CN104929024B - 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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- CN104929024B CN104929024B CN201510329118.3A CN201510329118A CN104929024B CN 104929024 B CN104929024 B CN 104929024B CN 201510329118 A CN201510329118 A CN 201510329118A CN 104929024 B CN104929024 B CN 104929024B
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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, more particularly, to a kind of surface evenness detector and surface evenness
Measuring method.
Background technology
Surface evenness (road surface roughness) refers to the deviation of road surfaces longitudinal direction concavo-convex amount, and it is to comment
Determine one of important technology index of pavement quality, it is related to the safe, comfortable of driving and road surface can bear impulsive force
Size and service life, irregular road surfaces can increase car resistance, make vehicle produce additional effect of vibration, not only affect
The speed of driving and safety, but also the level of comfort of the steady of driving and passenger can be affected.Therefore, necessary road pavement is put down
Whole degree is tested and is kept certain flatness.
At present, mainly measured with the conventional pav instrument surface evenness that satisfies the need, conventional pav instrument includes: individual axis acceleration passes
Sensor, laser range sensor and mileage sensor for countering.It is assumed that automobile chassis is only vertical when being measured using conventional pav instrument
On the direction on ground move, concrete measuring method is: using the single-axis acceleration sensors of conventional pav instrument measure perpendicular to
Normal acceleration on the direction of ground, normal acceleration deducts the acceleration of gravity of static state, obtains adding of conventional pav instrument vibration
Speed, carries out secondary dual-integration to the acceleration of conventional pav instrument vibration, obtains the displacement of conventional pav instrument vibration, utilize
Laser range sensor measures the distance of conventional pav instrument and road surface to be tested, measures conventional pav using mileage sensor for countering
The horizontal displacement of instrument, deducts the distance of conventional pav instrument and road surface to be tested, obtains with the displacement of conventional pav instrument vibration
It is exactly the flatness information on road surface to be tested in the range of conventional pav instrument horizontal displacement.
Due to using conventional pav instrument measurement surface evenness be assume automobile chassis only move in vertical direction into
Row, but in fact automobile chassis vibration is not merely the process of a vertical vibration, also carries rotary motion, therefore, using biography
During the instrument measurement surface evenness precision of system road surface, certainty of measurement is affected by automobile chassis rotary motion, and precision is low.
Content of the invention
The present invention provides a kind of surface evenness detector and measuring flatness of road surface method, can overcome test vehicle bottom
The error that disc spins motion causes, improves the precision of surface evenness detector.
A kind of surface evenness detector that the present invention provides, comprising: two axle acceleration sensors, laser ranging sensing
Device, mileage sensor for countering, gyroscope and processor；
Described two axle acceleration sensors, for measure in t described surface evenness detector perpendicular to
The first acceleration a_measured on described surface evenness detector directiony(t) with parallel to described surface evenness
The second acceleration a_measured on detector directionx(t)；
Described laser range sensor, for measure described surface evenness detector in t with road to be tested
The distance between face h (t)；
Described mileage sensor for countering, for measuring the horizontal displacement in t for the described surface evenness detector
Amount sx(t)；
Described gyroscope, for measuring the rotation and level road between in t of described surface evenness detector
Gyration θ (t)；
Described processor, for according to described first acceleration a_measuredy(t), described second acceleration a_
measuredxT (), described anglec of rotation θ (t) and gravity acceleration g, when calculating described surface evenness detector t
The acceleration of vibration a of in the vertical directionyT (), is additionally operable to according to described acceleration of vibration ayT (), calculates described surface evenness
The displacement s of in the vertical direction vibration during detector ty(t), be additionally operable to according to described surface evenness detector with
The distance between described road surface to be tested h (t) and the displacement s of described surface evenness detector in the vertical direction vibrationy
T (), obtains described horizontal displacement sxThe surface evenness w on described road surface to be tested in the range of (t)y(t).
Present invention also offers a kind of measuring flatness of road surface method, measure evenness of road surface using surface evenness detector
Degree, wherein, described surface evenness detector is fixedly mounted on test vehicle it is characterised in that described surface evenness is surveyed
Amount method, comprising:
In t, measure described surface evenness detector perpendicular to described surface evenness detector direction
On the first acceleration a_measuredy(t) with parallel to the second acceleration on described surface evenness detector direction
a_measuredx(t)；
Measure described surface evenness detector in t with the distance between road surface to be tested h (t)；
Measure the displacement of described surface evenness detector movement on described road surface to be tested, obtain t when institute
State the horizontal displacement s of surface evenness detectorx(t)；
Measure described surface evenness detector anglec of rotation θ (t) and level road between in t；
According to described first acceleration a_measuredy(t), described second acceleration a_measuredx(t), described rotation
Angle, θ (t) and gravity acceleration g, the vibration of in the vertical direction when calculating described surface evenness detector t accelerates
Degree ay(t)；
According to described acceleration of vibration ay(t), in the vertical direction when calculating described surface evenness detector t
The displacement s of vibrationy(t)；
According to described surface evenness detector and the distance between described road surface to be tested h (t) and described evenness of road surface
The displacement s of degree detector in the vertical direction vibrationyT (), obtains in described horizontal displacement sxDescribed to be measured in the range of (t)
The surface evenness w on examination road surfacey(t).
Surface evenness detector and measuring flatness of road surface method that the present invention provides, pass by using two axle accelerations
Sensor measurement surface evenness detector the first acceleration on surface evenness detector direction and parallel to
The second acceleration on described surface evenness detector direction, measures surface evenness detector using laser range sensor
The distance between with road surface to be tested, the horizontal displacement of surface evenness detector, profit is measured using mileage sensor for countering
Measure the anglec of rotation between surface evenness detector and level road with gyroscope and using processor to above-mentioned first
Acceleration, the second acceleration, distance are processed, and accurately measure the surface evenness on road surface to be tested, have calibrated due to surveying
The error that examination vehicle chassis rotary motion brings, improves the certainty of measurement of surface evenness detector.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, acceptable
Other accompanying drawings are 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 that surface evenness shown in Fig. 1 detects apparatus measuring value；
Fig. 3 is the structural representation of surface evenness detector embodiment two of the present invention；
Fig. 4 is the structural representation of correcting unit 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.
Specific embodiment
Purpose, technical scheme and advantage for making the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described it is clear that described embodiment is
The a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment being obtained under the premise of not making creative work, broadly falls into the scope of protection of the invention.
Surface evenness (road surface roughness) refers to the deviation of road surfaces longitudinal direction concavo-convex amount, and it is to comment
Determine one of important technology index of pavement quality, the main planarization reflecting vertical section of road surface section curve.Work as vertical section of road surface
During section curve relative smooth, represent road surface opposed flattened, or flatness is relatively good, otherwise then represent flatness relative mistake.
Due to surface evenness, to be directly connected to the impulsive force that traffic safety, level of comfort and road surface can bear big
Little, so, the poor road surface of flatness can increase car resistance, makes vehicle produce additional effect of vibration, this effect of vibration
Vehicle pitching can be caused, not only have impact on speed and the safety of driving, and also affect driving steadily and passenger comfortable
Degree.Further, additional effect of vibration also road pavement can apply impulsive force, thus aggravate road surface and vehicle damage and
The abrasion of vehicle tyre, and increase the consumption of oil plant.Therefore, in order to reduce vibratory impulse power, improve road speed and promote row
The comfortableness of car, safety, road surface should keep certain flatness.
At this stage, traditional road surface instrument can complete the detection of surface evenness.Specifically, conventional pav instrument includes: single
Axle acceleration sensor, laser range sensor and mileage sensor for countering.When being measured using conventional pav instrument, it is only automobile bottom
Disk is carried out under the hypothesis of motion on the direction of ground, particularly as follows: first, using the individual axis acceleration of conventional pav instrument
The normal acceleration on the direction of ground measured by sensor, and normal acceleration deducts the acceleration of gravity of static state, is passed
The acceleration of system road surface instrument vibration, carries out secondary dual-integration process, obtains the displacement of conventional pav instrument vibration to it；Its
Secondary, measure the distance of conventional pav instrument and road surface to be tested using laser range sensor, measured using mileage sensor for countering
The horizontal displacement of conventional pav instrument；Finally, conventional pav instrument and road surface to be tested are deducted with the displacement of conventional pav instrument vibration
Distance, obtain is exactly the flatness information on road surface to be tested in the range of conventional pav instrument horizontal displacement.
If only moving on the direction on ground in the chassis of test vehicle, can be accurate using above-mentioned conventional pav instrument
The true flatness information measuring road surface to be tested, however, in fact the chassis vibration of test vehicle is not merely individual vertical
The process of vibration, it also carries certain rotary motion, and therefore, the certainty of measurement of conventional pav instrument is subject to test vehicle chassis to revolve
The dynamic impact of transhipment, precision is low.
For the low problem of above-mentioned conventional pav instrument certainty of measurement, the present invention propose a kind of surface evenness detector and
Measuring flatness of road surface method, can solve the problem that the error that test vehicle chassis rotary motion causes, and improves surface evenness inspection
Survey the precision of instrument.
Fig. 1 is the structural representation of surface evenness detector embodiment one of the present invention.Fig. 2 is evenness of road surface shown in Fig. 1
The schematic diagram of degree detection apparatus measuring value.As shown in figure 1, the surface evenness detector that the embodiment of the present invention one provides, comprising: two
Axle acceleration sensor 11, laser range sensor 12, mileage sensor for countering 13, gyroscope 14 and processor 15.
Two axle acceleration sensors 11, for the measurement surface evenness detector in t perpendicular to this road surface
The first acceleration a_measured on flatness detector directiony(t) with parallel to this surface evenness detector direction
On the second acceleration a_measuredx(t)；
Specifically, the acceleration of test vehicle vertical direction in the process of moving is measured using surface evenness detector,
In fact, being to measure surface evenness detector perpendicular to the detection of this surface evenness using two axle acceleration sensors 11
On instrument direction with parallel to the acceleration on this surface evenness detector direction, because this surface evenness detector is fixing
It is arranged on test vehicle, for example, test vehicle chassis etc., therefore, no matter what motion test vehicle does, it is fixedly mounted on
Surface evenness detector on test vehicle chassis can accurately reflect out test vehicle and run over journey on road surface to be tested
In, Vibration Condition on the direction of ground, that is, the flatness 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 test vehicle, as long as surveying
In the process of moving, surface evenness detector is not done relative motion with test vehicle, and can accurately reflect out test for test run
The actual motion situation of vehicle, the embodiment of the present invention is to fixedly mount surface evenness detector on test vehicle chassis
Illustrate, but be not limited thereto.
Figure it is seen that in t, evenness of road surface can be accurately measured using two axle acceleration sensors 11
Degree detector is in the first acceleration a_measured on this surface evenness detector directiony(t) and parallel to
The second acceleration a_measured on surface evenness detector directionx(t).
Laser range sensor 12, for measure this surface evenness detector in t with road surface to be tested it
Between apart from h (t)；
Specifically, laser range sensor 12 is specially scanning type laser sensor, may be installed the chassis of test vehicle
On, during test vehicle is expert at and is sailed, using laser range sensor 12 can measure this surface evenness detector with
The distance between road surface to be tested.For example, in t, between this surface evenness detector and road surface to be tested
Distance be h (t).
Mileage sensor for countering 13, for measuring the horizontal displacement s in t for this surface evenness detectorx
(t)；
Mileage sensor for countering 13 is arranged on the axletree of car floor, is used for recording this surface evenness detector and is treating
The displacement of movement on test road surface, that is, testing the horizontal displacement that travels on this test road surface of vehicle for record, the
During t, the horizontal displacement of this surface evenness detector that mileage sensor for countering 13 is measured is sx(t).
Gyroscope 14, for measuring this surface evenness detector anglec of rotation and level road between in t
Degree θ (t)；
When being travelled on road surface to be tested due to test vehicle, the chassis vibration of test vehicle is not merely a Vertical Vibrating
Dynamic process, it also can bring certain rotary motion into, that is, a certain moment travelling in test vehicle, surface evenness detection
There may be certain anglec of rotation between instrument and level road, be specially as the angle that this rotates how many, using gyro
Instrument 14 measures, specifically, figure it is seen that between t, surface evenness detector and level road
The anglec of rotation is θ (t), that is, the anglec of rotation of test vehicle chassis is θ (t).
Processor 15, for according to above-mentioned first acceleration a_measuredy(t), the second acceleration a_measuredx
T (), anglec of rotation θ (t) and gravity acceleration g, when calculating this surface evenness detector t, in the vertical direction shakes
Dynamic acceleration ayT (), is additionally operable to according to this acceleration of vibration ayT (), calculates during this surface evenness detector t perpendicular
The displacement s that Nogata vibrates upwardsyT (), is additionally operable to according to the height h between this surface evenness detector and road surface to be tested
The displacement s of (t) and surface evenness detector in the vertical direction vibrationyT (), obtains in horizontal displacement sxIn the range of (t)
The surface evenness w on road surface to be testedy(t).
Specifically, in t, processor 15, first the first acceleration according to two axle acceleration sensor 11 measurement
a_measuredy(t), the second acceleration a_measuredx(t), anglec of rotation θ (t) of gyroscope 14 measurement and known weight
Power acceleration g, calculates the acceleration of vibration a of this surface evenness detector in the vertical directiony(t)；Secondly, processor 15
According to the above-mentioned acceleration of vibration a calculatingyT (), by this acceleration of vibration ayT () carries out secondary dual-integration computing
Operation, can obtain the displacement s of surface evenness detector in the vertical direction vibration in t accordinglyy(t)；
Finally, the distance between the surface evenness detector that processor 15 is measured according to laser range sensor 12 and road surface to be tested
H (t), and the displacement s of above-mentioned surface evenness detector in the vertical direction vibrationyT () is it is possible to calculate in this water
Flat displacement sxThe surface evenness w on this road surface to be tested in the range of (t)y(t) situation.
What deserves to be explained is, the displacement s in the embodiment of the present inventionyT () is that it is initially fast in surface evenness detector
Degree, initial displacement are obtained in the case of being 0 hypothesis.In an embodiment of the present invention, two axle acceleration sensors 11 and top
Spiral shell instrument 14 is chip paster shape, and it can be directly installed on the pcb plate being disposed vertically, and laser range sensor 12 is specifically
Scanning type laser diastimeter.Optionally, by laser range sensor 12 with two axle acceleration sensors 11, gyroscope 14 are installed
Pcb plate be fixedly installed in same flight data recorder, this flight data recorder be fixed on test vehicle chassis on.When test vehicle chassis does
During rotary motion, this flight data recorder is also doing same rotary motion.
Surface evenness detector provided in an embodiment of the present invention, measures road surface by using two axle acceleration sensors and puts down
Whole degree detector, perpendicular and parallel to the first acceleration on surface evenness detector direction and the second acceleration, utilizes
The distance between laser range sensor measurement surface evenness detector and road surface to be tested, are surveyed using mileage sensor for countering
The horizontal displacement of amount surface evenness detector, is measured between surface evenness detector and level road using gyroscope
The anglec of rotation and above-mentioned first acceleration, the second acceleration, distance being processed using processor, can obtain accurately
The surface evenness on road surface to be tested, has calibrated the error brought due to test vehicle chassis rotary motion, improves road surface and puts down
The certainty of measurement of whole degree detector.
Further, in the above-described embodiments, processor 15, specifically for according to formula ay(t)=a_measuredx
(t)·sinθ+a_measuredyT () cos θ-g, obtains surface evenness detector in the vertical direction in t
Acceleration of vibration ayT (), specifically for acceleration of vibration ayT () carries out secondary dual-integration computing, obtain this evenness of road surface
The displacement s of in the vertical direction vibration during degree detector ty(t).
Processor 15, also particularly useful for according to formula wy(t)=syT ()-h (t), obtains surface evenness detector in water
Flat displacement sxThe surface evenness w on the road surface to be tested in the range of (t)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 upper
State the extension to embodiment one technical scheme on the basis of embodiment one, unlike both, the road surface that the present embodiment two provides
Flatness detector, also includes: correcting unit 17.
Correcting unit 17, for according to surface evenness detector and the distance between road surface to be tested h (t), obtaining should
Vertical dimension h (t) between surface evenness detector and road surface to be tested.
What deserves to be explained is, the direction of this vertical dimension is identical with the direction of acceleration of gravity.
Specifically, when the automobile chassis anglec of rotation is θ (t), surface evenness detector also accordingly has anglec of rotation θ
(t), now, the value being no longer vertically oriented that laser range sensor 12 measurement obtains, and it is perpendicular to surface evenness inspection
Survey instrument and there is the slant range of θ (t) angle with vertical direction, therefore, between surface evenness detector and road surface to be tested
Distance inaccurate equally can cause measurement error.
Further, since laser range sensor 12 is arranged on apart from about 12 feet of road surface to be tested, that is, 30 centimetres
The height of left and right, when the anglec of rotation of automobile chassis is 1 degree, the horizontal amplitude of oscillation is about 1 millimeter, when the anglec of rotation is 5 degree, horizontal pendulum
Width is 25 millimeters.But, the measurement premise of measuring flatness of road surface method is 20 millimeters that is to say, that working as vapour for the sampling interval
More than more than 5 degree, the point of measurement just alreadys exceed the corresponding sample range in this position to the anglec of rotation of chassis.
Therefore, for the problems referred to above, the embodiment of the present invention is using correcting unit 17 to the surface evenness detector recording
It is corrected processing apart from h (t) apart from road surface to be tested, obtain surface evenness detector accordingly apart from road surface to be tested
Vertical dimension h (t).
Fig. 4 is the structural representation of correcting unit in surface evenness detector described in Fig. 3.As shown in figure 4, the present invention is real
Apply the correcting unit 17 in example two, comprising: light source 171, movable double mirror 172, the first stationary mirror 173, second are solid
Determine reflecting mirror 174, lens 175, position sensitive detector (position sensitive device, abbreviation psd) 176.Light source
171st, movable double mirror 172, lens 175 and position sensitive detector psd 176 set gradually.First stationary mirror 173
It is symmetricly set on the both sides of movable double mirror 172, movable double mirror 172 and process with the second stationary mirror 174
Device 15 connects, for rotating in default angular range under the control of processor 15.
Specific bearing calibration is:
First: using the first surface launching incident illumination from light source 171 to movable double mirror 172；Movable double mirror
Incident illumination is reflexed on the first stationary mirror 173 by 172 the first face, and incident illumination is reflexed to by the first stationary mirror 173
Road surface；
Secondly: the second stationary mirror 174 receives the light of road reflection, and the light of road reflection is reflexed to movably two-sided
On second face of reflecting mirror 172, the light of road reflection is reflexed to lens 175, lens by the second face of movable double mirror 172
The light of road reflection is pooled hot spot by 175, and transmission is on position sensitive detector psd 176；
Last: using the mapping relations of the hot spot on position sensitive detector psd 176 and distance, to obtain surface evenness inspection
Survey the vertical dimension apart from road surface to be tested for the instrument.Wherein, the direction of this vertical dimension and the direction of acceleration of gravity are identical, specifically
Can be construed to: the distance of the central point of movable double-surface mirror reflector 172 to road surface to be tested.
Due to the actually measurement of scanning type laser instrument is the distance to impact point for movable double-surface mirror reflector 172 center, its
In, impact point gets to the point on target object for light beam injection direction, when light beam out of plumb, in movable double-surface mirror reflector 172
The distance of the heart to impact point is not just vertical dimension.For example, if test vehicle chassis have rotated 3 degree, at this moment light beam injection side
To not being just 0 degree, then, the direction that scanning type laser instrument projects should be -3 degree, and in the present invention, the purpose of correcting unit is exactly
Keep the beam orthogonal projecting in test vehicle traveling direction.
It should be noted that the position of hot spot and this vertical dimension have a mapping to close on position sensitive detector psd 176
It is table.Specifically, when the anglec of rotation is identical, on position sensitive detector psd the hot spot of diverse location correspond to different vertical away from
From, and when the anglec of rotation is different, on position sensitive detector psd, the hot spot of same position also can be corresponding to different vertical dimensions.
As an example it is assumed that the length 10 of position sensitive detector psd be centimetre, when the anglec of rotation keep 3 degree constant when, light
Speckle transmission on position sensitive detector psd during 2 centimeters, corresponding movable double-surface mirror reflector 172 center to impact point away from
From for 30.6 centimetres, now, the vertical dimension between surface evenness detector and road surface to be tested is 30.1 centimetres；Hot spot is saturating
When penetrating 5 centimeters on position sensitive detector psd, the distance at corresponding movable double-surface mirror reflector 172 center to impact point is
30.2 centimetres, now, the vertical dimension between surface evenness detector and road surface to be tested is 30 centimetres etc.；In the same manner, when
The anglec of rotation respectively in 1 degree or 3 degree, hot spot all transmissions the 5th centimeters on position sensitive detector psd, now, impact point position
On same sphere, the circle that this sphere is is 30 centimetres with movable double-surface mirror reflector 127 center radius, as shown in Figure 4.And
Generally actual road surface is a horizontal plane, then during scanning mirror sweeps to 3 degree from 1 degree, and hot spot obviously will not be one and consolidate
Fixed position.So, the vertical dimension between surface evenness detector and road surface to be tested also can corresponding change.
In order to obtain the precise perpendicularity distance on road surface to be tested and surface evenness detector, the present invention is using the side tabled look-up
Formula is realized.When such as the anglec of rotation is 1 degree, hot spot is transmitted at the x1 position of psd, searches the hot spot position being arranged at instrument internal
Put-pavement device is apart from mapping table t1 (mapping table t1 be actually a two-dimensional matrix or a mapping function), you can with
When obtaining the anglec of rotation for 1 degree and x1 position, the vertical dimension between surface evenness detector and road surface to be tested.In the same manner,
When the anglec of rotation is 3 degree, hot spot is transmitted at the x3 position of psd, and searching the anglec of rotation is 3 degree and the corresponding mapping table in x3 position
T3, you can to obtain the anglec of rotation for 3 degree and hot spot when x3 position, between surface evenness detector and road surface to be tested
Vertical dimension.
The above should be mentioned that the mode of operation of scanning type laser instrument.In actual rotational correction is applied, by top
Spiral shell instrument can record the anglec of rotation of test vehicle chassis it is assumed that being 3 degree, and passes through for movable double-surface mirror reflector to reversely rotate 3
The effect that degree trains off the laser beam to correct the transmitting of scanning type laser instrument, now, the actual measurement of scanning type laser instrument is -3 degree
When, the distance between surface evenness detector and road surface to be tested.So, corresponding facula position-road surface when lookup -3 is spent
Device is apart from mapping table, you can obtain testing the vertical dimension between vehicle chassis and road surface to be tested, is also -3 road surfaces when spending
The distance between flatness detector and road surface to be tested.
Therefore, when the anglec of rotation changes, movable double mirror is controlled to turn to corresponding angle, root by processor
According to the mapping relations between the position of hot spot, vertical dimension three on the anglec of rotation, position sensitive detector psd it is possible to accurately
The vertical dimension obtained between surface evenness detector and road surface to be tested.
Accordingly, processor 15, are additionally operable to according to vertical between above-mentioned surface evenness detector and road surface to be tested
Displacement s apart from h (t) and the vibration of surface evenness detector in the vertical directionyT (), obtains in horizontal displacement sx(t)
In the range of road surface to be tested surface evenness wy(t).
The surface evenness detector that the embodiment of the present invention two provides, by using correcting unit road pavement flatness detection
The distance between instrument and road surface to be tested are corrected, and have accurately obtained between surface evenness detector and road surface to be tested
Vertical dimension, for subsequently asking surface evenness to lay a good foundation, improves 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 road that the embodiment of the present invention one provides
Surface evenness measuring method, measures surface evenness using surface evenness detector, and, this surface evenness detector is solid
Dingan County is contained on test vehicle, comprising: 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, comprise the following steps:
Step 501: in t, measurement surface evenness detector is perpendicular to this surface evenness detector side
The first acceleration a_measured upwardsy(t) with parallel to the second acceleration on this surface evenness detector direction
a_measuredx(t)；
Specifically, the measuring flatness of road surface method that the present embodiment provides can surface evenness as shown in Figure 1 detect
Instrument executes.Specifically, in t, using two axle acceleration sensors measure surface evenness detectors perpendicular to
The first acceleration a_measured on this surface evenness detector directiony(t) with parallel to this surface evenness detector
The second acceleration a_measured on directionx(t).
What deserves to be explained is, surface evenness tester can be fixedly mounted on the optional position of test vehicle, as long as surveying
In the process of moving, surface evenness detector is not done relative motion with test vehicle, and can accurately reflect out test for test run
The actual motion situation of vehicle, the embodiment of the present invention is that surface evenness detector is fixedly mounted test vehicle chassis
On, but be not limited thereto.
Step 502: measure this surface evenness detector in t with the distance between road surface to be tested h (t)；
Specifically, using laser range sensor measure between this surface evenness detector and road surface to be tested away from
From in t, this surface evenness detector distance apart from road surface to be tested that laser range sensor records is h
(t).
Step 503: measure the displacement of this surface evenness detector movement on this road surface to be tested, obtain t
When this surface evenness detector horizontal displacement sx(t)；
Count the displacement of sensor record this surface evenness detector movement on this road surface to be tested using mileage,
That is, record is the horizontal displacement that test vehicle travels on this test road surface, and in t, mileage sensor for countering is surveyed
The horizontal displacement of this surface evenness detector going out is sx(t).
Step 504: measurement surface evenness detector anglec of rotation θ (t) and level road between in t；
The anglec of rotation vibrated using the gyroscope measurement test vehicle chassis of surface evenness detector, specifically,
During t, the anglec of rotation between surface evenness detector that gyroscope records and level road is θ (t).
Step 505: according to above-mentioned first acceleration a_measuredy(t), the second acceleration a_measuredx(t), rotation
Angle, θ (t) and gravity acceleration g, the acceleration of vibration of in the vertical direction when calculating this surface evenness detector t
ay(t)；
The the first acceleration a_measured being obtained according to two axle acceleration sensor measurements in t, processory
(t), the second acceleration a_measuredx(t), anglec of rotation θ (t) that gyroscope measurement obtains and known acceleration of gravity
G, can calculate the acceleration of vibration a of this surface evenness detector in the vertical directiony(t).
Step 506: according to above-mentioned acceleration of vibration ayT (), calculates during surface evenness detector t in vertically side
The displacement s vibrating upwardsy(t)；
Specifically, processor is to acceleration of vibration ayT () carries out secondary dual-integration computing, you can obtain this evenness of road surface
The displacement s of degree detector in the vertical direction vibrationy(t).What deserves to be explained is, the displacement s in the embodiment of the present inventiony(t)
It is to obtain in the case of its initial velocity of surface evenness detector, initial displacement are 0 hypothesis.
Step 507: according to surface evenness detector and the distance between road surface to be tested h (t) and surface evenness inspection
Survey the displacement s of instrument in the vertical direction vibrationyT (), obtains in this horizontal displacement sxThis road surface to be tested in the range of (t)
Surface evenness wy(t).
The surface evenness detector that processor can also be measured according to laser range sensor and road surface to be tested away from
From h (t), and the displacement s of surface evenness detector in the vertical direction vibration that processor calculatesyT (), calculates
This horizontal displacement sxThe surface evenness w on this road surface to be tested in the range of (t)y(t) situation.
Measuring flatness of road surface method provided in an embodiment of the present invention, by measure surface evenness detector perpendicular to
The first acceleration on this surface evenness detector direction and parallel to second on this surface evenness detector direction
The distance between acceleration, surface evenness detector and road surface to be tested, surface evenness detector horizontal displacement with
And the anglec of rotation between surface evenness detector and level road, band rotary motion surface evenness can be accurately measured
The Vibration Condition of detector, has calibrated the error causing due to test vehicle chassis rotary motion, improves surface evenness inspection
Survey the precision of instrument.
Further, in above-described embodiment one, step 505, specifically include:
In t, according to formula ay(t)=a_measuredx(t)·sinθ+a_measuredy(t) cos θ-g,
Obtain the acceleration of vibration a of surface evenness detector in the vertical directiony(t).
Because test vehicle chassis has certain rotary motion, surface evenness detector also does same rotary motion,
Therefore, in t, two axle acceleration sensors can measure it respectively on surface evenness detector direction
First acceleration a_measuredy(t) with parallel to the second acceleration a_ on this surface evenness detector direction
measuredxT (), gyroscope can measure this anglec of rotation θ (t), and processor is according to above-mentioned first acceleration a_measuredy
(t), the second acceleration a_measuredxT () and anglec of rotation θ (t) can obtain the first acceleration a_measured respectivelyy(t)、
Second acceleration a_measuredxT () is in the component a_measured on the direction of road surface to be testedy(t)·cosθ、a_
measuredx(t) sin θ, so, the acceleration of vibration a of surface evenness detector in the vertical directionyT () can be by processing
Device is according to formula ay(t)=a_measuredx(t)·sinθ+a_measuredyT () cos θ-g obtains, wherein, g is road surface
The intrinsic acceleration of gravity of flatness detector is it is generally the case that value is 9.8m/s^2.
Further, above-mentioned steps 507, specifically include:
In t, according to formula wy(t)=syT ()-h (t), obtains in horizontal displacement sxT, in the range of (), this is to be measured
The surface evenness w on examination road surfacey(t).
Through the calculating of above-mentioned steps, in the vertical direction when surface evenness detector t obtained by processor
The displacement s of vibrationyT (), laser range sensor has also been measured between this surface evenness detector and road surface to be tested
It is highly h (t), using formula wy(t)=syT ()-h (t), just can obtain surface evenness detector in horizontal displacement sx(t)
In the range of, the surface evenness w on road surface to be testedy(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 above-mentioned
Extension to embodiment one technical scheme on the basis of embodiment one, unlike both, before step 507, also includes:
Step 607: according to surface evenness detector and the distance between road surface to be tested h (t), obtain this evenness of road surface
Vertical dimension h (t) between degree detector and road surface to be tested；
Specifically, this step is executed by the correcting unit of surface evenness detector, specific structure element such as Fig. 4
Shown, this correcting unit can the surface evenness detector that records of precise calibration laser range sensor apart from road surface to be tested
Apart from h (t), obtaining the vertical dimension between surface evenness detector and road surface to be tested is h (t).Specific correction side
Introduction in method embodiment shown in Figure 4, here is omitted.
So step 507, comprising:
Step 608: according to vertical dimension h (t) between surface evenness detector and road surface to be tested and evenness of road surface
The displacement s of degree detector in the vertical direction vibrationyT (), obtains in horizontal displacement sxRoad surface to be tested in the range of (t)
Surface evenness wy(t).
Step 608 with embodiment one step 507 realize flow process as, here is omitted.
The embodiment of the present invention two provide measuring flatness of road surface method, by road pavement flatness detector with to be tested
The distance between road surface is corrected, and has accurately obtained the vertical dimension between surface evenness detector and road surface to be tested,
For subsequently asking surface evenness to lay a good foundation, further increase the certainty of measurement of surface evenness detector.
Finally it is noted that various embodiments above, only in order to technical scheme to be described, is not intended to limit；To the greatest extent
Pipe has been described in detail to the present invention with reference to foregoing embodiments, it will be understood by those within the art that: its according to
So the technical scheme described in foregoing embodiments can be modified, or wherein some or all of technical characteristic is entered
Row equivalent；And these modifications or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of surface evenness detector is it is characterised in that include: two axle acceleration sensors, laser range sensor, inner
Journey sensor for countering, gyroscope and processor；
Described two axle acceleration sensors, for measuring described surface evenness detector perpendicular to described in t
The first acceleration a_measured on surface evenness detector directiony(t) with parallel to the detection of described surface evenness
The second acceleration a_measured on instrument directionx(t)；
Described laser range sensor, for measure described surface evenness detector in t with road surface to be tested it
Between apart from h (t)；
Described mileage sensor for countering, for measuring the horizontal displacement s in t for the described surface evenness detectorx
(t)；
Described gyroscope, for measuring described surface evenness detector anglec of rotation and level road between in t
Degree θ (t)；
Described processor, for according to described first acceleration a_measuredy(t), described second acceleration a_measuredx
T (), described anglec of rotation θ (t) and gravity acceleration g, calculate during described surface evenness detector t in vertical direction
On acceleration of vibration ayT (), is additionally operable to according to described acceleration of vibration ayT (), calculates described surface evenness detector t
The displacement s of in the vertical direction vibration during the momentyT (), is additionally operable to be measured with described according to described surface evenness detector
The distance between examination road surface h (t) and the displacement s of described surface evenness detector in the vertical direction vibrationyT (), obtains
Described horizontal displacement sxThe surface evenness w on described road surface to be tested in the range of (t)y(t).
2. surface evenness detector according to claim 1 is it is characterised in that described processor, specifically for basis
Formula ay(t)=a_measuredx(t)·sinθ+a_measuredyT () cos θ-g, obtains described surface evenness detection
The acceleration of vibration a of instrument in the vertical direction in ty(t).
3. surface evenness detector according to claim 1 is it is characterised in that described processor, specifically for institute
State acceleration of vibration ayT () carries out secondary dual-integration computing, obtain during described surface evenness detector t vertical
The displacement s of vibration on directiony(t).
4. surface evenness detector according to claim 1 is it is characterised in that described processor, also particularly useful for root
According to formula wy(t)=syT ()-h (t), obtains described surface evenness detector in described horizontal displacement sxInstitute in the range of (t)
State the surface evenness w on road surface to be testedy(t).
5. the surface evenness detector according to any one of claims 1 to 3 is it is characterised in that also include: correction dress
Put；
Described correcting unit, for according to the distance between described surface evenness detector and described road surface to be tested h (t),
Obtain vertical dimension h (t) between described surface evenness detector and described road surface to be tested；
Described processor, for according to vertical dimension h (t) between described surface evenness detector and described road surface to be tested
Displacement s with the vibration of described surface evenness detector in the vertical directionyT (), obtains in described horizontal displacement sx(t)
In the range of described road surface to be tested surface evenness wy(t).
6. a kind of measuring flatness of road surface method, measures surface evenness, wherein, described road surface using surface evenness detector
Flatness detector is fixedly mounted on test vehicle it is characterised in that described measuring flatness of road surface method, comprising:
In t, measure described surface evenness detector on described surface evenness detector direction
First acceleration a_measuredy(t) with parallel to the second acceleration a_ on described surface evenness detector direction
measuredx(t)；
Measure described surface evenness detector in t with the distance between road surface to be tested h (t)；
Measure the displacement of described surface evenness detector movement on described road surface to be tested, obtain described road during t
The horizontal displacement s of surface evenness detectorx(t)；
Measure described surface evenness detector anglec of rotation θ (t) and level road between in t；
According to described first acceleration a_measuredy(t), described second acceleration a_measuredx(t), the described anglec of rotation
θ (t) and gravity acceleration g, the acceleration of vibration a of in the vertical direction when calculating described surface evenness detector ty
(t)；
According to described acceleration of vibration ay(t), in the vertical direction vibration when calculating described surface evenness detector t
Displacement sy(t)；
According to described surface evenness detector and the distance between described road surface to be tested h (t) and the inspection of described surface evenness
Survey the displacement s of instrument in the vertical direction vibrationyT (), obtains in described horizontal displacement sxDescribed road to be tested in the range of (t)
The surface evenness w in facey(t).
7. measuring flatness of road surface method according to claim 6 it is characterised in that described according to described first acceleration
a_measuredy(t), described second acceleration a_measuredxT (), described anglec of rotation θ (t) and gravity acceleration g, calculate
The acceleration of vibration a of in the vertical direction during described surface evenness detector tyT (), specifically includes:
In t, according to formula ay(t)=a_measuredx(t)·sinθ+a_measuredyT () cos θ-g, obtains
The acceleration of vibration a of described surface evenness detector in the vertical directiony(t).
8. measuring flatness of road surface method according to claim 6 it is characterised in that described according to described acceleration of vibration
ay(t), the displacement s of in the vertical direction vibration when calculating described surface evenness detector tyT (), specifically includes:
In t, to described acceleration of vibration ayT () carries out secondary dual-integration computing, obtain described surface evenness detection
The displacement s of instrument in the vertical direction vibrationy(t).
9. measuring flatness of road surface method according to claim 6 it is characterised in that described according to described surface evenness
Detector is vibrated with the distance between described road surface to be tested h (t) and described surface evenness detector in the vertical direction
Displacement syT (), obtains in described horizontal displacement sxThe surface evenness w on described road surface to be tested in the range of (t)y(t), tool
Body includes:
In t, according to formula wy(t)=syT ()-h (t), obtains in described horizontal displacement sxDescribed in the range of (t) treat
The surface evenness w on test road surfacey(t).
10. the measuring flatness of road surface method according to any one of claim 6～8 is it is characterised in that according to described road
Surface evenness detector and the distance between described road surface to be tested h (t) and described surface evenness detector are in vertical direction
The displacement s of upper vibrationyT (), obtains in described horizontal displacement sxIn the range of (t) during t described road surface to be tested road
Surface evenness wyBefore (t), also include:
According to described surface evenness detector and the distance between described road surface to be tested h (t), obtain described surface evenness
Vertical dimension h (t) between detector and described road surface to be tested；
Described according to the distance between described surface evenness detector and described road surface to be tested h (t) and described evenness of road surface
The displacement s of degree detector in the vertical direction vibrationyT (), obtains in described horizontal displacement sxDescribed to be measured in the range of (t)
The surface evenness w on examination road surfacey(t), comprising:
Then put down according to vertical dimension h (t) between described surface evenness detector and described road surface to be tested and described road surface
The displacement s of whole degree detector in the vertical direction vibrationyT (), obtains in described horizontal displacement sxDescribed in the range of (t) treat
The surface evenness w on test road surfacey(t).
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| CN105891816B (en) * | 2015-11-09 | 2018-06-22 | 乐卡汽车智能科技（北京）有限公司 | road surface detection system and vehicle |
| CN106910334B (en) | 2015-12-22 | 2019-12-24 | 阿里巴巴集团控股有限公司 | Method and device for predicting road section conditions based on big data |
| CN106295505A (en) * | 2016-07-25 | 2017-01-04 | 江苏中路新材料科技发展有限公司 | State estimating system during pavement usage |
| CN109211150A (en) * | 2018-08-07 | 2019-01-15 | 中国地质大学（武汉） | A kind of roughness measurement method and apparatus |
| CN110852542B (en) * | 2018-08-21 | 2023-06-30 | 上海汽车集团股份有限公司 | Road flatness calculation method and system |
| CN110230247B (en) * | 2019-06-20 | 2021-05-11 | 河南省高远公路养护技术有限公司 | Road structural defect detection device and method based on laser Doppler technology |
| CN113062182B (en) * | 2021-03-30 | 2023-06-16 | 山东建筑大学 | Fine pavement smoothness detection system and method based on multi-sensor fusion |
| ES2933750A1 (en) * | 2021-05-20 | 2023-02-13 | Becsa S A | Detection system (Machine-translation by Google Translate, not legally binding) |
| CN115058947B (en) * | 2022-05-12 | 2024-02-09 | 安徽中青检验检测有限公司 | Roadbed and pavement flatness detection device and method |
| CN116623515B (en) * | 2023-07-24 | 2023-09-15 | 四川高速公路建设开发集团有限公司 | High-speed pavement flatness detection system and method |
| CN116716779B (en) * | 2023-08-02 | 2023-10-10 | 四川高速公路建设开发集团有限公司 | High-speed pavement flatness detection system and method based on unmanned aerial vehicle |
| CN117364584B (en) * | 2023-12-05 | 2024-02-23 | 山西晋北高速公路养护有限公司 | Asphalt surface layer construction quality nondestructive testing device |
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