CN101487220A - Fast automatic measurement method for road structural parameter and its implementing apparatus - Google Patents
Fast automatic measurement method for road structural parameter and its implementing apparatus Download PDFInfo
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- CN101487220A CN101487220A CNA2008100192557A CN200810019255A CN101487220A CN 101487220 A CN101487220 A CN 101487220A CN A2008100192557 A CNA2008100192557 A CN A2008100192557A CN 200810019255 A CN200810019255 A CN 200810019255A CN 101487220 A CN101487220 A CN 101487220A
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Abstract
The invention discloses a method for automatically and quickly measuring the road structure parameters and a device for realizing the method thereof. A movable platform is provided with a vehicle attitude measuring device which is used for measuring the attitude parameters of the vehicle running on the road surface in real time; and a data processing system processes the attitude data and outputs the road structure parameters. The measuring device comprises a detection vehicle body, an attitude angle detector, a data processing system, a display device and a vehicle positioner; and the data processing system is respectively connected with the attitude angle detector, the display device and the vehicle positioner. The method can promptly discover the road sections where the geometrical parameters of the road surface do not meet the design specifications or design drawings and the harms generated by abnormal change of the road appearance such as settlement of local road section, improper cross slope of the road surface due to deformation of the subgrade, can use the computer to compare the data of all sections with the design value, and automatically screens out the non-conforming items so as to find the unqualified road sections, thus realizing the quick and automatic measurement on the road structure parameters.
Description
One, technical field
The present invention relates to the road survey technology, particularly a kind of fast automatic measurement method for road structural parameter and implement device thereof.
Two, background technology
Some structural parameters of road are as bend horizontal wall inscription radius, horizontal wall inscription angle of slope and vertical sweep etc., all very necessary for highway construction examination and regular maintenance, management.The routine acquisition mode of these parameters is calculated then for total powerstation and scale point-to-point measurement elevation.But in engineering reality, surveying work is not only loaded down with trivial details but also difficult, and often precision is not high.
Along with computer technology, photoelectric technology, high-acruracy survey development of technology, there is being very big development in China aspect the road parameters measurement.As by Wuhan University, " based on the mobile road survey of the LD2000 series system of 3S integrated technology " of unit consolidations such as Wuhan Li De company exploitation, it is to assemble GPS (global positioning system) on motor vehicle, CCD (video system), sensor and equipment that INS (inertial navigation system) or dead reckoning system etc. are advanced, among the high speed of vehicle is advanced, gather the spatial position data and the attribute data of road and road both sides atural object fast, as: road axis or sideline position coordinates, the position coordinates of target atural object, road (track) is wide, bridge (tunnel) height, traffic sign, road equipment etc.Data sync storage is handled through post editing in carried-on-vehicle computer system, forms various useful thematic data achievements, as map of navigation electronic etc.In addition, N-1 type express highway intelligent inspection vehicle and subsequent product by Institutes Of Technology Of Nanjing takes the lead in succeeding in developing at home utilize video camera, laser sensor etc. can write down and detect pavement disease, as all kinds of breakages, planeness and rut etc.
In addition, Canadian University of Calgary has designed a kind of dynamic positioning system, and this system comprises a Strapdown Inertial System, and two GPS receivers and a microcomputer can be measured the linear parameter that has road, are the road management system service.The U.S. has developed the control of traffic and road system that is applied to the city, this system utilizes GPS and GIS to set up transportation database, the data information that in database, includes various now, as the accurate position of road, pavement behavior, along road facility etc., this system is in the nineteen ninety-five commencement of commercial operation, for urban traffic management plays an important role.
But worldwide, present change detection system fast and automatically to road self structure parameter yet there are no open report.
Three, summary of the invention
The object of the present invention is to provide a kind of can be under the situation of blocked road not, to each track carry out rapidly, continuously, automatic structure parameter measurement, the detection of part disease etc., fundamentally improve the detectability of above-mentioned parameter, the fast automatic measurement method for road structural parameter and the implement device thereof of quick effective information is provided for road management, maintenance etc.
The technical solution that realizes the object of the invention is: 1, a kind of fast automatic measurement method for road structural parameter the steps include:
1 is provided with the vehicle attitude measurement mechanism on mobile platform;
2 drive the measurement car travels on the highway pavement, and the attitude parameter of measuring vehicle comprises orientation, roll, pitching and locating information in real time;
3 data handling systems are handled attitude data and are derived road structural parameter, comprise bend horizontal wall inscription radius, the vertical sweep of road, horizontal wall inscription angle of slope and jump car and local road settlement disease.
Described fast automatic measurement method for road structural parameter, its bend horizontal wall inscription radius be according to central angle, central angle right arc and the geometrical relationship between radius calculate.
Described fast automatic measurement method for road structural parameter, the vertical sweep of its road be according to central angle, central angle right arc and the geometrical relationship between radius calculate.
Described fast automatic measurement method for road structural parameter, it jumps car and local road settlement disease is to determine according to the flex point of shake by a small margin of pitching data.
A kind of road structural parameter fast automatic measurement device, comprise the detection car body, it is characterized in that it also comprises attitude angle detector, data handling system, display unit, vehicle location instrument, data handling system is connected with attitude angle detector, display unit, vehicle location instrument respectively, and attitude angle detector, data handling system, display unit, vehicle location instrument are all in detecting car body.
The vehicle attitude angle detector of described road structural parameter fast automatic measurement device adopts optical fibre gyro, laser gyro, photogoniometer, liquid level angular instrument.
Principle of the present invention is: detect car body (or vehicle), vehicle attitude angle detector, vehicle location instrument, data handling system and display unit formation by moving, wherein data handling system is made up of computer and handling procedure, vehicle attitude angle detector is installed in and moves the centre of form place of detecting car body, and azimuth, the angle of pitch and the roll angle of car body is provided to computer in real time; The vehicle location instrument provides mileages of transport route information to computer real-time; The computer processing record storage information that obtains, and calculate road structural parameter as required; Display unit shows each survey data in real time; Utilize car body attitude angle data computation road structural parameter, indulge sweep etc. as bend horizontal wall inscription radius, horizontal wall inscription angle of slope and highway.
The present invention compared with prior art, its remarkable advantage is:
1, vehicle is run at high speed on speedway in the process, the centrifugal meeting that produces during curvilinear motion is very big. inappropriate route radius, road surface horizontal wall inscription and road surface jumpy longitudinal gradient, particularly under the harsh climate condition, all may make vehicle out of hand and produce serious accident.
2, use this device can find in time that the geometric parameter on road surface does not meet the location of design specifications or design drawing, the disease that produces as road profile irregular change such as the sedimentation in bumping at bridge-head, local highway section, road surface horizontal wall inscription that subgrade deformation causes are improper.Available computers is with the data and the design load contrast of each section simultaneously, and Automatic sieve is selected Non-Compliance to reach the purpose of finding out defective highway section.Also can be applicable to the final acceptance of construction work of road, as using this systematic collection data when the final acceptance of construction, then just more effective and convenient to the monitoring of later road profile variation.
Four description of drawings
Fig. 1 is the formation schematic diagram of road structural parameter fast automatic measurement device of the present invention.
Fig. 2 is the flow chart of data processing figure of road structural parameter fast automatic measurement device of the present invention.
Fig. 3 is that the bend horizontal wall inscription radius of road structural parameter fast automatic measurement device of the present invention is calculated schematic diagram.
Fig. 4 is that the vertical sweep of road structural parameter fast automatic measurement device of the present invention is calculated schematic diagram.
Five, the specific embodiment
Describe the details and the working condition of the concrete device that proposes according to the present invention in detail below in conjunction with accompanying drawing.
In conjunction with Fig. 1,1 for detecting car body; 2 is vehicle attitude angle detector; 3 is data handling system; 4 is display unit; 5 are the vehicle location instrument.Vehicle attitude angle detector 2, data handling system 3, display unit 4, vehicle location instrument 5 all are installed in to be measured in the car body 1.Wherein, vehicle attitude angle detector can be selected various forms of sensors such as optical fibre gyro, laser gyro, photogoniometer, liquid level angular instrument etc.; Data handling system is made up of computer and handling procedure.
In conjunction with Fig. 2, at first, road structural parameter fast automatic measurement device is travelled on the highway pavement with measuring car body, real-time image data, the data that provided by vehicle attitude angle detector 2 and vehicle location instrument 5 are provided data handling system 3, handle parameters such as obtaining bend horizontal wall inscription radius, horizontal wall inscription angle of slope, vertical sweep and road hole groove then.Offering display unit 4 at last shows.Wherein, vehicle attitude angle detector 2 can provide data such as orientation, roll, pitching.
In conjunction with Fig. 3, A, B are two data collection points of L of being separated by on the highway, and L is provided by the vehicle location instrument, and the azimuth is respectively α and β, and α and β are provided by vehicle attitude angle detector, then the horizontal wall inscription radius
In conjunction with Fig. 4, two collection points of the L of being separated by on the vertical curve of highway, L is provided by the vehicle location instrument, and they are A and B with tangent tangent line and the horizontal angle of circle respectively, and A and B are provided by vehicle attitude angle detector, then vertical sweep R=180L/ (π * (B-A)).In addition, can extrapolate pavement deformation according to the flex point that angle occurs, for example bridge expanssion joint, mend by replacing a damaged part and change the Uneven road that causes after filling out etc.
The angle of slope, road surface at place, collection point can directly be provided by vehicle attitude angle detector.
The treatment system deal with data is based on the continuous acquisition data, promptly every the set time image data once, calculates relevant parameter simultaneously, reduces measure error through means such as filtering matches again.
Claims (6)
1, a kind of fast automatic measurement method for road structural parameter the steps include:
1.1 the vehicle attitude measurement mechanism is set on mobile platform;
Travel on the highway pavement 1.2 drive the measurement car, the attitude parameter of measuring vehicle comprises orientation, roll, pitching and locating information in real time;
1.3 data handling system is handled attitude data and is derived road structural parameter, comprises bend horizontal wall inscription radius, the vertical sweep of road, horizontal wall inscription angle of slope and jumps car and local road settlement disease.
2, fast automatic measurement method for road structural parameter according to claim 1, it is characterized in that bend horizontal wall inscription radius be according to central angle, central angle right arc and the geometrical relationship between radius calculate.
3, fast automatic measurement method for road structural parameter according to claim 1, it is characterized in that the vertical sweep of road be according to central angle, central angle right arc and the geometrical relationship between radius calculate.
4, fast automatic measurement method for road structural parameter according to claim 1, it is characterized in that jumping car and local road settlement disease is to determine according to the flex point of shake by a small margin of pitching data.
5, a kind of road structural parameter fast automatic measurement device, comprise and detect car body [1], it is characterized in that it also comprises attitude angle detector [2], data handling system [3], display unit [4], vehicle location instrument [5], data handling system [3] is connected with attitude angle detector [2], display unit [4], vehicle location instrument [5] respectively, and attitude angle detector [2], data handling system [3], display unit [4], vehicle location instrument [5] are all in detecting car body [1].
6, road structural parameter fast automatic measurement device according to claim 5 is characterized in that: vehicle attitude angle detector [2] adopts optical fibre gyro, laser gyro, photogoniometer, liquid level angular instrument.
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| CNA2008100192557A CN101487220A (en) | 2008-01-18 | 2008-01-18 | Fast automatic measurement method for road structural parameter and its implementing apparatus |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252659A (en) * | 2011-06-10 | 2011-11-23 | 中国汽车工程研究院股份有限公司 | Car-mounted road surface gradient measuring method based on laser sensor |
| CN107677268A (en) * | 2017-09-30 | 2018-02-09 | 福建农林大学 | Vehicle-mounted road geometric linear information self-operated measuring unit and method |
| CN108229803A (en) * | 2017-12-25 | 2018-06-29 | 中公高科养护科技股份有限公司 | A kind of extracting method in feature section, the judgment method of Dangerous Area and system |
| CN110274582A (en) * | 2019-06-11 | 2019-09-24 | 长安大学 | A kind of road curve recognition methods |
| CN111347831A (en) * | 2020-03-13 | 2020-06-30 | 北京百度网讯科技有限公司 | Vehicle running stability control method, device, equipment and storage medium |
| CN112525149A (en) * | 2020-11-26 | 2021-03-19 | 广东星舆科技有限公司 | Method and device for monitoring pavement settlement and computer readable medium |
-
2008
- 2008-01-18 CN CNA2008100192557A patent/CN101487220A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102252659A (en) * | 2011-06-10 | 2011-11-23 | 中国汽车工程研究院股份有限公司 | Car-mounted road surface gradient measuring method based on laser sensor |
| CN102252659B (en) * | 2011-06-10 | 2013-03-27 | 中国汽车工程研究院股份有限公司 | Car-mounted road surface gradient measuring method based on laser sensor |
| CN107677268A (en) * | 2017-09-30 | 2018-02-09 | 福建农林大学 | Vehicle-mounted road geometric linear information self-operated measuring unit and method |
| CN107677268B (en) * | 2017-09-30 | 2020-11-06 | 福建农林大学 | Vehicle-mounted road geometric linear information automatic measuring device and method |
| CN108229803A (en) * | 2017-12-25 | 2018-06-29 | 中公高科养护科技股份有限公司 | A kind of extracting method in feature section, the judgment method of Dangerous Area and system |
| CN108229803B (en) * | 2017-12-25 | 2021-04-09 | 中公高科养护科技股份有限公司 | Feature road section extraction method and dangerous road section judgment method and system |
| CN110274582A (en) * | 2019-06-11 | 2019-09-24 | 长安大学 | A kind of road curve recognition methods |
| CN110274582B (en) * | 2019-06-11 | 2021-04-09 | 长安大学 | Road curve identification method |
| CN111347831A (en) * | 2020-03-13 | 2020-06-30 | 北京百度网讯科技有限公司 | Vehicle running stability control method, device, equipment and storage medium |
| CN112525149A (en) * | 2020-11-26 | 2021-03-19 | 广东星舆科技有限公司 | Method and device for monitoring pavement settlement and computer readable medium |
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Open date: 20090722 |