CN109506619A - A kind of road surface elevation detection system and its detection method - Google Patents
A kind of road surface elevation detection system and its detection method Download PDFInfo
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- CN109506619A CN109506619A CN201811202646.2A CN201811202646A CN109506619A CN 109506619 A CN109506619 A CN 109506619A CN 201811202646 A CN201811202646 A CN 201811202646A CN 109506619 A CN109506619 A CN 109506619A
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- road surface
- surface elevation
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Radar, Positioning & Navigation (AREA)
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of road surface elevation detection system and its detection methods, by laser displacement sensor, the composition such as gyroscope and data reading terminals, road surface elevation data can be acquired for establishing three-dimensional road surface model and evaluation pavement behavior, Trolley front wheel driving trolley travels on road surface, system starts, laser displacement sensor acquires road surface elevation data in real time, gyroscope detects trolley posture, when car wheel passes through bump or recess, the road surface elevation data that laser displacement sensor measures generate measurement error, trolley posture is detected by gyroscope, establish the correlation model between trolley posture and laser displacement sensor measurement error, laser displacement sensor measurement error is finally corrected by reading data terminal, calculate accurate road surface elevation data.The system that one kind provided by the present invention can accurately measure road surface elevation data can accurately measure road surface elevation data, while save cost and manpower.
Description
Technical field
The invention belongs to measuring device field more particularly to a kind of road surface elevation detection systems and its detection method.
Background technique
Road surface elevation data can establish three-dimensional road surface model and evaluation pavement behavior provides data basis.Vehicle road
Road test, which is tested, needs to expend a large amount of manpower and financial resources, establish the simulation model on virtual road surface for actual road test can save largely at
This；International roughness index (International Roughness Index, IRI) is used as Evaluation of Pavement Evenness index,
It is to be calculated by road surface elevation.The traditional measurement method of road surface elevation is the measurement of level method and trigonometric levelling, and current
It is level and total station using more road surface elevation measuring instrument, spirit level is higher, but is limited by hypsography, applies
Degree of testing the speed is slower, and total station measuring speed is very fast, but precision is lower, and two kinds of instrument costs are higher, still needs to be accomplished manually measurement,
Field process amount is big and inefficiency.
The currently advanced and wider vehicular laser cross section instrument of application can measure road surface elevation data, but install
It will be by being demarcated with precision level data measured before use.Laser cross section instrument is generally drawn with motor vehicle, it is desirable that is kept higher
Speed and as far as possible at the uniform velocity advance just be able to maintain preferable precision, in low speed section or traffic light intersection, instrument can not be collected
Road surface elevation data error is larger.The system is equipped with laser displacement sensor and gyroscope, is acquired using laser displacement sensor
Road surface elevation data, system pass through bump or recess when, using gyroscope detect trolley posture, establish measurement error with
Correlation model between trolley posture is corrected, and the advance that remains a constant speed is not needed, and still is able to accurately measure road surface elevation number
According to.The system cost is cheap simultaneously, easy to operate, can save a large amount of costs of labor when acquiring road surface elevation data.
Summary of the invention
The present invention is insufficient according to prior art and defect, the present invention is intended to provide a kind of road surface elevation detection system and its
Detection method, it is therefore intended that it is high to have corrected road surface of the car wheel by laser displacement sensor acquisition when bump or recess
Number of passes evidence provides accurate measurement method for measurement road surface elevation data.
In order to achieve the above objectives, the technical solution adopted in the present invention is as follows:
A kind of road surface elevation detection system, including trolley, gyroscope, laser displacement sensor probe, amplifier unit, number
According to reading terminals and battery, the gyroscope is installed on the geometric center position of trolley, for detecting trolley in driving process
In posture, and the gyroscope is connect with reading data terminal；The displacement sensor probe is equipped with several, the displacement
Sensor probe is installed on trolley middle position, and it is straight to be distributed in same level for equidistant intervals between each displacement sensor probe
On line, real-time detection road surface elevation data are used for, and the displacement sensor probe to be connect with amplifier unit；The amplifier
Displacement sensor probe road surface elevation data collected are converted into digital signal by optical signal by unit, and connect reading data
Terminal；Road surface elevation and trolley attitude data acquired in the reading data terminal reception amplifier unit, gyroscope, go forward side by side
Row data processing；
Further, the displacement sensor probe is equipped with 3；
Further, battery is additionally provided on the trolley, the battery is separately connected amplifier unit, gyroscope and wheel
Hub motor is embodied as the energy supply of amplifier unit, gyroscope and hub motor；
Further, the amplifier unit, gyroscope connect data reading terminals by converter, and the converter is NI
Data collecting card；The reading data terminal is computer, interior carrying Labview software；
Further, the voltage output function that amplifier unit passes through its own is laser displacement sensor probe power supply；And
Also there is display screen, the collected altitude data of real-time display probe above amplifier unit；
A kind of road surface elevation detection method, comprising the following steps:
Step 1, three-dimensional system of coordinate is established with the geometric center of trolley；
Step 2, the posture of gyroscope real-time detection trolley obtains the posture information of trolley；Laser displacement sensor probe
Road surface elevation data are acquired, road surface elevation data is obtained and generates measurement error；
Step 3, the posture information of trolley obtained and road surface elevation data are generated into measurement error and is input to data system
Meter analysis software (SPSS) obtains the correlation model of road surface elevation detection, it is soft that correlation model obtained is input to Labview
In part；Road surface elevation and trolley attitude data are input in Labview software by reading data terminal again, finally calculated
Accurate road surface elevation data.
Further, in the step 2, the posture information of the trolley is rotation angle of the trolley in X-axis, Y axis coordinate direction
Spend αi、βi, wherein i=1,2 ..., n, n are experiment number；By rotation angle value αi、βiIt is converted to radian value xαi、xβi。
Further, the method that the road surface elevation data generate measurement error is obtained are as follows:
S1, on smooth level road, laser displacement sensor probe vertical is emitted to ground, measures distance from the ground
For Lj, wherein j=1,2 ..., m, m are the number of laser displacement sensor probe；
S2, when trolley passes through Uneven road, laser displacement sensor, which is popped one's head in, is emitted to the angulation change on ground, measure from
The distance on ground is Lj', wherein j=1,2 ..., m, m are the number of laser displacement sensor probe；
S3, the road surface elevation data generate measurement error and indicate are as follows: Lj’-Lj。
Beneficial effects of the present invention:
1, present system has corrected the measurement error of laser displacement sensor using gyroscope detection trolley posture, can
Accurate measurement road surface elevation data.
2, the instrument for generally measuring road surface elevation needs advanced rower fixed, and program is complicated, and instrument cost is higher；The present invention
It does not need to be demarcated before systematic survey, operation sequence is simple, and easy to operate, cost is relatively low.
Detailed description of the invention
Fig. 1 is the axonometric drawing of detection system；
Fig. 2 is the flow chart of detection system；
Fig. 3 is schematic diagram of the detection system on smooth level road；
Fig. 4 is schematic diagram when detection system front-wheel passes through bump；
Fig. 5 is schematic diagram when detection system rear-wheel passes through bump；
In figure: 1. hub motors, 2. front-wheels, 3. trolleies, 4. gyroscopes, 5. laser displacement sensors probe, 6. switches are pressed
Button, 7. amplifier units, 8. reading data terminals, 9. batteries, 10. rear-wheels.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, not
For limiting the present invention.
As shown in Figure 1, a kind of road surface elevation detection system, including trolley 3, gyroscope 4, laser displacement sensor probe 5,
Amplifier unit 7, reading data terminal 8 and battery 9, hub motor 1 are installed on the front-wheel 2 of trolley 3, drive 3 row of trolley
It sails, and front-wheel 2 is deflecting roller；
Gyroscope 4 is installed on the geometric center position of trolley 3, for detecting the posture of trolley 3 in the process of moving, and top
Spiral shell instrument 4 is connect by converter with reading data terminal 8；
Displacement sensor probe 5 is equipped with 3, and 3 displacement sensor probes 5 are installed on the crossbeam in the middle position of trolley 3
On, equidistant intervals are distributed on same level straight line between each displacement sensor probe 5, are used for real-time detection road surface elevation
Data, and displacement sensor probe 5 is connect with amplifier unit 7, amplifier unit 7 is mounted on 3 side of trolley, and amplifier list
Member 7 also has display screen, the collected altitude data of real-time display probe above；Displacement sensor probe 5 is by road collected
Face altitude data is transmitted to amplifier unit 7, and road surface elevation data collected are optical signal, and amplifier unit 7 will be acquired
Optical signal be converted into digital signal, and data reading terminals 8 are connected by converter, realize the transmission of signal；In this fact
In example, converter is NI data collecting card, model USB-6003；Reading data terminal 8 is computer, and interior carrying Labview is soft
Part；8 reception amplifier unit 7 of reading data terminal, gyroscope 4 are acquired and handle road surface elevation and trolley attitude data, and
Carry out data processing.
As shown in Figure 1, 2, battery 9 is additionally provided on trolley 3, the battery 9 is separately connected amplifier unit 7, gyro
Instrument 4 and hub motor 1, are embodied as the energy supply of amplifier unit 7, gyroscope 4 and hub motor 1, and switch 6 is equipped on trolley 3
Control the closure of whole system circuit；Amplifier unit 7 is laser displacement sensor spy by the voltage output function of its own
First 5 power supply.
Based on designed road surface elevation detection system, the application also proposed a kind of road surface elevation detection method, specifically
The technical solution adopted is as follows:
Step 1, three-dimensional system of coordinate is established with the geometric center of trolley 3；
Step 2, the posture of 4 real-time detection trolley 3 of gyroscope obtains the posture information of trolley 3；The posture information of trolley 3
Rotation angle [alpha] for trolley in X-axis, Y axis coordinate directioni、βi, wherein i=1,2 ..., n, n are experiment number；Angle will be rotated
Value αi、βiIt is converted to radian value xαi、xβi；
Laser displacement sensor 5 collected road surface elevation data of probe, obtain road surface elevation data and generate measurement error,
Detailed process is as follows:
S1, on smooth level road, laser displacement sensor pop one's head in 5 Vertical Launch to ground, measure from the ground away from
From for Lj, wherein j=1,2 ..., m, m are the number of laser displacement sensor probe 5；
S2, when trolley 3 is by Uneven road, laser displacement sensor probe 5 is emitted to the angulation change on ground, measures
Distance from the ground is Lj', wherein j=1,2 ..., m, m are the number of laser displacement sensor probe 5；
S3, the road surface elevation data generate measurement error and indicate are as follows: Lj’-Lj。
Step 3, the posture information of trolley 3 obtained and road surface elevation data are generated into measurement error and is input to data system
Meter analysis software (SPSS) obtains the correlation model of road surface elevation detection, it is soft that correlation model obtained is input to Labview
In part；Road surface elevation and trolley attitude data are input in Labview software by reading data terminal again, finally calculated
Accurate road surface elevation data.
For clearer explanation technical solution of the present invention, make further solution below in conjunction with the course of work of the invention
It releases:
Such as Fig. 3, button 6 is turned on the switch, front-wheel 2 drives trolley 3 to travel, and under original state, trolley 3 is placed in smooth level
Road surface, laser displacement sensor pops one's head in 5 Vertical Launch to ground at this time, and the distance measured from the ground is initial value L, collects
Road surface elevation data be exact value.
Such as Fig. 4, when 3 front-wheel 2 of trolley is by bump, 2 headstock of trolley is lifted, 5 hair of laser displacement sensor probe
It is mapped to the angulation change on ground, measuring the distance of 3 laser displacement sensor probes 5 from the ground is all L ', collected road surface
Altitude data generates measurement error L '-L；Gyroscope 4 detects that trolley 3 generates rotation angle [alpha] in X-axis at this time, to correct front-wheel 2
Measurement error when by bump, the X-axis for repeatedly recording gyroscope 4 when front-wheel passes through different height protrusion rotate angle
αi, i=1,2 ..., n, n is the measurement error (L '-L) of experiment number and corresponding three laser displacement sensors probe 5i, i
=1,2 ..., n, n are experiment number；And the rotation angle that gyroscope 4 measures is angle value, with reduction formula: radian=angle *
π/180 are by rotation angle value αiIt is converted to radian value xαi, by measured multiple groups radian value xαiWith multiple groups measurement error (L '-L)i
It is input in data statistic analysis software (SPSS), obtains the correlation model of road surface elevation detection:
Wherein,For the measurement error of laser displacement sensor, xαThe arc of angle is rotated for the X-axis that gyroscope measures
Angle value.
Such as Fig. 5, when rear-wheel 10 is by bump, trolley 3 generates pitch angle and angle of heel, and laser displacement sensor is visited
First 5 angles for being emitted to ground change, and gyroscope 4 detects that trolley 3 generates rotation angle [alpha] and β, acquisition in X-axis and Y-axis
The road surface elevation data arrived generate measurement error, and to correct the measurement error under this state, record rear-wheel 10 passes through different height
X-axis, the rotation angle [alpha] of Y-axis of gyroscope 4 when degree protrusioni、βi(i=1,2 ..., n, n are experiment number) and corresponding three
The measurement error y of laser displacement sensor probe 51i=L1i’-L1i、y2i=L2i’-L2i、y3i=L3i’-L3i, i=1,2 ..., n,
N is experiment number, and by bump and trolley 3, the laser displacement in smooth horizontal plane passes rear-wheel 10 when measurement error is experiment
The difference of road surface elevation data when sensor probe 5 is mapped to same point.Angle will be rotated with reduction formula: radian=π/180 angle *
Value αi、βiIt is converted to radian value xαi、xβi, by multiple groups xαi、xβiAnd y1i、y2i、y3iData establish the X-axis of three gyroscopes 4, Y-axis
Rotate the correlation model between angle and measurement error.The x that this many experiments is recordedαi、xβiAnd y1i、y2i、y3iData input
Into SPSS software, correlation model of the rear-wheel 10 by bump when is obtained are as follows:
Wherein,The measurement error of respectively three laser displacement sensors, xα, xβRespectively gyroscope is surveyed
The radian value of the X-axis, Y-axis rotation angle that obtain.
When front-wheel 2 is by road surface recess, system is identical when correcting measurement error method with the process bump of front-wheel 2.
When rear-wheel 10 is by road surface recess, system is identical when correcting measurement error method with the process bump of rear-wheel 10.
The correlation model for obtaining road surface elevation detection, correlation model obtained is input in Labview software；Lead to again
It crosses reading data terminal road surface elevation and trolley attitude data are input in Labview software, finally calculates accurate road
Face altitude data.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (8)
1. a kind of road surface elevation detection system, which is characterized in that visited including trolley (3), gyroscope (4), laser displacement sensor
Head (5), amplifier unit (7), reading data terminal (8) and battery (9), the gyroscope (4) are installed on the several of trolley (3)
What center, for detecting the posture of trolley (3) in the process of moving, and the gyroscope (4) and reading data terminal (8)
Connection；The displacement sensor probe (5) is equipped with several, and the displacement sensor probe (5) is installed on trolley (3) interposition
It sets, equidistant intervals are distributed on same level straight line between each displacement sensor probe (5), high for real-time detection road surface
Number of passes evidence, and the displacement sensor probe (5) is connect with amplifier unit (7)；The amplifier unit (7) is by displacement sensing
Device probe (5) road surface elevation data collected are converted into digital signal by optical signal, and connect data reading terminals (8)；Institute
Road surface elevation and trolley attitude data acquired in reading data terminal (8) reception amplifier unit (7), gyroscope (4) are stated, and
Carry out data processing.
2. a kind of road surface elevation detection system according to claim 1, which is characterized in that the displacement sensor probe
(5) 3 are equipped with.
3. a kind of road surface elevation detection system according to claim 1, which is characterized in that be additionally provided on the trolley (3)
Battery (9), the battery (9) are separately connected amplifier unit (7), gyroscope (4) and hub motor (1), are embodied as putting
The energy supply of big device unit (7), gyroscope (4) and hub motor (1).
4. a kind of road surface elevation detection system according to claim 1, which is characterized in that the amplifier unit (7), top
Spiral shell instrument (4) connects data reading terminals (8) by converter, and the converter is NI data collecting card, and the reading data is whole
Holding (8) is computer, interior carrying Labview software.
5. a kind of road surface elevation detection system according to claim 1, which is characterized in that amplifier unit (7) passes through it
The voltage output function of itself is laser displacement sensor probe (5) power supply；And amplifier unit (7) has display screen, in real time
The collected altitude data of display probe.
6. a kind of road surface elevation detection method as described in any one of claim 1-5 claim, which is characterized in that packet
Include following steps:
Step 1, three-dimensional system of coordinate is established with the geometric center of trolley (3)；
Step 2, the posture of gyroscope (4) real-time detection trolley (3) obtains the posture information of trolley (3)；Laser displacement sensor
Probe (5) collected road surface elevation data obtain road surface elevation data and generate measurement error；
Step 3, the posture information of trolley obtained (3) and road surface elevation data are generated into measurement error and is input to data statistics
Software is analyzed, the correlation model of road surface elevation detection is obtained, correlation model obtained is input in Labview software；Again
Road surface elevation and trolley attitude data are input in Labview software by reading data terminal, finally calculated accurately
Road surface elevation data.
7. a kind of road surface elevation detection method according to claim 6, which is characterized in that in the step 2, the trolley
(3) posture information is rotation angle [alpha] of the trolley in X-axis, Y axis coordinate directioni、βi, wherein i=1,2 ..., n, n are experiment time
Number；By rotation angle value αi、βiIt is converted to radian value xαi、xβi。
8. a kind of road surface elevation detection method according to claim 6, which is characterized in that obtain the road surface elevation data
The method for generating measurement error are as follows:
S1, on smooth level road, laser displacement sensor pops one's head in (5) Vertical Launch to ground, measures distance from the ground
For Lj, wherein j=1,2 ..., m, m are that laser displacement sensor is popped one's head in the number of (5)；
S2, when trolley (3) pass through Uneven road, the angulation change that laser displacement sensor probe 5 is emitted to ground, measure from
The distance on ground is Lj', wherein j=1,2 ..., m, m are the number of laser displacement sensor probe (5)；
S3, the road surface elevation data generate measurement error and indicate are as follows: Lj’-Lj。
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| CN111074787A (en) * | 2020-01-21 | 2020-04-28 | 上海城建市政工程（集团）有限公司 | Ultrahigh-performance concrete distributing device and application method thereof |
| CN111721262A (en) * | 2020-07-10 | 2020-09-29 | 中国科学院武汉岩土力学研究所 | Automatic guiding method for total station tracking in field elevation measurement |
| CN113737620A (en) * | 2021-09-24 | 2021-12-03 | 燕山大学 | Multi-index acquisition device and method for asphalt pavement conditions |
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Application publication date: 20190322 |