基于机器视觉的路面坑槽喷补路径规划技术研究  

Study on the Path Planning Technology of Pavement Pothole Spray Repair Based on Machine Vision

作　　者：李超帆 王朋辉[1] LI Chaofan;WANG Penghui(National Engineering Laboratory for Highway Maintenance Equipment,Chang′an University,Xi'an 710064,China)

机构地区：[1]长安大学公路养护装备国家工程实验室,西安710064

出　　处：《交通科技》2022年第6期11-15,共5页Transportation Science & Technology

基　　金：陕西省自然科学基础研究计划一般项目-青年项目(2021JQ264、2021JQ282);长安大学中央高校基本科研业务费专项资金(300102251104)资助。

摘　　要：为实现路面坑槽喷补的自动化作业,文中提出基于机器视觉的喷补路径规划方法,主要包含喷补前处理和喷补路径规划两方面。喷补前处理包括基于差值最小化的调平修补平台方法和基于最大值查找的坑槽定位及路面深度计算方法,喷补路径规划包括基于双漫水填充的待修补切片查找方法和基于轮廓引导的往返直线修补路径规划方法。实验结果表明,文中所提方法对于凸集形和凹集形坑槽具有通用性,可以均匀地将喷补路径布置于待修补切片内,并取得良好的修补平整度。In order to automate the operation process of pothole spray repair,a machine vision-based spray repair path planning method,which mainly includes two aspects,i.e.the pretreatment before spray repair and the spray repair path planning,is proposed.Pretreatment includes repair platform leveling method based on difference minimization,and pothole locating and pavement depth calculating method based on the maximum value searching.Spray repair path planning includes slice acquisition based on the proposed double flood filling method,and the repair path planning based on the proposed contour-guided Zigzag path planning method.The experiment results show that the proposed method is applicable to both convex and concave-shaped potholes,and can evenly arrange the spray repair path within the slice that to be repaired with good repair flatness.

关 键 词：路面养护 坑槽喷补 喷补路径规划 机器视觉 

分 类 号：U418.62[交通运输工程—道路与铁道工程] TP29[自动化与计算机技术—检测技术与自动化装置]