CN107036582A - A kind of system and method for detecting road foundation sedimentation - Google Patents
A kind of system and method for detecting road foundation sedimentation Download PDFInfo
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- CN107036582A CN107036582A CN201710446012.0A CN201710446012A CN107036582A CN 107036582 A CN107036582 A CN 107036582A CN 201710446012 A CN201710446012 A CN 201710446012A CN 107036582 A CN107036582 A CN 107036582A
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- 238000004062 sedimentation Methods 0.000 title claims abstract description 94
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Abstract
The invention discloses a kind of system and method for detecting road foundation sedimentation, the system includes support, the laser of the one end for being arranged on support, the camera for the other end for being arranged on support, the controller and car being connected with camera；One end of support and the side of car are connected, and the other end is hanging；The angle of laser and car is setting value；Camera is used to obtain pavement image information；Controller is used to obtain image distance of the car to curb in pavement image information, and according to image distance, the gauged distance of controller memory storage and setting value, camera is calculated to the actual height on road surface, the calibrated altitude according to actual height and controller memory storage is additionally operable to, the sedimentation value of road foundation is calculated；The road alignment information and sedimentation value crossed in conjunction with garage, generates road settlement change curve, realizes the detection of the sedimentation value of fully-automated synthesis road foundation.Therefore, the system or method provided using the present invention, being capable of automatic detection road foundation sedimentation value.
Description
Technical field
It is more particularly to a kind of to be used for produced by soft soil foundation the present invention relates to road foundation differential settlement detection field
Road foundation differential settlement automated detection system and method.
Background technology
Often there is certain thickness weak soil in coastal area, due to the self-characteristic of weak soil, build on soft soil foundation
Traffic infrastructure settlement after construction it is larger, and the presence of overhead facility, traffic above-ground etc. causes this sedimentation and presents
The different forms of expression.Remove outside the characteristic of ground in itself, artificial basement process and the inhomogeneities of reinforcing also cause roadbed
Sedimentation becomes more uneven.And the differential settlement produced by this road foundation can be for road-ability, road life
There is certain influence.The especially multilevel traffic such as large size city high speed overpass, surface road, underground traffic, once road
Subgrade settlement, will occur pernicious traffic accident.It is therefore desirable to have a set of road foundation sedimentation observation device is for road foundation
Sedimentation carries out periodicity monitoring, contributes to engineer to found the abnormal situation in time, the analysis rate of settling and settling character, formulates more
Rational settlement treatment measure, prevents the generation of serious accident.
Existing Monitoring method of the subsidence mainly includes the methods such as embedded sensor, spirit level, total powerstation and 3-D scanning.Its
In, embedded sensor is limited to the service life and embedded scope of sensor, is often only used for the short-term sedimentation prison after construction
Survey, be not appropriate for the long-term behaviour tracking for facility, and can not completely cover；Spirit level is due to based on artificial detect, doing
Traffic is disturbed, there is certain security risk, and detection is time-consuming longer；Total powerstation or the total powerstation for possessing 3-D scanning function lead to
It is standing to be placed in a fixed mapped point, it is necessary to ensure to cover in its visual field all test positions, but be due to that road is wire
Works, so the detection method has certain limitation, is not suitable for the settlement observation of overpass.
In summary, a kind of method for being capable of the sedimentation of automatic detection road foundation how is designed, is that road foundation is uneven
Even sedimentation detection field problem in urgent need to solve.
The content of the invention
It is an object of the invention to provide a kind of system and method for detecting road foundation sedimentation, it can realize that road foundation sinks
The automatic detection of depreciation.
To achieve the above object, the invention provides following scheme：
A kind of system for detecting road foundation sedimentation, the system includes camera, laser, controller, support and car；
One end of the support is connected with the side of the car, and the other end of the support is hanging；
The laser, is arranged on one end of the support, and is setting value with the angle of the car；The laser,
For sending laser light belt to road surface；
The camera, is arranged on the other end of the support, for shooting projection of the laser light belt on road surface, obtains
Pavement image information；Wherein, the light axis of the laser light belt intersects at a point with the shooting optical axis of the camera；
The controller, is connected with the camera, for obtain car in the pavement image information to curb image away from
From, and according to described image distance, the gauged distance of the controller memory storage and the setting value, calculate the camera and arrive
The actual height on road surface；
The controller, is additionally operable to the calibrated altitude according to the actual height and the controller memory storage, calculates road
The sedimentation value of road roadbed；Wherein, the gauged distance is that the car is placed on distance of the car to curb when not settling road surface；The mark
Quasi- height is placed on when not settling road surface camera to the height for not settling road surface for the car.
Optionally, the system also includes vehicle attitude tape deck, range encoder and GPS positioning device；
It is parallel with the direction that the car is travelled on the vehicle attitude tape deck, the axis for being arranged on the car, it is used for
Obtain the attitude information of the car；
The range encoder, is arranged on wheel, for obtaining the operating range information of the car in the process of moving；
The GPS positioning device, is arranged on the car on the side of curb, and the position for obtaining the car is believed
Breath；
The controller, respectively with the vehicle attitude tape deck, the range encoder, the GPS positioning device
Connection, for according to the attitude information, the operating range information and the positional information, generating the road of the car traveling
Route shape information.
Optionally, the system also includes：Instantaneous acceleration meter；The instantaneous acceleration meter, is arranged on the camera,
For obtaining vibration data；
The controller, is connected with the instantaneous acceleration meter, for according to the vibration data, entering to the sedimentation value
Row amendment, obtains revised sedimentation value for the first time.
Optionally, the controller, is connected with the vehicle attitude tape deck, right for according to the attitude information
The first time revised sedimentation value carries out gradient amendment, obtains second of revised sedimentation value.
Optionally, the controller, is additionally operable to according to the road alignment information and second of revised sedimentation
Value, generates road settlement change curve.
Present invention also offers a kind of method for detecting road foundation sedimentation, methods described is applied to a kind of detection Road
Base sedimentation system, the system include camera, laser, controller, support, vehicle attitude tape deck, range encoder,
GPS positioning device, instantaneous acceleration meter and car；One end of the support is connected with the side of the car, the support it is another
One end is hanging；The laser, is arranged on one end of the support, and is setting value with the angle of the car；The camera, if
Put the other end in the support；On the vehicle attitude tape deck, the axis for being arranged on the car, travelled with the car
Direction is parallel；The range encoder, is arranged on wheel；The GPS positioning device, is arranged on the car close to the one of curb
On side；The instantaneous acceleration meter, is arranged on the camera；The controller, respectively with the camera, the instantaneous acceleration
Spend meter, the range encoder, the vehicle attitude tape deck and GPS positioning device connection；Methods described includes：
Obtain pavement image information；
According to the pavement image information, image distance of the car to curb in the pavement image information is obtained；
According to described image distance, the gauged distance of the controller memory storage and the setting value, the phase is calculated
Actual height of the machine to road surface；
According to the calibrated altitude of the actual height and the controller memory storage, the sedimentation value of road foundation is calculated；Its
In, the gauged distance is that the car is placed on distance of the car to curb when not settling road surface；The calibrated altitude is that the car is put
When not settling road surface, camera is to the height for not settling road surface；
The sedimentation value is modified, revised sedimentation value is obtained；
Obtain the road alignment information that the garage crosses；
According to the road alignment information and the revised sedimentation value, road settlement change curve is generated.
Optionally, the acquisition pavement image information includes：Laser light belt is sent to road surface using the laser；
Projection of the laser light belt on road surface is shot using the camera, pavement image information is obtained；Wherein, it is described to swash
The light axis of light light belt intersects at a point with the shooting optical axis of the camera.
Optionally, it is described that the sedimentation value is modified, revised sedimentation value is obtained, is specifically included：
Obtain the vibration data of the instantaneous acceleration meter collection；
The sedimentation value is modified according to the vibration data, revised sedimentation value for the first time is obtained；
Obtain the attitude information of the car of the vehicle attitude recording apparatus collecting；
According to the attitude information, sedimentation value revised to the first time carries out gradient amendment, repaiied for the second time
Sedimentation value after just.
Optionally, the road alignment information that the acquisition garage crosses is specifically included：
Obtain the operating range information of the car of the range encoder collection in the process of moving；
Obtain the positional information of the car of GPS positioning device collection；
According to the attitude information, the operating range information and the positional information, the road of the car traveling is generated
Route shape information.
The specific embodiment provided according to the present invention, the invention discloses following technique effect：
The invention discloses a kind of system and method for detecting road foundation sedimentation, the system includes support, is arranged on
The laser of one end of support, be arranged on support the other end camera, the controller and car that are connected with camera；The one of support
End is connected with the side of car, and the other end is hanging；Laser, the angle with car is setting value, for sending laser light belt to road surface；
Camera, for shooting projection of the laser light belt on road surface, obtains pavement image information；Controller, for obtaining pavement image letter
Car and according to image distance, the gauged distance of controller memory storage and setting value, calculates phase to the image distance of curb in breath
Machine is additionally operable to the calibrated altitude according to actual height and controller memory storage to the actual height on road surface, calculates road foundation
Sedimentation value；Wherein, gauged distance is that car is placed on distance of the car to curb when not settling road surface；Calibrated altitude is placed on for car and not settled
Camera is to the height for not settling road surface during road surface；The road alignment information and sedimentation value crossed in conjunction with garage, generation road sinks
Change curve is dropped, the sedimentation value of fully-automated synthesis road foundation is realized.Therefore, the system provided using the present invention or side
Method, being capable of automatic detection road foundation sedimentation value.
In addition, camera, laser and instantaneous acceleration are counted as a rigid integrated connection, being influenceed by external environment
Smaller, GPS positioning device and vehicle attitude tape deck are that road alignment fitting and discrepancy in elevation amendment provide good data branch
Hold.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the system structure diagram that the embodiment of the present invention one detects road foundation sedimentation；
Fig. 2 is the system structure diagram that the embodiment of the present invention two detects road foundation sedimentation；
Fig. 3 is the depth information schematic diagram calculation of the embodiment of the present invention three；
Fig. 4 is using the system institute's actual photographed road surface master drawing of the invention provided；
Fig. 5 is projeced into lane position schematic diagram for the system IR laser light belt provided using the present invention；
Fig. 6 is continuously shot schematic diagram for the system provided using the present invention；
Fig. 7 is the method flow diagram that the embodiment of the present invention detects road foundation sedimentation.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The purpose of the present invention provide it is a kind of based on 3-D scanning technique for taking can continuously to measure freeway road shoulder deep
The system and method for the detection road foundation sedimentation of information is spent, to detect vehicle as carrier, operation road is completed in the process of moving
The sedimentation detection on road.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Embodiment one
Fig. 1 is the system structure diagram that the embodiment of the present invention one detects road foundation sedimentation, as shown in figure 1, the system
System includes camera 101, laser 102, the (not shown) of controller 103, support 104, car 105, vehicle attitude tape deck
106th, range encoder 107 and GPS positioning device 108.
One end of the support 104 is connected with the side of the car 105, and the other end of the support 104 is hanging.
The laser 102, is arranged on one end of the support 104, and is setting value with the angle of the car 105.Institute
Laser 102 is stated, for sending laser light belt to road surface.
The camera 101, is arranged on the other end of the support 104, for shooting throwing of the laser light belt on road surface
Shadow, obtains pavement image information；Wherein, the shooting optical axis of the light axis of the laser light belt and the camera 101 is intersected at
A bit.
On the vehicle attitude tape deck 106, the axis for being arranged on the car 105, the direction travelled with the car 105
It is parallel, for obtaining the attitude information of the car, and it is also beneficial to preferably be corrected vehicle driving track.
The range encoder 107, is arranged on wheel, for obtaining the operating range letter of the car in the process of moving
Breath.
The GPS positioning device 108, is arranged on the car on the side of curb, the position for obtaining the car
Information.
The (not shown) of controller 103, is arranged on the optional position in car 105.
The controller 103, is connected with the camera 101, for obtaining in the pavement image information car to curb
Image distance, and according to described image distance, the gauged distance of the controller memory storage and the setting value, calculate described
Actual height of the camera to road surface.
The controller 103, is additionally operable to the calibrated altitude according to the actual height and the controller memory storage, calculates
The sedimentation value of road foundation；Wherein, the gauged distance is that the car is placed on distance of the car to curb when not settling road surface；It is described
Calibrated altitude is that the car is placed on when not settling road surface camera to the height for not settling road surface.
The controller 103, respectively with the vehicle attitude tape deck 106, the range encoder 107, the GPS
Positioner 108 is connected, for according to the attitude information, the operating range information and the positional information, generating institute
State the road alignment information of car traveling.
The system also includes：The (not shown) of instantaneous acceleration meter 109；The instantaneous acceleration meter 109, is arranged on
On the camera 101, for obtaining vibration data.
The controller 103, is connected with the instantaneous acceleration meter 109, for according to the vibration data, to described heavy
Depreciation is modified, and obtains revised sedimentation value for the first time.
The controller 103, is connected with the vehicle attitude tape deck 106, for according to the attitude information, to institute
State revised sedimentation value for the first time and carry out gradient amendment, obtain second of revised sedimentation value.Settlement values are believed through posture
It will be smoothed after the i.e. relative bench mark amendment of breath correction, the influence for removing local deformation damage.
The controller 103, is additionally operable to according to the road alignment information and second of revised sedimentation value, raw
Into road settlement change curve.
Compared with prior art, the present invention has following technical characterstic：
1. the scanning shoot mode parallel to road is utilized, without discrepancy in elevation relative correction in measurement length range, significantly
Reduce the technical difficulty of discrepancy in elevation amendment；
2. camera, laser and instantaneous acceleration are counted as a rigid integrated connection, so as to get sedimentation value by outer
The influence of boundary's environment is smaller；
3. high-precision GPS positioning device and vehicle attitude tape deck are that road alignment fitting and discrepancy in elevation amendment are provided
Good data are supported；
4. the sedimentation is detected that numerical value is changed into absolute figure from relative value using calibrated altitude and gauged distance, possess
Comparative sense on time span.
The embodiment of the technical scheme provided below by specific embodiment the present invention further carries out detailed
Illustrate.
The system that the present invention is provided is mainly the differential settlement for acting on soft soil foundation super expressway, with reference to annexed leveling
Route survey method, temporary bench mark is made in road starting point and terminal curb position, i.e., do not settle road surface for temporary bench mark.
The discrepancy in elevation change of both sides curb position is continuously detected using the system, so that the discrepancy in elevation data of road all fronts are obtained, and utilization is faced
When bench mark to discrepancy in elevation data carry out compensating computation.Finally, relative settlement is converted using the absolute figure of temporary bench mark
For absolute settlement value.
Wherein, temporary bench mark is to be derived for engineering construction needs from permanent benchmark to interim place, and is calculated
Elevational point out.
Redundant observation is embodied here as being observed terminal.Gone with the actual measurement elevation of terminal and the theoretical elevation of terminal
It is compared, so as to learn how many error generated, this error is exactly closed difference of height difference.Achievement to the measurement of the level is examined
Core, when measurement error must be just adjusted within permissible range to the measurement error of generation, i.e. closed difference of height difference, here it is
Adjustment in control measurement.
Embodiment two
Fig. 2 is the system structure diagram that the embodiment of the present invention two detects road foundation sedimentation.As shown in Fig. 2 of the invention
The system camera 101 and laser 102 of offer are arranged in the right side of car 105, and range encoder 107 is installed on right side wheels position
Put, instantaneous acceleration meter 109 is installed on the position of camera 101, for eliminating the Relative Vibration of camera 101 with vehicle body in itself.
Support 104 is 109 with rigid link is carried out based on by camera 101, laser 102 and instantaneous acceleration between vehicle body, car 105 is right
The rectangle support 201 of side is fixed on right lateral side roof and chassis on top and bottom respectively, is rigidly connected with vehicle body.2 groups of length branch
Frame 202 and short support 203 are used for supporting support 104, strengthen integral rigidity, support camera 101, laser 102 and instantaneous acceleration
The weight of degree meter 109, reduces the dynamic deflection of support 104.Wherein, camera 101 and laser 102 are arranged in the right side of car 105,
Shooting is scanned to road surface on the right side of road and guardrail at a certain angle uniform speed slow.
Camera of the embodiment of the present invention 101 uses infrared laser using the line scanning 3D cameras for being, laser 102.Vehicle
Posture tape deck 106 is using IMU device (Inertial Measurement Unit, Inertia Measurement Unit, abbreviation IMU).Institute
State support 104 and use steel plate.
One end of the support 104 is connected with the side of the car 105, and the other end of the support 104 is hanging.
The infrared laser 102, is arranged on one end of the support 104, and is setting with the angle of the car 105
Value；The infrared laser 102, for sending infrared laser light belt to road surface.
The line scanning 3D cameras 101, are arranged on the other end of the support 104, for shooting the infrared laser light
Band obtains pavement image information in the projection on road surface.Wherein, the light axis of the laser light belt scans 3D cameras with the line
Shooting optical axis intersect at a point.Wire structure light is launched in the illumination of infrared laser 102 need to cover certain width, and its line is swept
Retouch the width that the effective photographing information of 3D cameras should be greater than 6 pixels.Laser lines and line scanning 3D cameras shooting direction must bases
This is parallel to wheelpath direction.
It is parallel with the direction that the car 105 is travelled on the IMU device, the axis for being arranged on the car 105, for obtaining
The attitude information of the car is taken, and is also beneficial to preferably be corrected vehicle driving track.
The range encoder 107, is arranged in right side wheels, for obtain the traveling of the car in the process of moving away from
From information.
The GPS positioning device 108, is arranged on the car on the side of curb, the position for obtaining the car
Information.
The controller 103, is arranged on the optional position in car 105.
The controller 103, is connected with line scanning 3D cameras 101, for obtaining car in the pavement image information
To the image distance of curb, and according to described image distance, the gauged distance of the controller memory storage and the setting value,
The camera 101 is calculated to the actual height on road surface.
The controller 103, is additionally operable to the calibrated altitude according to the actual height and the controller memory storage, calculates
The sedimentation value of road foundation；Wherein, the gauged distance is that the car is placed on distance of the car to curb when not settling road surface；It is described
Calibrated altitude is that the car is placed on when not settling road surface camera to the height for not settling road surface.
The controller 103, respectively with the vehicle attitude tape deck 106, the range encoder 107, the GPS
Positioner 108 is connected, for according to the attitude information, the operating range information and the positional information, generating institute
State the road alignment information of car traveling.Road alignment information includes road horizontal slope, longitudinal slope, radius of turn etc..
The instantaneous acceleration meter 109, is arranged on the line scanning 3D cameras, for obtaining vibration data.
The controller 103, is connected with the instantaneous acceleration meter 109, for according to the vibration data, to described heavy
Depreciation is modified, and obtains revised sedimentation value for the first time.
The controller 103, is connected with the vehicle attitude tape deck 106, for according to the attitude information, to institute
State revised sedimentation value for the first time and carry out gradient amendment, obtain second of revised sedimentation value.Settlement values are believed through posture
It will be smoothed after the i.e. relative bench mark amendment of breath correction, the influence for removing local deformation damage.
The controller 103, is additionally operable to according to the road alignment information and second of revised sedimentation value, raw
Into road settlement change curve.
Embodiment three
The system of the detection road foundation sedimentation provided using embodiment two, can also be obtained using the controller 103
The depth information that 3D cameras gather image information is scanned with line, principle of triangulation is then based on and utilizes depth information, obtain institute
State line and scan 3D cameras to the actual height on road surface, 3D cameras are then scanned to the reality on road surface according to calibrated altitude and the line
Highly, discrepancy in elevation calculating is carried out, discrepancy in elevation numerical value is obtained, and the vibration data measured using instantaneous acceleration meter is carried out to discrepancy in elevation numerical value
Amendment.
The geometrical relationship between 3D cameras, infrared laser light belt axis, road surface is wherein scanned according to line, to determine object
Axonometric projection.
Fig. 3 is depth information schematic diagram calculation of the embodiment of the present invention.As shown in figure 3, being related to 4 coordinate systems：1. the world
Coordinate system is called the path coordinate system for doing real-world coordinate system, the i.e. embodiment of the present invention；2. camera coordinates system is i.e. centered on camera
Coordinate system；3. the plane coordinate system of photo coordinate system, i.e. camera imaging, parallel with camera plane；4. image coordinate system,
Digital picture i.e. after over-sampling, is represented with pixel column columns.
If correspondence camera shoots the joining of optical axis in the infrared laser light belt axis projection plane of infrared laser transmitting
For OR, correspondence XRYRZRCoordinate is referred to as path coordinate system OR-XRYRZR, photo coordinate system central point is Oc, correspondence XcYcZcCoordinate
Referred to as imaging coordinate system Oc-XcYcZc.Due to can consider that photo coordinate system is parallel with road plane in the embodiment of the present invention,
So XRYRZRWith XcYcZcIt is parallel.The depth information for obtaining testee can be calculated using solid geometry relation.
Therefore, path coordinate system can obtain between photo coordinate system tentatively in the range of same physical distance measure
It is as follows to relational expression：
Wherein, l represents OcWith ORDistance；
Assuming that in the presence of a point P (XR, YR, ZR), it is p ' (u, v) in image coordinate system imaging point, in path coordinate system,
The equation that OP ' can be obtained is as follows：
U represents the columns and line number of image coordinate system where being represented with v.
At road coordinate system any point, coordinate is x, and y, f is expressed as focal length.
Under path coordinate system, structure light plane equation is：
YR=-ZRtanα (3)
Wherein, α represents structure light and shoots the angle between optical axis.Laser is sent from laser, after cylindrical lens
The light belt of narrower in width, referred to as structure light are pooled, infrared laser light belt is structure light in the present embodiment.
Assuming that digital picture rectangular coordinate system is Op- uv, actual pixels can have skew, and unmigrated coordinate is (u0,
v0), (u, v) represents the columns and line number where the corresponding pixel points that actual measurement is obtained, it is assumed that each pixel is in x, y directions
Upper physical size is dx, dy, then there is corresponding relation as follows：
Bring formula (2) (3) (4) into formula (1), the final relation for obtaining pixel with real road coordinate system is：
3D cameras are scanned to the actual height on road surface with regard to that can obtain the line by formula (5), then according to calibrated altitude
3D cameras are scanned to the actual height on road surface with the line, are carried out discrepancy in elevation calculating, are obtained discrepancy in elevation numerical value, i.e. sedimentation value.
It is parallel with the direction that the car 105 is travelled on the axis for being arranged on the car 105 using the IMU device, use
In the attitude information of the acquisition car, and it is also beneficial to preferably be corrected vehicle driving track.
Using the range encoder 107, it is arranged in right side wheels, for obtaining the row of the car in the process of moving
Sail range information.
Using the GPS positioning device 108, the car is arranged on the side of curb, for obtaining the car
Positional information.
Using the controller 103, the optional position in car 105 is arranged on, respectively with the vehicle attitude tape deck
106th, the range encoder 107, the GPS positioning device 108 are connected, for according to the attitude information, the traveling away from
From information and the positional information, the road alignment information of the car traveling is generated.Road alignment information include road horizontal slope,
Longitudinal slope, radius of turn etc..
The instantaneous acceleration meter 109, is arranged on the line scanning 3D cameras, for obtaining vibration data.
Using the controller 103, it is connected with the instantaneous acceleration meter 109, for according to the vibration data, to institute
State sedimentation value to be modified, obtain revised sedimentation value for the first time.
Using the controller 103, it is connected with the vehicle attitude tape deck 106, for according to the attitude information,
Sedimentation value revised to the first time carries out gradient amendment, obtains second of revised sedimentation value.Settlement values are through appearance
It will be smoothed after the i.e. relative bench mark amendment of state information correction, the influence for removing local deformation damage.
Using the controller 103, it is additionally operable to according to the road alignment information and second of revised sedimentation
Value, generates road settlement change curve.
Fig. 4 is using the system institute's actual photographed road surface master drawing of the invention provided.Fig. 5 is using the system of the invention provided
Infrared laser light belt is projeced into lane position schematic diagram.As shown in figure 5, L1 illustrates the preferable road surface of no deformed damaged, structure
Light projection is the straight line of a determination coordinate position.L1 ' illustrates the project structured light effect that there is the road surface necessarily deformed.It is real
It is relative that border has the practical structures ray position for deforming road surface to represent road surface depth with the difference of structure optical position under ideal plane
The degree of change.
Fig. 6 is continuously shot schematic diagram for the system provided using the present invention.Vehicle, which is tried one's best, to be kept travelling along fixation locus, by
The bulk settling change of super expressway is concerned in this detecting system, it is not limited to local deformed damaged.Therefore, 10cm
It is acceptable that the position of left and right, which is deviateed,.
Therefore, the said system that the present invention is provided, the automatic detection of road settlement can be quickly finished automatically, not light
According to influence, packing density is high, can be used for the long-term observation of subgrade settlement.
To achieve these goals, present invention also offers a kind of method for detecting road foundation sedimentation.
Fig. 7 is the method flow diagram that the embodiment of the present invention detects road foundation sedimentation.A kind of detection road of methods described application
The system of road subgrade settlement, the system includes camera, laser, controller, support, vehicle attitude tape deck, distance and compiled
Code device, GPS positioning device, instantaneous acceleration meter and car；One end of the support is connected with the side of the car, the support
The other end it is hanging；The laser, is arranged on one end of the support, and is setting value with the angle of the car；The phase
Machine, is arranged on the other end of the support；On the vehicle attitude tape deck, the axis for being arranged on the car, with the car
The direction of traveling is parallel；The range encoder, is arranged on wheel；The GPS positioning device, is arranged on the car close to road
On the side of shoulder；The instantaneous acceleration meter, is arranged on the camera；The controller, respectively with the camera, the wink
Brief acceleration meter, the range encoder, the vehicle attitude tape deck and GPS positioning device connection.
As shown in fig. 7, methods described includes：
Step 701：Obtain pavement image information.
Wherein, the acquisition pavement image information includes：Laser light belt is sent to road surface using the laser；
Projection of the laser light belt on road surface is shot using the camera, pavement image information is obtained；Wherein, it is described to swash
The light axis of light light belt intersects at a point with the shooting optical axis of the camera.
Step 702：According to the pavement image information, obtain car in the pavement image information to curb image away from
From.
Step 703：According to described image distance, the gauged distance of the controller memory storage and the setting value, meter
The camera is calculated to the actual height on road surface.
Step 704：According to the calibrated altitude of the actual height and the controller memory storage, the heavy of road foundation is calculated
Depreciation；Wherein, the gauged distance is that the car is placed on distance of the car to curb when not settling road surface；The calibrated altitude is institute
State car and be placed on when not settling road surface camera to the height for not settling road surface.
Step 705：The sedimentation value is modified, revised sedimentation value is obtained.
Wherein, it is described that the sedimentation value is modified, revised sedimentation value is obtained, is specifically included：
Obtain the vibration data of the instantaneous acceleration meter collection；
The sedimentation value is modified according to the vibration data, revised sedimentation value for the first time is obtained；
Obtain the attitude information of the car of the vehicle attitude recording apparatus collecting；
According to the attitude information, sedimentation value revised to the first time carries out gradient amendment, repaiied for the second time
Sedimentation value after just.
Step 706：Obtain the road alignment information that the garage crosses.
Wherein, the road alignment information that the acquisition garage crosses is specifically included：
Obtain the operating range information of the car of the range encoder collection in the process of moving；
Obtain the positional information of the car of GPS positioning device collection；
According to the attitude information, the operating range information and the positional information, the road of the car traveling is generated
Route shape information.
Step 707：According to the road alignment information and the revised sedimentation value, generation road settlement change is bent
Line.
The embodiment of each in this specification is described by the way of progressive, and what each embodiment was stressed is and other
Between the difference of embodiment, each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
The bright method and its core concept for being only intended to help to understand the present invention；Simultaneously for those of ordinary skill in the art, foundation
The thought of the present invention, will change in specific embodiments and applications.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (9)
1. a kind of system for detecting road foundation sedimentation, it is characterised in that the system includes camera, laser, controller, branch
Frame and car；One end of the support is connected with the side of the car, and the other end of the support is hanging；
The laser, is arranged on one end of the support, and is setting value with the angle of the car；The laser, is used for
Laser light belt is sent to road surface；
The camera, is arranged on the other end of the support, for shooting projection of the laser light belt on road surface, obtains road surface
Image information；Wherein, the light axis of the laser light belt intersects at a point with the shooting optical axis of the camera；
The controller, is connected with the camera, for obtaining car in the pavement image information to the image distance of curb, and
According to described image distance, the gauged distance of the controller memory storage and the setting value, the camera is calculated to road surface
Actual height；
The controller, is additionally operable to the calibrated altitude according to the actual height and the controller memory storage, calculates Road
The sedimentation value of base；Wherein, the gauged distance is that the car is placed on distance of the car to curb when not settling road surface；The standard is high
Spend and camera is placed on when not settling road surface for the car to the height for not settling road surface.
2. system according to claim 1, it is characterised in that the system also includes vehicle attitude tape deck, distance
Encoder and GPS positioning device；
It is parallel with the direction that the car is travelled on the vehicle attitude tape deck, the axis for being arranged on the car, for obtaining
The attitude information of the car；
The range encoder, is arranged on wheel, for obtaining the operating range information of the car in the process of moving；
The GPS positioning device, is arranged on the car on the side of curb, the positional information for obtaining the car；
The controller, is connected with the vehicle attitude tape deck, the range encoder, the GPS positioning device respectively,
For according to the attitude information, the operating range information and the positional information, generating the Road of the car traveling
Shape information.
3. system according to claim 2, it is characterised in that the system also includes：Instantaneous acceleration meter；It is described instantaneous
Accelerometer, is arranged on the camera, for obtaining vibration data；
The controller, is connected with the instantaneous acceleration meter, for according to the vibration data, being repaiied to the sedimentation value
Just, revised sedimentation value for the first time is obtained.
4. system according to claim 3, it is characterised in that the controller, connects with the vehicle attitude tape deck
Connect, for according to the attitude information, sedimentation value revised to the first time to carry out gradient amendment, obtains second of amendment
Sedimentation value afterwards.
5. system according to claim 4, it is characterised in that the controller, is additionally operable to be believed according to the road alignment
Breath and second of revised sedimentation value, generate road settlement change curve.
6. a kind of method for detecting road foundation sedimentation, it is characterised in that methods described is applied to a kind of detection road foundation and sunk
The system of drop, the system includes camera, laser, controller, support, vehicle attitude tape deck, range encoder, GPS
Positioner, instantaneous acceleration meter and car；One end of the support is connected with the side of the car, the other end of the support
Vacantly；The laser, is arranged on one end of the support, and is setting value with the angle of the car；The camera, is arranged on
The other end of the support；On the vehicle attitude tape deck, the axis for being arranged on the car, the direction travelled with the car
It is parallel；The range encoder, is arranged on wheel；The GPS positioning device, is arranged on the car close to the side of curb
On；The instantaneous acceleration meter, is arranged on the camera；The controller, respectively with the camera, the instantaneous acceleration
Meter, the range encoder, the vehicle attitude tape deck and GPS positioning device connection；Methods described includes：
Obtain pavement image information；
According to the pavement image information, image distance of the car to curb in the pavement image information is obtained；
According to described image distance, the gauged distance of the controller memory storage and the setting value, calculate the camera and arrive
The actual height on road surface；
According to the calibrated altitude of the actual height and the controller memory storage, the sedimentation value of road foundation is calculated；Wherein, institute
State gauged distance and be placed on distance of the car to curb when not settling road surface for the car；The calibrated altitude is placed on for the car not to sink
Camera is to the height for not settling road surface when dropping road surface；
The sedimentation value is modified, revised sedimentation value is obtained；
Obtain the road alignment information that the garage crosses；
According to the road alignment information and the revised sedimentation value, road settlement change curve is generated.
7. method according to claim 6, it is characterised in that the acquisition pavement image information includes：Swashed using described
Light device sends laser light belt to road surface；
Projection of the laser light belt on road surface is shot using the camera, pavement image information is obtained；Wherein, the laser light
The light axis of band intersects at a point with the shooting optical axis of the camera.
8. method according to claim 6, it is characterised in that described to be modified to the sedimentation value, is obtained after amendment
Sedimentation value, specifically include：
Obtain the vibration data of the instantaneous acceleration meter collection；
The sedimentation value is modified according to the vibration data, revised sedimentation value for the first time is obtained；
Obtain the attitude information of the car of the vehicle attitude recording apparatus collecting；
According to the attitude information, sedimentation value revised to the first time carries out gradient amendment, obtained after second of amendment
Sedimentation value.
9. method according to claim 8, it is characterised in that the road alignment information tool that the acquisition garage crosses
Body includes：
Obtain the operating range information of the car of the range encoder collection in the process of moving；
Obtain the positional information of the car of GPS positioning device collection；
According to the attitude information, the operating range information and the positional information, the Road of the car traveling is generated
Shape information.
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Application publication date: 20170811 |