CN112227162B - Road surface inclination measuring device - Google Patents
Road surface inclination measuring device Download PDFInfo
- Publication number
- CN112227162B CN112227162B CN202010858399.2A CN202010858399A CN112227162B CN 112227162 B CN112227162 B CN 112227162B CN 202010858399 A CN202010858399 A CN 202010858399A CN 112227162 B CN112227162 B CN 112227162B
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- reference vehicle
- pendulum
- walking
- inclination angle
- road surface
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/28—Measuring arrangements characterised by the use of mechanical techniques for measuring roughness or irregularity of surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/12—Measuring inclination, e.g. by clinometers, by levels by using a single pendulum plumb lines G01C15/10
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
The invention relates to a road surface inclination angle measuring device, which comprises a reference vehicle, wherein the reference vehicle comprises a reference vehicle frame, a front walking wheel and a rear walking wheel are rotatably assembled on the reference vehicle frame, a walking belt is wound on the front walking wheel and the rear walking wheel, the walking belt comprises a front walking wheel, the upper side walking belt of the upper side of the rear walking wheel and the lower side walking belt located on the lower side of the front walking wheel and the rear walking wheel are arranged on the frame of the reference vehicle, an inclination angle measurer with an inclination angle sensor is arranged on the frame of the reference vehicle, a swing rod with a rotation axis extending in the left-right direction is assembled on the frame of the reference vehicle in a rotating mode, a follow-up wheel matched with a road surface to be measured in a rolling contact mode is arranged on the swing rod, a swing rod encoder used for detecting the rotation angle of the swing rod relative to the frame of the reference vehicle is arranged between the swing rod and the frame of the reference vehicle, and a walking belt pressing structure used for pressing the upper end of the lower side walking belt to enable the lower side walking belt to be of a linear structure is arranged on the frame of the reference vehicle. The invention reduces the influence of uneven road surface on the measurement of the inclination angle.
Description
Technical Field
The invention relates to a road surface inclination angle measuring device in the field of road surface flatness measurement.
Background
The road flatness is one of important indexes for measuring the road surface quality, directly influences the driving speed, driving safety and driving smoothness of wheels, and is evaluated at home and abroad at present by adopting an international road flatness index IRI as an evaluation index.
The key point in the IPR evaluation is the road surface elevation, the road surface inclination angle is the key data of elevation calculation, and Chinese patent No. ZL01239123.9 discloses a trolley measuring mode, which utilizes the traditional method for measuring the angle and distance to calculate the elevation, and uses an angle sensor and a distance sensor to measure the longitudinal inclination angle and the passing distance of a monitoring platform supported by three wheels to calculate the elevation and IRI. Theoretically, this method can measure the longitudinal elevation curve of the guide road surface, but the method has the following problems: when measuring the inclination angle of the road surface, due to the unevenness of the road surface (the evenness refers to the local height unevenness of the road surface), the measurement of the inclination angle of the road surface is easy to cause errors.
Disclosure of Invention
The invention aims to provide a road surface inclination angle measuring device, which is used for reducing the influence of uneven road surface on inclination angle measurement.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a road surface inclination angle measuring device comprises a reference vehicle, the reference vehicle comprises a reference vehicle frame, a front walking wheel and a rear walking wheel are rotatably assembled on the reference vehicle frame, a walking belt is wound on the front walking wheel and the rear walking wheel, the walking belt comprises a front walking wheel, the upper side walking belt of back walking wheel upside and the lower side walking belt that is located preceding walking wheel, back walking wheel downside are provided with the angular surveying ware that has inclination sensor on the benchmark car frame, rotate on the benchmark car frame and be equipped with the pendulum rod that the axis of rotation extends along left right direction, be provided with on the pendulum rod be used for with the road surface rolling contact complex follower wheel that awaits measuring, it is relative to be provided with between pendulum rod and the benchmark car frame be used for detecting the pendulum rod benchmark car frame turned angle's pendulum rod encoder is provided with on the benchmark car frame and is used for exerting pressure so that the walking belt of lower side is the walking belt pressure structure of rectilinear structure to the upper end in downside walking belt.
The two follow-up wheels are rotatably assembled at two ends of the rigid beam, the middle part of the rigid beam is rotatably connected with the swing rod, and a rigid beam encoder for detecting the rotation angle of the rigid beam relative to the swing rod is arranged on the swing rod.
One follower wheel is provided, and the follower wheel is rotatably assembled on the swing rod.
The distance between the two follow-up wheels is adjustable.
The inclination measurer comprises a measurer support fixed to a frame of the reference vehicle, a pendulum is rotatably assembled on the measurer support, an inclination sensor is arranged on the measurer support to detect the inclination angle of the pendulum, and a pendulum encoder used for detecting the rotation angle of the measurer support relative to the pendulum is further arranged on the measurer support.
The pendulum bob is in running fit with the measurer support through a pendulum bob shaft, and a damping structure used for providing damping force when the pendulum bob acts is arranged between the measurer support and the pendulum bob shaft.
The damping structure is a magnetic damping structure, the magnetic damping structure comprises a pendulum shaft conductor fixed on the pendulum shaft, and the magnetic damping structure further comprises at least one circle of magnet arranged on the periphery of the pendulum shaft conductor in a spaced ring mode.
The magnet is composed of a permanent magnetic sleeve which is coaxially arranged with the pendulum shaft.
The walking belt is a toothed synchronous belt, a plane rail is arranged on the inner side of the toothed synchronous belt, and the walking belt pressing structure comprises a plurality of rollers which are sequentially arranged in the front-back direction and are used for being in rolling contact with the plane rail at the upper end of the walking belt on the lower side.
The invention has the beneficial effects that: in the invention, aiming at the problem of uneven road surface, the reference vehicle provides a measuring reference, and the specific working principle is that the lower side walking belt of the walking belt is in contact rolling fit with the road surface to be measured, the upper walking belt pressing structure of the lower walking belt applies pressure to the lower walking belt to ensure that the lower walking belt is a linear structure without concave deformation when contacting with the road surface to be measured, thus, even if the road surface to be measured is uneven, the lower walking belt is in a stable straight line structure in high point contact with the two road surfaces, the inclination angle measurer measures the inclination angle of the frame of the reference vehicle in the state, the swing rod encoder measures the swing angle of the swing rod relative to the frame of the reference vehicle, the sum of the vectors of the two sensors is the reaction value of the inclination angle of the road surface on the swing rod, and through the use of the reference vehicle, when the road surface is faced with uneven road surfaces, a stable reference is found, so that the accurate measurement of the inclination angle of the road surface is ensured.
Drawings
FIG. 1 is a schematic structural view of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of embodiment 2 of the present invention;
FIG. 3 is a schematic structural view of embodiment 3 of the present invention;
fig. 4 is a schematic structural view of an inclinometer in embodiment 3.
Detailed Description
An embodiment 1 of the road surface inclination angle measuring device of the present invention is shown in fig. 1: comprises a reference vehicle 33, the reference vehicle comprises a reference vehicle frame 31, a front walking wheel 24 and a rear walking wheel 32 are rotatably assembled on the reference vehicle frame 31, wherein the rear walking wheel is a meter-counting wheel, the front walking wheel is a driving walking wheel driven by a power mechanism, a walking belt 26 is wound on the front walking wheel and the rear walking wheel, the walking belt 26 comprises an upper walking belt 27 positioned on the upper side of the front walking wheel and the rear walking wheel and a lower walking belt 28 positioned on the lower side of the front walking wheel and the rear walking wheel, the walking belt is a tooth-shaped synchronous belt with synchronous teeth arranged on the inner side in the embodiment, a walking belt pressing structure for pressing the upper end of the lower walking belt to enable the lower walking belt to be a linear structure is arranged on the reference vehicle frame, the walking belt pressing structure comprises a plurality of rollers 29 which are sequentially arranged in the front-back direction and are matched with a plane track on the upper end of the lower walking belt in a rolling contact manner, the roller is constituted by a needle bearing. The reference frame is provided with an inclination measurer for detecting an inclination angle of the reference frame, and the inclination measurer in the present embodiment is composed of one inclination sensor 30. The front walking wheel or the rear walking wheel is a meter wheel provided with a rotating turn number measuring device.
The front end of the reference frame is rotatably provided with a swing link 21 with a rotation axis extending in the left-right direction, the swing link and the front traveling wheel 24 are arranged coaxially, and a swing link encoder 25 for detecting the rotation angle of the swing link 21 relative to the reference frame is arranged on the reference frame 31. The swing rod is provided with two follow-up wheels which are matched with the road surface to be detected in a rolling contact manner, in the embodiment, the two follow-up wheels are respectively a front follow-up wheel 20 and a rear follow-up wheel 22 which are rotatably assembled at two ends of the rigid beam 4, the middle part of the rigid beam 4 is rotatably connected with the swing rod 21, and the swing rod 21 is provided with a rigid beam encoder 23 for detecting the rotation angle of the rigid beam 4 relative to the swing rod. The distance between the two follow-up wheels is adjustable, the wheel base between the two follow-up wheels is the measuring wheel base required by IRI, in the embodiment, the distance between the two follow-up wheels is adjustable through the following means, the rigid beam is provided with the guide long groove 7 extending along the front and back direction, the wheel shafts of the two follow-up wheels are all arranged in the guide long groove in a penetrating mode, the wheel shafts of the two follow-up wheels are fixed through the nuts 5, the positions of the corresponding follow-up wheels can be adjusted by loosening the nuts, and the positions of the corresponding follow-up wheels can be fixed by screwing the nuts. The two follow-up wheels, the front walking wheel and the rear walking wheel are positioned on the same side of the swing rod, and the influence of an inclination angle caused by the uneven left and right road is avoided.
When the device is used, the reference vehicle pushes the rigid beam to walk along the road surface 14 to be measured, because of the flatness problem of the road surface, the rigid beam can rotate relative to the swing rod, the swing rod can rotate relative to the frame of the reference vehicle, after a certain measuring distance is met, the inclination angle sensor, the swing rod encoder and the rigid beam encoder read simultaneously, the reading of the inclination angle sensor is the inclination angle of the frame of the reference vehicle, the reading of the swing rod encoder is the relative rotation angle of the swing rod relative to the frame of the reference vehicle, and the reading of the rigid beam encoder is the rotation angle of the rigid beam relative to the swing rod. The lower side walking belt which cannot be deformed in a concave mode provides a stable reference for measurement of the inclination angle sensor, on the premise of the reference, the vector sum of the three sensors is the inclination angle value of the rigid beam, and corresponding elevation can be calculated through the distance between the front follow-up wheel and the rear follow-up wheel. The key of calculating the elevation when the distance between the two follow-up wheels is calculated is that the distance between the two follow-up wheels can be used because the two follow-up wheels are both contacted with the road surface to be measured, and the front walking wheel and the rear walking wheel are not necessarily contacted with the road surface to be measured simultaneously, so that the frame of the reference vehicle can only provide a dip angle reference value and cannot be used for calculating the elevation.
In other embodiments of the invention: the walking belt pressing structure can be not a group of roller structures, for example, the walking belt pressing structure is a pressing plate, the lower plate surface of the pressing plate is in sliding contact fit with the upper end of the lower walking belt, and the pressing plate presses the lower walking belt to prevent the lower walking belt from deforming and influence the inclination angle measuring reference of the frame of the reference vehicle; the walking belt can be a crawler belt, the pressing structure of the walking belt can be a pressing strip extending along the front-back direction, and the pressing strip is in sliding contact fit with the upper end of the lower walking belt to ensure that the lower walking belt is not in a linear structure all the time; the reference vehicle may not have an active walking capability, for example, the reference vehicle is pushed by a hand to walk or driven by other power trolleys to walk along the road surface to be measured.
An embodiment 2 of a road surface inclination angle measuring device is shown in fig. 2: embodiment 2 is different from embodiment 1 in that only one follower wheel 34 is provided, the follower wheel 34 is directly and rotatably assembled on the swing link 21, and the inclination angle value of the swing link is obtained by the vector sum of two sensors of the inclination angle sensor 30 and the swing link encoder 25.
An embodiment 3 of a road surface inclination angle measuring device is shown in fig. 3 to 4: embodiment 3 is different from embodiment 1 in that, in order to reduce the cost of the inclinometer while ensuring the accuracy of measurement of the inclination angle, the structure of the inclinometer 3 is different from that of the inclinometer in embodiment 1, because the measurement principle of the inclinometer is realized by acceleration, the essential defect is that the accuracy is worse as the angle is larger, and for some sensors with extremely high accuracy, the cost is quite high, and the ordinary consumers cannot bear the cost at all.
In this embodiment, the inclinometer 3 includes a measurer support 11 fixed to the frame of the reference vehicle, the measurer support 11 is rotatably equipped with a pendulum 2 through a pendulum shaft 9, the pendulum shaft 9 is rotatably fitted to the measurer support 11 through a bearing 10, the pendulum 2 is fixed to one end of the pendulum shaft 9, the measurer support is provided with an inclination sensor 8 for detecting an inclination angle of the pendulum 2, the measurer support is further provided with a pendulum encoder 15 for detecting a rotation angle of the measurer support 11 relative to the pendulum 2, the pendulum encoder 15 is a non-contact encoder spaced from the pendulum shaft 9, the pendulum encoder 15 is located on one side away from the pendulum, and the inclination sensor 8 is mounted on the pendulum. The wireless charging device for wirelessly charging the tilt sensor 8 is arranged on the frame (or the measurer support) of the reference vehicle, the tilt sensor can swing along with the pendulum bob, and the problem that the tilt sensor is easy to contact badly due to the fact that a power supply circuit of the tilt sensor is complex can be solved by charging the tilt sensor in a wireless charging mode.
The device comprises a measurer support, a pendulum shaft, a damping structure, a magnetic force damping structure and at least one ring of magnet, wherein the damping structure is used for providing damping force when the pendulum shaft acts, the damping structure is a magnetic force damping structure, the magnetic force damping structure comprises a pendulum shaft conductor 13 fixed on the pendulum shaft, the magnetic force damping structure further comprises at least one ring of magnet arranged on the periphery of the pendulum shaft conductor in a spaced ring mode, the magnet is composed of a permanent magnet sleeve 12 which is coaxially arranged with the pendulum shaft, and the permanent magnet sleeve 12 is fixed on the measurer support 11.
During the use, when the benchmark car was walked along the road surface that awaits measuring, according to the planarization on road surface, the benchmark car frame can produce the inclination thereupon, satisfies certain measurement interval after, and the inclination sensor and the reading sum of pendulum bob encoder are the inclination of this benchmark car frame at this moment, and its principle is: the inclination angle of the pendulum is measured by the inclination angle sensor, the rotation angle of the pendulum relative to the measurer support is measured by the pendulum encoder, after a reference vehicle moves in place, the measurer support inclines along with the rigid beam, the pendulum is under the action of gravity and is in a motion trend of keeping a vertical posture, if the pendulum is in the vertical posture, the reading of the inclination angle sensor is zero, the reading of the pendulum encoder is the inclination angle of the frame of the reference vehicle, but in fact, the reference vehicle is in the driving process, the pendulum is not in the vertical posture due to the action of complex acting force such as inertia and the like, the pendulum is in the posture with the vertical posture with a certain included angle, the inclination angle value of the pendulum is recorded by the inclination angle sensor at the moment, namely, a measurement zero point is found for the pendulum encoder, and therefore the inclination angle of the frame of the reference vehicle can be accurately read. In the invention, the tilt angle sensor is only used for measuring the smaller tilt angle value of the pendulum bob, but not the large tilt angle value directly measured in the prior art, so the high-precision use requirement of the tilt angle sensor at a small angle can be met, the cost of the tilt angle sensor meeting the small-angle measurement is lower, the tilt angle of the beam is measured by the pendulum bob encoder, the encoder has the characteristics of accurate measurement and low cost, the accuracy of the measurement of the tilt angle of the frame of the reference vehicle is ensured by combining the two sensors, and the product cost is reduced.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A road surface inclination angle measuring device is characterized in that: the device comprises a reference vehicle, the reference vehicle comprises a reference vehicle frame, the reference vehicle frame is rotatably assembled with a front walking wheel and a rear walking wheel, the front walking wheel and the rear walking wheel are wound with a walking belt, the walking belt comprises an upper walking belt positioned on the upper side of the front walking wheel and the rear walking wheel and a lower walking belt positioned on the lower side of the front walking wheel and the rear walking wheel, the reference vehicle frame is provided with an inclination angle measurer with an inclination angle sensor, the reference vehicle frame is rotatably assembled with a swing rod with a rotating axis extending along the left-right direction, the swing rod is provided with a follower wheel matched with a road surface to be detected in a rolling contact manner, a swing rod encoder used for detecting the rotating angle of the swing rod relative to the reference vehicle frame is arranged between the swing rod and the reference vehicle frame, the reference vehicle frame is provided with a walking belt pressing structure used for pressing the upper end of the lower walking belt to enable the lower walking belt to be in a linear structure, and the number of the follower wheels is two, the two follow-up wheels are rotatably assembled at two ends of the rigid beam, the middle part of the rigid beam is rotatably connected with the swing rod, a rigid beam encoder used for detecting the rotation angle of the rigid beam relative to the swing rod is arranged on the swing rod, and the distance between the two follow-up wheels is adjustable.
2. The road surface inclination angle measuring device according to claim 1, characterized in that: the inclination measurer comprises a measurer support fixed to a frame of the reference vehicle, a pendulum is rotatably assembled on the measurer support, an inclination sensor is arranged on the measurer support to detect the inclination angle of the pendulum, and a pendulum encoder used for detecting the rotation angle of the measurer support relative to the pendulum is further arranged on the measurer support.
3. The road surface inclination angle measuring device according to claim 2, characterized in that: the pendulum bob is in rotating fit with the measurer support through the pendulum bob shaft, and a damping structure used for providing damping force when the pendulum bob acts is arranged between the measurer support and the pendulum bob shaft.
4. The road surface inclination angle measuring device according to claim 3, characterized in that: the damping structure is a magnetic damping structure, the magnetic damping structure comprises a pendulum shaft conductor fixed on the pendulum shaft, and the magnetic damping structure further comprises at least one circle of magnet arranged on the periphery of the pendulum shaft conductor in a spacing ring mode.
5. The road surface inclination angle measuring device according to claim 4, characterized in that: the magnet is composed of a permanent magnetic sleeve which is coaxially arranged with the pendulum shaft.
6. The road surface inclination angle measuring device according to any one of claims 1 to 5, characterized in that: the walking belt is a tooth-shaped synchronous belt, a plane rail is arranged on the inner side of the tooth-shaped synchronous belt, and the walking belt pressing structure comprises a plurality of rollers which are sequentially arranged in the front-back direction and are used for being in rolling contact with the plane rail at the upper end of the walking belt on the lower side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010858399.2A CN112227162B (en) | 2020-08-24 | 2020-08-24 | Road surface inclination measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010858399.2A CN112227162B (en) | 2020-08-24 | 2020-08-24 | Road surface inclination measuring device |
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| CN112227162A CN112227162A (en) | 2021-01-15 |
| CN112227162B true CN112227162B (en) | 2022-06-10 |
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| CN202010858399.2A Active CN112227162B (en) | 2020-08-24 | 2020-08-24 | Road surface inclination measuring device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2421616Y (en) * | 2000-05-12 | 2001-02-28 | 西南交通大学 | Digital dipmeter |
| CN205421221U (en) * | 2016-04-05 | 2016-08-03 | 苏新文 | Device is tourd to holographic road bed |
| CN205482921U (en) * | 2016-04-01 | 2016-08-17 | 张琦 | Subgrade settlement detection device |
| CN109667213A (en) * | 2019-01-31 | 2019-04-23 | 马浩翔 | A kind of pavement of road planeness measuring apparatus |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6647636B2 (en) * | 2000-08-01 | 2003-11-18 | Sunway Co., Ltd. | Method for measuring road surface longitudinal profile |
| US7017701B2 (en) * | 2002-11-20 | 2006-03-28 | Dura Global Technologies, Inc. | Inclination-measuring device |
| CN101486360B (en) * | 2009-01-05 | 2010-09-01 | 东南大学 | Stairs climbing control method for crawler moving robot with guide arm |
| KR101907634B1 (en) * | 2016-12-28 | 2018-10-12 | 한국도로공사 | Road profile simulator and testing method for road profile measurement using the same |
-
2020
- 2020-08-24 CN CN202010858399.2A patent/CN112227162B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2421616Y (en) * | 2000-05-12 | 2001-02-28 | 西南交通大学 | Digital dipmeter |
| CN205482921U (en) * | 2016-04-01 | 2016-08-17 | 张琦 | Subgrade settlement detection device |
| CN205421221U (en) * | 2016-04-05 | 2016-08-03 | 苏新文 | Device is tourd to holographic road bed |
| CN109667213A (en) * | 2019-01-31 | 2019-04-23 | 马浩翔 | A kind of pavement of road planeness measuring apparatus |
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| CN112227162A (en) | 2021-01-15 |
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