CN101718546A - Method and system for measuring vehicle-mounted road profile - Google Patents
Method and system for measuring vehicle-mounted road profile Download PDFInfo
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- CN101718546A CN101718546A CN200910242396A CN200910242396A CN101718546A CN 101718546 A CN101718546 A CN 101718546A CN 200910242396 A CN200910242396 A CN 200910242396A CN 200910242396 A CN200910242396 A CN 200910242396A CN 101718546 A CN101718546 A CN 101718546A
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Abstract
The invention relates to a method and a system for measuring a vehicle-mounted road profile. The method comprises the following steps of: (1) calibrating two accelerometers and laser displacement sensors, and inputting obtained scale parameters of the sensors and actual measurement values into a data processing program of a vehicle-mounted computer; (2) acquiring the data measured by three sensors, acquiring the data of a road surface by starting the three sensors through a control module in the vehicle-mounted computer, and inputting the acquired data information into the vehicle-mounted computer; and (3) processing the data input by a data acquisition unit through the vehicle-mounted computer, and mutually combining the data information measured by the three sensor through a software processing module in the vehicle-mounted computer to form shape data of the profile of the road surface. The method and the system of the invention adopt the cooperation of different accelerometers and laser displacement sensors in two frequency-response areas to provide basic data for the real restoration of the longitudinal displacement of a detection beam, and have the characteristics of accurate measurement and no information lost. The method of the invention can be widely applied in various road measuring systems.
Description
Technical field
The present invention relates to a kind of road surface measuring method, particularly about a kind of vehicle-mounted road profile measuring method and measuring system thereof that is used for the shape measure of contactless high speed vertical section of road surface.
Background technology
Vehicular vertical section of road surface shape measure system, this system mainly is made up of accelerometer and laser displacement sensor, wherein laser displacement sensor is used to measure the accurate distance of detection beam to the road surface, accelerometer then is used to measure the longitudinal acceleration signal that detects beam, and it is carried out obtaining detecting behind the quadratic integral length travel of beam itself, with these two displacement superposed after, finally obtain the shape of vertical section of road surface.As shown in Figure 1, A is for detecting beam among the figure, and B is the tested road baseline.The length travel z that the measurement of road type converts based on accelerometer
2(t) with the relative distance z that measures by laser sensor
4(t), unite and obtain.That is:
Δ(t)＝Z
1-Z
0-z
3(t)＝Z
1-Z
0-[z
4(t)-z
2(t)]??????????????(1)
Wherein: Z
1And Z
2Be constant, can not influence the road type that records; z
4(t) be the distance that the detected beam of laser sensor and road surface on the beam detect in x mileage place, be known quantity; z
2(t) be that the length travel of beam with respect to starting point detected at x mileage place, can obtain according to the acceleration transducer data reduction that detects on the beam; Δ (t) is the true fluctuating situation on tested road surface.Therefore only need output, calculate the length travel z of the detection beam at any mileage place according to accelerometer
2(t), just can obtain the true fluctuating situation Δ (t) on the tested road surface of needs, thereby calculate road pavement form.
The type selecting of accelerometer is extremely important, present widely used accelerometer mainly comprises: piezoelectric accelerometer, capacitive accelerometer, ICP accelerometer etc., every kind of accelerometer all has characteristic of oneself and the occasion that is suitable for, and its Hz-KHz also is not quite similar.The accelerometer that is applied to Road Detection is mainly used in to measure and detects vibration of beam, this vibration is existing owing to the jolting of car self causes, also having is added to because road rises and falls detects that beam gets on, it seems according to practical experience, the vibration of the little amplitude of existing high-frequency, the fluctuating of low frequency large amplitude is also arranged, and its frequency range is 0Hz～1KHz.Therefore, calculate the length travel z that detects beam comprehensively and exactly
2(t), at first must select choosing of accelerometer.Only use this vibration of accelerometer measures in the present road surface measurement products, and an accelerometer is often only more accurate to the measurement of the acceleration information in a kind of frequency range, can't cover all frequency separations of 0～1KHz, therefore there is the inaccurate problem of acceleration analysis, thereby can't accurately obtains the true fluctuating on road surface.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind ofly measure accurately, precision is higher and the vehicle-mounted road profile measuring method and the measuring system thereof that adopt dissimilar accelerometers to cooperate with laser displacement sensor.
For achieving the above object, the present invention takes following technical scheme: a kind of vehicle-mounted road profile measuring method, utilize a quartz accelerometer, a pottery shearing piezoelectric accelerometer and these three sensors of a laser displacement sensor to measure, its step is as follows: (1) is demarcated two accelerometers and laser displacement sensor, and the scale parameter that obtains between sensor and the actual measured value is input in the data processor of vehicular computing machine; (2) to three sensor measurements to data-signal gather, when system starts working, open three sensor road pavement by the control module in the vehicular computing machine and carry out data acquisition, in the data message input vehicular computing machine that collects; (3) by the vehicular computing machine data of being imported by data acquisition unit are handled, three measured data messages of sensor are merged mutually, form the shape data of vertical section of road surface by the software processing module in the vehicular computing machine.
It is the laser displacement sensor of SLS 5200/300 that described laser displacement sensor adopts the model of SLS 5000 series of Switzerland.
It is the quartz accelerometer of SRJ-01 that described quartz accelerometer adopts model.
The model that described pottery is sheared the production of piezoelectric accelerometer employing U.S. PCB company is the ICP accelerometer of 352C33.
A kind of measuring system that realizes above-mentioned vehicle-mounted road profile measuring method is characterized in that: it comprises the accelerometer of a laser displacement sensor, two different frequency scopes, a data collector and a vehicular computing machine; The be connected in parallel input end of described data acquisition unit of described laser displacement sensor, two described accelerometers, with synchro measure to detection beam related data gather by described data acquisition unit, and data are sent in the described vehicular computing machine.
Two described accelerometers are respectively quartz accelerometer and pottery is sheared piezoelectric accelerometer.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is owing to adopt the different accelerometer in two frequency responses zone to cooperate with laser displacement sensor, the frequency response range of two accelerometers is added up and has been covered the whole frequency spaces from 0Hz to 1KHz, can well finish the reduction to the accelerometer displacement like this.Therefore realized the true reduction that detects the beam length travel data that provide the foundation are had and measure accurately, not the characteristics of drop-out.2, the present invention is because laser displacement sensor of employing and two dissimilar acceleration transducers carry out synchronous acquisition to displacement and the acceleration signal that detects beam, degree of will speed up signal and laser displacement signal are input in the vehicular computing machine then, in the vehicular computing machine, the signal that collects is handled, therefore obtained the vertical section shape on road surface accurately.3, therefore the present invention can analyze at the different frequency scope owing to adopt two accelerometers, when needs are analyzed the road surface situation of a certain frequency range, can select different acceleration transducers to carry out signal analysis as required.And after one of them accelerometer goes wrong because of a variety of causes, can directly use the data of another sensor, and be unlikely to carry out data analysis.Therefore increased the reliability of system greatly.The present invention can be widely used in the different kinds of roads measuring system.
Description of drawings
Fig. 1 is a road surface of the prior art measuring system synoptic diagram
Fig. 2 is a measuring system structural representation of the present invention
Fig. 3 is the frequency response curve synoptic diagram of quartz accelerometer of the present invention
Fig. 4 is the frequency response curve synoptic diagram that pottery of the present invention is sheared piezoelectric accelerometer
Embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
Two accelerometers that the present invention adopts are respectively a quartz accelerometer and an ICP (pottery is sheared piezoelectric type) accelerometer, utilize laser displacement sensor, quartz accelerometer and three sensors of ICP accelerometer to measure, and its step is as follows:
(1) at first two accelerometers and laser displacement sensor are demarcated, the purpose of demarcating is in order after obtaining the scale parameter between sensor and the actual measured value, demarcate finishing the data that obtain to be input in the data processor in the vehicular computing machine;
(2) to three sensor measurements to data-signal gather, when system starts working, open three sensor road pavement by the control module in the vehicular computing machine and carry out data acquisition, the data message that collects is imported in the vehicular computing machine, and demonstrates respective graphical with real-time window mode on the screen of vehicular computing machine;
(3) by the vehicular computing machine data of being imported by data acquisition unit are handled, three measured data messages of sensor are merged mutually, form the shape data of vertical section of road surface by the software processing module in the vehicular computing machine.
As shown in Figure 2, measuring system of the present invention comprises the quartz accelerometer 2 of a laser displacement sensor 1, two different frequency scopes and ICP accelerometer 3, a data collector 4 and a vehicular computing machine 5.The be connected in parallel input end of data acquisition unit 4 of laser displacement sensor 1, two accelerometers 2,3, with synchro measure to detection beam related data gather by data acquisition unit 4, and data are sent in the vehicular computing machine 5, by the software processing module in the vehicular computing machine 5 data of data collector 4 inputs are resolved processing.
In the foregoing description, after the software processing module in the vehicular computing machine 5 is resolved processing to data, can obtain detecting in the different frequency scope length travel of beam, according to existing road profile survey computing formula (1) Δ (t)=Z
1-Z
0-z
3(t)=Z
1-Z
0-[z
4(t)-z
2(t)], can obtain the vertical section shape on road surface.In the formula, Z
1And Z
2Be constant; z
4(t) be the distance that the detected beam of laser sensor and road surface on the beam detect in x mileage place, be known quantity; z
2(t) be that the length travel of beam with respect to starting point detected at x mileage place, can obtain according to the acceleration transducer data reduction that detects on the beam; Δ (t) is the true fluctuating on tested road surface.
In the foregoing description, the laser displacement sensor 1 that the present invention adopts is the laser displacement sensor of SLS 5200/300 for the model of SLS 5000 series of Switzerland, and its measurement of correlation parameter is as shown in table 1.
Table 1
| Model | Measurement range (mm) | Gauged distance (mm) | Offset distance (mm) | Resolving power (the poorest) | Resolving power (typical case) | The linearity | The S0 angle of inclination | S0 restraints spot |
| ??SLS??5200/300 | ??200 | ??300 | ??200 | ??0.05 | ??0.005 | ??0.100 | 13 degree | ??0.3 |
In the foregoing description, the quartz accelerometer 2 that the present invention adopts is that model is the quartz accelerometer of SRJ-01, and this quartz accelerometer is a kind of force balance type sensor, the precision instrument that designs according to principle of inertia.It converts input acceleration the micro-displacement of its flexible pendulum to, and with feedback force balance in addition.When acceleration is done the time spent along the accelerometer sensitive direction of principal axis, the detection mass offset center that inertial force supports flexibility bar, the change in displacement that signal transducer utilizes the variation sensitive acceleration effect of electric capacity (sense) to cause, by servo circuit the variation of electric capacity (sense) being changed into the electric current that is applied on the torquer changes, by measuring the electric current on the torquer, realize the measurement of acceleration.The index of SRJ-01 quartz accelerometer is as shown in table 2.
Table 2
| Be worth partially (mg) | ??＜3 |
| Range (g) size (mm) | ??±30??φ25.4×30 |
| Be worth temperature coefficient (μ g/ ℃) partially | ??＜±30 |
| Constant multiplier moon stability (Ppm) is value month stability (μ g) partially | ??＜30??＜30 |
| Second order nonlinear coefficient (μ g/g2) electric current scale factor (mA/g) impacts (g) | ??＜20??1.2±0.15??100g?11ms?1/2sin |
| Working current (mA) operating voltage (V) | ??≤20??±12∽±18 |
| Weight (g) | ??＜80 |
As shown in Figure 3, according to the frequency characteristic of SRJ-01 quartz accelerometer as can be seen, its frequency range that can accurately measure is 0～200Hz, this quartz flexible accelerometer have precision and highly sensitive, power consumption is little, Heat stability is good, mechanical hysteresis and retarded elasticity are little, be easy to characteristics such as miniaturization, in inertial navigation system, geodetic surveying system, have been widely used.The major defect of this accelerometer is, can not bear too big impact shock, and linearity Hz-KHz is less, be generally 0 to hundreds of KHz, but,, can also do static measurement and use so the response that it is highly sensitive, low-frequency range is interior well because quartz flexible accelerometer adopts differential capacitive structure.The resolution of the SRJ-01 accelerometer that uses in this surveying instrument can reach 1ug, and in 0～200Hz frequency range, accuracy is better than soil 2%.
In the foregoing description, the ICP accelerometer 3 that the present invention adopts is that the model that U.S. PCB company produces is the ICP accelerometer of 352C33, and this ICP accelerometer is that a kind of high resolving power conventional ceramic is sheared piezoelectric acceleration transducer.Also belong to the inertia-type sensor.It is a piezoelectric effect of utilizing some material such as pottery, and when accelerometer was shaken, the power that mass is added on the piezoelectric element also changed thereupon.When tested vibration frequency during far below the natural frequency of accelerometer, then the variation of power be directly proportional by measuring acceleration.The concrete technical indicator of 352C33 accelerometer is as shown in table 3.
Table 3
| Sensitivity (± 10%) | ??100mV/g |
| Range frequency response (± 5%) | ??±50g?pk??0.5-10k?Hz |
| Frequency response (± 10%) | ??0.3-15k?Hz |
| Resonance frequency resolution (1-10kHz) | ??≥50kHz??0.00015g?rms |
| Sensitivity (± 10%) | ??100mV/g |
| The shock resistance of linearity cross sensitivity | ??≤1％??≤5％??±5000g?pk |
| The temperature range driving voltage | -54 ℃ to 93 ℃ 18-30VDC |
| Constant current source | ??2-20mA |
| Output resistance output offset voltage | ??≤200ohms??7-12VDC |
| The discharge constant | 1.0-2.5 second |
| Sheathing material size (height * diameter) mm | Titanium 11.1 * 15.7 |
| Weight | ??5.8gm |
| The joint joint location | The 10-32 side |
| Screw thread is installed | ??10-32 |
As shown in Figure 4, the frequency response curve of 352C33 type ICP accelerometer used according to the invention as can be seen, the frequency range that this ICP accelerometer can accurately be measured is 0.5～10KHz.
In sum, the present invention adopts two accelerometers that frequency range is different, has covered all frequency separations of 0～1KHz effectively, so acceleration can measure accurately, and then accurately obtains the true fluctuating situation on road surface.
The various embodiments described above only are preferred implementations of the present invention, and are every based on the changes and improvements on the technical solution of the present invention in the present technique field, should not get rid of outside protection scope of the present invention.
Claims (6)
1. a vehicle-mounted road profile measuring method utilizes a quartz accelerometer, a pottery shearing piezoelectric accelerometer and these three sensors of a laser displacement sensor to measure, and its step is as follows:
(1) two accelerometers and laser displacement sensor are demarcated, the scale parameter that obtains between sensor and the actual measured value is input in the data processor of vehicular computing machine;
(2) to three sensor measurements to data-signal gather, when system starts working, open three sensor road pavement by the control module in the vehicular computing machine and carry out data acquisition, in the data message input vehicular computing machine that collects;
(3) by the vehicular computing machine data of being imported by data acquisition unit are handled, three measured data messages of sensor are merged mutually, form the shape data of vertical section of road surface by the software processing module in the vehicular computing machine.
2. a kind of vehicle-mounted road profile measuring method as claimed in claim 1 is characterized in that: it is the laser displacement sensor of SLS 5200/300 that described laser displacement sensor adopts the model of SLS 5000 series of Switzerland.
3. a kind of vehicle-mounted road profile measuring method as claimed in claim 1 is characterized in that: it is the quartz accelerometer of SRJ-01 that described quartz accelerometer adopts model.
4. a kind of vehicle-mounted road profile measuring method as claimed in claim 1 is characterized in that: the model that described pottery is sheared the production of piezoelectric accelerometer employing U.S. PCB company is the ICP accelerometer of 352C33.
5. measuring system as vehicle-mounted road profile measuring method as described in the claim 1～4, it is characterized in that: it comprises the accelerometer of a laser displacement sensor, two different frequency scopes, a data collector and a vehicular computing machine; The be connected in parallel input end of described data acquisition unit of described laser displacement sensor, two described accelerometers, with synchro measure to detection beam related data gather by described data acquisition unit, and data are sent in the described vehicular computing machine.
6. vehicle-mounted road profile measuring system as claimed in claim 5 is characterized in that: two described accelerometers are respectively quartz accelerometer and pottery is sheared piezoelectric accelerometer.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104075691A (en) * | 2014-07-09 | 2014-10-01 | 广州市城市规划勘测设计研究院 | Method for quickly measuring topography by using ground laser scanner based on CORS (Continuous Operational Reference System) and ICP (Iterative Closest Point) algorithms |
| CN105783890A (en) * | 2016-03-15 | 2016-07-20 | 北京市市政工程设计研究总院有限公司 | Method and device for acquiring horizontal alignment and vertical alignment of road on basis of vehicle-mounted self-diagnosis system |
| CN106094014A (en) * | 2016-08-26 | 2016-11-09 | 中国地震局地壳应力研究所 | A kind of earthquake pre-warning based on asymmetric sensor shakes monitor with intensity rapid re port comprehensive land |
| CN107255588A (en) * | 2017-05-03 | 2017-10-17 | 中国石油天然气集团公司 | A kind of pipeclay sliding measuring method and device |
| CN110869699A (en) * | 2017-07-14 | 2020-03-06 | 三菱电机株式会社 | Data thinning device, measuring system, and data thinning method |
| CN111996881A (en) * | 2020-08-19 | 2020-11-27 | 山东华宇工学院 | Road surface quality detection device based on capacitive displacement sensing |
| CN113311191A (en) * | 2020-02-26 | 2021-08-27 | 株洲中车时代电气股份有限公司 | On-line calibration method and device for vehicle-mounted accelerometer |
-
2009
- 2009-12-10 CN CN200910242396A patent/CN101718546A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104075691A (en) * | 2014-07-09 | 2014-10-01 | 广州市城市规划勘测设计研究院 | Method for quickly measuring topography by using ground laser scanner based on CORS (Continuous Operational Reference System) and ICP (Iterative Closest Point) algorithms |
| CN104075691B (en) * | 2014-07-09 | 2017-01-18 | 广州市城市规划勘测设计研究院 | Method for measuring topography by using ground laser scanner |
| CN105783890A (en) * | 2016-03-15 | 2016-07-20 | 北京市市政工程设计研究总院有限公司 | Method and device for acquiring horizontal alignment and vertical alignment of road on basis of vehicle-mounted self-diagnosis system |
| CN106094014A (en) * | 2016-08-26 | 2016-11-09 | 中国地震局地壳应力研究所 | A kind of earthquake pre-warning based on asymmetric sensor shakes monitor with intensity rapid re port comprehensive land |
| CN106094014B (en) * | 2016-08-26 | 2019-10-25 | 中国地震局地壳应力研究所 | A kind of earthquake pre-warning based on asymmetric sensor and intensity rapid re port comprehensive land shake monitor |
| CN107255588A (en) * | 2017-05-03 | 2017-10-17 | 中国石油天然气集团公司 | A kind of pipeclay sliding measuring method and device |
| CN110869699A (en) * | 2017-07-14 | 2020-03-06 | 三菱电机株式会社 | Data thinning device, measuring system, and data thinning method |
| CN113311191A (en) * | 2020-02-26 | 2021-08-27 | 株洲中车时代电气股份有限公司 | On-line calibration method and device for vehicle-mounted accelerometer |
| CN111996881A (en) * | 2020-08-19 | 2020-11-27 | 山东华宇工学院 | Road surface quality detection device based on capacitive displacement sensing |
| CN111996881B (en) * | 2020-08-19 | 2022-01-25 | 山东华宇工学院 | Road surface quality detection device based on capacitive displacement sensing |
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Open date: 20100602 |