CN110849297A - Method and system for mapping pavement information before pavement construction - Google Patents
Method and system for mapping pavement information before pavement construction Download PDFInfo
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- 238000013507 mapping Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000010276 construction Methods 0.000 title claims abstract description 25
- 239000010426 asphalt Substances 0.000 claims abstract description 17
- 238000005096 rolling process Methods 0.000 claims abstract description 4
- 239000004575 stone Substances 0.000 claims description 17
- 238000004364 calculation method Methods 0.000 claims description 7
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention discloses a method and a system for mapping pavement information before pavement construction, and belongs to the technical field of pavement construction. 101, rolling wheels and operating a mapping system; 102, when the number of the rotation cycles of the roller reaches the requirement, executing the step 102; 103, sending a signal for opening a switch by a Hall sensor on the roller; 104, after receiving signals of the Hall sensors, the terminal acquires data on the angle sensor and the plurality of laser ranging sensors and uploads the data to an acquisition server; 105, the acquisition server analyzes the data and stores the data in a database; and 106, calling an HMN algorithm dynamic library interface function by the database, and mapping the road information. The invention is suitable for complex and changeable tiled pavements and can be repeatedly used on different pavements; the roller surveying instrument can complete road surface surveying and mapping on a construction site, road surface information is synchronized to a remote server, then required asphalt quantity is calculated, time is saved, and burden of constructors is reduced.
Description
Technical Field
The invention belongs to the technical field of pavement construction, and particularly relates to a method and a system for mapping pavement information before pavement construction.
Background
In the field of pavement construction, the overall condition of a pavement often needs to be estimated, and the typical method is that surveying and mapping personnel measure parameters such as length, width and height of a section of pavement on site, calculate related information as required, enable a production party to prepare construction materials in advance according to the information, and further arrange the construction personnel to construct the pavement in a planned way.
Traditional artifical survey and drawing not only needs to measure road surface data, still will consume a large amount of manpower and materials to operations such as data record, save, later stage calculation, simultaneously when other road surface survey and drawing, need repeat preceding step, can't accomplish reproducibility.
Disclosure of Invention
The invention provides a mapping method for pavement construction to solve the technical problems in the background technology.
The invention is realized by the following technical scheme: a road surface information mapping method before road surface construction specifically comprises the following steps:
101, rolling wheels and operating a mapping system;
102, when the number of the rotation cycles of the roller reaches the requirement, executing the step 102;
103, sending a signal for opening a switch by a Hall sensor on the roller;
104, after receiving signals of the Hall sensors, the terminal acquires data on the angle sensor and the plurality of laser ranging sensors and uploads the data to an acquisition server;
105, the acquisition server analyzes the data and stores the data in a database;
and 106, calling an HMN algorithm dynamic library interface function by the database, and mapping the road information. The consistency of the mapping data can be ensured by the terminal number and the serial number, and the integrity of the data is ensured by the packet break continuous transmission technology of the terminal.
In a further embodiment, the mapping system in step 101 comprises: the device comprises a wheel, a surveying and mapping rod transversely fixed at the circle center of the wheel, Hall sensors arranged on the wheel, an angle sensor and at least four laser ranging sensors, wherein the angle sensor and the at least four laser ranging sensors are fixed on the surveying and mapping rod and are sequentially distributed outwards from the wheel; the angle sensor and the output end of the laser ranging are electrically connected to the input end of a terminal respectively;
the output end of the Hall sensor is electrically connected with the input end of the switch, and the output end of the switch is electrically connected with the input end of the terminal; the output end of the terminal is electrically connected with the input end of the acquisition and collection server, and the output end of the acquisition and collection server is electrically connected with the input end of the local database.
In a further embodiment, in step 104, the terminal extracts, processes and packages the acquired data, and sends the data to the acquisition server by using a data reissue strategy. Since data transmission between the terminal and the collection server is affected by various factors, the transmission may be unstable, and data loss may be caused. In order to ensure the transmission stability, the terminal adopts a data reissue strategy, so that data which are not successfully sent to the server can be reissued, and each piece of data is ensured not to be lost.
In a further embodiment, the collecting angle sensor and the plurality of laser ranging sensors are respectively and correspondingly electrically connected to only one terminal. And a unique serial number is given to each terminal so as to distinguish data acquired by different terminals, a group of data acquired by different terminals at the same time is identified by a unique serial number, and the serial number is continuously increased along with the lapse of acquisition time.
In a further embodiment, the HMN algorithm in step 106 specifically includes:
step one, performing mathematical modeling: four laser ranging sensors and angle sensors are sequentially distributed at A, B, C, D, F on the surveying and mapping rod; the laser ranging sensor is used for acquiring the ground hitting distance L of the laser ranging sensoriThe angle sensor is used for measuring the left and right inclination angle theta of the surveying and mapping rod; setting the width of the ground as RP, hitting a laser ranging sensor at the position A on a K point on a pavement foundation stone, and setting a connecting line of the heights of the foundation stones as KR, namely setting the height of the foundation stone as b; B. c, D, the laser ranging sensors are sequentially arranged at M, N, O points on the bottom surface;
when paving a section of circular arc, the vertical distance from the highest point H of the circular arc to the plane where the top end of the foundation stone is located is positioned as the central height HI; assuming that the cross section of the road surface after asphalt pavement comprises a rectangular KQPR and an arched part;
step two, calculating the sectional area S of the arch areaBow；
Step three, calculating the sectional area S of the rectangleMoment；
Step four, calculating the sectional area S of the pavement to be pavedCutting block；
Step five, acquiring the asphalt quantity S needed by the pavement to be paved when the data are acquired m times by the terminalm。
In a further embodiment, the second step specifically includes that the arcuate portion includes a circular arc
A sum line KQ, which is a circular arc
Has a radius of R0The center of the circle is O1, and the length of the arch, i.e. the width of the line KQ is W0Circular arc
Has a length of I0Center height of h0According to the Pythagorean theorem, the radius R of the arc is calculated0：
R0＝(4h02+W02)/(8h) (1)
Central angle of the sector:
from the central angle in the formula (2), the circular arc can be obtained
Length I0：
The sector area formula and the formula (3) are used for obtaining:
triangular KO1The area of Q is:
an arch section area calculation formula:
the arch area can be calculated by the formulas (1), (4), (5) and (6):
in a further embodiment, the angle sensors are fixed on the surveying rod, the inclination angle changes along with the inclination of the surveying rod, and the included angle formed by the distance measuring direction of each laser distance measuring sensor, which is shot to the ground, and the included angle formed by the distance measuring direction of each laser distance measuring sensor, which is vertical to the ground, is equal to that formed by the laser distance measuring sensor, which is shot to the ground;
the distance from each laser ranging sensor to the first laser ranging sensor A can be obtained by measuring through a measuring tape and is recorded as Di, the projection length of a surveying and mapping rod from each laser ranging sensor to the first laser ranging sensor in the vertical direction is Di x cos theta, wherein i is 2,3,4, … n, and n is the number of the laser ranging sensors;
calculating the cross-sectional area S of the rectangleMomentThe method specifically comprises the following steps: the rectangle KQPR is divided into several small rectangles, and by calculating the area of all the small rectangles, the area of the cross section can be obtained:
first small rectangle KK2Length RS ═ D of SR2*cosθ-L1Sin θ, width h2＝L2*cosθ-L1*cosθ-D2sIn theta, the rectangular area S1＝RS*h2Namely:
S1＝(D2*cosθ-L1*sinθ)*(L2*cosθ-L1*cosθ-D2*sinθ) (8)
second small rectangle K2K3Length of TS, ST ═ D3*cosθ-D2Cos θ, width h3＝l3*cosθ-L1*cosθ-D3Sin θ, rectangular area S2＝ST*h3Namely:
S2＝(D3*cosθ-D2*cosθ)*(L3*cosθ-L1*cosθ-D3*sinθ) (9)
third small rectangle k3k4Length of UT TU ═ D4*cosθ-D3Cos θ, width h4＝L4*cosθ-L1*cosθ-D4Sin θ, rectangular area S3＝TU*h4Namely:
S3＝(D3*cosθ-D2*cosθ)*(L4*cosθ-L1*cosθ-D3*sinθ) (10)
fourth small rectangle K4The length of QPU, UP ═ W-D4*cosθ+L1Sin θ, width is height b of the foundation stone, and area S of the last small rectangle4UP × b, i.e.:
S4＝(W-D4*cosθ+L1*sinθ)*b (11)
similarly, according to the formulas (9) and (10), the area S of the ith small rectangleiComprises the following steps:
Si＝(Di*cosθ-Di-1*cosθ)*(Li+1*cosθ-L1*cosθ-Di*sinθ (12)
wherein i is greater than 1 and i < n, n is the number of the laser ranging sensors;
similarly, according to the formula (11), the area S of the nth small rectanglenComprises the following steps:
Sn＝(W-Dn*cosθ+L1*sinθ)*b (13)
according to the formulae (8), (12) and (13), the rectangular cross-sectional area S of the pavement to be pavedMomentComprises the following steps:
in a further embodiment, in step four: sCutting block＝SBow+SMomentThat is to say that,
because the width of each small rectangle is equal in fact, the reason is that the condition of the pavement to be paved is relatively complex, and the uneven pavement can cause the ranging change of the laser ranging sensor in actual measurement, so that the width of the small rectangle is different. In order to be able to accurately calculate the area of the small rectangle, the width thereof should be calculated from the corresponding laser ranging, rather than simply using the height of the keystone as the width of all the small rectangles.
In a further embodiment, assuming that the distance traveled by the trolley when the terminal collects two adjacent data is the collection distance d, the asphalt amount is determined
Wherein m is the number of times of data acquisition of the terminal.
The invention has the beneficial effects that: the roller surveying instrument can be suitable for complex and changeable tiled pavements and can be repeatedly used on different pavements; the roller surveying instrument can complete road surface surveying and mapping on a construction site, and the required asphalt amount is calculated after road surface information is synchronized to a remote server, so that the time is saved, and the burden of construction personnel is reduced; when the terminal transmits the collected road surface data to the server, a packet-breaking continuous transmission technology is used, so that the mapping data is accurately and correctly uploaded to the remote server; the cross-sectional area of the road surface can be automatically calculated in an algorithm, so that the volume and the consumption are obtained; the algorithm utilizes a method corresponding to a reference stone, and corrects the data of each distance meter by adopting difference, so that errors caused by jolting of different distance meter data are avoided; the data of the angle gauge is utilized to correct the data of the range finder which is not on the same horizontal plane, so that the error caused by the swinging of the surveying and mapping rod is ensured.
Drawings
Fig. 1 is a flowchart of a method for mapping road surface information before road surface construction according to the present invention.
FIG. 2 is a flow chart of a method for using the HMN algorithm.
Fig. 3 is a schematic view of a partial structure of a road information mapping system before road construction.
Fig. 4 is a schematic structural diagram of data transmission by the terminal according to the present invention.
FIG. 5 is a schematic plan view of the roller mapping apparatus of the present invention.
FIG. 6 is a circular arc
In the sector diagram.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The applicant researches and develops a pavement information surveying and mapping method and a system thereof aiming at the pavement before pavement construction in order to solve the technical problems of inconvenient data recording, storage and later-stage calculation of the traditional manual surveying and mapping and cannot be copied.
The embodiment takes the pavement asphalt as an example, and specifically comprises the following steps: 101, rolling wheels and operating a mapping system;
102, when the number of the rotation cycles of the roller reaches the requirement, executing the step 102;
103, sending a signal for opening a switch by a Hall sensor on the roller;
104, after receiving signals of the Hall sensors, the terminals acquire data on the angle sensors and the plurality of laser ranging sensors and upload the data to an acquisition server, in order to distinguish the data acquired by the terminals at different moments, the data acquired by the terminals at the same moment are uniformly numbered, the data acquired by the terminals at different moments are numbered differently, and the data acquired by all the terminals at the same moment are endowed with the same serial number;
105, the acquisition server analyzes the data and stores the data in a database;
106, calling an HMN algorithm dynamic library interface function by the database, mapping the pavement information, and calculating the asphalt quantity S required by the pavement to be pavedm。
The above mapping system includes: the device comprises a wheel, a surveying and mapping rod transversely fixed at the circle center of the wheel, Hall sensors arranged on the wheel, an angle sensor and at least four laser ranging sensors, wherein the angle sensor and the at least four laser ranging sensors are fixed on the surveying and mapping rod and are sequentially distributed outwards from the wheel; the angle sensor and the output end of the laser ranging are electrically connected to the input end of a terminal respectively; and in order to distinguish the data collected by different terminals, each sensor corresponds to a unique terminal, as shown in fig. 3. In order to ensure the integrity of data by the packet-break continuous transmission technology of the terminal, a group of data acquired by different terminals at the same time is identified by a unique serial number, and the serial number is continuously increased along with the lapse of acquisition time. The terminal number and serial number can ensure the consistency of the mapping data.
The output end of the Hall sensor is electrically connected with the input end of the switch, and the output end of the switch is electrically connected with the input end of the terminal; the output end of the terminal is electrically connected with the input end of the acquisition and collection server, and the output end of the acquisition and collection server is electrically connected with the input end of the local database.
Since data transmission between the terminal and the collection server is affected by various factors, the transmission may be unstable, and data loss may be caused. In order to ensure the transmission stability, in order to extract, process and pack the acquired data by the terminal, a data reissue strategy is adopted to send the data to the acquisition server, the data which is not successfully sent to the server can be reissued, and each piece of data is ensured not to be lost.
Specifically, how to calculate the amount of asphalt for paving the pavement, the HMN algorithm specifically includes:
step one, performing mathematical modeling: four laser ranging sensors and angle sensors are sequentially distributed at A, B, C, D, F on the surveying and mapping rod; the laser ranging sensor is used for acquiring the ground hitting distance L of the laser ranging sensoriThe angle sensor is used for measuring the left and right inclination angles theta of the surveying and mapping rod, and the angle value measured by the angle sensor is divided into positive and negative values, so that the left inclination of the surveying and mapping rod is set to be positive, and the right inclination of the surveying and mapping rod is set to be negative. Setting the width of the ground as RP, hitting a laser ranging sensor at the position A on a K point on a pavement base stone, and setting a connecting line of the heights of the base stones as KR, namely setting the height of the base stone as b, wherein the KR is a measurable value; B. c, D, the laser ranging sensors are sequentially arranged at M, N, O points on the bottom surface;
when the paving is carried out, a section of circular arc is paved, the vertical distance from the highest point H of the circular arc to the plane where the top end of the foundation stone is located is positioned as the central height HI, and the single-pass tiling width, namely the single-pass width RP. Assuming that the cross section of the road surface after asphalt pavement comprises a rectangular KQPR and an arched part;
step two, calculating the sectional area S of the arch areaBow；
Step three, calculating the sectional area S of the rectangleMoment；
Step four, calculating the sectional area S of the pavement to be pavedCutting block；
Step five, acquiring the asphalt quantity S needed by the pavement to be paved when the data are acquired m times by the terminalm。
The second step specifically includes that the arcuate portion includes a circular arc
A sum line KQ, which is a circular arc
Has a radius of R0The center of the circle is O1, and the length of the arch, i.e. the width of the line KQ is W0Circular arc
Has a length of I0Center height of h0According to the Pythagorean theorem, the radius R of the arc is calculated0：
R0＝(4h02+W02)/(8h) (1)
Central angle of the sector:
from the central angle in the formula (2), the circular arc can be obtained
Length I0：
The sector area formula and the formula (3) are used for obtaining:
triangular KO1The area of Q is:
an arch section area calculation formula:
the arch area can be calculated by the formulas (1), (4), (5) and (6):
the angle sensors are fixed on the surveying and mapping rod, the inclination angle changes along with the inclination of the surveying and mapping rod, the distance measuring direction of each laser distance measuring sensor hitting the ground is equal to the included angle formed by the laser distance measuring sensor along the direction vertical to the ground, namely the angle formed by the inclined plane of the surveying and mapping rod along the direction vertical to the ground and the horizontal plane, namely the angle theta measured by the angle sensors;
the distance from each laser ranging sensor to the first laser ranging sensor A can be obtained by measuring with a tape measure and is recorded as Di, and the distance from the first laser ranging sensor to the first laser ranging sensor A can be considered as D1And 0, which is not considered in the actual calculation. The projection length of a surveying rod from each laser ranging sensor to the first laser ranging sensor in the vertical direction is Di x cos theta, wherein i is 2,3,4, … n, and n is the number of the laser ranging sensors;
as can be seen from fig. 5, the cross section KQPR is divided into several small rectangles, and the area of the cross section can be obtained by calculating the areas of all the small rectangles. The width of each small rectangle can be obtained by calculating the distance of the laser ranging sensor to the ground, and the length can also be obtained by the related projection. It should be noted that the width of each small rectangle cannot be considered to be equal because the condition of the road surface to be paved is complex, and the uneven road surface causes the ranging change of the laser ranging sensor in actual measurement, resulting in the difference of the widths of the small rectangles. In order to be able to accurately calculate the area of the small rectangle, the width thereof should be calculated from the corresponding laser ranging, rather than simply using the height of the keystone as the width of all the small rectangles.
Therefore, the sectional area S of the rectangle is calculatedMomentThe method specifically comprises the following steps: the rectangle KQPR is divided into several small rectangles, and by calculating the area of all the small rectangles, the area of the cross section can be obtained:
first small rectangle KK2Length RS ═ D of SR2*cosθ-L1Sin θ, width h2＝L2*cosθ-L1*cosθ-D2Sin θ, rectangular area S1＝RS*h2Namely:
S1＝(D2*cosθ-L1*sinθ)*(L2*cosθ-L1*cosθ-D2*sinθ) (8)
second small rectangle K2K3Length of TS, ST ═ D3*cosθ-D2Cos θ, width h3＝L3*cosθ-L1*cosθ-D3Sin θ, rectangular area S2＝ST*h3Namely:
S2＝(D3*cosθ-D2*cosθ)*(L3*cosθ-L1*cosθ-D3*sinθ) (9)
third small rectangle K3K4Length of UT TU ═ D4*cosθ-D3Cos θ, width h4＝L4*cosθ-L1*cosθ-D4Sin θ, rectangular area S3＝TU*h4Namely:
S3＝(D3*cosθ-D2*cosθ)*(L4*cosθ-L1*cosθ-D3*sinθ) (10)
fourth small rectangle K4The length of QPU, UP ═ W-D4*cosθ+L1Sin θ, width is height b of the foundation stone, and area S of the last small rectangle4UP × b, i.e.:
S4＝(W-D4*cosθ+L1*sinθ)*b (11)
similarly, according to the formulas (9) and (10), the area S of the ith small rectangleiComprises the following steps:
Si＝(Di*cosθ-Di-1*cosθ)*(Li+1*cosθ-L1*cosθ-Di*sinθ (12)
wherein i is greater than 1 and i < n, n is the number of the laser ranging sensors;
similarly, according to the formula (11), the area S of the nth small rectanglenComprises the following steps:
Sn＝(W-Dn*cosθ+L1*sinθ)*b (13)
according to the formulae (8), (12) and (13), the rectangular cross-sectional area S of the pavement to be pavedMomentComprises the following steps:
according to the formulae (7) and (14), the cross-sectional area S of the pavement to be pavedCutting block＝SBow+SMomentThat is to say that,
assuming that the trolley advances d meters when the terminal collects the sensor data each time, according to the formula (15), the amount of asphalt to be used for paving the pavement when the terminal collects the data m times is as follows:
the following introduces the implementation method of the HMN algorithm:
the scheme is implemented in an Ubuntu environment, but the algorithm provided by the scheme is not limited to a specific operating system, and other systems can also implement the following scheme:
| name (R) | Version number | Description of the invention |
| Ubuntu | 4.15.0-46-generic | Linux kernel version |
| Openjdk-8-jdk | 1.8.0_212 | Java compilation environment |
| g++ | 5.4.0 | Dynamic library compilation software |
| Mysql | 5.7 | Database with a plurality of databases |
| Tomcat | 8.0 | Web runtime environment |
| Springboot | Is free of | Design framework |
| Jdk | 1.8 | Java runtime environment |
The HMN algorithm is realized by using C + + language, is packaged into an HMN algorithm class, and is compiled into a libHMN. When the dynamic library is used, front-end personnel only need to put the dynamic library into a corresponding server and then call an interface function provided by the dynamic library, so that the asphalt amount used by the pavement can be calculated.
The C/C + + language is more bottom-level, and can utilize the hardware characteristic to exert the efficient operation performance, so the HMN algorithm introduced above is realized by using the C + + language. Java and C + + communication need to be realized by means of JNI technology, and JNI provides a feasible transmission channel, so that communication of different programming languages is possible. The JNI interface function consists of a return value, an interface name and a parameter list, defines a data type by using a self-contained keyword, and provides an interface function for converting Java and C + + types.
In the scheme, a Java layer compiles JNI interface functions according to known quantities and mapping parameters provided by an HMN bottom layer, the known quantities comprise the distance between each laser ranging sensor, the single-pass width, the center height, the height of a foundation stone, the acquisition distance and the like, the mapping parameters comprise a mapping rod inclination angle value and a laser ranging value, then the bottom layer uses C + + to realize an HMN algorithm according to the JNI interface functions, and finally, g + + instructions are compiled into a dynamic library under a Ubuntu system to be called by the Java layer.
The known quantities in the JNI interface functions are determined by the constructor field measurements, and the mapping parameters are the results of the continuous collection and uploading of the roller mapper to the server.
The terminal transmits the collected mapping data to an acquisition server (ACF), the ACF completes data analysis according to an analysis rule base (AJD), an inclination angle value and a distance measurement value are stored in a corresponding table, the Java layer takes out the mapping data from the database, and the amount of asphalt used by the pavement to be paved is accurately calculated by combining the known amount.
Software implementation scheme
In the HMN algorithm, two structures are used to store data relating to a single laser range sensor when the surveying pole is tilted left and right, respectively: left _ Laser _ RS _ Info and Right _ Laser _ RS _ Info, the structure contains the mapping distance and the distance from the ranging sensor to the first Laser ranging sensor.
variables defined by vector < Left _ Laser _ RS _ Info > and vector < Right _ Laser _ RS _ Info > are used to store all Laser ranging sensor related data.
We finally complete the calculation of the asphalt dosage for a section using the following function:
it should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.
Claims (9)
1. A road surface information mapping method before road surface construction is characterized by comprising the following steps:
101, rolling wheels and operating a mapping system;
102, when the number of the rotation cycles of the roller reaches the requirement, executing the step 102;
103, sending a signal for opening a switch by a Hall sensor on the roller;
104, after receiving signals of the Hall sensors, the terminals acquire data on the angle sensors and the plurality of laser ranging sensors and upload the data to an acquisition server, in order to distinguish the data acquired by the terminals at different moments, the data acquired by the terminals at the same moment are uniformly numbered, the data acquired by the terminals at different moments are numbered differently, and the data acquired by all the terminals at the same moment are endowed with the same serial number;
105, the acquisition server analyzes the data and stores the data in a database;
and 106, calling an HMN algorithm dynamic library interface function by the database, and mapping the road information.
2. A method for mapping road surface information before road surface construction according to claim 1, wherein the mapping system in step 101 comprises: the device comprises a wheel, a surveying and mapping rod transversely fixed at the circle center of the wheel, Hall sensors arranged on the wheel, an angle sensor and at least four laser ranging sensors, wherein the angle sensor and the at least four laser ranging sensors are fixed on the surveying and mapping rod and are sequentially distributed outwards from the wheel; the angle sensor and the output end of the laser ranging are electrically connected to the input end of a terminal respectively;
the output end of the Hall sensor is electrically connected with the input end of the switch, and the output end of the switch is electrically connected with the input end of the terminal; the output end of the terminal is electrically connected with the input end of the acquisition and collection server, and the output end of the acquisition and collection server is electrically connected with the input end of the local database.
3. A method for mapping road surface information before road surface construction according to claim 1, wherein in step 104, the terminal extracts, processes and packages the collected data, and sends the data to the collection server by using a data reissue strategy.
4. The method for mapping the road information before the road surface construction according to claim 1, wherein the collecting angle sensor and the plurality of laser ranging sensors are respectively and electrically connected to only one terminal.
5. The method for mapping road information before road surface construction according to claim 1, wherein the HMN algorithm in step 106 specifically includes:
step one, performing mathematical modeling: four laser ranging sensors and angle sensors are sequentially distributed at A, B, C, D, F on the surveying and mapping rod; the laser ranging sensor is used for acquiring the ground hitting distance L of the laser ranging sensoriThe angle sensor is used for measuring the left and right inclination angle theta of the surveying and mapping rod; setting the width of the ground as RP, hitting a laser ranging sensor at the position A on a K point on a pavement foundation stone, and setting a connecting line of the heights of the foundation stones as KR, namely setting the height of the foundation stone as b; B. c, D, the laser ranging sensors are sequentially arranged at M, N, O points on the bottom surface;
when paving a section of circular arc, the vertical distance from the highest point H of the circular arc to the plane where the top end of the foundation stone is located is positioned as the central height HI; assuming that the cross section of the road surface after asphalt pavement comprises a rectangular KQPR and an arched part;
step two, calculating the sectional area S of the arch areaBow；
Step three, calculating the sectional area S of the rectangleMoment；
Step four, calculating the sectional area S of the pavement to be pavedCutting block；
Step five, acquiring the asphalt quantity S needed by the pavement to be paved when the data are acquired m times by the terminalm。
6. The method for mapping road information before road surface construction according to claim 5, wherein the second step comprises the step of forming the arc part including a circular arc
A sum line KQ, which is a circular arcHas a radius of R0The center of the circle is O1, and the length of the arch, i.e. the width of the line KQ is W0Circular arc
Has a length of I0Center height of h0According to the Pythagorean theorem, the radius R of the arc is calculated0：
R0＝(4h0 2+W0 2)/(8h) (1)
Central angle of the sector:
from the central angle in the formula (2), the circular arc can be obtained
Length I0：
The sector area formula and the formula (3) are used for obtaining:
triangular KO1The area of Q is:
an arch section area calculation formula:
the arch area can be calculated by the formulas (1), (4), (5) and (6):
7. a method for mapping road surface information before pavement construction according to claim 5, wherein the angle sensors are fixed on the surveying rod, the inclination angle changes with the inclination of the surveying rod, the distance measuring direction of each laser distance measuring sensor to the ground is equal to the included angle formed by the laser distance measuring sensor along the direction vertical to the ground, namely the angle formed by the inclined surface of the surveying rod along the direction vertical to the ground and the horizontal plane, namely the angle measured by the angle sensor;
the distance from each laser ranging sensor to the first laser ranging sensor A can be obtained by measuring through a measuring tape and is recorded as Di, the projection length of a surveying and mapping rod from each laser ranging sensor to the first laser ranging sensor in the vertical direction is Di x cos theta, wherein i is 2,3,4, … n, and n is the number of the laser ranging sensors;
calculating the cross-sectional area S of the rectangleMomentThe method specifically comprises the following steps: the rectangle KQPR is divided into several small rectangles, and by calculating the area of all the small rectangles, the area of the cross section can be obtained:
first small rectangle KK2Length RS ═ D of SR2*cosθ-L1Sin θ, width h2＝L2*cosθ-L1*cosθ-D2Sin θ, rectangular area S1＝RS*h2Namely:
S1＝(D2*cosθ-L1*sinθ)*(L2*cosθ-L1*cosθ-D2*sinθ) (8)
second small rectangle K2K3Length of TS, ST ═ D3*cosθ-D2Cos θ, width h3＝L3*cosθ-L1*cosθ-D3Sin θ, rectangular area S2＝ST*h3Namely:
S2＝(D3*cosθ-D2*cosθ)*(L3*cosθ-L1*cosθ-D3*sinθ) (9)
third small rectangle K3K4Length of UT TU ═ D4*cosθ-D3Cos θ, width h4＝L4*cosθ-L1*cosθ-D4Sin θ, rectangular area S3＝TU*h4Namely:
S3＝(D3*cosθ-D2*cosθ)*(L4*cosθ-L1*cosθ-D3*sinθ)(10)
fourth small rectangle K4The length of QPU, UP ═ W-D4*cosθ+L1Sin θ, width is height b of the foundation stone, and area S of the last small rectangle4UP × b, i.e.:
S4＝(W-D4*cosθ+L1*sinθ)*b (11)
similarly, according to the formulas (9) and (10), the area S of the ith small rectangleiComprises the following steps:
Si＝(Di*cosθ-Di-1*cosθ)*(Li+1*cosθ-L1*cosθ-Di*sinθ (12)
wherein i is greater than 1 and i < n, n is the number of the laser ranging sensors;
similarly, according to the formula (11), the area S of the nth small rectanglenComprises the following steps:
Sn＝(W-Dn*cosθ+L1*sinθ)*b (13)
according to the formulae (8), (12) and (13), the rectangular cross-sectional area S of the pavement to be pavedMomentComprises the following steps:
8. a method for mapping road information before road construction according to claim 5, wherein in the fourth step: sCutting block＝SBow+SMomentThat is to say that,
9. the method for mapping the road information before the road construction according to claim 5, wherein the asphalt amount is determined by assuming that the distance traveled by the trolley when the terminal collects two adjacent data is the collection distance d
Wherein m is the number of times of data acquisition of the terminal.
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