CN101644023A - Detection method of road-surface evenness - Google Patents
Detection method of road-surface evenness Download PDFInfo
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Abstract
The invention discloses a detection method of road-surface evenness; in the measurement process, an accelerometer is utilized to detect relative displacement of a laser ranging device owning to road surface bumping, a three-dimensional gyroscope is utilized to detect the inclined angle of the laser ranging device owning to road surface bumping, and a three-dimensional synthesis attitude angle is synthesized under a two-directional coordinate system according to the attitude angles along the three directions; the relative displacement, the three-dimensional synthesis attitude angle and the distance measured by the laser ranging device are obtained, and vertical distance between the laser ranging device and the road surface is calculated; according to the detection density, all vertical distances are obtained, and a difference value with a standard reference distance is obtained, thereby obtaining a profile curve and the road-surface evenness. The method eliminates the problems that thealtitude of the laser ranging device is inclined owning to road surface bumping and data loses efficiency caused by position deviation, and solves the problem that the road-surface evenness can not bedetected under the low-speed (<25km/h) condition, thereby improving the detection efficiency, reducing the life cycle cost of highroads and improving the service life of the highroads.
Description
Technical Field
The invention relates to the technical field of highway maintenance, in particular to a method for detecting pavement evenness.
Background
In the early stage of road maintenance, the road surface flatness is one of important indexes of road technical condition evaluation and road maintenance analysis, and the rapid and accurate detection of the flatness has great significance on road maintenance management, such as prolonging the service life of a road, reducing the maintenance cost of the road and the like.
Since the last 70 s, western countries have developed a lot of research work on rapid detection of road flatness, and have proposed a series of rapid detection methods of road flatness and related devices and equipments, including vehicle-mounted jounce accumulation instruments. In order to establish a data relationship among various detection devices, international flatness index (IRI), an IRI calibration method, a calculation process and a detection guide of vehicle-mounted bump accumulation devices are also provided by world banks.
With the wide application of laser technology, the highway research institutions in the countries such as the united kingdom, the united states, denmark, sweden and the like successively develop and widely apply the rapid detection device and equipment for the flatness of the cross-section road surface based on the laser technology. The method of the section laser flatness rapid detection device is that a vehicle-mounted laser ranging device is used for measuring the distance between a carrier or the laser ranging device and a road surface, an acceleration sensing device is used for correcting vertical displacement caused by the up-and-down movement of the carrier or the laser ranging device, and IRI of the road surface is calculated through an algorithm proposed by a world bank. The detection conditions of the device are that the running speed of the vehicle is more than 25km/h to be effectively detected, and the speed is kept constant during detection.
Through analysis of a large amount of detection data, when the laser flatness detection equipment is used for detecting mountain roads and crowded road sections, particularly road sections such as rapid acceleration, rapid deceleration and high-speed curves, the laser flatness detection equipment cannot keep moving perpendicular to the road surface, and when the road sections are rapidly accelerated, rapidly decelerated and excessively bent at high speed, the laser flatness detection equipment forms a certain angle with the road surface and the angle is continuously changed, so that the distance change caused by the angle cannot be corrected by the conventional detection method and detection equipment; particularly, on a low-speed running or crowded urban road (less than 25km/h), the vehicle cannot be normally detected because the vehicle cannot run at a constant speed.
Therefore, the detection data obtained by the above detection method generally has a distortion problem. Many inspection engineers in inspection departments have to mark the possibly distorted road sections on site during the inspection process, and then reject the problem data through subsequent manual analysis and processing. The problem of poor detection data precision seriously influences the objectivity of the assessment of the technical condition of the highway and the credibility of maintenance analysis decision. The road flatness detection problem based on the laser technology restricts the development of automatic detection of the road technical condition in China for a long time.
Disclosure of Invention
In view of the above, the present invention provides a method for detecting road flatness, so as to solve the problem that in the road surface measuring process, when the vehicle is suddenly accelerated, suddenly decelerated, and excessively bent at a high speed, a laser flatness detecting device forms a certain angle with the road surface, and the angle is constantly changed, so that the detected data is inaccurate, and the measurement cannot be performed.
In order to solve the above problems, the present invention provides a method for detecting road flatness, comprising: a three-way gyroscope and an accelerometer are arranged on the laser ranging device;
in the measuring process, an accelerometer is used for detecting the relative displacement generated by the laser ranging device due to road bumping, a three-way gyroscope is used for detecting the angle of inclination of the laser ranging device due to road bumping, and a three-way synthetic attitude angle under a two-dimensional coordinate system is synthesized according to attitude angles in three directions; obtaining the relative displacement, the three-dimensional synthetic attitude angle and the distance measured by the laser ranging device, and calculating the vertical distance between the laser ranging device and the road surface; and obtaining each vertical distance according to the detection density, obtaining a difference value between the vertical distance and the standard reference distance, and obtaining a vertical section curve and the flatness of the road surface.
Preferably, the calculating of the vertical distance between the laser ranging device and the road surface includes:
multiplying the sum of the distance measured by the laser ranging device and the distance between the relative displacements by the cosine value of the three-way attitude angle; the formula is as follows:
h＝(hlaser+hAcceleration)×cosα
Wherein,
h is the vertical distance from the laser ranging device to the road surface;
hlaser-the detected distance of the laser distance measuring device;
hacceleration-relative displacement caused by vibration of the laser distance measuring device;
a-three-way synthetic attitude angle.
Preferably, the detection density is 1 mm.
By the method, the real flatness of the road surface can be effectively measured, and the attitude determination positioning device can accurately calculate that a certain angle is formed between the laser flatness detection device and the road surface when the vehicle body is subjected to rapid acceleration, rapid deceleration and high-speed bending, and calculate the accurate distance between the laser measurement device and the ground, so that the problems that the detection data is inaccurate, the error is large and the accurate road surface flatness data cannot be obtained in the road surface measurement process are solved, and the problem that the road surface flatness cannot be detected under the low-speed (< 25km/h) condition is solved; the maintenance cost of the highway is reduced, and the service life of the highway is prolonged.
Drawings
FIG. 1 is a schematic illustration of the location of various devices of the present invention;
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
For the purpose of illustrating the invention in detail, preferred embodiments are given below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the invention is shown in fig. 1, a laser ranging device in fig. 1 is installed on a vehicle body, the laser ranging device measures the distance from the vehicle body to a road surface, a posture-fixing positioning device is installed above the laser ranging device, a three-way gyroscope and an accelerometer are installed in the posture-fixing positioning device, the three-way gyroscope can measure the inclination angle of the laser ranging device relative to the vertical ground when the laser ranging device moves along with the vehicle body in the processes of acceleration, deceleration and turning of the vehicle body, such as an angle a in fig. 1, and the accelerometer can simultaneously measure the displacement generated by the laser ranging device in the vibration of the bumpy road surface of the vehicle body.
In the process of measuring the road surface, the real distance from the laser ranging device to the ground can be measured in the processes of acceleration, deceleration and turning of the vehicle body by measuring the inclined angle and the generated displacement, and the measurement data error of the inclination of the laser ranging device caused by the vehicle body movement is corrected.
The measurement procedure was as follows:
step 1: setting the detection density of the laser ranging device, and measuring the distance between the laser ranging device and the undamaged reference road surface to obtain a standard reference distance; during the measurement, the detection density may be set between 1mm and 1.5mm, preferably 1 mm.
Step 2: detecting the relative displacement of the current laser ranging device generated by the vibration of the vehicle body by using an accelerometer in the attitude determination positioning device;
and step 3: detecting a three-dimensional attitude (namely attitude angles in three directions) relative to a road surface by using a three-way gyroscope in the attitude determination positioning device during the running process of a vehicle body, and synthesizing a three-way synthesized attitude angle in a two-dimensional coordinate system according to the attitude angles in the three directions, namely an angle a in figure 1;
and 4, step 4: calculating the vertical distance between the laser ranging device and the road surface through the relative displacement in the step 2, the angle a in the step 3 and the distance measured by the laser ranging device; the operation process is shown as formula 1:
h＝(hlaser+hAcceleration)×cosα (1)
In the formula,
h is the vertical distance, mm, of the carrier or the laser ranging device from the road surface;
hlaserThe detection distance of the carrier or laser distance measuring device, mm;
hacceleration-relative displacement, mm, caused by vibration of the carrier or laser ranging device, etc.;
a-the three-dimensional synthetic attitude angle of the laser ranging device;
and 5: and (4) obtaining the concave-convex condition of the road surface by using the difference value between each vertical distance in the step (4) and the standard reference distance in the step (1), and obtaining a vertical section curve and the flatness of the road surface.
Through the above calculation process, the final vertical distance can be obtained. Calculating corresponding vertical distances according to a preset measurement density interval, obtaining the concave-convex condition of the road surface by using the difference between each vertical distance and the standard reference distance in the step 1, obtaining a road surface vertical section curve by using the road surface length and the concave-convex condition of the road surface as two-dimensional coordinates, and calculating the flatness of the road surface and a flatness index IRI according to the road surface flatness algorithm proposed in WTP-46(world bank technical paper number46) published by a world bank.
The method can effectively measure the real flatness of the road surface, and accurately calculate a certain angle between the laser flatness detection device and the road surface and calculate the accurate distance between the laser measurement device and the ground when the vehicle body is subjected to rapid acceleration, rapid deceleration and high-speed bending through the attitude determination positioning device, thereby eliminating the problems that the detection data is inaccurate, the error is large and the accurate road surface flatness data cannot be obtained in the road surface measurement process.
Any modification, equivalent replacement, improvement, etc. made to the method set forth in the various embodiments of the present invention within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A road flatness detection method is characterized by comprising the following steps: a three-way gyroscope and an accelerometer are arranged on the laser ranging device;
in the measuring process, an accelerometer is used for detecting the relative displacement generated by the laser ranging device due to road bumping, a three-way gyroscope is used for detecting the angle of inclination of the laser ranging device due to road bumping, and a three-way synthetic attitude angle under a two-dimensional coordinate system is synthesized according to attitude angles in three directions; obtaining the relative displacement, the three-dimensional synthetic attitude angle and the distance measured by the laser ranging device, and calculating the vertical distance between the laser ranging device and the road surface; and obtaining each vertical distance according to the detection density, obtaining a difference value between the vertical distance and the standard reference distance, and obtaining a vertical section curve and the flatness of the road surface.
2. The method for detecting the flatness of the road surface according to claim 1, wherein the calculating the vertical distance between the laser ranging device and the road surface includes:
multiplying the sum of the distance measured by the laser ranging device and the distance between the relative displacements by the cosine value of the three-way synthetic attitude angle; the formula is as follows:
h＝(hlaser+hAcceleration)×cosα
Wherein,
h is the vertical distance from the laser ranging device to the road surface;
hlaser-the detected distance of the laser distance measuring device;
hacceleration-relative displacement caused by vibration of the laser distance measuring device;
a-three-way synthetic attitude angle.
3. The method of claim 1, wherein the detection density is 1 mm.
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| CN102359056A (en) * | 2011-07-20 | 2012-02-22 | 东南大学 | Detection method of bituminous pavement data |
| CN103835212A (en) * | 2014-02-21 | 2014-06-04 | 哈尔滨工业大学 | Three-dimensional road surface detecting system |
| CN104929024A (en) * | 2015-06-15 | 2015-09-23 | 广西大学 | Road surface evenness detector and road surface evenness measuring method |
| CN105606049A (en) * | 2015-09-11 | 2016-05-25 | 华南农业大学 | Paddy-field agricultural equipment work attitude measurement method of relative water surface |
| CN106638242A (en) * | 2016-10-28 | 2017-05-10 | 武汉武大卓越科技有限责任公司 | Flatness detecting device and method adapting to low-speed and variable-speed measurement |
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Effective date of registration: 20111024 Address after: 100029 two storey building, earthquake protection center, No. 9 National Road, Beijing, Chaoyang District Patentee after: RoadMaint (Beijing) Maintenance Technology Co., Ltd. Address before: 100088 Beijing city Haidian District Xitucheng Road No. 8 public Tech (Beijing) Maintenance Technology Co Ltd Patentee before: Zhao Huaizhi |
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Owner name: ROADMAINT MAINTENANCE TECHNOLOGY CO., LTD. Free format text: FORMER NAME: ROADMAINT (BEIJING) MAINTENANCE TECHNOLOGY CO., LTD. |
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Address after: 100029 two storey building, earthquake protection center, No. 9 National Road, Beijing, Chaoyang District Patentee after: Zhonggong Hi-tech Conservation Technology Co.,Ltd. Address before: 100029 two storey building, earthquake protection center, No. 9 National Road, Beijing, Chaoyang District Patentee before: RoadMaint (Beijing) Maintenance Technology Co., Ltd. |