CN-121978704-A - Intelligent detection system and method for road surface road sealing facility

CN121978704ACN 121978704 ACN121978704 ACN 121978704ACN-121978704-A

Abstract

The invention discloses an intelligent detection system and method for road surface sealing facilities, comprising a field detection device and a cloud analysis system, wherein the field detection device carries a laser radar and an optical camera through a horizontally rotatable cradle head, the field detection device is coaxial and has the same visual field, point cloud data and image data are synchronously collected, a control module is responsible for instruction receiving, equipment driving and data cache uploading, and the cloud analysis system realizes five modules of optical camera and laser radar coordinate system conversion, sealing element identification, point cloud optimization clustering, space positioning and multi-dimensional early warning through joint calibration, target detection, point cloud processing, sealing facility element extraction and monitoring early warning. The invention does not need to rely on GPS, adapts to multiple scenes such as fixed sealing, dynamic sealing and inspection, solves the problems of low traditional monitoring efficiency, insufficient precision of a single sensor and poor scene adaptation, and improves the sealing operation safety, management efficiency and data traceability through a closed loop of 'real-time early warning + dynamic tracking + data storage'.

Inventors

XU JINGLIN
Ou Jinwu
LI JING
ZHANG XILIN
LV YANGFENG
XIN PEIKANG
HUANG DIE
WANG PENG
JIANG KAI
HAN KEJUN
LI SHENJIE
SONG TIANREN

Assignees

上海建工四建集团有限公司

Dates

Publication Date: 20260505
Application Date: 20260114

Claims (10)

1. An intelligent detection system for road surface sealing facilities is characterized by comprising field detection equipment and a cloud analysis system, The field detection equipment comprises a horizontally rotatable cradle head, a laser radar, an optical camera and a control module, The laser radar is arranged on the holder, the optical camera is fixed above the laser radar, the laser radar and the optical camera are coaxially arranged, the field of view is consistent, and point cloud data and image data are respectively acquired; the control module is used for receiving an instruction of the cloud analysis system, driving the cradle head to rotate, controlling the laser radar and the optical camera to synchronously work, and caching and uploading data to the cloud analysis system; the cloud analysis system comprises a joint calibration module, a target detection module, a point cloud processing module, a gateway facility element extraction module and a monitoring and early warning module, The combined calibration module is used for establishing a conversion relation between a camera coordinate system and a radar coordinate system, and generating and storing a calibration file; The target detection module adopts a target detection model to identify a channel sealing element in the image data and outputs a boundary frame coordinate, a target class and a confidence coefficient; The point cloud processing module performs rotation transformation, splicing and optimization processing on a plurality of groups of point cloud data according to a preset rotation angle; The system comprises a sealing facility element extraction module, a laser radar coordinate system acquisition module, a sealing facility element extraction module, a clustering module and a sealing facility element extraction module, wherein the sealing facility element extraction module converts a boundary frame of an image into three-dimensional space parameters under the laser radar coordinate system, generates a three-dimensional bounding box, clusters point clouds in the three-dimensional bounding box, and calculates a clustering centroid coordinate as a space positioning coordinate of the sealing facility; The monitoring and early warning module is used for presetting a facility placement distance threshold value, comparing real-time coordinate data to judge rule violations and give an alarm, tracking the moving track of engineering vehicles, operators and facilities, defining a safety area by cone coordinates, triggering an alarm for the approach of the operators or the intrusion of the vehicles into a scene and pushing early warning information.
2. The intelligent roadway sealing system of claim 1, wherein the field test equipment further comprises a power module comprising a removable battery pack and a power management chip for powering the components of the field test equipment.
3. The intelligent detection system of road surface sealing facilities of claim 1, wherein the field detection equipment further comprises an external protection module, wherein the external protection module encapsulates the holder, the laser radar, the optical camera and the control module into a whole for physical protection in an outdoor working environment.
4. The intelligent detection system for road surface sealing facilities according to claim 3, wherein the external protection module is mounted on a tripod through a bolt connection, and the tripod is used for adjusting the height and levelness of the field detection equipment.
5. The intelligent detection system of road surface sealing facilities as set forth in claim 1, wherein the joint calibration module adopts Zhang Zhengyou calibration method, and solves camera internal parameters, distortion vectors and external parameters matrix of the laser radar and the optical camera by collecting homonymous points in image data and point cloud data, so as to establish conversion relation between a camera coordinate system and a radar coordinate system.
6. The intelligent detection system of road surface sealing facilities according to claim 1, wherein the target detection module screens effective sealing elements based on preset sealing scene key prompt words, wherein the key prompt words at least comprise cone barrels, billboards, engineering vehicles and operators.
7. The intelligent detection system of road surface sealing facilities as set forth in claim 1, wherein the point cloud processing module performs optimized filtering on the spliced point cloud data by adopting a voxel downsampling algorithm, and the voxel grid is set to be 100mm x 100mm in size for removing point cloud noise and redundant data.
8. The intelligent detection system of road sealing facilities according to claim 1, wherein the sealing facility element extraction module adopts a euclidean clustering algorithm to cluster point clouds in the three-dimensional bounding box, and sets a clustering threshold value to be 800mm.
9. The intelligent detection method for the road surface sealing facility is applied to the intelligent detection system for the road surface sealing facility according to any one of claims 1 to 8, and is characterized by comprising the following steps: the method comprises the steps of 1, deploying the field detection equipment, and adjusting the installation posture to enable the view fields of the laser radar and the optical camera to cover a target sealing area; step 2, completing the joint calibration of the optical camera and the laser radar through the joint calibration module, and generating and storing the calibration file; Step 3, the control module receives a scanning instruction of the cloud analysis system, drives the cradle head to rotate, synchronously controls the laser radar and the optical camera to acquire point cloud data and image data, and caches and uploads the point cloud data and the image data to the cloud analysis system; step 4, the target detection module identifies the channel sealing element in the image data and outputs the boundary frame coordinates, the target category and the confidence coefficient; step 5, the point cloud processing module performs rotation transformation, splicing and optimized filtering on a plurality of groups of point cloud data; Step 6, the seal equipment element extraction module converts the image boundary frame into a three-dimensional bounding frame, clusters the point cloud data in the frame and calculates the barycenter coordinates to obtain the space positioning coordinates of the seal equipment; and 7, comparing the real-time positioning coordinates with a preset threshold value by the monitoring and early warning module, tracking a dynamic track, triggering an alarm for a violation scene, a person approaching a safety boundary or a vehicle intrusion scene, and pushing early warning information.
10. The intelligent detection method of road surface sealing equipment as set forth in claim 9, wherein in step 3, the scanning strategy adopted for data acquisition is: Step 3.1, the initial angle of the holder is 0 degrees, the laser radar continuously scans for 20 seconds, point cloud data are synchronously acquired, and 1 image is shot by the optical camera; step 3.2, the cradle head rotates to 60 degrees, 120 degrees and 180 degrees in sequence, and the 20s scanning and 1 image shooting operation is repeated when each time of stay; 3.3, resetting the cradle head to 0 degrees, rotating to 180 degrees at intervals of 5s at 30-degree step sizes, and shooting 1 image by the optical camera once every rotation; And 3.4, returning the cradle head to 0 degrees to finish one round of acquisition.

Description

Intelligent detection system and method for road surface road sealing facility Technical Field The invention relates to the technical field of municipal maintenance, in particular to an intelligent detection system and method for road surface road sealing facilities. Background Along with the scale expansion of municipal maintenance operation and the upgrading of traffic safety requirements, the real-time monitoring of road sealing field facilities (including cone barrels, billboards, engineering vehicles and the like) becomes a key for guaranteeing construction safety and smooth traffic. Traditional manual monitoring mode inefficiency, easily receive the environmental disturbance, and be difficult to realize full period full coverage monitoring. Although the single laser radar monitoring can acquire three-dimensional position information, the identification accuracy of the type of the facility is insufficient, and the single camera monitoring lacks space coordinate data, so that the judgment requirement on the position compliance of the facility in the sealing operation cannot be met. In addition, part of schemes in the prior art rely on GPS positioning or single monitoring equipment, have the problems of complex arrangement, data island and the like, and cannot realize unified identification and behavior detection of maintenance operation equipment. Meanwhile, the existing system is mostly designed aiming at fixed-position sealing, has poor adaptability to the scenes such as inspection operation, dynamic sealing and the like, does not form a complete closed loop of 'real-time early warning and data storage', and is difficult to meet the core requirements of industry on safety risk pre-control, management efficiency improvement and responsibility tracing. Disclosure of Invention The invention provides an intelligent detection system and method for road surface road sealing facilities, which aim to solve the technical problems. In order to solve the technical problems, the invention provides an intelligent detection system for road surface sealing facilities, which comprises field detection equipment and a cloud analysis system, The field detection equipment comprises a horizontally rotatable cradle head, a laser radar, an optical camera and a control module, The laser radar is arranged on the holder, the optical camera is fixed above the laser radar, the laser radar and the optical camera are coaxially arranged, the field of view is consistent, and point cloud data and image data are respectively acquired; the control module is used for receiving an instruction of the cloud analysis system, driving the cradle head to rotate, controlling the laser radar and the optical camera to synchronously work, and caching and uploading data to the cloud analysis system; the cloud analysis system comprises a joint calibration module, a target detection module, a point cloud processing module, a gateway facility element extraction module and a monitoring and early warning module, The combined calibration module is used for establishing a conversion relation between a camera coordinate system and a radar coordinate system, and generating and storing a calibration file; The target detection module adopts a target detection model to identify a channel sealing element in the image data and outputs a boundary frame coordinate, a target class and a confidence coefficient; The point cloud processing module performs rotation transformation, splicing and optimization processing on a plurality of groups of point cloud data according to a preset rotation angle; The system comprises a sealing facility element extraction module, a laser radar coordinate system acquisition module, a sealing facility element extraction module, a clustering module and a sealing facility element extraction module, wherein the sealing facility element extraction module converts a boundary frame of an image into three-dimensional space parameters under the laser radar coordinate system, generates a three-dimensional bounding box, clusters point clouds in the three-dimensional bounding box, and calculates a clustering centroid coordinate as a space positioning coordinate of the sealing facility; The monitoring and early warning module is used for presetting a facility placement distance threshold value, comparing real-time coordinate data to judge rule violations and give an alarm, tracking the moving track of engineering vehicles, operators and facilities, defining a safety area by cone coordinates, triggering an alarm for the approach of the operators or the intrusion of the vehicles into a scene and pushing early warning information. Preferably, the field detection equipment further comprises a power supply module, wherein the power supply module comprises a detachable battery pack and a power management chip and is used for supplying power to each component of the field detection equipment. Preferably, the field detection device further comprises an ext