Mining area pavement flatness detection method and device, storage medium and equipment

The invention discloses a mining area pavement flatness detection method and device, a storage medium and equipment. The method comprises the following steps: constructing a grid elevation map comprising a plurality of grids with preset sizes based on a target detection area of a laser radar; mapping points in the point cloud data collected by the laser radar to the corresponding grids, and obtaining an elevation value and a variance value of each point; traversing elevation values and variance values of all points in a single grid, and calculating the elevation value and the variance value of the single grid; and determining upper and lower boundaries of point cloud elevation value distribution in the single grid according to the elevation value and the variance value of the single grid, and determining the flatness of the single grid according to the upper and lower boundaries. According to the method, the detection precision and the detection speed of the pavement flatness can be improved. 本发明公开了一种矿区路面平整度的