| The development of road surface automatic detection technology represented by 3D laser detection technology is the only way to solve the problems of road surface technology condition monitoring,condition evaluation,maintenance road maintenance field,road monitoring distance,lack of precision of evaluation indicators and high cost of technicians.At this stage,the road management department has applied the on-board detection system based on 3D laser detection technology to the road surface technical indicators and disease detection in the national trunk roads,but it is limited by the high-tech threshold of 3D laser technology.The reason for the difficult work is that there is no vehicle surface inspection system that can be accepted by the testing market.The existing on-board 3D laser system in the domestic road management department has a complete vehicle system from many suppliers,and has a self-assembled integrated system.The principles of these in-vehicle systems are the same,the device composition is similar,but there are still many differences in the details of the assembly or setting parameters.Equipment suppliers can’t adapt to the road industry’s highly specialized inspection projects to improve the system.The closed source detection software in the system also makes the maintenance technicians use them everywhere,and gives them the next stage of conservation decisionmaking.The support is weak;the high-tech threshold of 3D laser technology also makes the reliability of self-assembled integrated systems a difficult problem in the management department.Therefore,after in-depth investigation and comparison of the existing on-board threedimensional laser detection systems at home and abroad,this study first proposed the threedimensional laser detection technology requirements suitable for road surface disease detection projects,and selected the research-level accuracy based on this standard The 3D laser detection equipment unit and its adaptive components were further designed and assembled with the corresponding vehicle-mounted 3D laser detection system,and the calibration equipment and calibration scheme for the layout of key parameters were proposed for the system.After demonstrating that the performance of the assembly system meets the design,according to the requirements of the road surface detection index,a three-dimensional laser detection system site calibration experiment program was designed to verify the reliability of the system output results,and the data pre-processing and three-dimensional reconstruction models were compiled.The algorithm finally verified the research potential and commercial value of the vehicle-mounted three-dimensional laser detection system for road surface disease detection in the example of the inspection project.The research ideas and methods of this paper and the main research results are as follows:(1)Based on the detection requirements of road pavement characteristics and disease types and evaluation indicators in pavement detection,determine the detection technical requirements when the three-dimensional laser detection technology is the target integrated system,and the major equipment suppliers at home and abroad can obtain 3D laser equipment components and selected the 3D laser equipment unit suitable for this study.(2)Taking the selected 3D laser equipment unit as the core component,determine the remaining components in the target system and design the overall assembly layout,further design the detailed assembly layout for the core components of the 3D laser equipment unit according to the previous detection technology requirements,and finally achieve the target system prototype Integrated assembly of the machine.(3)Aiming at the key parameters used in the calibration and assembly of the obtained system prototype,the corresponding calibration equipment and calibration scheme are proposed to verify that the assembly prototype is consistent with the layout design.In the end,the influence area of the 3D laser measuring point suitable for pavement texture detection is determined by measuring the construction depth index of the asphalt plate in the laboratory of the prototype.(4)Summarize the system errors and impacts of the assembled vehicle-mounted 3D laser system in the inspection project,and then put forward the corresponding site calibration scheme of the vehicle-mounted 3D laser inspection system,and verify it on site to ensure the output of the road engineering inspection project Reliability.(5)Establish a three-dimensional model reconstruction method suitable for the vehiclemounted three-dimensional laser detection system,specifically including point cloud data acquisition of three-dimensional laser detection,preprocessing of point cloud data,laser cross-section filtering method and point cloud reconstruction.Finally,a three-dimensional reconstruction model is built with a piece of actual rut detection data.In this study,after comprehensively investigating the assembly schemes of various invehicle 3D laser detection systems at home and abroad,a set of in-vehicle 3D laser detection systems and supporting system accuracy site verification solutions suitable for China’s road surface inspection specifications are proposed and established The data processing algorithm of 3D reconstruction model of laser point cloud data.This has an important reference value for pavement condition evaluation and construction quality control in pavement maintenance operations.The established system site accuracy verification scheme and 3D reconstruction model data processing algorithm can be revised according to the actual situation of different inspection projects and can be used for other decisions And the maintenance decision of the entire road. |
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