CN109520472A - A kind of contact road surface elevation measuring device - Google Patents
A kind of contact road surface elevation measuring device Download PDFInfo
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- CN109520472A CN109520472A CN201811600719.3A CN201811600719A CN109520472A CN 109520472 A CN109520472 A CN 109520472A CN 201811600719 A CN201811600719 A CN 201811600719A CN 109520472 A CN109520472 A CN 109520472A
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- 230000005611 electricity Effects 0.000 claims 1
- 238000003384 imaging method Methods 0.000 abstract 1
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- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
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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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- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
A kind of contact road surface elevation measuring device, belongs to highway detection field, including mechanical construction and control system.Mechanical structure includes main support, measurement of higher degree equipment, ground connecting rod, measurement wheel；Control system includes that data collecting card, RS232 turn Transistor-Transistor Logic level module, gyroscope, encoder, processor；Main support is connect with measurement of higher degree equipment；Main support with and measurement wheel mechanical with encoder connect；Gyroscope is embedded on main support, measurement of higher degree equipment includes for two-way grating scale, the sliding shoe connection ground connecting rod of grating scale, ground connecting rod close proximity to ground, two-way grating scale is connected to RS232 by data collecting card and turns Transistor-Transistor Logic level module, and RS232 turns Transistor-Transistor Logic level module and is connected to processor；Encoder in measurement wheel with encoder is connected to processor, and gyroscope is connected to processor.Present apparatus high degree of automation can closely track test specimen breaking point position, and imaging is apparent, and test accuracy is higher.
Description
Technical field
The invention belongs to traffic and transport fields.
Background technique
In recent years, with the fast development of national economy, traffic transport industry also get up therewith by fast development, especially public
Road means of transportation plays important function to the booming of national economy.A wide range of highway, which builds up and realizes, to be open to traffic, and makes
It is fast-developing to obtain national economy.But meanwhile there is highway and detecting the problems such as conserving, the height being especially open to the traffic before
Has there is phenomena such as apparent damaged slight crack, pavement roughness, has directly affected highway service life and vehicle in fast highway section
Driving safety.Therefore establishing perfect maintenance of highway pavement management is very for understanding the pavement behavior that has been open to traffic scientific and efficiently
It is necessary.And the indexs such as flatness, pavement crack, the track size for having realized section of restored traffic road surface are detected, are evaluated
With analysis, it is of great significance for Scientific Assessment highway construction grade, road surface operation conditions etc..Flatness affects vehicle
Driving safety, service life and the comfort of passenger.The highway pavement of planarization difference can generate resistance to vehicle driving, make vehicle
Generate vibration jolt, hamper the driving safety of vehicle, can also make part generate ponding, road surface damage speed accelerate etc..For
Make vehicle driving safety, passenger is comfortable on, and the road occupation time limit increases, and the detection of surface evenness is particularly important.Road surface
There are many detection method and instruments for flatness, mainly have: 3 meters of rulers, precision level, vehicular bump-integrator, eight wheels connect
Continuous formula smoothness measuring equipment, laser cross section instrument etc., the different detection device scope of application and detection accuracy are different.
When carrying out surface evenness detection, a very important parameter is road surface elevation value, and this patent proposes one kind
Effective contact elevation value measurement method.
(1) level method
Road surface elevation is surveyed with level or total station.The method measuring speed is slower, is unable to reach quick purpose.
(2) laser ranging adds inertial equipment penalty method
Be commonly applied to laser profilometer, the instrument generally comprise contactless height sensor (such as laser, infrared ray,
Visible light, ultrasonic wave etc.), accelerometer and fore-and-aft distance sensor, measure contactless height sensor respectively and arrive road surface
Vertical distance, vertical acceleration and along section longitudinal driving distance, can be calculated the height of section by corresponding calculation formula
Number of passes evidence first passes through laser sensor measuring device headed by the course of work to the vertical elevation on road surface, then uses acceleration
Biosensor measuring device causes laser sensor in the vertical direction exhausted due to jolting during with carrying vehicle in traveling
To displacement, so that the measurement error that calibration of laser sensor generates during measurement because jolting, obtains true road
Road surface longitudinal direction elevation information.
(3) gyroscope/angular transducer relative elevation method
The method guarantees the accurate control of step-length by mechanical mechanism, then passes through angular measurement sensor or high-precision top
Spiral shell instrument calculation is simultaneously converted into elevation, generates elevation ordered series of numbers by the method for accumulation, measures this and measure relative to original
The relative elevation value of point height.That is, the height value of new measurement point is all under being passed through by last measured value every time
Principle formula is stated to convert to obtain.
Cardinal principle following formula:
h1+1-hi+l×sinθ
In formula: h1+1--- the elevation of new measurement point
hi--- the elevation of former measurement point
The inclination angle that θ --- gyroscope or angular transducer measure
L --- step-length
The prior art has the disadvantage in that
1) measurement of level method is most traditional, and speed is slower, is unable to reach quick purpose；
2) laser ranging adds the precision of this kind of equipment of inertial equipment penalty method to depend primarily on laser and acceleration sensing
Device, equipment cost is high, and algorithm is complicated；
3) gyroscope/angular transducer elevation method precision is preferable, but road surface bad adaptability, to there is obvious low-lying section,
Certain error is had by angle conversion.
Summary of the invention
A kind of contact road surface elevation measuring device, including mechanical construction and control system two large divisions.It is characterized by:
Mechanical structure is made of main support, measurement of higher degree equipment, ground connecting rod, measurement wheel.Control system include data collecting card,
RS232 turns Transistor-Transistor Logic level module, gyroscope, encoder, processor.
Main support is connect with measurement of higher degree equipment；Main support with and measurement wheel mechanical with encoder connect.On main support
It is embedded in gyroscope, measurement of higher degree equipment includes for two-way grating scale, the sliding shoe connection ground connecting rod of grating scale, ground company
Extension bar close proximity to ground, two-way grating scale are connected to RS232 by data collecting card and turn Transistor-Transistor Logic level module, and RS232 turns Transistor-Transistor Logic level
Module is connected to processor；Encoder in measurement wheel with encoder is connected to processor, and gyroscope is connected to processor.
Using the method for described device, it is characterised in that:
(1) before the measurement of road pavement height value, equipment level calibration is carried out by gyroscope inclination data, is found absolutely flat
Whole road surface.
(2) the fixed two-way ground connecting rod of adjustment grating scale and encoder measurement wheel, guarantee two-way ground connecting rod and
Encoder measurement wheel contacts to earth.
(3) starting device enters measurement pattern.
(4) equipment carries out the detection and storage of real-time height value.
(5) equipment carries out the detection and storage of moving distance by encoder.
(6) equipment carries out the detection of tilt angles by gyroscope and SD card is arrived in storage.
(7) inclination data is sent into processor by gyroscope；The data of two-way grating scale acquisition will be counted by data collecting card
Turn Transistor-Transistor Logic level module according to RS232 is sent to, is converted to Transistor-Transistor Logic level input processor and carries out data parsing, obtain the elevation on ground
Value；Measurement with encoder wheel and ground face contact, by the rotation of wheel, the encoder coupled with wheel is by level encoded data
It is transmitted in processor, coding count is carried out, to obtain equipment moving distance.
(1) this patent equipment adds the measurement of common gyroscope completion height value using grating scale.
(2) the non-contact form measurement of laser is not used, is measured using grating scale contact mode, is simplified algorithm
Equipment cost is effectively reduced in difficulty.
(3) it is improved on the basis of gyroscope/angular transducer elevation method, retains relative elevation method measurement method, mention
The high adaptability of road pavement, for obvious low-lying section, the measurement for the face data that can complete to satisfy the need by grating scale；It protects
Stay gyroscope carry out angle measurement, can corrective jolt caused by measurement error.
It is calculated according to following theoretical formula:
h1+1=h1+l2-l1-l×sinθ
In formula: h1+1--- the elevation of new measurement point；
hi--- the elevation of former measurement point；
l2--- the indicating value of measurement of higher degree sensor 2；
l1--- the indicating value of measurement of higher degree sensor 1；
The inclination angle that θ --- gyroscope measures；
L --- the distance between two measurement of higher degree sensors.
Detailed description of the invention
Fig. 1 is the schematic diagram of prior art principle.
Fig. 2 is the schematic diagram of the principle of the invention.
Fig. 3 measurement of higher degree device for mechanical structure chart
Fig. 4 measurement of higher degree apparatus control system block diagram
Specific embodiment
This patent corresponding device includes mechanical construction and control system two large divisions.Mechanical structure is surveyed by main support, elevation
Measure equipment, ground connecting rod, measurement wheel composition.Control system include grating scale data collecting card, RS232 turn Transistor-Transistor Logic level module,
Gyroscope, encoder, processor (STM32 controller) and touch screen.
Main support, measurement of higher degree equipment are connected with measurement wheel mechanical with encoder.It is embedded in gyroscope on main support, measures
Inclination data is sent into STM32 by IIC/SPI agreement by the inclination angle of equipment；The main structure of measurement of higher degree equipment is grating scale
1 and grating scale 2, grating scale sliding shoe connects ground connecting rod, ground connecting rod close proximity to ground, the data of two-way grating scale acquisition
RS232 is transmitted data to by data collecting card and turns TTL converter, is converted to Transistor-Transistor Logic level and is input in the serial ports of STM32,
Data parsing is carried out by processor, obtains the height value on ground；Measurement wheel with encoder and ground face contact, pass through wheel
Level encoded data is transmitted in STM32 by rotation, the encoder coupled with wheel, coding count is carried out, to obtain equipment
Moving distance.
STM32 acquires the data of grating scale, gyroscope and encoder, parses to data, is counted on the touchscreen
According to display, and can pass through touch screen carry out control system configuration.
(1) before using the measurement of present apparatus road pavement height value, equipment level calibration is carried out by gyroscope inclination data,
Find absolutely smooth road surface.
(2) the fixed two-way ground connecting rod of adjustment grating scale and encoder measurement wheel, guarantee that two parts sufficiently contact to earth.
(3) starting device enters measurement pattern.
(4) equipment carries out the detection of real-time height value, and carries out the storage of height value to SD card.
(5) equipment carries out the detection of moving distance by encoder, displays and store SD card.
(6) SD card is detected and stored by gyroscope progress tilt angles in equipment.
(7) inclination data is sent into processor by gyroscope；The data of two-way grating scale acquisition will be counted by data collecting card
Turn Transistor-Transistor Logic level module according to RS232 is sent to, is converted to Transistor-Transistor Logic level input processor and carries out data parsing, obtain the elevation on ground
Value；Measurement with encoder wheel and ground face contact, by the rotation of wheel, the encoder coupled with wheel is by level encoded data
It is transmitted in processor, coding count is carried out, to obtain equipment moving distance.
Each numerical value can be read by system screen, the USB Slave interface that STM32 can also be connected by PC machine reads SD
Height value, moving distance and inclination data in card.
Claims (3)
1. a kind of contact road surface elevation measuring device, including mechanical construction and control system two large divisions；It is characterized by: machine
Tool structure is made of main support, measurement of higher degree equipment, ground connecting rod, measurement wheel；Control system include data collecting card,
RS232 turns Transistor-Transistor Logic level module, gyroscope, encoder, processor；
Main support is connect with measurement of higher degree equipment；Main support with and measurement wheel mechanical with encoder connect；It is embedded on main support
Gyroscope, measurement of higher degree equipment includes for two-way grating scale, the sliding shoe connection ground connecting rod of grating scale, ground connecting rod
Close proximity to ground, two-way grating scale are connected to RS232 by data collecting card and turn Transistor-Transistor Logic level module, and RS232 turns Transistor-Transistor Logic level module
It is connected to processor；Encoder in measurement wheel with encoder is connected to processor, and gyroscope is connected to processor.
2. the method for application device as described in claim 1, it is characterised in that:
Inclination data is sent into processor by gyroscope；Grating scale sliding shoe connection ground connecting rod, ground connecting rod close proximity to ground,
The data of two-way grating scale acquisition transmit data to RS232 by data collecting card and turn Transistor-Transistor Logic level module, are converted to TTL electricity
Flat input processor carries out data parsing, obtains the height value on ground；Measurement wheel with encoder and ground face contact, pass through wheel
Rotation, level encoded data is transmitted in processor by the encoder coupled with wheel, coding count is carried out, to be set
Standby moving distance.
3. the method for application device as described in claim 1, it is characterised in that:
(1) before the measurement of road pavement height value, equipment level calibration is carried out by gyroscope inclination data, is found absolutely smooth
Road surface；
(2) the fixed two-way ground connecting rod of adjustment grating scale and encoder measurement wheel, guarantee two-way ground connecting rod and coding
Device measurement wheel contacts to earth；
(3) starting device enters measurement pattern；
(4) equipment carries out the detection and storage of real-time height value；
(5) equipment carries out the detection and storage of moving distance by encoder；
(6) equipment carries out the detection of tilt angles by gyroscope and SD card is arrived in storage；
(7) inclination data is sent into processor by gyroscope；The data of two-way grating scale acquisition are sent out data by data collecting card
It is sent to RS232 and turns Transistor-Transistor Logic level module, be converted to Transistor-Transistor Logic level input processor and carry out data parsing, obtain the height value on ground；
Measurement wheel with encoder and ground face contact, by the rotation of wheel, the encoder coupled with wheel passes level encoded data
It is sent in processor, coding count is carried out, to obtain equipment moving distance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811600719.3A CN109520472A (en) | 2018-12-26 | 2018-12-26 | A kind of contact road surface elevation measuring device |
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| CN201811600719.3A CN109520472A (en) | 2018-12-26 | 2018-12-26 | A kind of contact road surface elevation measuring device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110440811A (en) * | 2019-08-29 | 2019-11-12 | 湖北三江航天红峰控制有限公司 | A kind of universal automatic navigation control method, device and equipment terminal |
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| US20020073566A1 (en) * | 2000-12-20 | 2002-06-20 | Kouichi Suzuki | Running type road surface shape measuring apparatus |
| KR20070013705A (en) * | 2005-07-27 | 2007-01-31 | 전일중 | Apparatus for measuring pavement roughness |
| CN101798793A (en) * | 2010-03-03 | 2010-08-11 | 清华大学 | Vehicular large-wave road shape measuring method and system |
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