CN113585023A - Asphalt pavement rut monitoring system based on inclination angle sensor - Google Patents
Asphalt pavement rut monitoring system based on inclination angle sensor Download PDFInfo
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- CN113585023A CN113585023A CN202110910378.5A CN202110910378A CN113585023A CN 113585023 A CN113585023 A CN 113585023A CN 202110910378 A CN202110910378 A CN 202110910378A CN 113585023 A CN113585023 A CN 113585023A
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- inclination angle
- measuring unit
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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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention relates to the field of road monitoring, in particular to an asphalt pavement rut monitoring system based on an inclination angle sensor, which comprises: the inclination angle measuring unit group is formed by connecting a plurality of measuring units in series through pin shafts and is used for measuring angle change parameters generated by deformation of different horizontal positions in the surface layer of the asphalt pavement; the device comprises a 4GDTU module, a cloud platform and a data processing module, wherein the GDTU module is used for sending angle change parameters acquired by an inclination angle measuring unit group to the cloud platform; the cloud platform is used for converting the angle change parameters into rut deformation parameters based on a preset algorithm and outputting the rut deformation parameters; the solar power supply module is used for supplying power to the monitoring system; the measuring unit is composed of inclination angle sensors installed in the aluminum alloy sections, and each inclination angle sensor is of a front convex and rear concave packaging structure. The invention can monitor the ruts in the road surface in real time and discover the rut diseases in time on the premise of not damaging the road surface.
Description
Technical Field
The invention relates to the field of road monitoring, in particular to an asphalt pavement track monitoring system based on an inclination angle sensor.
Background
Rutting is the accumulated permanent deformation of asphalt pavement under the action of repeated traffic load, and is one of the main failure modes of the current asphalt pavement. After the ruts occur on the road surface, great damage and influence can be generated on the service performance of the road surface, and the high-speed driving safety is seriously influenced. How to prevent and treat the rutting disease and improve the economic and social benefits of highway construction is the first problem that road practitioners in China need to solve, so the strengthening and developing of the research on the rutting problem is very necessary.
However, the current rut detection modes in China mainly include a manual mode and a regular detection mode of a detection vehicle, which both belong to road surface rut detection and cannot obtain the rut deformation of different layers in the pavement surface layer. In addition, the manual mode uses the ruler as the detection tool, adopts the mode of manual direct measurement, and the means is backward, and is extremely unsuitable with the operation environment of modern road traffic, and the mode that detects car regularly is too high with the cost, detects 1 time in general 1 year. Above-mentioned two kinds of detection methods, all can not accomplish real-time supervision road surface, are difficult to in time master the road surface rut state, accomplish timely early warning and maintenance.
Based on the inclination measuring principle of the inclination sensor, many scholars in China have made many researches and applied to various fields, such as a gas holder piston inclination monitoring system based on a high-precision double-shaft inclination sensor with the publication number of CN202350783U, a cultural relic stability monitoring system based on a wireless inclination sensor with the publication number of CN106092048A, a livestock motion amount detection system based on an inclination sensor with the publication number of CN109171742A, a landslide surface displacement monitoring method and device based on a flat plate with the publication number of CN109405747A, an inclination settlement monitoring system based on a mapping technology and an inclination sensor with the publication number of CN110243340A, a road transverse and longitudinal slope automatic measuring device and a using method thereof with the publication number of CN110686643A, a scenic area slope real-time monitoring system based on an inclination sensor with the publication number of CN205670371U and the like, and the patents do not see special encapsulation of sensors, The multi-sensor can work jointly by using the pin shaft, and the requirement of the application in the pavement structure cannot be met; furthermore, no algorithm is involved which only changes from inclination to deformation.
Disclosure of Invention
In order to solve the problems, the invention provides an asphalt pavement rut monitoring system based on an inclination angle sensor.
In order to achieve the purpose, the invention adopts the technical scheme that:
an asphalt pavement rut monitoring system based on an inclination angle sensor comprises an inclination angle measuring unit group, a 4GDTU module, a cloud platform and a solar power module; the inclination angle measuring unit group is formed by connecting a plurality of measuring units in series through pin shafts and is used for measuring angle change parameters generated by deformation of different horizontal positions in the surface layer of the asphalt pavement; the measuring unit is composed of inclination angle sensors arranged in the aluminum alloy sections, and each inclination angle sensor is of a front convex and rear concave packaging structure; the tilt angle sensor adopts a 9-axis or 6-axis attitude sensor, and can quickly give out a digital signal of the current real-time attitude of the sensor module; the measuring range is an angle of +/-180 degrees, and the static precision is not less than 0.05 degrees; the 4G DTU module is used for sending the angle change parameters acquired by the inclination angle measurement unit group to the cloud platform; the cloud platform is used for converting the angle change parameters into rutting deformation parameters based on a preset algorithm and outputting the rutting deformation parameters; the solar power supply module is used for supplying power to the monitoring system;
furthermore, the measuring unit group is arranged inside a road shoulder and an asphalt concrete layer of an adjacent traffic lane, covers half of an asphalt pavement rut generating area, takes a measured value of the position of the road shoulder as a reference value, and corrects data obtained by measuring the traffic lane.
Furthermore, the preset algorithm is used for converting the inclination angle of the measuring unit into relative displacement of the node of the measuring unit, and converting the relative displacement of the measuring unit into absolute displacement based on the measured value of the road shoulder; and further obtaining the horizontal and vertical coordinates of the measuring unit, and obtaining the rut depth through the difference between the maximum value and the minimum value of the vertical coordinates.
Furthermore, epoxy resin pouring sealant is adopted for packaging.
Further, in order to protect the cable, spring hoses are arranged at the end-to-end positions of the measuring units, and the measuring unit groups are integrally packaged by using thermoplastic pipes.
Compared with the prior art, the invention has the beneficial effects that:
1) on the premise of not damaging the road surface, the tracks in the road surface are monitored in real time, and track diseases are found in time.
2) The diagnosis that can assist the realization road surface disease, the main position that takes place of rut is judged through different position deformation data, accomplishes to maintain the processing only to the position of serious deformation, saves the cost, and current general way table rut detection technology can't the accurate determination rut specifically takes place in which position.
3) A front convex and back concave special packaging structure is designed, and a pin shaft is used for fixing between two adjacent packaging structures, so that the relative positions of the two packaging structures are kept unchanged, and the measuring accuracy is kept.
4) In order to protect the cable, spring hoses are arranged at the end-to-end positions of the measuring units, and the measuring unit groups are integrally packaged by using thermoplastic pipes.
5) The 4G DTU module can directly send the signal to the cloud platform, uses cell-phone or computer can log in the cloud platform and directly look over road surface rut degree of depth, need not arrive witnessed inspections, and is very convenient.
6) The cloud platform can set up the early warning value, can send early warning information to the cell-phone when the rut degree of depth that records reaches the early warning value, can in time discover the disease and in time maintain.
7) A unique algorithm is designed, displacement can be obtained only through the inclination angle value measured by the inclination angle sensor, and the measured inclination angle value can be converted into the rutting depth.
8) The designed algorithm sets temperature correction, reduces the influence of temperature on the measured inclination angle as much as possible, and keeps the accuracy of measurement.
9) In order to adapt to the embedding inside the pavement, the special packaging structure is filled and sealed by using epoxy resin pouring sealant, and the epoxy resin pouring sealant has the characteristics of high hardness, smooth surface, fixation, insulation, water resistance, oil resistance, dust prevention, anti-theft, corrosion resistance, aging resistance, cold and thermal shock resistance and the like.
10) The inclination angle sensors are arranged on the track sections and the non-track sections, and the inclination angle sensors on the non-track sections can play a role of reference points and can provide reference for temperature correction in an algorithm.
Drawings
FIG. 1 is a schematic structural diagram of a rut monitoring system for a road surface;
FIG. 2 is a schematic diagram of a group of measuring cells;
FIG. 3 is a schematic view of a measurement unit;
FIG. 4 is a schematic cross-sectional view of a tilt angle measuring unit set;
fig. 5 is a schematic longitudinal cross-sectional view of a group of inclination measuring units.
Fig. 6 is a schematic diagram of the algorithm.
Fig. 7 is a layout diagram of an inclination measuring unit in the embodiment of the present invention.
Fig. 8 is a side view of fig. 7.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described in detail below with reference to examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides an asphalt pavement rut monitoring system, which includes an inclination angle measurement unit group 1, a solar power module 2, a 4G DTU module 3, and a cloud platform 4, where the inclination angle measurement unit group 1 is formed by connecting a plurality of measurement units in series via a pin, each measurement unit is internally provided with an MEMS inclination angle sensor 11, each MEMS inclination angle sensor 11 is fixed in a specially designed aluminum alloy segment 12 by using a potting adhesive, the measurement units are flexibly connected in series to form a measurement unit group, each unit can rotate along with the internal deformation of a pavement, and the relative distance of each unit is kept unchanged; integrally packaging the packaged and connected unit groups by using thermoplastic tubes 13; as shown in fig. 2, a MEMS tilt sensor 11 is disposed in the aluminum alloy segment (the coordinate axes of the tilt sensors 11 are ensured to be consistent when the MEMS tilt sensor is disposed); the front end of the measuring unit is of a convex structure, the rear end of the measuring unit is of a concave structure, the front end of the latter measuring unit is inserted into the rear end of the former packaging structure and is fixed by a pin 14, and the relative distance of the measuring unit is kept unchanged; a spring hose 15 is arranged between the rear end of the former measuring unit and the front end of the latter measuring unit and is used for protecting a cable 16; a cable 16 is connected in series in each packaging structure; connecting inclination angle measuring unit groups distributed in the pavement surface layer in parallel and then connecting the inclination angle measuring unit groups with a 4G DTU module 3; the 4G DTU module 3 collects and transmits digital signals generated by the inclination angle sensor 11 to the cloud platform 4, and then converts the inclination angle measured by each measuring unit into the coordinate of each segment through a special algorithm so as to obtain the rutting depth.
The MEMS tilt sensor 11 adopts a 9-axis attitude sensor, a module integrates a high-precision gyroscope, an accelerometer and a geomagnetic field sensor, and a high-performance microprocessor and an advanced dynamic solution and Kalman dynamic filter algorithm are adopted, so that the current real-time motion attitude of the module can be rapidly solved.
The positive pole and the negative pole of solar power controller 22 are connected with the positive pole and the negative pole of solar cell panel 21 respectively for provide the electric energy for entire system, and the battery incoming end positive pole and the negative pole of solar power controller 22 are connected with the positive pole and the negative pole of battery 23 respectively for whole system storage electric energy, and the power supply output of solar power controller 22 is connected with inclination measuring unit group 1.
The working steps of this embodiment are explained below:
1. arrangement of inclination angle measuring unit group
(1) The MEMS inclination angle sensor 11 is fixed in a specially designed aluminum alloy section 12 by epoxy resin pouring sealant to form measuring units, and each inclination angle measuring unit group comprises measuring units, a pin 14, a cable 16 and a spring hose 15 which are arranged at intervals. Each section of measuring unit is 120mm long, 100mm of adjacent pin clearance, 40mm wide and 20mm high. The measuring unit group is integrally packaged by using the thermoplastic tube 13, so that the measuring unit group has good waterproofness and pressure resistance and has deformation capability.
(2) When arranging the MEMS tilt sensor 11, it is laid flat inside the aluminium alloy segment 12 and the initial coordinate system direction of each sensor is guaranteed to be consistent. The model of the MEMS tilt sensor 11 can be selected from a WT901C485 module (precision: static 0.05 degrees, dynamic 0.1 degrees, output frequency: 20Hz, range: acceleration +/-16 g, angular velocity +/-2000 degrees/s, and data available at an angle +/-180 degrees comprise time, acceleration, angular velocity, angle, magnetic field and port state) of Shenzhen Weitt Intelligent corporation.
(3) Connecting inclination angle measuring unit groups distributed in the surface layer in parallel and then connecting the inclination angle measuring unit groups with a 4G DTU module 3 by taking n measuring units connected in series as a group; and the digital signal generated by the tilt sensor 11 is acquired and transmitted to the cloud platform 4 through the 4G DTU module 3.
(4) System circuitry is connected prior to use: the solar power module 2, the inclination angle measuring unit group 1 and the 4G DTU module 3 are sequentially connected through a cable 16.
2. Arrangement of solar power supply module
The positive pole and the negative pole of solar power controller 22 are connected with the positive pole and the negative pole of solar cell panel 21 respectively for provide the electric energy for entire system, and the battery incoming end positive pole and the negative pole of solar power controller 22 are connected with the positive pole and the negative pole of battery 23 respectively for whole system storage electric energy, and the power supply output end positive pole and the negative pole of solar power controller 22 are connected with the positive pole and the negative pole of inclination angle measurement unit group 1 respectively for provide steady voltage for inclination angle sensor 11.
3. Data acquisition and operation
In this embodiment, the longitudinal deformation, the rutting depth and the transverse position of the rutting can be calculated according to the monitoring data of a group of n measuring units (measuring units No. 1-n) connected in series, and the specific algorithm is as follows:
z1＝a*sin(θ1-θ0)
z2＝z1+a*sin(θ2-θ0)
z3＝z2+a*sin(θ3-θ0)
…
zn＝zn-1+a*sin(θn-θ0)
z1＇＝z+z1
z2＇＝z+z2
z3＇＝z+z3
…
zn＇＝z+zn
RD＝max(z＇)-min(z＇)
x1＝a*cos(θ1-θ0)
x2＝x1+a*cos(θ2-θ0)
x3＝x2+a*cos(θ3-θ0)
…
xn＝xn-1+a*cos(θn-θ0)
wherein a is the clear distance between adjacent pins. Theta0Is the inclination angle value theta generated by the measuring unit arranged at the shoulder of the road under the influence of temperature1,θ2,θ3…θnIs the inclination angle value monitored by the measuring unit No. 1-n. z is a radical of1,z2,z3…znIs the longitudinal deformation of the measuring unit No. 1-n. x is the number of1,x2,x3…xnAre the lateral coordinates of measurement units No. 1-n. z is a radical of1＇，z2＇，z3＇…zn"is the longitudinal coordinate of measurement units No. 1 to No. n. z is the initial longitudinal coordinate of the measurement unit when it is deployed. RD is rut depth.
Examples
Take a 3m wide lane, a 0.5m wide shoulder, a 4cm upper layer, and a 6cm lower layer pavement as an example; 16 measuring units are connected in series to form an inclination angle measuring unit group, and two inclination angle measuring unit groups which are connected in parallel are respectively distributed in the upper surface layer and the lower surface layer; the arrangement direction is the direction vertical to the driving direction, and the inclination angle sensor units are arranged from the position of a road shoulder 12cm away from the driving lane; the power supply module is arranged at the position of the road shoulder and is responsible for supplying power to the inclination angle measuring unit group; when the vehicle passes through the measured position, the inclination angle measuring unit group (excluding 1 inclination angle sensor arranged on the road shoulder) of the upper layer totally 15 inclination angle sensors obtain 15 inclination angle values of 0.55 degrees, 0.46 degrees, 0.43 degrees, 0.31 degrees, 0.16 degrees, 0.12 degrees, 0.24 degrees, 0.35 degrees, 0.36 degrees
0.41-0.43-0.49-0.35-0.17-0.07 degrees, and 1 inclination angle sensor arranged on the road shoulder also obtains 1 inclination angle value of 0.05 degrees; when the measuring units are arranged, the initial longitudinal coordinate of the measuring units is-0.1 cm, and the calculation process is as follows:
z1＝10*sin(0.55-0.05)＝0.087cm
z2＝z1+10*sin(0.46-0.05)＝0.159cm
z3＝z2+10*sin(0.43-0.05)＝0.226cm
z4＝z3+10*sin(0.31-0.05)＝0.272cm
z5＝z4+10*sin(0.16-0.05)＝0.291cm
z6＝z5+10*sin(-0.12-0.05)＝0.261cm
z7＝z6+10*sin(-0.24-0.05)＝0.211cm
z8＝z7+10*sin(-0.35-0.05)＝0.142cm
z9＝z8+10*sin(-0.36-0.05)＝0.071cm
z10＝z9+10*sin(-0.41-0.05)＝-0.080cm
z11＝z10+10*sin(-0.43-0.05)＝-0.092cm
z12＝z11+10*sin(-0.49-0.05)＝-0.187cm
z13＝z12+10*sin(-0.35-0.05)＝-0.256cm
z14＝z13+10*sin(-0.17-0.05)＝-0.295cm
z15＝z14+10*sin(-0.07-0.05)＝-0.315cm
z1＇＝z+z1＝-0.013cm
z2＇＝z+z2＝0.059cm
z3＇＝z+z3＝0.126cm
z4＇＝z+z4＝0.172cm
z5＇＝z+z5＝0.191cm
z6＇＝z+z6＝0.161cm
z7＇＝z+z7＝0.111cm
z8＇＝z+z8＝0.042cm
z9＇＝z+z9＝-0.029cm
z10＇＝z+z10＝-0.180cm
z11＇＝z+z11＝-0.192cm
z12＇＝z+z12＝-0.287cm
z13＇＝z+z13＝-0.356cm
z14＇＝z+z14＝-0.395cm
z15＇＝z+z15＝-0.415cm
RD＝max(z＇)-min(z＇)＝0.191-(-0.415)＝0.606cm
x1＝10*cos(0.55-0.05)＝10.00cm
x2＝x1+10*cos(0.46-0.05)＝20.00cm
x3＝x2+10*cos(0.43-0.05)＝30.00cm
x4＝x3+10*cos(0.31-0.05)＝40.00cm
x5＝x4+10*cos(0.16-0.05)＝50.00cm
x6＝x5+10*cos(-0.12-0.05)＝60.00cm
x7＝x6+10*cos(-0.24-0.05)＝70.00cm
x8＝x7+10*cos(-0.35-0.05)＝80.00cm
x9＝x8+10*cos(-0.36-0.05)＝90.00cm
x10＝x9+10*cos(-0.41-0.05)＝100.00cm
x11＝x10+10*cos(-0.43-0.05)＝110.00cm
x12＝x11+10*cos(-0.49-0.05)＝120.00cm
x13＝x12+10*cos(-0.35-0.05)＝130.00cm
x14＝x13+10*cos(-0.17-0.05)＝140.00cm
x15＝x14+10*cos(-0.07-0.05)＝150.00cm
RD is the rut depth determined, and the following layers are the same. And because the system can monitor the rut depths of the upper and lower surface layers in real time and synchronously, the main occurrence position of the rut can be judged according to the rut depths of the upper and lower surface layers, and more targeted maintenance is realized.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (5)
1. The utility model provides an asphalt pavement rut monitoring system based on inclination sensor which characterized in that: the method comprises the following steps:
the inclination angle measuring unit group is formed by connecting a plurality of measuring units in series through pin shafts and is used for measuring angle change parameters generated by deformation of different horizontal positions in the surface layer of the asphalt pavement;
the 4G DTU module is used for sending the angle change parameters acquired by the inclination angle measurement unit group to the cloud platform;
the cloud platform is used for converting the angle change parameters into rut deformation parameters based on a preset algorithm and outputting the rut deformation parameters;
the solar power supply module is used for supplying power to the monitoring system;
wherein the content of the first and second substances,
the measuring unit is composed of inclination angle sensors arranged in the aluminum alloy sections, and each inclination angle sensor is of a front convex and back concave packaging structure; the tilt angle sensor adopts a 9-axis or 6-axis attitude sensor, and can quickly give out a digital signal of the current real-time attitude of the sensor module; the measuring range is an angle of +/-180 degrees, and the static precision is not less than 0.05 degrees.
2. The asphalt pavement rutting monitoring system based on the inclination angle sensor as claimed in claim 1, wherein: the measuring unit group is arranged in a certain asphalt concrete layer of the road shoulder and the adjacent traffic lane, covers half of the rutting area of the asphalt pavement, takes the measured value of the position of the road shoulder as a reference value, and corrects the data obtained by measuring the traffic lane.
3. The asphalt pavement rutting monitoring system based on the inclination angle sensor as claimed in claim 1, wherein: the preset algorithm is used for converting the inclination angle of the measuring unit into relative displacement at the node of the measuring unit, and converting the relative displacement of the measuring unit into absolute displacement based on the measured value of the road shoulder; and further obtaining the horizontal and vertical coordinates of the measuring unit, and obtaining the rut depth through the difference between the maximum value and the minimum value of the vertical coordinates.
4. The asphalt pavement rutting monitoring system based on the inclination angle sensor as claimed in claim 1, wherein: and packaging by adopting epoxy resin pouring sealant.
5. The asphalt pavement rutting monitoring system based on the inclination angle sensor as claimed in claim 1, wherein: and spring hoses are arranged at the end-to-end positions of the measuring units, and the measuring unit groups are integrally packaged by using thermoplastic pipes.
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| EP4325168A1 (en) * | 2022-08-15 | 2024-02-21 | National Yang Ming Chiao Tung University | Curved surface measurement device and method for preparation thereof |
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Application publication date: 20211102 |