress scanning and measurement device based on structured light 3D imaging includes:

[0006] A mounting support platform is fixedly installed at the front or rear of the inspection vehicle, and the bottom of the mounting support platform is connected to a walking system including hydraulic shock absorbers and pneumatic tires;

[0007] The folding extension mechanism is installed on the mounting support platform. The folding extension mechanism includes a central fixed frame and folding arms symmetrically connected to the left and right sides of the central fixed frame by a hinge mechanism. Each folding arm includes at least one truss structure unit.

[0008] The laser emitting assembly includes a linear laser, a rigid support rod, and a flexible steel cable. One end of the rigid support rod is connected to the front of the central fixing frame, and the other end is equipped with the linear laser. The two ends of the pre-tensioned flexible steel cable are respectively connected to the linear laser and the central fixing frame. The linear laser is used to project a planar laser beam onto the road surface to form laser stripes with a regular straight-line shape perpendicular to the direction of travel of the detection vehicle on the road surface.

[0009] The multi-camera imaging assembly includes at least one visible light camera mounted on each of the truss structural units and a positioning sensor for acquiring the current geographic coordinate information of the corresponding visible light camera. The positioning sensor is electrically connected to the visible light camera and transmits the acquired geographic coordinate information to the corresponding visible light camera in real time. Each visible light camera includes a wide-angle high-speed lens, a visible light imaging unit, and a narrowband filter matched with the laser wavelength. The optical axis of each visible light camera is perpendicular to the plane of the laser beam projected by the linear laser. The visible light imaging unit acquires road surface images containing the laser stripes in real time and sends the road surface image data and geographic coordinate information to the main controller.

[0010] The main controller is communicatively connected to the linear laser and each of the visible light cameras.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] (1) By adopting active projection linear structured light and combining it with the narrowband filter equipped with the camera, this utility model fundamentally overcomes the dependence of passive vision on ambient lighting conditions, and ensures stable operation and high signal-to-noise ratio imaging under complex lighting conditions such as backlight and night.

[0013] (2) This utility model utilizes structured light three-dimensional imaging technology to achieve millimeter-level measurement accuracy on the basis of monocular vision, while avoiding the complex structure and long baseline required by binocular vision system. Furthermore, through a foldable modular design, the entire device is compact and highly mobile, making it very suitable for vehicle-mounted mobile platforms.

[0014] (3) The triangulation method based on structured light three-dimensional imaging of this utility model can accurately reconstruct the three-dimensional micro-morphology of the road surface and directly obtain the three-dimensional parameters such as the depth and width of the road surface defects. It realizes the accurate quantitative three-dimensional morphological characterization of the road surface structural damage and overcomes the limitation of the existing technology that can only reflect the surface material characteristics of the road surface. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of the pavement distress scanning and measuring device of this utility model;

[0016] Figure 2 for Figure 1 Side view of the main structure shown;

[0017] Figure 3 This is a schematic diagram illustrating the working principle of the road surface defect scanning and measurement device of this utility model.

[0018] It should be noted that flexible steel cables are only used in... Figure 3 As shown in the figure, Figure 1 and Figure 2 Not shown in the image.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Folding extension mechanism; 1-1. Central fixing frame; 1-2. Folding arm;

[0021] 2-1. Linear laser; 2-2. Rigid support rod; 2-3. Flexible steel cable;

[0022] 3-1. Visible light camera. Detailed Implementation

[0023] The technical solution of this utility model will now be described in detail with reference to the accompanying drawings and preferred embodiments.

[0024] The road surface defect scanning and measurement device based on structured light three-dimensional imaging of this utility model includes a mounting support platform, a folding extension mechanism 1, a laser emission component, a multi-camera imaging component, and a main controller.

[0025] The mounting support platform, serving as the structural foundation of the entire measuring device, is constructed from high-strength aluminum alloy profiles, possessing excellent mechanical stability and modular expandability. This platform features standardized interfaces for rapid installation and disassembly, significantly improving equipment deployment efficiency. Depending on the vehicle model, the mounting support platform can be fixedly installed at the front or rear of the vehicle. A walking system is connected to the bottom of the mounting support platform. This system integrates high-performance hydraulic shock absorbers and, in conjunction with large-diameter, wide-width pneumatic tires, effectively absorbs low-frequency vibrations caused by road surface unevenness, significantly reducing mechanical disturbances transmitted from the ground to the measuring device body and suppressing vibration interference during vehicle movement. This ensures the high-speed mobility of the measuring device while maintaining the stable working environment required for optical measurement, providing a reliable physical basis for high-precision data acquisition.

[0026] The folding extension mechanism 1 is mounted on the mounting support platform. It employs a high-precision hinge mechanism to achieve smooth unfolding and folding operations. In the folded state, the folding extension mechanism 1 is folded to both sides of the mounting support platform. Figure 1As shown, the folding extension mechanism 1 includes a central fixed frame 1-1 and two folding arms 1-2. The two folding arms 1-2 are symmetrically located on the left and right sides of the central fixed frame 1-1, and are respectively hinged to the central fixed frame 1-1 via hinge mechanisms. Each folding arm 1-2 includes at least one truss structure unit. Preferably, the central fixed frame also adopts a truss structure. Figure 1 The illustration shows an embodiment where each folding arm 1-2 includes two truss structural units. The back of the central fixed frame 1-1 is fixedly connected to the side wall of the mounting support platform via a reinforcing structure. The reinforcing structure forms a triangular mechanical structure with the central fixed frame 1-1 or with the mounting support platform, thereby significantly enhancing the lateral stiffness, load-bearing capacity, and structural stability of the folding arm 1-2. The reinforcing structure can employ common structures such as support plates, reinforcing ribs, and brackets. The folding extension mechanism 1 can flexibly adjust its working width according to actual inspection needs. It can be fully folded in transport mode to adapt to the size limitations of conventional transport vehicles, and can be expanded to its maximum working width as needed during operation, precisely matching the scanning range of the laser emission component and the camera's imaging field of view. This dynamic adaptive design not only significantly improves the equipment's site adaptability but also achieves an optimal balance between inspection width and efficiency, effectively expanding the road surface coverage area in a single scan and significantly improving the efficiency of road surface defect scanning and measurement.

[0027] like Figures 1-3 As shown, the laser emitting assembly is located at the front end of the measuring device. It employs multi-spectral tunable laser technology, enabling dynamic adjustment of the output laser intensity, linewidth, and projection angle according to actual detection requirements and ambient lighting conditions. The laser emitting assembly includes a linear laser 2-1, a rigid support rod 2-2, and a flexible steel cable 2-3. One end of the rigid support rod 2-2 is connected to the front of the central fixed frame 1-1, and the other end is fitted with the linear laser 2-1. The pre-tensioned flexible steel cable 2-3 connects the linear laser 2-1 and the central fixed frame 1-1. Because the linear laser 2-1 is installed far in front of the central fixed frame 1-1, the excessive distance could cause vibration. Therefore, the pre-tensioned flexible steel cable 2-3 converts the potential minute vibrations of the rigid support rod 2-2 into controllable elastic deformation, avoiding laser beam jitter caused by rigid transmission and thus improving stability.

[0028] Preferably, such as Figure 2 As shown, the rigid support rod 2-2 includes two truss structural units and a first folding hinge. The two truss structural units are hinged together by the first folding hinge, so that the rigid support rod 2-2 can be folded and stored, reducing the space occupied.

[0029] Preferably, the rigid support rod 2-2 is hinged to the central fixed frame 1-1 via a second folding hinge, and the axes of the first and second folding hinges are perpendicular to each other, enabling multi-directional folding of the rigid support rod 2-2 and further reducing the space occupied by the rigid support rod 2-2. Both the first and second folding hinges are equipped with locking mechanisms, which lock the folding hinges when the rigid support rod 2-2 is unfolded, thereby improving stability. The axis of the first folding hinge can be horizontal or vertical, and correspondingly, the axis of the second folding hinge can be vertical or horizontal. This two-stage composite folding scheme optimizes the three-dimensional storage of the laser emission component and facilitates transportation.

[0030] Furthermore, the rigid support rod 2-2 is a hollow rod body, and the cable of the linear laser 2-1 is built into the cavity of the rod body, which not only ensures the compactness of the structure, but also avoids external interference.

[0031] Linear laser 2-1 is a linear laser used to project a planar laser beam onto the road surface, forming regular straight laser stripes on the surface. The length direction of the laser stripes is perpendicular to the direction of travel of the inspected vehicle. Linear laser 2-1 has multi-dimensional adjustment capabilities, allowing for precise manual adjustment of the laser projection position and angle based on the width of the road surface to be inspected and the field of view of the imaging system. This ensures optimal geometric relationships (optimal when the plane of the laser beam projected by linear laser 2-1 is perpendicular to the optical axis of the visible light camera 3-1) on the road surface, maximizing the representation of road structure features and defects.

[0032] Optionally, the laser emitting component in this invention uses a semiconductor laser diode as the core element of the light source, preferably a red laser with a wavelength of 650nm. This wavelength has high visual recognition in the visible spectrum and matches well with the spectral response characteristics of the CMOS sensor. The output power range of the linear laser 2-1 is 200-300mW. This power range ensures clear visibility of the laser stripes in sunlight and meets the Class 3R laser safety standard, ensuring operational safety. The laser linewidth is in the range of 0.2-0.4mm, and beam shaping is performed using an aspherical cylindrical lens group to ensure that the linewidth uniformity error is less than ±0.05mm when projected to a working distance of 1 meter. Simultaneously, the linear laser 2-1 is equipped with a temperature control system, with temperature stability controlled within ±0.5℃.

[0033] The multi-camera imaging assembly includes at least two visible light cameras 3-1 and two high-precision positioning sensors. At least one visible light camera 3-1 and one positioning sensor are installed on each truss structural unit. The positioning sensor is electrically connected to the visible light camera 3-1. The positioning sensor transmits the collected geographic coordinate information to the corresponding visible light camera 3-1 in real time to achieve accurate positioning of road defects.

[0034] Each visible light camera 3-1 includes a wide-angle high-speed lens, a narrowband filter matched to the laser wavelength, and a visible light imaging unit arranged sequentially. The narrowband filter effectively suppresses ambient light interference, significantly improving image quality and signal-to-noise ratio. The visible light camera 3-1 is connected to the truss structure unit via a multi-axis adjustment mechanism, supporting omnidirectional angle and pitch adjustments to ensure the optimal observation geometry between the imaging angle and the laser plane. Specifically, the optical axis of the visible light camera 3-1 is perpendicular to the plane of the laser beam projected by the linear laser 2-1, fully capturing details of road surface deformation. The visible light imaging unit acquires road surface images containing laser stripes in real time and sends the road image data and geographic coordinate information to the main controller. Each visible light imaging unit and the laser emission assembly achieves precise synchronization under the coordination of the main controller, ensuring the integrity and timeliness of data acquisition.

[0035] Preferably, damping pads made of high-damping flexible material are provided between the linear laser 2-1 and the rigid support rod 2-2, and between the visible light camera 3-1 and the truss structure unit, to eliminate the influence of mid-to-high frequency vibrations on imaging quality. This utility model adopts a multi-layer composite damping design to comprehensively ensure the imaging quality of the measuring device during the moving detection process.

[0036] Optionally, the visible light imaging unit employs a global shutter CMOS sensor with a resolution greater than or equal to 1024*1024 and a frame rate greater than or equal to 200fps, while also being coordinated with the laser wavelength to ensure high sensitivity response to lasers. Additionally, the visible light camera is equipped with an active cooling system.

[0037] The main controller coordinates the collaborative operation of the laser emitting assembly and the multi-camera imaging assembly, and processes the data. The main controller communicates with the linear laser 2-1 and each visible light camera 3-1. It sends commands to the linear laser 2-1 to adjust its output intensity, and simultaneously sends commands to each visible light camera 3-1 to set its exposure parameters and frame rate, ensuring high-quality scanning measurement data is obtained under various operating conditions. The main controller can be equipped with an intuitive visual human-machine interface, supporting both manual precise parameter adjustment and automatic intelligent adjustment modes to meet the needs of different scenarios.

[0038] The main controller is used to generate pavement distress scanning measurement results based on received pavement image data and geographic coordinate information. The main controller is configured to: accurately extract the deformation features of laser stripes in the pavement image using the built-in maximum inter-class variance method; quickly identify pavement structural distress areas through comparative analysis with a standard reference template; and output pavement structural distress measurement results, including the depth and width measurements of pavement damage and the corresponding geographic coordinate information.

[0039] The main controller is also configured to analyze pavement images using a built-in, pre-trained YOLOv8 model, automatically identify non-structural distress areas, and output measurement results for non-structural pavement distress, including precise bounding boxes, category labels (such as cracks, repair areas), and corresponding geographic coordinates for all non-structural distress areas in the image. Simultaneously, the main controller can communicate with a visualization platform to display both structural and non-structural pavement distress measurement results in real time.

[0040] The main controller also has comprehensive data management functions, which can automatically record various parameters and results during the detection process, generate multi-dimensional statistical analysis reports, and ensure the integrity, traceability and decision support value of the measurement data.

[0041] Optionally, the main controller integrates an optical flow-based image stabilization algorithm, which quickly detects and corrects image displacement caused by sudden bumps through continuous inter-frame feature point matching, ensuring that road surface images including clear and stable laser stripes can be obtained even under complex road conditions.

[0042] The main controller in this invention uses an industrial-grade embedded device, equipped with a high-performance image processing unit. Data storage employs a dual-redundancy design, providing large-capacity local storage while simultaneously transmitting data to a cloud server in real time via a remote transmission module. To ensure reliable operation of the measuring device in complex road environments, the selection of each component fully considers environmental adaptability: all electronic equipment is IP67 certified.

[0043] The core working principle of this measuring device is based on the triangulation method of structured light three-dimensional imaging.

[0044] When the measuring device is working, the linear laser 2-1 projects a high-precision planar laser beam onto the road surface, forming a clearly visible laser stripe. When the road surface is smooth, the laser stripe is a regular straight line; when the laser beam scans over road defects (such as depressions, cracks, and protrusions), due to the local changes in the height of the road surface, the laser stripe will bend, twist, or be interrupted accordingly, and its deformation accurately reflects the three-dimensional morphological changes of the road surface.

[0045] As the vehicle travels at a constant speed, the measuring device enters a dynamic scanning measurement mode: multiple visible light cameras positioned at predetermined viewing angles effectively suppress ambient light interference through their narrow-band filters, simultaneously capturing road surface images containing deformed laser stripes. Positioning sensors simultaneously collect geographic coordinate information and transmit it to the visible light cameras in real time. All image data and geographic coordinate information are transmitted to the main controller in real time.

[0046] The main controller initiates the parallel processing flow:

[0047] Structural damage analysis: The road surface image containing laser stripes is processed, and the center line of the stripes is accurately extracted using common algorithms such as the Otsu's method (OTSU). The three-dimensional scale is then calculated to determine the deformation, thereby obtaining the three-dimensional parameters such as the depth and width of the structural damage area.

[0048] Non-structural defects identification: Known deep learning algorithms such as the YOLOv8 model are used to analyze pavement images containing laser stripes, automatically identify and locate non-structural defect areas, and obtain the precise bounding boxes and category labels (such as cracks and repair areas) of all non-structural defect areas in the image.

[0049] Data fusion and report generation: All measurement results are fused with geographic coordinate information collected by positioning sensors to generate a quantitative assessment report and spatial distribution map containing the location, type and size of the defects, so as to achieve a comprehensive and accurate assessment of the road surface condition.

[0050] The assembly and usage process of the measuring device of this utility model is as follows:

[0051] Assembly: Install the linear laser 2-1 at the end of the rigid support rod 2-2, and fix the rigid support rod 2-2 to the central fixed frame 1-1 of the folding extension mechanism 1; connect the flexible steel cable 2-3 between the linear laser 2-1 and the central fixed frame 1-1; unfold the folding extension mechanism 1 to both sides, install the visible light camera 3-1 and positioning sensor on each of its truss structural units, adjust the visible light camera 3-1 to face the ground, adjust the camera focal length, and fix the focal length after focusing on the ground; finally, connect all power and signal lines to the main controller.

[0052] Calibration: Install the entire device on the mounting support platform, and then fix the mounting support platform to the front or rear of the detection vehicle; adjust the relative position between the linear laser 2-1 and each visible light camera 3-1 to ensure that the laser projection plane and the camera optical axis form an ideal observation geometry, that is, the laser beam plane is perpendicular to the camera optical axis; adjust the camera exposure parameters and laser output intensity according to the on-site lighting conditions and road characteristics to confirm that the laser stripes clearly cover the target detection area.

[0053] Detection: When the vehicle is moving at a constant speed, the measuring device automatically begins scanning, analyzing, and recording. Operators can monitor the measurement process and results through a human-machine interface.

[0054] The road surface defect scanning and measurement device based on structured light three-dimensional imaging proposed in this utility model, by actively projecting linear structured light and combining it with the narrow-band filter equipped in the camera, fundamentally overcomes the dependence of passive vision on ambient lighting conditions, and ensures stable operation and high signal-to-noise ratio imaging under complex lighting conditions such as backlight and night.

[0055] By utilizing structured light 3D imaging technology, millimeter-level measurement accuracy can be achieved on the basis of monocular vision, while avoiding the complex structure and long baseline required by binocular vision systems. Furthermore, through a foldable modular design, the entire device is compact, highly mobile, and very suitable for vehicle-mounted mobile platforms.

[0056] The triangulation method based on structured light 3D imaging can accurately reconstruct the 3D micromorphology of the road surface and directly obtain the 3D parameters such as the depth and width of the road surface defects. It realizes the accurate quantitative 3D morphological characterization of the road surface structural damage and overcomes the limitation of existing technologies that can only reflect the material properties of the road surface.

[0057] Meanwhile, this utility model achieves rapid, full-coverage scanning of the road surface through the collaborative design of a folding extension mechanism that can be horizontally unfolded and retracted and a multi-camera imaging component. Furthermore, the main controller can automatically measure and identify road surface defects, significantly improving detection efficiency and reducing manual intervention.

[0058] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0059] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A road surface distress scanning and measurement device based on structured light three-dimensional imaging, characterized in that, include: A mounting support platform is fixedly installed at the front or rear of the inspection vehicle, and the bottom of the mounting support platform is connected to a walking system including hydraulic shock absorbers and pneumatic tires; The folding extension mechanism (1) installed on the mounting support platform includes a central fixed frame (1-1) and folding arms (1-2) symmetrically connected to the left and right sides of the central fixed frame (1-1) by a hinge mechanism. Each folding arm (1-2) contains at least one truss structure unit. The laser emitting assembly includes a linear laser (2-1), a rigid support rod (2-2), and a flexible steel cable (2-3). One end of the rigid support rod (2-2) is connected to the front of the central fixing frame (1-1), and the other end is equipped with the linear laser (2-1). The two ends of the pre-tensioned flexible steel cable (2-3) are respectively connected to the linear laser (2-1) and the central fixing frame (1-1). The linear laser (2-1) is used to project a planar laser beam onto the road surface to form laser stripes with a regular straight-line shape perpendicular to the direction of travel of the detection vehicle on the road surface. A multi-camera imaging assembly includes at least one visible light camera (3-1) mounted on each of the truss structural units and a positioning sensor for acquiring the current geographic coordinate information of the corresponding visible light camera (3-1). The positioning sensor is electrically connected to the visible light camera (3-1) and transmits the acquired geographic coordinate information to the corresponding visible light camera (3-1) in real time. Each visible light camera (3-1) includes a wide-angle high-speed lens, a visible light imaging unit, and a narrowband filter matched with the laser wavelength. The optical axis of each visible light camera (3-1) is perpendicular to the plane of the laser beam projected by the linear laser (2-1). The visible light imaging unit acquires road surface images containing the laser stripes in real time and sends the road surface image data and geographic coordinate information to the main controller. The main controller is communicatively connected to the linear laser (2-1) and each of the visible light cameras (3-1).

2. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, The back of the central fixed frame (1-1) is fixedly connected to the side wall of the mounting support platform through a reinforcing structure, and the reinforcing structure forms a triangular mechanical structure with the central fixed frame (1-1) or the mounting support platform.

3. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, The rigid support rod (2-2) includes two truss structural units and a first folding hinge, and the two truss structural units are hinged to each other through the first folding hinge.

4. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 3, characterized in that, The rigid support rod (2-2) is hinged to the central fixed frame (1-1) by a second folding hinge, and the axial directions of the first folding hinge and the second folding hinge are perpendicular to each other.

5. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, The rigid support rod (2-2) is a hollow rod, and the cable of the linear laser (2-1) is built into the cavity of the rod.

6. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, Vibration damping pads are provided between the linear laser (2-1) and the rigid support rod (2-2), and between the visible light camera (3-1) and the truss structure unit.

7. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, The linear laser (2-1) uses a semiconductor laser diode with a wavelength of 650nm, an output power of 200-300mW, a laser linewidth of 0.2-0.4mm, and beam shaping is achieved through an aspherical cylindrical lens group.

8. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, The visible light imaging unit uses a global shutter CMOS sensor with a resolution greater than or equal to 1024*1024 and a frame rate greater than or equal to 200fps.

9. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, The main controller sends instructions to the linear laser (2-1) to adjust its output intensity, and sends instructions to each of the visible light cameras (3-1) to set its exposure parameters and frame rate.

10. The pavement distress scanning and measurement device based on structured light three-dimensional imaging according to claim 1, characterized in that, The main controller is configured to: extract the deformation features of laser stripes in the road surface image using the built-in maximum inter-class variance method, output the measurement results of road surface structural defects, and use the built-in YOLOv8 model to identify non-structural defects in the road surface image, output the measurement results of non-structural defects in the road surface.

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