CN101619968B - Method and device for detecting road surface planeness - Google Patents
Method and device for detecting road surface planeness Download PDFInfo
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- CN101619968B CN101619968B CN200910088284A CN200910088284A CN101619968B CN 101619968 B CN101619968 B CN 101619968B CN 200910088284 A CN200910088284 A CN 200910088284A CN 200910088284 A CN200910088284 A CN 200910088284A CN 101619968 B CN101619968 B CN 101619968B
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Abstract
The invention discloses a method and a device for detecting road surface planeness. The device comprises a first distance measuring sensor, a second distance measuring sensor and a detection output unit, wherein the first distance measuring sensor and the second distance measuring sensor are used for respectively outputting a first altitude measuring value and a second altitude measuring value from detecting points to the ground; and the detection output unit is used for receiving the altitude measuring value and the second altitude measuring value. Because the first altitude measuring value is modified by the second altitude measuring value, road surface planeness information is obtained, and a road surface vertical altitude value is output. When a vehicle body of a measuring vehicle inclines, the road surface altitude still can be accurately measured to really reflect the road surface planeness.
Description
Technical field
The present invention relates to field of photoelectric technology, more particularly, relate to a kind of detection method of road-surface evenness and device.
Background technology
Surface evenness is one of important indicator of estimating the road surface usability; Along with improving constantly of highway in China grade, high-grade highway net perfect day by day, bad surface evenness not only influences road traffic safety; Reduce the driving comfort level, increase the driving noise pollution; And increasing the operating cost (as increasing oil consumption, reduce road speed, increasing the vehicle component wear) of vehicle, accelerating structure destroys simultaneously, influence the tenure of use on road surface, shortening curing cycle.Therefore, how the road pavement flatness detects evaluation, is when previous crucial problem.
Have now in the measurement of surface evenness, adopt accurate inertial reference measuring system usually.This measuring system is through being fixed on the relative altitude of measuring highway pavement of uniting of a laser sensor measuring on the car vehicle body and an acceleration transducer, and then calculates surface evenness through the computation model of No. 46 files of the World Bank.
But, use above-mentioned this accurate inertial reference measuring system and carry out surface evenness in the mountain area when detecting, because the mountain road bend is many, turning radius is little, when detecting vehicle and passing through bend fast, vehicle body can run-off the straight.Therefore, the output valve of each sensor under heeling condition compared with actual conditions and can be occurred than large deviation, through image data repeatedly and the road surface relative altitude value that obtains after calculating also can occur than large deviation, thereby can not truly reflect the flatness of pavement of road.
In at present relevant measurement, mainly be applied to following several kinds of sensors: gyroscope, inclinator and electronic compass with attitude.
For using the gyroscope survey attitude angle; Mainly contain following shortcoming: general gyroscope stability, repeated relatively poor; Random drift is bigger, and gyroscope its temperature cumulative errors when working long hours can increase gradually in addition, even can have a strong impact on the measuring accuracy of angle.In highroad pavement planeness detected, because test all is to carry out with vehicle-mounted mode out of doors, gyrostatic environment for use was comparatively abominable, and for example: working temperature maybe be from 0 degree centigrade to nearly 60 degrees centigrade, and need to measure fast continuously.Therefore, when
Gyroscope is running hours out of doors, receives the influence of temperature and other factors, the attitude of gyroscope survey
Angular accuracy can reduce greatly.
The precision that inclinator takes measurement of an angle is higher, but its response frequency is lower, generally is no more than 30Hz, is mainly used in the measurement under the quasi-static situation.In highroad pavement planeness detected, the travel speed of testing vehicle was very fast usually, general 70～80Km/h, and at this moment, the response frequency of inclinator is not enough, thereby the attitude angle in can not accurately measuring dynamically.
The principle of work of electronic compass appearance is to measure the magnetic field of the earth, and its resolution and precision are lower.In addition, if when in the environment that uses, having extratellurian other magnetic fields of removing and these magnetic field effectively to shield, the use of electronic compass just has very big problem so.
Summary of the invention
In view of this, the present invention provides a kind of detection method of road-surface evenness and device, when measuring the run-off the straight of car vehicle body, can accurately record the elevation on road surface, with the flatness on true reflection road surface.
For addressing the above problem, the present invention adopts following technical scheme:
A kind of surface evenness pick-up unit comprises: first distance measuring sensor, second distance measuring sensor and detection output unit;
Said first distance measuring sensor and second distance measuring sensor are used for exporting respectively separately measuring point apart from first measurement of higher degree value and second measurement of higher degree value on ground;
Said first distance measuring sensor is connected with first correcting device that output terminal connects said detection output unit, and said first correcting device is used to revise said first measurement of higher degree value;
Said second distance measuring sensor is connected with second correcting device that output terminal connects said detection output unit, and said second correcting device is used to revise said second measurement of higher degree value;
Said detection output unit receives said first measurement of higher degree value and second measurement of higher degree value, according to the correction of second measurement of higher degree value for first measurement of higher degree value, obtains surface evenness information and exports the vertical height value in road surface;
Said surface evenness information specifically comprises: the roll angle between the same ground that the said surface evenness pick-up unit that obtains according to said second measurement of higher degree value produces measuring vehicle is turned round state under, according to the elevation angle of said surface evenness pick-up unit between the same ground of generation under the measuring vehicle acceleration mode of said second measurement of higher degree value acquisition; And/or, according to the angle of depression of said surface evenness pick-up unit between the same ground that produces under the measuring vehicle deceleration regime of said second measurement of higher degree value acquisition;
Said first distance measuring sensor and second distance measuring sensor comprise: laser sensor.
Preferably, said first correcting device is an acceleration transducer.
Preferably, said second distance measuring sensor is connected with second correcting device that output terminal connects said detection output unit, and said second correcting device is used to revise said second measurement of higher degree value.
Preferably, said second correcting device is an acceleration transducer.
Preferably, said first distance measuring sensor and the second distance measuring sensor perpendicular projection are to ground, and measuring point is equal apart from the initial elevation on ground separately.
Compared with prior art, technique scheme has the following advantages:
At first; Through measuring feasible this pick-up unit of installing of car; By measure along two distance measuring sensors of vehicle body direction cross direction profiles car when turning round pick-up unit with respect to the real-time roll angle on road surface; Revise and the inclination that vehicle body takes place when turning round of compensating measure car through calculating, calculate real road surface elevation, therefore can accurately reflect surface evenness;
In addition, when inner two distance measuring sensors of this pick-up unit when vehicle body vertically distributes, can be through calculating the difference of elevation that two laser sensors record, obtain measuring car quicken, when slowing down pick-up unit respectively with respect to the elevation angle and the angle of depression on road surface.Revise and the inclination that vehicle body takes place during acceleration and deceleration in starting, brake and driving process of compensating measure car through calculating, calculate real road surface elevation, therefore can accurately reflect surface evenness.
Description of drawings
Shown in accompanying drawing, above-mentioned and other purpose, characteristic and advantage of the present invention will be more clear.Reference numeral identical in whole accompanying drawings is indicated identical part, painstakingly draws accompanying drawing by physical size equal proportion convergent-divergent, focuses on illustrating purport of the present invention.
Fig. 1 is the structural representation of a kind of surface evenness pick-up unit of the present invention embodiment one;
Fig. 2 is the structural representation of the another kind of surface evenness pick-up unit of the present invention embodiment two;
Fig. 3 is the mathematical model synoptic diagram of measurement of the present invention and angle calculation;
Fig. 4 is the flow chart of steps of a kind of detection method of road-surface evenness embodiment of the present invention.
Embodiment
A lot of details have been set forth in the following description so that make much of the present invention; But the present invention can also adopt other to be different from alternate manner described here and implement; Those skilled in the art can do similar popularization under the situation of intension of the present invention, so the present invention does not receive the restriction of following disclosed specific embodiment.
Secondly, the present invention combines synoptic diagram to be described in detail, when the embodiment of the invention is detailed; For ease of explanation; The sectional view of expression device architecture can be disobeyed general ratio and done local the amplification, and said synoptic diagram is example, and it should not limit the scope of the present invention's protection at this.The three dimensions size that in actual fabrication, should comprise in addition, length, width and the degree of depth.
The invention provides a kind of surface evenness pick-up unit embodiment one,, when measuring the run-off the straight of car vehicle body, still can accurately record the elevation on road surface, truly reflect the flatness on road surface with convenient with reference to figure 1.Said surface evenness pick-up unit specifically comprises: first distance measuring sensor 101, second distance measuring sensor 102 and detect the output unit (not shown);
Said first distance measuring sensor 101 and second distance measuring sensor 102 are used for exporting respectively separately measuring point apart from first measurement of higher degree value and second measurement of higher degree value on ground;
Said detection output unit receives said first measurement of higher degree value and second measurement of higher degree value, according to the correction of second measurement of higher degree value for first measurement of higher degree value, obtains surface evenness information and exports the vertical height value in road surface.
First elevation that the second elevation correction, first distance measuring sensor 101 that the embodiment of the invention adopts second distance measuring sensor 102 to record records; In time revised the vertical elevation on the road surface that when measuring vehicle run-off the straight in the process of moving, records, the flatness that is particularly useful for mountain road detects.
For make above-mentioned purpose of the present invention, feature and advantage can be more obviously understandable, will combine accompanying drawing below, to the technical scheme in the embodiment of the invention carry out clear, intactly describe.
With reference to figure 2; Show the structural representation of a kind of surface evenness pick-up unit embodiment two among the present invention, said surface evenness pick-up unit specifically comprises: first distance measuring sensor 101, second distance measuring sensor 102 and detect the output unit (not shown); Wherein, Said first distance measuring sensor 101 is connected with first correcting device 103; The output terminal of first correcting device 103 connects said detection output unit, and said first correcting device 103 is used to revise first measurement of higher degree value of said first distance measuring sensor 101 outputs.
In order to improve the degree of accuracy of testing result, the horizontal spacing of said first distance measuring sensor 101 and second distance measuring sensor 102 is fixed, and measuring point is equal apart from the initial elevation in ground separately.During original state, said first distance measuring sensor 101 and second distance measuring sensor 102 are vertically projected to the ground direction, and said first distance measuring sensor 101 is identical with second distance measuring sensor, 102 detected elevations apart from ground.
When application is of the present invention, this pick-up unit is fixed on the measuring vehicle car body, during test, first distance measuring sensor 101 and second distance measuring sensor 102 be monitoring distance road surface elevation all the time.Because car body receives the influence of surface evenness, jolt, at this moment the measuring point separately measured of first distance measuring sensor 101 error will occur apart from the height value on ground, can not truly reflect surface evenness.
Measure the error that the car body in the vertical direction causes owing to vehicle body jolts in order to correct apart from road surface measurement of higher degree value; Those skilled in the art can be provided with first correcting device 103 on first distance measuring sensor 101; Like acceleration transducer; First correcting device 103 and first distance measuring sensor, 101 coaxial being on the vertical direction are revised first measurement of higher degree value that said first distance measuring sensor 101 is exported by first correcting device 103.
When said first correcting device is that acceleration transducer is when (being called first acceleration transducer here); Said makeover process is can brief account following; Acceleration signal to said first acceleration transducer output carries out integral processing; Integration output speed signal, quadratic integral carry-out bit shifting signal have so just quantized car body and have received surface evenness to influence the vibrations displacement on the vertical direction of generation, carry out mutual deviation with this displacement signal with first measurement of higher degree value of first distance measuring sensor, 101 outputs; Thereby eliminate the vibrations displacement of car body, obtain first measurement of higher degree value of revised reality.This part belongs to technology well-known to those skilled in the art, and the present invention only does brief account at this, no longer gives unnecessary details.What at this moment, said detection output unit collected is the first vibrations shift value of first measurement of higher degree value, second measurement of higher degree value and the output of first acceleration transducer.
When measuring vehicle is turned round; Said first distance measuring sensor 101 and second distance measuring sensor 102 can be with measuring the vehicle body run-off the straight; The two-way distance measuring sensor causes the detected height value apart from ground of two-way distance measuring sensor to occur different to the also run-off the straight simultaneously of projection on ground thus.At this moment, the detection output unit process internal arithmetic that pick-up unit is inner obtains according to revised first measurement of higher degree value of the said first vibrations shift value; Subsequently, poor through more said revised first measurement of higher degree value and second measurement of higher degree value calculates the angle of vehicle body run-off the straight in real time.Utilize this angle, can revise and compensate the deviation of the measurement of higher degree value that inclination that vehicle vehicle body when turning round takes place causes.
The measurement that present embodiment is related and the mathematical model of angle calculation are as shown in Figure 3; The horizontal spacing of second distance measuring sensor 102 and first distance measuring sensor 101 is L, and the projection of said first distance measuring sensor 101 and second distance measuring sensor 102 at grade.When the vehicle body run-off the straight; For example measuring vehicle is turned round, quicken in the driving process, slow down and starting, vehicle body takes place laterally or fore-and-aft tilt when stopping; Said first distance measuring sensor 101, second distance measuring sensor 102 and first correcting device 103 can tilt with vehicle body; The height value that this moment, said first distance measuring sensor 101 and second distance measuring sensor 102 recorded is respectively H and H1; As can be seen from Figure 3 said height value H and H1 have not been the vertical height value of real measuring point apart from ground, if directly use said height value H and H1, will produce error to final measurement.
For fear of the generation of error, can calculate the actual angle value α of pick-up unit run-off the straight by Fig. 3, this angle value also is the angle value of measuring vehicle run-off the straight:
α=arctg((H1-H)/L)；
Utilize angle value α, respectively the measured deviation of said first distance measuring sensor and first acceleration transducer revised:
1, for the correction of first acceleration transducer
With reference to above-mentioned Fig. 3, when the vehicle body run-off the straight, the measurement result of first acceleration transducer on the ordinary meaning can not correctly reflect because the vibrations displacement that body sway causes first distance measuring sensor 101.Need be according to the above-mentioned inclined angle alpha that records, the measured value of first acceleration transducer is adapted on the direction perpendicular to the ground.
According to the detection principle of acceleration transducer, establishing the accekeration that acceleration transducer records is a, and a is carried out integration, and the displacement that calculates the said first acceleration transducer in the vertical direction is l
a
2, for the correction of first distance measuring sensor 101
Inclined angle alpha is incorporated in the correction of first distance measuring sensor 101, through revising the road surface elevation H that first distance measuring sensor 101 records
0Should be: H
0=Hcos α-l
a
H
0Value is the actual vertical height value in road surface, thereby passes through H
0Value can be understood the flatness on road surface.
Said detection output unit also is connected with the outside output unit that shows, like display screen or printing equipment, can conveniently the vertical height value in the road surface of the reality that obtains be offered the testing staff in real time.
Need to prove that the inclined angle alpha described in the foregoing description comprises roll angle between the same ground that pick-up unit produces, slows down at the elevation angle between the same ground that measuring vehicle is quickened and the starting state produces down and/or in measuring vehicle when testing vehicle turns round state, the angle of depression between the same ground of generation under the dead ship condition.In test during said roll angle, should be with said first distance measuring sensor 101 and second distance measuring sensor 102 along the vehicle body horizontally set; And when the test angle of depression and the elevation angle, should said first distance measuring sensor 101 and second distance measuring sensor 102 vertically be provided with along vehicle body.The present invention utilizes horizontal and vertical elevation correction respectively, thereby therefore the final vertical elevation that obtains reality can improve the degree of accuracy that surface evenness detects, thereby accurately reflect surface evenness.When concrete the application, can this pick-up unit be installed in the crossbeam position of vehicle body side or headstock, the present invention does not do concrete qualification at this.
It is thus clear that the present invention is particularly useful for that detour is more or the hill path that the climb and fall road is more, compares with traditional pick-up unit, can improve the accuracy of detection greatly.
Among the present invention among the another kind of surface evenness pick-up unit embodiment three; When using technical scheme of the present invention; In order further to improve the final degree of accuracy of measuring; Those skilled in the art can be provided with second correcting device as required simultaneously on second distance measuring sensor; For example also be an acceleration transducer,, and then utilize second measurement of higher degree value after revising further first measurement of higher degree value to be revised by second measurement of higher degree value of said second distance measuring sensor output of the second correcting device correction.
In the foregoing description, described distance measuring sensor can be laser sensor, also can be other sensors.When using laser sensor, to compare with methods such as aforementioned gyroscope, inclinator, electronic compasss, the SF of laser sensor is higher, generally can reach 16KHz; Simultaneously, precision is high, and minimum resolution can reach 0.01mm, can be in the demand that satisfies actual operating mode aspect concrete response frequency that detects and the precision.In addition, the laser sensor good stability can not produce system's cumulative errors with temperature and time, and reliability is high.
According to the embodiment of the invention, a kind of detection method of road-surface evenness is also disclosed, Fig. 4 shows the flow chart of steps of this method, said method comprising the steps of:
In order to improve the degree of accuracy of testing result, the horizontal spacing of said first distance measuring sensor and second distance measuring sensor is fixed, and measuring point is equal apart from the initial elevation in ground separately.During original state, said first distance measuring sensor and second distance measuring sensor are vertically projected to the ground direction, and said first distance measuring sensor is identical with the detected elevation apart from ground of second distance measuring sensor.
Need to prove that said said first measurement of higher degree value correction specifically according to said second measurement of higher degree value comprises:
Obtain the roll angle between same ground that said surface evenness pick-up unit produces according to said second measurement of higher degree value under measuring vehicle is turned round state, said first measurement of higher degree value is revised according to said roll angle.
This method step has solved the surface evenness measuring error that testing vehicle causes owing to the vehicle body transverse pitch when turning round.
In the another kind of detection method of road-surface evenness embodiment of the present invention, said said first measurement of higher degree value correction also according to said second measurement of higher degree value comprises:
According to the elevation angle of said surface evenness pick-up unit between the same ground that produces under the measuring vehicle acceleration mode that said second measurement of higher degree value obtains, said first measurement of higher degree value is revised according to the said elevation angle; And/or,
According to the angle of depression of said surface evenness pick-up unit between the same ground that produces under the measuring vehicle deceleration regime that said second measurement of higher degree value obtains, said first measurement of higher degree value is revised according to the said angle of depression.
This method step has solved the surface evenness measuring error that testing vehicle quickens in the process of moving, slows down and start to walk, causes owing to vehicle body generation fore-and-aft tilt when stopping.
Measure the error that the car body in the vertical direction causes owing to vehicle body jolts in order to correct apart from road surface measurement of higher degree value; In another detection method of road-surface evenness embodiment of the present invention, also need revise first measurement of higher degree value that first distance measuring sensor records.Usually, take on the coaxial vertical direction of first distance measuring sensor, first correcting device to be set, for example: acceleration transducer, according to the vibrations shift value that this first correcting device obtains said first measurement of higher degree value is revised.
In order further to improve the final degree of accuracy of measuring; Those skilled in the art can be provided with second correcting device as required simultaneously on second distance measuring sensor; For example: acceleration transducer; By second measurement of higher degree value of said second distance measuring sensor output of this second correcting device correction, and then utilize second measurement of higher degree value after revising further first measurement of higher degree value to be revised.
Usually, among the above-mentioned detection method of road-surface evenness embodiment, described distance measuring sensor can be laser sensor, also can be other sensors.When using laser sensor, to compare with methods such as aforementioned gyroscope, inclinator, electronic compasss, the SF of laser sensor is higher, generally can reach 16KHz; Simultaneously, precision is high, and minimum resolution can reach 0.01mm, can be in the demand that satisfies actual operating mode aspect concrete response frequency that detects and the precision.In addition, the laser sensor good stability can not produce system's cumulative errors with temperature and time, and reliability is high.
In addition, when using technical scheme of the present invention, should also be noted that of the influence of following applied environment for measurement result:
(1) influence of road surface cleanliness.
In surface evenness detected, the surface clearness of road had certain influence to measurement result.When for example road surface had rubbish such as leaf or foreign material, when test carriage goes through out-of-date, what test result just might reflect was the flatness value on leaf surface, and can't record the true flatness data on road surface.
(2) in test process, should make test carriage remain at the uniform velocity state as far as possible.According to the analysis to testing result, this pick-up unit measurement result under the speed per hour of 50～80km is more accurate, so in testing process, should keep the unimpeded of the track tested, reduces the influence of the speed of a motor vehicle.
(3) when detecting the Chang Po highway section, data stability in the time of should noting climb and fall.For the pick-up unit among the present invention, its flatness value that records at descending generally is slightly larger than the result of the test of going up a slope.For this reason, the testing staff should grasp this rule, so that the data in the reality test more accurately and reliably.
(4) also there is certain influence in test carriage to measurement result under different load-carryings, influences the reasons such as air pressure of tire mainly due to different load-carrying meetings, causes the variation of test carriage crossbeam elevation, produces data deviation.The load of vehicle when this just requires to guarantee to test generally only is advisable by driver and operator two people.
(5) under the situation with water of rainy day or road surface. can not detect.
With the laser sensor is example, when there is water on the road surface. Laser emission can produce scattering behind ground, the data that therefore record are just inaccurate.Other each quasi-instrument is this problem of ubiquity also.
For said method embodiment, because it is basically corresponding to device embodiment, so description is fairly simple, corresponding part gets final product referring to the part explanation of device embodiment, and the present invention no longer gives unnecessary details at this.
The above only is preferred embodiment of the present invention, is not the present invention is done any pro forma restriction.
Though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention.Any those of ordinary skill in the art; Do not breaking away under the technical scheme scope situation of the present invention; All the method for above-mentioned announcement capable of using and technology contents are made many possible changes and modification to technical scheme of the present invention, or are revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not break away from technical scheme of the present invention, all still belongs in the scope of technical scheme protection of the present invention any simple modification, equivalent variations and modification that above embodiment did according to technical spirit of the present invention.
Claims (4)
1. a surface evenness pick-up unit is characterized in that, comprising: first distance measuring sensor, second distance measuring sensor, detection output unit and first correcting device;
Said first distance measuring sensor and second distance measuring sensor are used for exporting respectively separately measuring point apart from first measurement of higher degree value and second measurement of higher degree value on ground;
Said first distance measuring sensor is connected with first correcting device that output terminal connects said detection output unit, and said first correcting device is used to revise said first measurement of higher degree value;
Said second distance measuring sensor is connected with second correcting device that output terminal connects said detection output unit, and said second correcting device is used to revise said second measurement of higher degree value;
Said detection output unit receives said first measurement of higher degree value and second measurement of higher degree value, according to the correction of second measurement of higher degree value for first measurement of higher degree value, obtains surface evenness information and exports the vertical height value in road surface;
Said surface evenness information specifically comprises: the roll angle between the same ground that the said surface evenness pick-up unit that obtains according to said second measurement of higher degree value produces measuring vehicle is turned round state under, according to the elevation angle of said surface evenness pick-up unit between the same ground of generation under the measuring vehicle acceleration mode of said second measurement of higher degree value acquisition; And/or, according to the angle of depression of said surface evenness pick-up unit between the same ground that produces under the measuring vehicle deceleration regime of said second measurement of higher degree value acquisition;
Said first distance measuring sensor and second distance measuring sensor comprise: laser sensor.
2. surface evenness pick-up unit according to claim 1 is characterized in that, said first correcting device is an acceleration transducer.
3. surface evenness pick-up unit according to claim 1 is characterized in that, said second correcting device is an acceleration transducer.
4. surface evenness pick-up unit according to claim 1 is characterized in that, said first distance measuring sensor and the second distance measuring sensor perpendicular projection are to ground, and measuring point is equal apart from the initial elevation on ground separately.
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| CN103983219B (en) * | 2014-06-06 | 2017-01-25 | 中国科学院光电技术研究所 | In-suit measuring method of large size planeness |
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