CN104929024A - Road surface evenness detector and road surface evenness measuring method - Google Patents
Road surface evenness detector and road surface evenness measuring method Download PDFInfo
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- CN104929024A CN104929024A CN201510329118.3A CN201510329118A CN104929024A CN 104929024 A CN104929024 A CN 104929024A CN 201510329118 A CN201510329118 A CN 201510329118A CN 104929024 A CN104929024 A CN 104929024A
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Abstract
The invention provides a road surface evenness detector and a road surface evenness measuring method. The road surface evenness detector comprises a two-axis acceleration sensor, a laser distance measuring sensor, a mileage counting sensor, a gyroscope and a processor. The two-axis acceleration sensor is used for measuring the first acceleration in the direction perpendicular to the road surface evenness detector and the second acceleration in the direction parallel to the road surface evenness detector. The laser distance measuring sensor is used for measuring the distance between the road surface evenness detector and a road surface to be detected. The mileage counting sensor is used for measuring the horizontal displacement of the road surface evenness detector. The gyroscope is used for measuring the real-time rotation angle between the road surface evenness detector and the horizontal road surface. The processor is used for processing the measuring values and obtaining the road surface evenness of the road surface to be detected. According to the technical scheme, errors caused by rotational motion of a chassis of a detected vehicle are avoided, and the precision of the road surface evenness detector is improved.
Description
Technical field
The present invention relates to measuring flatness of road surface technology, particularly relate to a kind of surface evenness detector and measuring flatness of road surface method.
Background technology
Surface evenness (Road Surface Roughness) refers to the deviate of the longitudinal concavo-convex amount of road surfaces, it is one of important technology index of evaluation pavement quality, it is related to size and the application life that the safe, comfortable of driving and road surface can bear impact force, irregular road surfaces can increase car resistance, vehicle is made to produce additional effect of vibration, not only affect speed and the safety of driving, but also the level of comfort of the steady of driving and passenger can be affected.Therefore, necessary road pavement planeness is carried out testing and is kept certain planeness.
At present, mainly measure by conventional pav instrument road pavement planeness, conventional pav instrument comprises: single-axis acceleration sensors, laser range sensor and mileage sensor for countering.When utilizing conventional pav instrument to measure, suppose that automobile chassis only moves upward in the side perpendicular to ground, concrete measuring method is: utilize the single-axis acceleration sensors of conventional pav instrument to measure perpendicular to the normal acceleration on direction, ground, normal acceleration deducts static acceleration of gravity, obtain the acceleration of conventional pav instrument vibration, secondary dual-integration is carried out to the acceleration of conventional pav instrument vibration, obtain the displacement of conventional pav instrument vibration, laser range sensor is utilized to measure the distance on conventional pav instrument and road surface to be tested, mileage sensor for countering is utilized to measure the horizontal movement of conventional pav instrument, the distance on conventional pav instrument and road surface to be tested is deducted with the displacement of conventional pav instrument vibration, what obtain is exactly the planeness information on road surface to be tested within the scope of the horizontal movement of conventional pav instrument.
Due to utilize conventional pav instrument measure surface evenness hypothesis automobile chassis only in vertical direction motion carry out, but in fact automobile chassis vibration is not merely the process of a vertical vibration, also with rotary motion, therefore, when utilizing conventional pav instrument to measure surface evenness precision, certainty of measurement is subject to the impact of automobile chassis rotary motion, and precision is low.
Summary of the invention
The invention provides a kind of surface evenness detector and measuring flatness of road surface method, the error that the rotary motion of testing vehicle chassis causes can be overcome, improve the precision of surface evenness detector.
A kind of surface evenness detector provided by the invention, comprising: two axle acceleration sensors, laser range sensor, mileage sensor for countering, gyroscope and processor;
Described two axle acceleration sensors, measure described surface evenness detector perpendicular to the first acceleration a_measured on described surface evenness detector direction when in t
y(t) and be parallel to the second acceleration a_measured on described surface evenness detector direction
x(t);
Described laser range sensor, for measuring the distance h (t) of described surface evenness detector when t and between road surface to be tested;
Described mileage sensor for countering, for measuring the horizontal displacement s of described surface evenness detector when t
x(t);
Described gyroscope, for measuring the anglec of rotation θ (t) of described surface evenness detector when t and between level road;
Described processor, for according to described first acceleration a_measured
y(t), described second acceleration a_measured
xt (), described anglec of rotation θ (t) and gravity acceleration g, calculate the vibration acceleration a of in the vertical direction during described surface evenness detector t
yt (), also for according to described vibration acceleration a
y(t), the displacement s of in the vertical direction vibration when calculating described surface evenness detector t
y(t), the displacement s also for vibrating according to the distance h (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction
yt (), obtains described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
y(t).
Present invention also offers a kind of measuring flatness of road surface method, use surface evenness detector to measure surface evenness, wherein, described surface evenness detector is fixedly mounted on testing vehicle, it is characterized in that, described measuring flatness of road surface method, comprising:
When t, measure described surface evenness detector perpendicular to the first acceleration a_measured on described surface evenness detector direction
y(t) and be parallel to the second acceleration a_measured on described surface evenness detector direction
x(t);
Measure the distance h (t) of described surface evenness detector when t and between road surface to be tested;
Measure the displacement of described surface evenness detector movement on described road surface to be tested, obtain the horizontal displacement s of described surface evenness detector during t
x(t);
Measure the anglec of rotation θ (t) of described surface evenness detector when t and between level road;
According to described first acceleration a_measured
y(t), described second acceleration a_measured
xt (), described anglec of rotation θ (t) and gravity acceleration g, calculate the vibration acceleration a of in the vertical direction during described surface evenness detector t
y(t);
According to described vibration acceleration a
y(t), the displacement s of in the vertical direction vibration when calculating described surface evenness detector t
y(t);
According to the displacement s that the distance h (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction vibrate
yt (), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
y(t).
Surface evenness detector provided by the invention and measuring flatness of road surface method, surface evenness detectors are measured perpendicular to the first acceleration on surface evenness detector direction be parallel to the second acceleration on described surface evenness detector direction by utilizing two axle acceleration sensors, utilize the distance between laser range sensor measurement surface evenness detector and road surface to be tested, mileage is utilized to count the horizontal displacement of sensor measurement surface evenness detector, utilize the anglec of rotation between gyroscope survey surface evenness detector and level road and utilize processor to above-mentioned first acceleration, second acceleration, distance processes, the Measurement accuracy surface evenness on road surface to be tested, calibrate the error because the rotary motion of testing vehicle chassis brings, improve the certainty of measurement of surface evenness detector.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of surface evenness detector embodiment one of the present invention;
Fig. 2 is the schematic diagram of the detector of surface evenness shown in Fig. 1 measured value;
Fig. 3 is the structural representation of surface evenness detector embodiment two of the present invention;
Fig. 4 is the structural representation of means for correcting in surface evenness detector described in Fig. 3;
Fig. 5 is the flow chart of measuring flatness of road surface embodiment of the method one of the present invention;
Fig. 6 is the flow chart of measuring flatness of road surface embodiment of the method two of the present invention.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Surface evenness (Road Surface Roughness) refers to the deviate of the longitudinal concavo-convex amount of road surfaces, and it is one of important technology index of evaluation pavement quality, the planarization of main reflection vertical section of road surface section curve.When vertical section of road surface section curve relative smooth, represent road surface opposed flattened, or planeness is relatively good, otherwise then represents planeness relative mistake.
Because surface evenness is directly connected to the impact force size that traffic safety, level of comfort and road surface can bear, so, the poor road surface of planeness can increase car resistance, vehicle is made to produce additional effect of vibration, this effect of vibration can cause vehicle pitching, not only have impact on speed and the safety of driving, but also have impact on the level of comfort of the steady of driving and passenger.Further, additional effect of vibration also road pavement can apply impact force, thus aggravation road surface and the damage of vehicle and the wearing and tearing of vehicle tyre, and increase the consumption of oil plant.Therefore, in order to reduce vibratory impulse power, improve the comfortableness of road speed and enhancement driving, safety, road surface should keep certain planeness.
Present stage, traditional road surface instrument can complete the detection of surface evenness.Concrete, conventional pav instrument comprises: single-axis acceleration sensors, laser range sensor and mileage sensor for countering.When utilizing conventional pav instrument to measure, only that automobile chassis carries out under the hypothesis moved upward perpendicular to ground side, be specially: first, the single-axis acceleration sensors of conventional pav instrument is utilized to measure perpendicular to the normal acceleration on direction, ground, normal acceleration deducts static acceleration of gravity, obtain the acceleration of conventional pav instrument vibration, the process of secondary dual-integration is carried out to it, obtain the displacement of conventional pav instrument vibration; Secondly, utilize laser range sensor to measure the distance on conventional pav instrument and road surface to be tested, utilize mileage sensor for countering to measure the horizontal movement of conventional pav instrument; Finally, deduct the distance on conventional pav instrument and road surface to be tested with the displacement of conventional pav instrument vibration, what obtain is exactly the planeness information on road surface to be tested within the scope of the horizontal movement of conventional pav instrument.
If the chassis of testing vehicle only moves upward in the side perpendicular to ground, utilize above-mentioned conventional pav instrument can measure the planeness information on road surface to be tested accurately, but, in fact the chassis vibration of testing vehicle is not merely the process of a vertical vibration, it is also with certain rotary motion, therefore, the certainty of measurement of conventional pav instrument is subject to the impact of testing vehicle chassis rotary motion, and precision is low.
For the problem that above-mentioned conventional pav instrument certainty of measurement is low, the present invention proposes a kind of surface evenness detector and measuring flatness of road surface method, the error that the rotary motion of testing vehicle chassis causes can be solved, improve the precision of surface evenness detector.
Fig. 1 is the structural representation of surface evenness detector embodiment one of the present invention.Fig. 2 is the schematic diagram of the detector of surface evenness shown in Fig. 1 measured value.As shown in Figure 1, the surface evenness detector that the embodiment of the present invention one provides, comprising: two axle acceleration sensors 11, laser range sensor 12, mileage sensor for countering 13, gyroscope 14 and processor 15.
Two axle acceleration sensors 11, measure surface evenness detector perpendicular to the first acceleration a_measured on this surface evenness detector direction when in t
y(t) and be parallel to the second acceleration a_measured on this surface evenness detector direction
x(t);
Concrete, surface evenness detector is used to measure the acceleration of testing vehicle vertical direction in the process of moving, in fact, utilize two axle acceleration sensors 11 to measure surface evenness detector perpendicular on this surface evenness detector direction and be parallel to acceleration on this surface evenness detector direction, because this surface evenness detector is fixedly mounted on testing vehicle, such as, testing vehicle chassis etc., therefore, no matter testing vehicle does any motion, the surface evenness detector be fixedly mounted on testing vehicle chassis accurately can reflect testing vehicle on road surface to be tested in driving process, perpendicular to the Vibration Condition on direction, ground, also be, the planeness information on road surface to be tested can be reflected.
What deserves to be explained is, surface evenness tester can be fixedly mounted on the optional position of testing vehicle, as long as testing vehicle in the process of moving, surface evenness detector does not do relative motion with testing vehicle, and accurately can reflect the actual motion situation of testing vehicle, the embodiment of the present invention is described on surface evenness detector fixed installation testing vehicle chassis, but not as limit.
As can be seen from Figure 2, in t, utilize two axle acceleration sensors 11 can accurately measure surface evenness detector perpendicular to the first acceleration a_measured on this surface evenness detector direction
y(t) and be parallel to the second acceleration a_measured on surface evenness detector direction
x(t).
Laser range sensor 12, for measuring the distance h (t) of this surface evenness detector when t and between road surface to be tested;
Concrete, laser range sensor 12 is specially scanning type laser sensor, can be arranged on the chassis of testing vehicle, testing vehicle, in the process travelled, utilizes laser range sensor 12 can measure distance between this surface evenness detector and road surface to be tested.For example, when t, the distance between this surface evenness detector and road surface to be tested is h (t).
Mileage sensor for countering 13, for measuring the horizontal displacement s of this surface evenness detector when t
x(t);
Mileage sensor for countering 13 is arranged on the axletree of car floor, for recording the displacement of this surface evenness detector movement on road surface to be tested, also be, for recording the horizontal displacement that testing vehicle travels on this test road surface, when t, the horizontal displacement of this surface evenness detector that mileage sensor for countering 13 is measured is s
x(t).
Gyroscope 14, for measuring the anglec of rotation θ (t) of this surface evenness detector when t and between level road;
Due to testing vehicle travel on road surface to be tested time, the chassis vibration of testing vehicle is not merely a vertical vibration process, it also can bring certain rotary motion into, also be, in a certain moment that testing vehicle travels, certain anglec of rotation may be there is between surface evenness detector and level road, the angle rotated as this is specially how many, gyroscope 14 is utilized to measure, concrete, as can be seen from Figure 2, in t, the anglec of rotation between surface evenness detector and level road is θ (t), also be, the anglec of rotation on testing vehicle chassis is θ (t).
Processor 15, for according to above-mentioned first acceleration a_measured
y(t), the second acceleration a_measured
xt (), anglec of rotation θ (t) and gravity acceleration g, calculate the vibration acceleration a of in the vertical direction during this surface evenness detector t
yt (), also for according to this vibration acceleration a
y(t), the displacement s of in the vertical direction vibration when calculating this surface evenness detector t
y(t), the displacement s also for vibrating according to height h (t) between this surface evenness detector and road surface to be tested and surface evenness detector in the vertical direction
yt (), obtains at horizontal displacement s
xthe surface evenness w on road surface to be tested in (t) scope
y(t).
Concrete, in t, processor 15, first according to the first acceleration a_measured that two axle acceleration sensors 11 are measured
y(t), the second acceleration a_measured
xt (), the anglec of rotation θ (t) that gyroscope 14 is measured and known gravity acceleration g, calculate the vibration acceleration a of this surface evenness detector in the vertical direction
y(t); Secondly, processor 15 is according to the above-mentioned vibration acceleration a calculated
yt (), by this vibration acceleration a
yt () carries out secondary dual-integration arithmetic operation, can obtain the displacement s of surface evenness detector in the vertical direction vibration when t accordingly
y(t); Finally, the distance h (t) between the surface evenness detector that processor 15 is measured according to laser range sensor 12 and road surface to be tested, and the displacement s of above-mentioned surface evenness detector in the vertical direction vibration
yt (), just can calculate at this horizontal displacement s
xthe surface evenness w on this road surface to be tested in (t) scope
y(t) situation.
What deserves to be explained is, the displacement s in the embodiment of the present invention
yt () obtains under being the supposed situation of 0 at its initial velocity of surface evenness detector, initial displacement.In an embodiment of the present invention, two axle acceleration sensors 11 and gyroscope 14 are chip paster shapes, and it can be directly installed on the vertical pcb board placed, and laser range sensor 12 is scanning type laser rangefinder specifically.Optionally, by laser range sensor 12 with two axle acceleration sensors 11 are installed, the pcb board of gyroscope 14 is fixedly installed in same flight data recorder, this flight data recorder is fixed on testing vehicle chassis.When testing vehicle chassis rotates, this flight data recorder is also doing same rotary motion.
The surface evenness detector that the embodiment of the present invention provides, surface evenness detectors are measured perpendicular and parallel to the first acceleration on surface evenness detector direction and the second acceleration by utilizing two axle acceleration sensors, utilize the distance between laser range sensor measurement surface evenness detector and road surface to be tested, mileage is utilized to count the horizontal displacement of sensor measurement surface evenness detector, utilize the anglec of rotation between gyroscope survey surface evenness detector and level road and utilize processor to above-mentioned first acceleration, second acceleration, distance processes, the surface evenness on road surface to be tested accurately can be obtained, calibrate the error because the rotary motion of testing vehicle chassis brings, improve the certainty of measurement of surface evenness detector.
Further, in the above-described embodiments, processor 15, specifically for according to formula a
y(t)=a_measured
x(t) sin θ+a_measured
yt () cos θ-g, obtains the vibration acceleration a of surface evenness detector in the vertical direction when t
yt (), specifically for vibration acceleration a
yt () carries out the computing of secondary dual-integration, the displacement s of in the vertical direction vibration when obtaining this surface evenness detector t
y(t).
Processor 15, also specifically for according to formula w
y(t)=s
yt ()-h (t), obtains surface evenness detector at horizontal displacement s
xthe surface evenness w on the road surface to be tested in (t) scope
y(t).
Fig. 3 is the structural representation of surface evenness detector embodiment two of the present invention.The embodiment of the present invention two is the expansions to embodiment one technical scheme on the basis of above-described embodiment one, both unlike, the surface evenness detector that the present embodiment two provides, also comprises: means for correcting 17.
Means for correcting 17, for according to the distance h (t) between surface evenness detector and road surface to be tested, obtains the vertical distance H (t) between this surface evenness detector and road surface to be tested.
What deserves to be explained is, the direction of this vertical distance is identical with the direction of acceleration of gravity.
Concrete, when the automobile chassis anglec of rotation is θ (t), surface evenness detector is also corresponding has anglec of rotation θ (t), now, it is no longer the value of vertical direction that laser range sensor 12 measures what obtain, and be perpendicular to surface evenness detector and with vertical direction, there is the slant range of θ (t) angle, therefore, the distance between surface evenness detector with road surface to be tested is inaccurate can cause measure error equally.
In addition, because laser range sensor 12 is arranged on about apart from road surface to be tested 12 feet, the namely height of 30 cm, when the anglec of rotation of automobile chassis is 1 degree, the horizontal amplitude of oscillation is about 1 millimeter, and when the anglec of rotation is 5 degree, the horizontal amplitude of oscillation is 25 millimeters.But the measurement prerequisite of measuring flatness of road surface method is the sampling interval is 20 millimeters, that is, when the anglec of rotation of automobile chassis is more than more than 5 degree, the point of measurement just exceedes sample range corresponding to this position.
Therefore, for the problems referred to above, the embodiment of the present invention utilizes means for correcting 17 to carry out correction process to the surface evenness detector recorded apart from the distance h (t) on road surface to be tested, obtains the vertical distance H (t) of surface evenness detector apart from road surface to be tested accordingly.
Fig. 4 is the structural representation of means for correcting in surface evenness detector described in Fig. 3.As shown in Figure 4, means for correcting 17 in the embodiment of the present invention two, comprise: light source 171, movable double mirror 172, first stationary mirror 173, second stationary mirror 174, lens 175, position sensitive detector (PositionSensitive Device is called for short PSD) 176.Light source 171, movable double mirror 172, lens 175 and position sensitive detector PSD 176 set gradually.First stationary mirror 173 and the second stationary mirror 174 are symmetricly set on the both sides of movable double mirror 172, and movable double mirror 172 is connected with processor 15, for rotating in the angular range preset under the control of processor 15.
Concrete bearing calibration is:
First: utilize light source 171 to launch incident light to the first surface of movable double mirror 172; The first surface of movable double mirror 172 by reflected incident light to the first stationary mirror 173, the first stationary mirror 173 by reflected incident light to road surface;
Secondly: the second stationary mirror 174 receives the light of road reflection, and the light of road reflection is reflexed on second of movable double mirror 172, the light of road reflection is reflexed to lens 175 by second of movable double mirror 172, the light of road reflection is pooled hot spot by lens 175, and transmission is on position sensitive detector PSD 176;
Last: the mapping relations utilizing hot spot on position sensitive detector PSD 176 and distance, obtain the vertical distance of surface evenness detector apart from road surface to be tested.Wherein, the direction of this vertical distance is identical with the direction of acceleration of gravity, specifically can be interpreted as: the central point of movable double-surface mirror reflector 172 is to the distance on road surface to be tested.
What in fact measure due to scanning type laser instrument is the distance of movable double-surface mirror reflector 172 center to impact point, wherein, impact point is the point that light beam injection direction gets on target object, and when light beam out of plumb, movable double-surface mirror reflector 172 center is not just vertical distance to the distance of impact point.Such as, if testing vehicle chassis have rotated 3 degree, at this moment light beam injection direction is not just 0 degree, so, the direction of scanning type laser instrument injection should be-3 degree, and in the present invention, the object of means for correcting is exactly to keep the beam orthogonal penetrated in testing vehicle direct of travel.
It should be noted that, on position sensitive detector PSD 176, the position of hot spot and this vertical distance have a mapping relations table.Concrete, when the anglec of rotation is identical, on position sensitive detector PSD, the hot spot of diverse location corresponds to different vertical distances, and when the anglec of rotation is different, on position sensitive detector PSD, the hot spot of same position also can correspond to different vertical distances.
For example, the length 10 of assumed position Sensitive Apparatus PSD is centimetre, when anglec of rotation maintenance 3 degree is constant, hot spot transmission is on position sensitive detector PSD during the 2nd centimeters, corresponding movable double-surface mirror reflector 172 center is 30.6 centimetres to the distance of impact point, now, the vertical distance between surface evenness detector and road surface to be tested is 30.1 centimetres; Hot spot transmission is on position sensitive detector PSD during the 5th centimeters, and corresponding movable double-surface mirror reflector 172 center is 30.2 centimetres to the distance of impact point, and now, the vertical distance between surface evenness detector and road surface to be tested is 30 centimetres etc.; In like manner, when the anglec of rotation is respectively 1 degree or 3 degree, hot spot is transmission the 5th centimeters on position sensitive detector PSD all, now, impact point is positioned on same sphere, and this sphere take movable double-surface mirror reflector 127 center radius as the circle of 30 centimetres, as shown in Figure 4.And usual actual road surface is a horizontal plane, so scanning mirror is swept to the process of 3 degree from 1 degree, and hot spot obviously can not be a fixing position.So the vertical distance between surface evenness detector to road surface to be tested also can correspondingly change.
In order to obtain the precise perpendicularity distance of road surface to be tested and surface evenness detector, the present invention adopts the mode of tabling look-up to realize.When such as the anglec of rotation is 1 degree, hot spot is transmitted to the x1 position of PSD, search the facula position-pavement device distance map table T1 (mapping table T1 is actually a two-dimensional matrix or a mapping function) being arranged at instrument internal, namely can obtain the anglec of rotation be 1 degree and x1 position time, the vertical distance between surface evenness detector and road surface to be tested.In like manner, when the anglec of rotation is 3 degree, hot spot is transmitted to the x3 position of PSD, searches the anglec of rotation and is 3 degree and mapping table T3 corresponding to x3 position, namely can obtain the anglec of rotation be 3 degree and hot spot when x3 position, the vertical distance between surface evenness detector and road surface to be tested.
Foregoing should be mentioned that the mode of operation of scanning type laser instrument.In the rotational correction application of reality, the anglec of rotation on testing vehicle chassis can be recorded by gyroscope, suppose it is 3 degree, and by movable double-surface mirror reflector being reversely rotated the effect that 3 degree of laser beams correcting the transmitting of scanning type laser instrument train off, now, the actual measurement of scanning type laser instrument be-3 when spending, the distance between surface evenness detector and road surface to be tested.So searching-3 facula position-pavement device distance map tables corresponding when spending, can obtain the vertical distance between testing vehicle chassis and road surface to be tested, is also-3 surface evenness detectors when spending and the distance between road surface to be tested.
Therefore, when the anglec of rotation changes, control movable double mirror by processor and turn to corresponding angle, according to the mapping relations between the position of hot spot on the anglec of rotation, position sensitive detector PSD, vertical distance three, the vertical distance between surface evenness detector and road surface to be tested just can be obtained accurately.
Accordingly, processor 15, the displacement s also for vibrating according to the vertical distance H (t) between above-mentioned surface evenness detector and road surface to be tested and surface evenness detector in the vertical direction
yt (), obtains at horizontal displacement s
xthe surface evenness w on road surface to be tested in (t) scope
y(t).
The surface evenness detector that the embodiment of the present invention two provides, correct by utilizing the distance between means for correcting road pavement flatness detector and road surface to be tested, accurately obtain the vertical distance between surface evenness detector and road surface to be tested, for follow-up surface evenness of asking is laid a good foundation, improve the certainty of measurement of surface evenness detector.
Fig. 5 is the flow chart of measuring flatness of road surface embodiment of the method one of the present invention.The measuring flatness of road surface method that the embodiment of the present invention one provides, surface evenness detector is used to measure surface evenness, and, this surface evenness detector is fixedly mounted on testing vehicle, comprise: two axle acceleration sensors, laser range sensor, mileage sensor for countering, gyroscope and processor, therefore, as shown in Figure 5, the measuring flatness of road surface method that the embodiment of the present invention one provides, comprises the following steps:
Step 501: when t, measures surface evenness detector perpendicular to the first acceleration a_measured on this surface evenness detector direction
y(t) and be parallel to the second acceleration a_measured on this surface evenness detector direction
x(t);
Concrete, the measuring flatness of road surface method that the present embodiment provides can perform by surface evenness detector as shown in Figure 1.Specifically, when t, two axle acceleration sensors are utilized to measure surface evenness detectors perpendicular to the first acceleration a_measured on this surface evenness detector direction
y(t) and the second acceleration a_measured be parallel on this surface evenness detector direction
x(t).
What deserves to be explained is, surface evenness tester can be fixedly mounted on the optional position of testing vehicle, as long as testing vehicle in the process of moving, surface evenness detector does not do relative motion with testing vehicle, and accurately can reflect the actual motion situation of testing vehicle, the embodiment of the present invention is by surface evenness detector fixed installation testing vehicle chassis, but not as limit.
Step 502: measure the distance h (t) of this surface evenness detector when t and between road surface to be tested;
Concrete, utilize laser range sensor to measure distance between this surface evenness detector and road surface to be tested, when t, this surface evenness detector that laser range sensor records is h (t) apart from the distance on road surface to be tested.
Step 503: the displacement of measuring the movement on this road surface to be tested of this surface evenness detector, obtains the horizontal displacement s of this surface evenness detector during t
x(t);
Mileage is utilized to count the displacement of this surface evenness detector of sensor record movement on this road surface to be tested, also be, what record is the horizontal displacement that testing vehicle travels on this test road surface, in t, the horizontal displacement of this surface evenness detector that mileage sensor for countering is measured is s
x(t).
Step 504: measure the anglec of rotation θ (t) of surface evenness detector when t and between level road;
Utilize the anglec of rotation that the gyroscope survey testing vehicle chassis of surface evenness detector vibrates, concrete, when t, the anglec of rotation between the surface evenness detector that gyroscope records and level road is θ (t).
Step 505: according to above-mentioned first acceleration a_measured
y(t), the second acceleration a_measured
xt (), anglec of rotation θ (t) and gravity acceleration g, calculate the vibration acceleration a of in the vertical direction during this surface evenness detector t
y(t);
In t, the first acceleration a_measured that processor obtains according to two axle acceleration sensor measurements
y(t), the second acceleration a_measured
xt (), the anglec of rotation θ (t) that gyroscope survey obtains and known gravity acceleration g, can calculate the vibration acceleration a of this surface evenness detector in the vertical direction
y(t).
Step 506: according to above-mentioned vibration acceleration a
y(t), the displacement s of in the vertical direction vibration during calculating surface evenness detector t
y(t);
Concrete, processor is to vibration acceleration a
yt () carries out the computing of secondary dual-integration, can obtain the displacement s of this surface evenness detector in the vertical direction vibration
y(t).What deserves to be explained is, the displacement s in the embodiment of the present invention
yt () obtains under being the supposed situation of 0 at its initial velocity of surface evenness detector, initial displacement.
Step 507: the displacement s vibrated according to the distance h (t) between surface evenness detector and road surface to be tested and surface evenness detector in the vertical direction
yt (), obtains at this horizontal displacement s
xthe surface evenness w on this road surface to be tested in (t) scope
y(t).
The distance h (t) on the surface evenness detector that processor can also be measured according to laser range sensor and road surface to be tested, and processor calculate surface evenness detector in the vertical direction vibration displacement s
yt (), calculates this horizontal displacement s
xthe surface evenness w on this road surface to be tested in (t) scope
y(t) situation.
The measuring flatness of road surface method that the embodiment of the present invention provides, by measuring surface evenness detector perpendicular to the first acceleration on this surface evenness detector direction be parallel to the second acceleration on this surface evenness detector direction, distance between surface evenness detector and road surface to be tested, the horizontal displacement of surface evenness detector and the anglec of rotation between surface evenness detector and level road, the Vibration Condition of band rotary motion surface evenness detector can be accurately measured, calibrate the error because the rotary motion of testing vehicle chassis causes, improve the precision of surface evenness detector.
Further, in above-described embodiment one, step 505, specifically comprises:
In t, according to formula a
y(t)=a_measured
x(t) sin θ+a_measured
yt () cos θ-g, obtains the vibration acceleration a of surface evenness detector in the vertical direction
y(t).
Because there is certain rotary motion on testing vehicle chassis, surface evenness detector also does same rotary motion, therefore, in t, two axle acceleration sensors can measure it respectively perpendicular to the first acceleration a_measured on surface evenness detector direction
y(t) and be parallel to the second acceleration a_measured on this surface evenness detector direction
xt (), gyroscope can measure this anglec of rotation θ (t), and processor is according to above-mentioned first acceleration a_measured
y(t), the second acceleration a_measured
xt () and anglec of rotation θ (t) can obtain the first acceleration a_measured respectively
y(t), the second acceleration a_measured
xt () is perpendicular to the component a_measured on direction, road surface to be tested
y(t) cos θ, a_measured
x(t) sin θ, so, the vibration acceleration a of surface evenness detector in the vertical direction
yt () can by processor according to formula a
y(t)=a_measured
x(t) sin θ+a_measured
yt () cos θ-g obtains, wherein, g is the intrinsic acceleration of gravity of surface evenness detector, and under normal circumstances, value is 9.8m/s^2.
Further, above-mentioned steps 507, specifically comprises:
In t, according to formula w
y(t)=s
yt ()-h (t), obtains at horizontal displacement s
xin (t) scope, the surface evenness w on this road surface to be tested
y(t).
Through the calculating of above-mentioned steps, the displacement s of in the vertical direction vibration when surface evenness detector t obtained by processor
yt (), the height that laser range sensor has also been measured between this surface evenness detector and road surface to be tested is h (t), utilizes formula w
y(t)=s
yt ()-h (t), just can obtain surface evenness detector at horizontal displacement s
xthe surface evenness w in (t) scope, to be tested road surface
y(t).
Fig. 6 is the flow chart of measuring flatness of road surface embodiment of the method two of the present invention.The embodiment of the present invention two is the expansions to embodiment one technical scheme on the basis of above-described embodiment one, both unlike, before step 507, also comprise:
Step 607: according to the distance h (t) between surface evenness detector and road surface to be tested, obtains the vertical distance H (t) between this surface evenness detector and road surface to be tested;
Concrete, this step is performed by the means for correcting of surface evenness detector, concrete structure element as shown in Figure 4, this means for correcting can the surface evenness detector that records of precise calibration laser range sensor apart from the distance h (t) on road surface to be tested, the vertical distance obtained between surface evenness detector and road surface to be tested is H (t).Introduction in concrete bearing calibration embodiment shown in Figure 4, repeats no more herein.
So step 507, comprising:
Step 608: the displacement s vibrated according to the vertical distance H (t) between surface evenness detector and road surface to be tested and surface evenness detector in the vertical direction
yt (), obtains at horizontal displacement s
xthe surface evenness w on road surface to be tested in (t) scope
y(t).
Step 608 is the same with the realization flow of step 507 in embodiment one, repeats no more herein.
The measuring flatness of road surface method that the embodiment of the present invention two provides, corrected by the distance between road pavement flatness detector and road surface to be tested, accurately obtain the vertical distance between surface evenness detector and road surface to be tested, for follow-up surface evenness of asking is laid a good foundation, further increase the certainty of measurement of surface evenness detector.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a surface evenness detector, is characterized in that, comprising: two axle acceleration sensors, laser range sensor, mileage sensor for countering, gyroscope and processor;
Described two axle acceleration sensors, measure described surface evenness detector perpendicular to the first acceleration a_measured on described surface evenness detector direction when in t
y(t) and be parallel to the second acceleration a_measured on described surface evenness detector direction
x(t);
Described laser range sensor, for measuring the distance h (t) of described surface evenness detector when t and between road surface to be tested;
Described mileage sensor for countering, for measuring the horizontal displacement s of described surface evenness detector when t
x(t);
Described gyroscope, for measuring the anglec of rotation θ (t) of described surface evenness detector when t and between level road;
Described processor, for according to described first acceleration a_measured
y(t), described second acceleration a_measured
xt (), described anglec of rotation θ (t) and gravity acceleration g, calculate the vibration acceleration a of in the vertical direction during described surface evenness detector t
yt (), also for according to described vibration acceleration a
y(t), the displacement s of in the vertical direction vibration when calculating described surface evenness detector t
y(t), the displacement s also for vibrating according to the distance h (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction
yt (), obtains described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
y(t).
2. surface evenness detector according to claim 1, is characterized in that, described processor, specifically for according to formula a
y(t)=a_measured
x(t) sin θ+a_measured
yt () cos θ-g, obtains the vibration acceleration a of described surface evenness detector in the vertical direction when t
y(t).
3. surface evenness detector according to claim 1, is characterized in that, described processor, specifically for described vibration acceleration a
yt () carries out the computing of secondary dual-integration, the displacement s of in the vertical direction vibration when obtaining described surface evenness detector t
y(t).
4. surface evenness detector according to claim 1, is characterized in that, described processor, also specifically for according to formula w
y(t)=s
yt ()-h (t), obtains described surface evenness detector at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in scope
y(t).
5. the surface evenness detector according to any one of Claims 1 to 4, is characterized in that, also comprise: means for correcting;
Described means for correcting, for according to the distance h (t) between described surface evenness detector and described road surface to be tested, obtains the vertical distance H (t) between described surface evenness detector and described road surface to be tested;
Described processor, for the displacement s vibrated according to the vertical distance H (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction
yt (), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
y(t).
6. a measuring flatness of road surface method, use surface evenness detector to measure surface evenness, wherein, described surface evenness detector is fixedly mounted on testing vehicle, it is characterized in that, described measuring flatness of road surface method, comprising:
When t, measure described surface evenness detector perpendicular to the first acceleration a_measured on described surface evenness detector direction
y(t) and be parallel to the second acceleration a_measured on described surface evenness detector direction
x(t);
Measure the distance h (t) of described surface evenness detector when t and between road surface to be tested;
Measure the displacement of described surface evenness detector movement on described road surface to be tested, obtain the horizontal displacement s of described surface evenness detector during t
x(t);
Measure the anglec of rotation θ (t) of described surface evenness detector when t and between level road;
According to described first acceleration a_measured
y(t), described second acceleration a_measured
xt (), described anglec of rotation θ (t) and gravity acceleration g, calculate the vibration acceleration a of in the vertical direction during described surface evenness detector t
y(t);
According to described vibration acceleration a
y(t), the displacement s of in the vertical direction vibration when calculating described surface evenness detector t
y(t);
According to the displacement s that the distance h (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction vibrate
yt (), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
y(t).
7. measuring flatness of road surface method according to claim 6, is characterized in that, described according to described first acceleration a_measured
y(t), described second acceleration a_measured
xt (), described anglec of rotation θ (t) and gravity acceleration g, calculate the vibration acceleration a of in the vertical direction during described surface evenness detector t
yt (), specifically comprises:
In t, according to formula a
y(t)=a_measured
x(t) sin θ+a_measured
yt () cos θ-g, obtains the vibration acceleration a of described surface evenness detector in the vertical direction
y(t).
8. measuring flatness of road surface method according to claim 6, is characterized in that, described according to described vibration acceleration a
y(t), the displacement s of in the vertical direction vibration when calculating described surface evenness detector t
yt (), specifically comprises:
In t, to described vibration acceleration a
yt () carries out the computing of secondary dual-integration, obtain the displacement s of described surface evenness detector in the vertical direction vibration
y(t).
9. measuring flatness of road surface method according to claim 6, it is characterized in that, the described displacement s vibrated according to the distance h (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction
yt (), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
yt (), specifically comprises:
In t, according to formula w
y(t)=s
yt ()-h (t), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
y(t).
10. the measuring flatness of road surface method according to any one of claim 6 ~ 9, it is characterized in that, at the displacement s vibrated according to the distance h (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction
yt (), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested during t in (t) scope
ybefore (t), also comprise:
According to the distance h (t) between described surface evenness detector and described road surface to be tested, obtain the vertical distance H (t) between described surface evenness detector and described road surface to be tested;
The described displacement s vibrated according to the distance h (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction
yt (), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
yt (), comprising:
Then according to the displacement s that the vertical distance H (t) between described surface evenness detector and described road surface to be tested and described surface evenness detector in the vertical direction vibrate
yt (), obtains at described horizontal displacement s
xthe surface evenness w on described road surface to be tested in (t) scope
y(t).
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