CN116623515A - High-speed pavement flatness detection system and method - Google Patents
High-speed pavement flatness detection system and method Download PDFInfo
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- 238000012285 ultrasound imaging Methods 0.000 description 4
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- 238000012423 maintenance Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides a system and a method for detecting the flatness of a high-speed pavement, wherein the system comprises the following steps: unmanned plane; the laser ranging sensor is arranged on the unmanned aerial vehicle to detect and obtain a first height; the ultrasonic ranging sensor is arranged on the unmanned aerial vehicle to detect and obtain a second height; the gyroscope is arranged on the unmanned aerial vehicle to detect and obtain a first rotation angle between the unmanned aerial vehicle and the high-speed road surface when detecting the first height and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when detecting the second height; a memory for storing a first height, a second height, a first rotation angle, and a second rotation angle; and the processor is connected with the laser ranging sensor, the ultrasonic ranging sensor, the gyroscope and the memory to control the laser ranging sensor, the ultrasonic ranging sensor and the gyroscope to work and compare the first rotation angle and the second rotation angle of all detection points. The invention improves the detection efficiency of the flatness of the high-speed pavement.
Description
Technical Field
The invention relates to the technical field of high-speed pavement evenness detection, in particular to a high-speed pavement evenness detection system and a high-speed pavement evenness detection method.
Background
The road surface flatness is a deviation value of the longitudinal concave-convex quantity of the road surface, is one of important technical indexes for evaluating the road surface quality, and relates to the safety and comfort of driving and the size and service life of impact force born by the road surface. Therefore, it is necessary to test the road surface flatness and maintain a certain flatness.
Based on the current 'five-post-in-one' guarantee system, the need of 'one-way multi-party' cooperation co-treatment is promoted, and the highway construction and maintenance of the highway belongs to an indispensable part in the system construction, the highway detection plays an important role in the highway construction and maintenance, the defects and problems of the road surface can be found in time, and effective measures are taken to repair and improve the road surface condition so as to ensure the safe, comfortable and economic operation of the highway.
At present, after the construction of the high-speed pavement is finished, the flatness of the pavement is usually measured through a detection tool, and in the daily use and operation processes of the high-speed pavement, the flatness detection is rarely carried out. And mainly measure road surface roughness with traditional road surface appearance, traditional road surface appearance includes: a single axis acceleration sensor, a laser ranging sensor and a mileage counting sensor. When the traditional pavement measuring instrument is used for measuring, the automobile chassis is assumed to move only in the direction vertical to the ground, and the specific measuring method comprises the following steps: the method comprises the steps of measuring vertical acceleration in the direction perpendicular to the ground by using a single-axis acceleration sensor of a traditional pavement meter, subtracting static gravity acceleration from the vertical acceleration to obtain the vibration acceleration of the traditional pavement meter, carrying out secondary double integration on the vibration acceleration of the traditional pavement meter to obtain the vibration displacement of the traditional pavement meter, measuring the distance between the traditional pavement meter and a road surface to be tested by using a laser ranging sensor, measuring the horizontal displacement of the traditional pavement meter by using a mileage counting sensor, subtracting the distance between the traditional pavement meter and the road surface to be tested from the vibration displacement of the traditional pavement meter, and obtaining the flatness information of the road surface to be tested in the horizontal displacement range of the traditional pavement meter.
Therefore, the conventional pavement measuring apparatus and the measuring method thereof have relatively complex processes and relatively low efficiency, and therefore, a new technical scheme is necessary to be provided to improve the detection efficiency.
Disclosure of Invention
The invention provides a system and a method for detecting the flatness of a high-speed pavement, and aims to improve the detection efficiency of the flatness of the high-speed pavement.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a first aspect of embodiments of the present specification discloses a high-speed road surface flatness detection system, comprising:
the unmanned aerial vehicle is provided with a near-end controller and/or a remote control system;
the laser ranging sensor is arranged on the unmanned aerial vehicle and used for detecting and obtaining a first height;
the ultrasonic ranging sensor is arranged on the unmanned aerial vehicle and used for detecting and obtaining a second height;
the gyroscope is arranged on the unmanned aerial vehicle to detect and obtain a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when detecting the first height and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when detecting the second height;
a memory for storing the first height, the second height, the first rotation angle, and the second rotation angle;
And the processor is connected with the laser ranging sensor, the ultrasonic ranging sensor, the gyroscope and the memory, is used for controlling the laser ranging sensor, the ultrasonic ranging sensor and the gyroscope to work, and is used for comparing the first rotation angle and the second rotation angle of all detection points, and when the first rotation angle and the second rotation angle are consistent, the first height and the second height which respectively correspond to the first rotation angle and the second rotation angle are used as high-speed pavement flatness information together.
In some embodiments, the drone is provided with a GPS positioning system and/or acceleration sensor and/or barometric altitude sensor.
In some embodiments, the drone is provided with an ultrasound imaging device.
In some embodiments, the ultrasound imaging device and the ultrasound ranging sensor are commonly configured with a power supply circuit.
In some embodiments, the drone includes:
a machine body which is cross-shaped;
the mounting plate is arranged at the tail end of the cross shape of the machine body;
the first annular plate is rotationally connected between the adjacent mounting plates;
the first motor is arranged on the mounting plate and connected with the first annular plate so as to drive the first annular plate to rotate;
The second annular plate is rotationally connected with the inner annular surface of the first annular plate;
the second motor is arranged on the first annular plate and connected with the second annular plate so as to drive the second annular plate to rotate;
and the rotor wing device is arranged on the inner ring surface of the second ring plate.
In some embodiments, the line connecting the two rotational connection points of the first annular plate is perpendicular to the line connecting the two rotational connection points of the second annular plate.
In some embodiments, the bottom of the fuselage is provided with rollers.
In some embodiments, a mounting bracket is arranged at the bottom of the machine body, a fan is arranged on the mounting bracket, the fan is positioned right below the machine body, an air outlet of the fan faces downwards, and the roller is arranged at the bottom of the mounting bracket.
In some embodiments, a pressure sensor is provided on the top of the roller, and a spring is provided between the top of the pressure sensor and the bottom of the mounting bracket.
A second aspect of the embodiments of the present specification discloses a method for detecting flatness of a highway surface, including the steps of:
s1, controlling the unmanned aerial vehicle to fly or run along a high-speed road surface through a near-end controller and/or a remote control system;
S2, detecting through a laser ranging sensor on the unmanned aerial vehicle to obtain a first height;
s3, detecting through an ultrasonic ranging sensor on the unmanned aerial vehicle to obtain a second height;
s4, detecting a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when the first height is detected and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when the second height is detected through a gyroscope on the unmanned aerial vehicle when the S2 and the S3 are executed;
s5, comparing the first rotation angles and the second rotation angles of all the detection points, and when the first rotation angles and the second rotation angles are consistent, using the first heights and the second heights respectively corresponding to the first rotation angles and the second rotation angles as high-speed pavement flatness information.
In summary, the invention has at least the following advantages:
according to the invention, the unmanned aerial vehicle is controlled to fly or run along a high-speed road surface through the near-end controller and/or the remote control system; detecting by a laser ranging sensor on the unmanned aerial vehicle to obtain a first height; detecting by an ultrasonic ranging sensor on the unmanned aerial vehicle to obtain a second height; detecting and obtaining a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when detecting a first height and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when detecting a second height through a gyroscope on the unmanned aerial vehicle; and comparing the first rotation angles and the second rotation angles of all the detection points, and when the first rotation angles and the second rotation angles are consistent, taking the first heights and the second heights respectively corresponding to the first rotation angles and the second rotation angles as the flatness information of the high-speed pavement. Through the above, the detection efficiency of the flatness of the high-speed pavement is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a system for detecting flatness of a highway surface according to the present invention.
Fig. 2 is a schematic plan view of the unmanned aerial vehicle according to the present invention.
Fig. 3 is a schematic side view of the unmanned aerial vehicle according to the present invention.
Fig. 4 is a schematic diagram of a hot plug controller U3 according to the present invention.
Fig. 5 is a schematic diagram of a voltage regulator U12 according to the present invention.
Fig. 6 is a schematic diagram of a clock buffer U11 according to the present invention.
Fig. 7 is a schematic diagram of a power management chip U1 according to the present invention.
Fig. 8 is a schematic diagram of a power management chip U5 according to the present invention.
Fig. 9 is a schematic diagram of a power supply controller U7 according to the present invention.
Fig. 10 is a schematic diagram of a power management chip U4 according to the present invention.
Fig. 11 is a schematic diagram of a power management chip U2 according to the present invention.
Fig. 12 is a schematic diagram of a power management chip U6 according to the present invention.
Fig. 13 is a schematic diagram of a power management chip U9 according to the present invention.
Fig. 14 is a schematic diagram of a power management chip U8 according to the present invention.
Fig. 15 is a schematic diagram of a power management chip U10 according to the present invention.
Reference numerals:
1. a body; 11. a mounting plate;
2. a first annular plate; 21. a first motor;
3. a second annular plate; 31. a second motor;
4. a rotor device;
5. a mounting bracket; 51. a fan; 52. a pressure sensor; 53. a spring; 54. and a roller.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in numerous different ways without departing from the spirit or scope of the embodiments of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
The following disclosure provides many different implementations, or examples, for implementing different configurations of embodiments of the invention. In order to simplify the disclosure of embodiments of the present invention, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit embodiments of the present invention. Furthermore, embodiments of the present invention may repeat reference numerals and/or letters in the various examples, which are for the purpose of brevity and clarity, and which do not themselves indicate the relationship between the various embodiments and/or arrangements discussed.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a first aspect of the embodiments of the present specification discloses a high-speed road surface flatness detection system, including:
the unmanned aerial vehicle is provided with a near-end controller and/or a remote control system;
the laser ranging sensor is arranged on the unmanned aerial vehicle and used for detecting and obtaining a first height;
the ultrasonic ranging sensor is arranged on the unmanned aerial vehicle and used for detecting and obtaining a second height;
the gyroscope is arranged on the unmanned aerial vehicle to detect and obtain a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when detecting the first height and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when detecting the second height;
a memory for storing the first height, the second height, the first rotation angle, and the second rotation angle;
and the processor is connected with the laser ranging sensor, the ultrasonic ranging sensor, the gyroscope and the memory, is used for controlling the laser ranging sensor, the ultrasonic ranging sensor and the gyroscope to work, and is used for comparing the first rotation angle and the second rotation angle of all detection points, and when the first rotation angle and the second rotation angle are consistent, the first height and the second height which respectively correspond to the first rotation angle and the second rotation angle are used as high-speed pavement flatness information together.
It should be understood that the scheme of controlling the unmanned aerial vehicle to perform the flight operation by the near-end controller and/or the remote control system is the prior art, and will not be described herein, and similarly, the laser ranging sensor, the ultrasonic ranging sensor, the gyroscope, the memory and the processor are all existing devices, so that the present embodiment only uses the functions of the present embodiment to achieve the purposes of the present embodiment, and does not improve the functions or structures of the present embodiment.
When the system works, the unmanned aerial vehicle is controlled to fly or run along a high-speed road surface through the near-end controller and/or the remote control system; detecting by a laser ranging sensor on the unmanned aerial vehicle to obtain a first height; detecting by an ultrasonic ranging sensor on the unmanned aerial vehicle to obtain a second height; detecting and obtaining a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when detecting a first height and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when detecting a second height through a gyroscope on the unmanned aerial vehicle; and comparing the first rotation angle and the second rotation angle of all the detection points, and when the first rotation angle and the second rotation angle are consistent, taking the first height and the second height respectively corresponding to the first rotation angle and the second rotation angle as the flatness information of the high-speed pavement together, so that the detection efficiency of the flatness of the high-speed pavement is improved. Moreover, when the first rotation angle and the second rotation angle are inconsistent, the corresponding first height and second height are removed, and the first height and second height are not used as the flatness information of the high-speed pavement, so that the detection accuracy can be improved.
In some embodiments, the drone is provided with a GPS positioning system and/or acceleration sensor and/or barometric altitude sensor.
In this embodiment, corresponding height data can be obtained through the GPS positioning system and/or the barometric pressure height sensor, and the first height and the second height can be corrected through the height data, so that the accuracy of detection can be improved. Similarly, the first height and the second height are corrected by the acceleration sensor, so that the detection accuracy can be improved.
In some embodiments, the drone is provided with an ultrasound imaging device.
In this embodiment, by using the ultrasonic imaging apparatus, ultrasonic images of all detection points can be obtained, and by using the ultrasonic images, the first height and the second height of the detection point corresponding to the ultrasonic image with the obvious obstacle on the high-speed road surface can be removed, so that the detection accuracy can be improved.
In some embodiments, the ultrasound imaging device and the ultrasound ranging sensor are commonly configured with a power supply circuit.
As shown in fig. 4-15, in some embodiments, the power supply circuit comprises a hot plug controller U3, a power management chip U1, a power management chip U2, a power management chip U4, a power management chip U5, a power management chip U6, a power management chip U8, a power management chip U9, a power management chip U10, a power controller U7, a clock buffer U11, a voltage regulator U12, +12V input J2, a capacitor C105, a resistor R27, a resistor R23, a capacitor C32, a capacitor C28, a resistor R25, a capacitor C37, a capacitor C36, a capacitor C31, a capacitor C33, a capacitor C34, a capacitor C54, a capacitor C40, a capacitor C47, a capacitor C42, a capacitor C44, a capacitor C43, a capacitor C39, a capacitor C29, a capacitor C30, a capacitor C102, a capacitor C49, a capacitor C48, a capacitor C46, a resistor R36, a resistor R32, a resistor R80, a resistor R81, a resistor R42, a resistor R28, a resistor R39, a resistor R43, a resistor R31, a resistor R38, a resistor R41, a resistor R29, a resistor R30, a capacitor C40 inductor L4, magnetic bead L6, +1.8V second output terminal J3, capacitor C100, capacitor C101, clock signal input terminal J5, resistor R74, resistor R75, resistor R76, resistor R77, resistor R78, resistor R79, capacitor C14, capacitor C12, capacitor C4, capacitor C6, capacitor C7, capacitor C27, capacitor C16, capacitor C22, capacitor C19, capacitor C21, capacitor C20, capacitor C17, capacitor C25, capacitor C23, capacitor C24, capacitor C1, capacitor C2, capacitor C103, resistor R11, resistor R10, resistor R82, resistor R83, resistor R5, resistor R15, resistor R22, resistor R9, resistor R18, resistor R12, resistor R18, resistor R7, resistor R8, inductor L2, magnetic bead L3, +1.8V first output terminal J1, capacitor C63, capacitor C62, capacitor C59, capacitor C60, capacitor C61, capacitor C77, capacitor C64, capacitor C68, capacitor C65, capacitor C74, capacitor C73, capacitor C71, capacitor C57, capacitor C58, capacitor C104, resistor R58, resistor R57, resistor R84, resistor R49, resistor R62, resistor R67, resistor R56, resistor R65, resistor R61, resistor R52, resistor R51, resistor R85, resistor R66, inductor L7, bead L8, +1.2V output J4, capacitor C18, capacitor C3, capacitor C15, capacitor C11, capacitor C10, capacitor C9, capacitor C8, capacitor C5, capacitor C13, resistor R17, resistor R86, resistor R88, resistor R4, resistor R8, resistor R14, resistor R2, resistor R3, inductor L1, capacitor C55, capacitor C35, capacitor C52, capacitor C51, capacitor C50, capacitor C45, capacitor C41, capacitor C38, capacitor C56, resistor R44, resistor R48, resistor R87 resistor R89, resistor R35, resistor R40, resistor R45, resistor R33, resistor R34, inductor L5, capacitor C95, capacitor C91, capacitor C79, capacitor C81, capacitor C92, capacitor C94, capacitor C93, resistor R71, bead L11, +3.3V second output J7, capacitor C96, capacitor C86, capacitor C78, capacitor C80, capacitor C87, capacitor C89, capacitor C88, resistor R70, bead L10, +3.3V first output J8, capacitor C97, capacitor C98, capacitor C84, capacitor C90, capacitor C99, resistor 69, resistor 73, resistor 727, bead L9, +5V output J6, capacitor C67, capacitor C66, resistor R95, resistor R96, capacitor C75, resistor R53, resistor R54, resistor R55, resistor R59, resistor R60, resistor R63, and resistor R64.
Pin 2 of +12v input terminal J2 is connected with positive electrode of capacitor C105, one end of resistor R27, one end of capacitor C32 and pin 3, pin 4 and pin 5 of hot plug controller U3, pin 1 of +12v input terminal J2 is connected with negative electrode of capacitor C105, one end of resistor R23, the other end of capacitor C32, one end of capacitor C28, one end of resistor R25 and pin 11 of hot plug controller U3 to be grounded, the other end of resistor R27 is connected with the other end of resistor R23 and pin 2 of hot plug controller U3, the other end of capacitor C28 is connected with pin 1 of hot plug controller U3, the other end of resistor R25 is connected with pin 10 of hot plug controller U3, pin 6, pin 7 and pin 8 of hot plug controller U3 are connected to be used as voltage terminal 12, pin 2 of voltage stabilizer U12 is connected with one end of capacitor C100 to be externally connected with voltage terminal 12, pin 3 of voltage regulator U12 is connected with one end of electric capacity C101 and then is as voltage end 3V3, the other end of electric capacity C100 is connected with the other end of electric capacity C101 and pin 1 of voltage regulator U12 and then is grounded, pin 1 of clock signal input J5 is connected with pin 1 of clock buffer U11, pin 5 of clock buffer U11, pin 8 and pin 12 are connected and then external voltage end 3V3, pin 2 of clock buffer U11 passes through external voltage end 3V3 of resistor R79, pin 3 of clock buffer U11 is connected with one end of resistor R74, pin 14 of clock buffer U11 is connected with one end of resistor R75, pin 11 of clock buffer U11 is connected with one end of resistor R76, pin 3 of clock buffer U13 is connected with one end of resistor R77, and pin 6 of clock buffer U11 is connected with one end of resistor R78.
One end of a capacitor C18 is connected with one end of a capacitor C3, one end of a capacitor C15, one end of a resistor R13, a pin 2 of a power management chip U1 and a pin 11 and then externally connected with a voltage end 12VIN, the other end of the capacitor C18 is connected with the other end of the capacitor C3 and the other end of the capacitor C15 and then grounded, the other end of the resistor R13 is connected with one end of a resistor R17 and a pin 17 of the power management chip U1, a pin 16 of the power management chip U1 is connected with one end of the capacitor C11, a pin 13 of the power management chip U1 is connected with one end of a resistor R86 and one end of a resistor R88, the other end of the resistor R86 is connected with the other end of a resistor R78, a pin 15 of the power management chip U1 is connected with one end of a resistor R8 and one end of a capacitor C9, the other end of the resistor R88 is connected with one end of a resistor R4, the other end of the resistor R8 is connected with one end of a capacitor C10, the other end of a resistor R17 is connected with the other end of a capacitor C11, the other end of a resistor R4, the other end of a resistor C9, the other end of a resistor R3 and a pin 12 is connected with a pin 12 of the power management chip U1, the other end of a resistor R3 and the resistor U1, the other end of the resistor C1 is connected with a resistor C1, the other end of the resistor C1, the resistor C4, and the other end of the resistor C1 is connected with the other end of the resistor C1, and the other end of the resistor C1 is connected with the other end of the resistor C1 and the other end is connected with the other end of the resistor C1.
One end of a capacitor C55 is connected with one end of a capacitor C35, one end of a capacitor C52, one end of a resistor R44, a pin 2 and a pin 11 of a power management chip U5 to be externally connected with a voltage end 12VIN, the other end of the capacitor C55 is connected with the other end of the capacitor C35 and the other end of the capacitor C52 to be grounded, the other end of the resistor R44 is connected with one end of a resistor R48 and a pin 17 of the power management chip U5, a pin 16 of the power management chip U5 is connected with one end of a capacitor C51, a pin 13 of the power management chip U5 is connected with one end of a resistor R87 and one end of a resistor R89, the other end of the resistor R87 is connected with the other end of a resistor R75, a pin 15 of the power management chip U5 is connected with one end of a resistor R40 and one end of a capacitor C45, the other end of the resistor R89 is connected with one end of a resistor R35, and the other end of the resistor R40 is connected with one end of a capacitor C50, the other end of the resistor R48 is grounded after being connected with the other end of the capacitor C51, the other end of the resistor R35, the other end of the capacitor C50, one end of the resistor R34 and the pin 12 of the power management chip U5, the other end of the resistor R34 is connected with the pin 14 of the power management chip U5, one end of the resistor R33 and one end of the capacitor C38, the other end of the resistor R33 is connected with the other end of the capacitor C38, one end of the capacitor C56, one end of the inductor L5 and one end of the resistor R45 and then serves as a voltage end 3.6V (5A), the other end of the capacitor C56 is grounded, the other end of the resistor R145 is connected with the pin 18 of the power management chip U5, the pin 1 of the power management chip U5 is connected with one end of the capacitor C41, and the other end of the capacitor C41 is connected with the other end of the inductor L5, the pin 6 of the power management chip U5 and the pin 7.
Pin 1 of power controller U7 is connected with one end of electric capacity C67, one end of electric capacity C66, the one end of resistance R95, the one end of resistance R53, external voltage end 3.6V after the one end of resistance R54 and the one end of resistance R55 are connected, ground after the other end of electric capacity C67 is connected with the other end of electric capacity C66, the other end of resistance R95 is connected with one end of resistance R96 and pin 2 of power controller U7, the other end of resistance R96 is connected with one end of electric capacity C75, one end of resistance R63, one end of resistance R64, pin 4 of power controller U7 and pin 3 are connected to ground, pin 5 of power controller U7 is connected with the other end of electric capacity C75, the other end of resistance R53 is connected with pin 8 of power controller U7 and one end of resistance R59, the other end of resistance R54 is connected with pin 7 and one end of resistance R60, the other end of resistance R55 is connected with pin 6 of power controller U7, the other end of resistance R59 is connected with pin 12 of power management chip U6, the other end of resistance R63 and the other end 12 of resistance R60 is connected with pin 12 of power management chip U6, the other end of resistance R60 is connected with the other end 8 of resistance R64 and pin 12 of power management chip, the other end of resistance R14 is connected with the power management chip 12, pin 12 of C14 of power management chip and the power management chip 12 is connected with the power management chip 12, and pin 12 of C14 is connected with ground.
One end of a capacitor C14 is connected with one end of a capacitor C12, one end of a resistor R11, one end of a resistor R15, a pin 19 of a power management chip U2 and a pin 20, then the capacitor C is externally connected with a voltage end 5.6V, one end of a resistor R22 is externally connected with a voltage end 5.6V, the other end of the resistor R22 is connected with one end of a capacitor C27 and a pin 11 of the power management chip U2, the other end of the capacitor C27 is grounded, the other end of the capacitor C14 is connected with the other end of the capacitor C12, one end of a resistor R10, one end of a capacitor C4, one end of a resistor R21, one end of a capacitor C6, one end of a capacitor C7, a pin 23 of the power management chip U2 and a pin 21 are grounded, the other end of the resistor R11 is connected with the other end of the resistor R10 and the pin 7 of the power management chip U2, the other end of the capacitor C4 is connected with the pin 3 of the power management chip U2, the pin 2 of the resistor R82 is connected with one end of the resistor R83, the other end of the resistor R82 is connected with the other end of the resistor R74, the other end of the resistor R83 is connected with the other end of the resistor R21, the pin 1 of the power management chip U2 is connected with one end of the resistor R5 and the other end of the capacitor C7, the other end of the resistor R5 is connected with the other end of the capacitor C6, the pin 6 of the power management chip U2 is connected with the other end of the resistor R15, the pin 24 of the power management chip U2 is connected with one end of the capacitor C103, one end of the resistor R7 and one end of the resistor R6, the other end of the capacitor C103 is connected with one end of the resistor R7, one end of the capacitor C1 and one end of the inductor L2, the other end of the capacitor C1 is connected with the other end of the capacitor C2 and the other end of the resistor R6 to be grounded, the other end of the inductor L2 is connected with one end of the capacitor C16 and the pin 4 of the power management chip U2, the other end of the capacitor C16 is connected with the pin 5 of the power management chip U2, the pin 14 and the pin 15 of the power management chip U2 are connected with one end of the capacitor C22, the other end of the capacitor C22 is connected with the pin 13, the pin 25 and the pin 22 of the power management chip U2 and then grounded, one end of the capacitor C19 is connected with one end of the capacitor C20, one end of the capacitor C21, the pin 8 and the pin 9 of the power management chip U2 are connected with the other end of the capacitor C20 and the other end of the capacitor C21 and then grounded, the pin 16 of the power management chip U2 is connected with one end of the capacitor C17, one end of the resistor R12 and the grounded resistor R18, the other end of the resistor R9 is connected with the other end of the capacitor C17, the other end of the resistor R12, one end of the capacitor C25, one end of the capacitor C23, one end of the magnetic bead L3, the other end of the capacitor C20 and the pin 17 of the power management chip U2 are connected with the pin 18, the other end of the capacitor C24 and the first output terminal J1 of +112V, and the other end of the magnetic bead L3 is connected with the first output terminal J1.8V 1, and the first output terminal J1 is connected with the magnetic bead 1.
One end of a capacitor C37 is connected with one end of a capacitor C36, one end of a resistor R39, a pin 19 of a power management chip U4 and a pin 20 and then is externally connected with a voltage end 5.6V, one end of a resistor R43 is externally connected with a voltage end 5.6V, the other end of the resistor R43 is connected with one end of the capacitor C54 and a pin 11 of the power management chip U4, the other end of the capacitor C54 is grounded, the other end of the capacitor C37 is connected with the other end of the capacitor C36, one end of a resistor R32, one end of a capacitor C31, one end of a resistor R42, one end of a capacitor C33, one end of a capacitor C34, a pin 23 of the power management chip U4 and a pin 21 are connected with each other and then grounded, the other end of the resistor R36 is connected with the other end of the resistor R32 and a pin 7 of the power management chip U4, the other end of the capacitor C31 is connected with a pin 3 of the power management chip U4, the pin 2 of the power management chip U4 is connected with one end of a resistor R80 and one end of a resistor R81, the other end of the resistor R80 is connected with the other end of the resistor R77, the other end of the resistor R81 is connected with the other end of the resistor R42, the pin 1 of the power management chip U4 is connected with one end of the resistor R28 and the other end of the capacitor C34, the other end of the resistor R28 is connected with the other end of the capacitor C33, the pin 6 of the power management chip U4 is connected with the other end of the resistor R39, the pin 24 of the power management chip U4 is connected with one end of the capacitor C102, one end of the resistor R29 and one end of the resistor R30, one end of the capacitor C29 and one end of the inductor L4 are connected with the other end of the capacitor C30 and the other end of the resistor R30 and then grounded, the other end of the inductor L4 is connected with one end of the capacitor C40 and the pin 4 of the power management chip U4, the other end of the capacitor C40 is connected with the pin 5 of the power management chip U4, pin 14 and pin 15 of power management chip U4 are connected with one end of electric capacity C47, the other end of electric capacity C47 is connected with pin 13, pin 25 and pin 22 of power management chip U4 and then grounded, one end of electric capacity C42 is connected with one end of electric capacity C44, one end of electric capacity C43, pin 8 and pin 9 of power management chip U4 and then grounded, the other end of electric capacity C42 is connected with the other end of electric capacity C44 and the other end of electric capacity C43 and then grounded, pin 16 of power management chip U4 is connected with one end of electric capacity C39, one end of resistance R38 and grounded resistance R41, the other end of resistance R31 is connected with the other end of electric capacity C39, the other end of resistance R38, one end of electric capacity C49, one end of electric capacity C48, one end of magnetic bead L6, the other end of electric capacity C44 and pin 17 of electric capacity C43 are connected, the other end of electric capacity C46 and the other end of +12V second output terminal J3, the other end of electric capacity C46 is connected with the other end of +1V 3, and the other end of magnetic bead L6 is connected with the second output end of L2.8V 3.
One end of a capacitor C63 is connected with one end of a capacitor C62, one end of a resistor R58, one end of a resistor R62, a pin 19 of a power management chip U6 and a pin 20, then the capacitor C is externally connected with a voltage end 5.6V, one end of a resistor R67 is externally connected with a voltage end 5.6V, the other end of the resistor R67 is connected with one end of a capacitor C77 and a pin 11 of the power management chip U6, the other end of the capacitor C77 is grounded, the other end of the capacitor C63 is connected with the other end of the capacitor C62, one end of a resistor R57, one end of a capacitor C59, one end of a resistor R66, one end of a capacitor C60, one end of a capacitor C61, a pin 23 of the power management chip U6 and a pin 21 are connected with each other and grounded, the other end of the resistor R58 is connected with the other end of the resistor R57 and a pin 7 of the power management chip U6, the other end of the capacitor C59 is connected with a pin 3 of the power management chip U6, the pin 2 of the power management chip U6 is connected with one end of the resistor R84 and one end of the resistor R85, the other end of the resistor R84 is connected with the other end of the resistor R76, the other end of the resistor R85 is connected with the other end of the resistor R66, the pin 1 of the power management chip U6 is connected with one end of the resistor R49 and the other end of the capacitor C61, the other end of the resistor R49 is connected with the other end of the capacitor C60, the pin 6 of the power management chip U6 is connected with the other end of the resistor R62, the pin 24 of the power management chip U6 is connected with one end of the capacitor C104, one end of the resistor R52 and one end of the resistor R51, the other end of the capacitor C104 is connected with the other end of the resistor R52, one end of the capacitor C57 and one end of the inductor L7, the other end of the capacitor C57 is connected with the other end of the capacitor C58 and the other end of the resistor R51 and then grounded, the other end of the inductor L7 is connected with one end of the capacitor C64 and the pin 4 of the power management chip U6, the other end of the capacitor C64 is connected with the pin 5 of the power management chip U6, pin 14 and pin 15 of power management chip U6 are connected with one end of electric capacity C72, the other end of electric capacity C72 is connected with pin 13, pin 25 and pin 22 of power management chip U6 and then grounded, one end of electric capacity C68 is connected with one end of electric capacity C70, one end of electric capacity C69, the other end of electric capacity management chip U6 is connected with the other end of electric capacity C70 and the other end of electric capacity C69 and then grounded, pin 16 of power management chip U6 is connected with one end of electric capacity C65, one end of resistance R61 and grounded resistance R65, pin 10 of power management chip U6 is connected with one end of resistance R56, the other end of resistance R56 is connected with the other end of electric capacity C65, the other end of resistance R61, one end of electric capacity C74, one end of electric capacity C73, one end of magnetic bead L8, the other end of electric capacity management chip U6, pin 17 and pin 18 of electric capacity C69 are connected with one end of electric capacity C73, the other end of electric capacity C71 and the other end of +1.2V output terminal J4, the other end of electric capacity C8 is connected with the other end of magnetic bead L8 and the output end of +12V 2J 4.
One end of a capacitor C95 is connected with one end of a capacitor C91, a pin 15, a pin 16 and a pin 17 of a power management chip U9 and then externally connected with a voltage end 3.6V, a pin 13 of the power management chip U9 is connected with one end of a capacitor C79, the other end of the capacitor C95 is connected with the other end of the capacitor C91, the other end of the capacitor C79, one end of the capacitor C92, one end of the capacitor C94, one end of the capacitor C93, +3.3V second output end J7, a pin 11, a pin 10, a pin 6, a pin 8, a pin 18 and a pin 21 of the power management chip U9 are connected and then grounded, a pin 4 of the power management chip U9 is connected with one end of a resistor R71, the other end of the resistor R71 is connected with one end of a capacitor C81, the other end of the capacitor C92, the other end of the capacitor C94, the other end of the capacitor C93, one end of a magnetic bead L11, a pin 1, a pin 2, a pin 19 and a pin 20 of the power management chip U9, and the other end of the magnetic bead L11 are connected with the other end of the capacitor C81, and the other end of the magnetic bead L11 is connected with a second output end of +3V 7.
One end of a capacitor C96 is connected with one end of a capacitor C86, a pin 15, a pin 16 and a pin 17 of a power management chip U8 and then externally connected with a voltage end 3.6V, a pin 13 of the power management chip U8 is connected with one end of a capacitor C78, the other end of the capacitor C96 is connected with one end of the capacitor C86, the other end of the capacitor C78, one end of the capacitor C87, one end of the capacitor C89, one end of the capacitor C88, +3.3V first output end J8, a pin 11, a pin 10, a pin 6, a pin 8, a pin 18 and a pin 21 of the power management chip U8 are connected and then grounded, a pin 4 of the power management chip U8 is connected with one end of a resistor R70, the other end of the resistor R70 is connected with one end of a capacitor C80, the other end of the capacitor C87, the other end of the capacitor C89, the other end of the capacitor C88, one end of a magnetic bead L10, the other end of the power management chip U8, a pin 1, a pin 2, a pin 19 and a pin 20, and the other end of the power management chip U8 are connected with the other end of the capacitor C80, and the other end of the magnetic bead L10 is connected with the first output end of the +3V 8.
One end of a capacitor C97 is connected with one end of a capacitor C98, a pin 15, a pin 16 and a pin 17 of a power management chip U10 and then externally connected with a voltage end 5.6V, a pin 13 of the power management chip U10 is connected with one end of a capacitor C84, the other end of the capacitor C97 is connected with the other end of the capacitor C98, the other end of the capacitor C84, one end of a resistor R72, one end of a capacitor C99, a pin 1 of a +5V output end J6, a pin 8, a pin 18 and a pin 21 of the power management chip U10 are connected with the ground, a pin 4 of the power management chip U10 is connected with one end of a resistor R69, the other end of the resistor R69 is connected with one end of a resistor R73, one end of a capacitor C90, the other end of a capacitor C99, one end of a magnetic bead L9, the pin 1, a pin 19 and a pin 20 of the power management chip U10, and the other end of the resistor R73 is connected with the other end of the capacitor C90, the other end of the resistor R72 and a pin 3 of the power management chip U10, and the other end of the magnetic bead L9 is connected with a pin 2 of a +5V output end J6.
In this embodiment, through the above-mentioned power supply circuit, can provide required operating voltage for ultrasonic imaging device and ultrasonic ranging sensor can stable work. For example, eight 16 channels of the ultrasonic imaging device can be supplied with power by an AFE IC, and the design uses a single-chip DC/DC converter and LDO combined voltage regulator to set each LDO input to be just above the voltage drop, and makes full use of LDO PSRR, so that the number of components is reduced, and the efficiency is improved to the greatest extent. Furthermore, the ultra low noise LDO helps to achieve the highest analog to digital conversion resolution possible, thereby achieving higher image quality. The design enables the switching frequency to be synchronized with the master clock frequency and the system clock frequency so that simple filtering techniques can be applied to eliminate power switching noise on the ground loop or to reduce EMI using a spread spectrum clock.
As shown in fig. 2, in some embodiments, the drone includes:
a machine body 1 which is cross-shaped;
a mounting plate 11 provided at the end of the cross of the body 1;
a first annular plate 2 rotatably connected between adjacent mounting plates 11;
a first motor 21, which is disposed on the mounting plate 11 and is connected to the first annular plate 2 to drive the first annular plate 2 to rotate;
the second annular plate 3 is rotatably connected to the inner annular surface of the first annular plate 2;
the second motor 31 is arranged on the first annular plate 2 and connected with the second annular plate 3 to drive the second annular plate 3 to rotate;
the rotor device 4 is arranged on the inner ring surface of the second ring plate 3.
In this embodiment, the first motor 21 drives the first annular plate 2 to rotate relative to the machine body 1, and the second motor 31 drives the second annular plate 3 to rotate relative to the first annular plate 2, so that the rotor wing device 4 can provide flying power in all directions for the unmanned aerial vehicle, and the first motor 21, the first annular plate 2, the second motor 31, the second annular plate 3 and the rotor wing device 4 together form a set of power system with adjustable directions, and four sets of power systems are arranged on the machine body 1 and are respectively positioned in gaps among crosses of the machine body 1, namely the four sets of power systems are also distributed in a cross shape; such design effectively provides nimble changeable flight power for unmanned aerial vehicle, can effectively fight the strong wind of various directions on the high-speed road surface, for example: due to the environmental characteristics of the high-speed pavement, strong wind such as cross wind and the like is often generated, and the unmanned aerial vehicle can keep normal flight through the design, so that the unmanned aerial vehicle cannot fall to the east and the west and seriously influence the detection work.
It is clear that the rotor arrangement 4 is an existing solution, generally comprising a mating rotor (propeller (blade)) and a drive motor.
In some embodiments, the connection line of the two rotation connection points of the first annular plate 2 is perpendicular to the connection line of the two rotation connection points of the second annular plate 3.
In this embodiment, the arrangement enables the power system to provide more directional flight power for the unmanned aerial vehicle.
As shown in fig. 3, in some embodiments, the bottom of the body 1 is provided with rollers 54.
In this embodiment, this setting can make unmanned aerial vehicle can fall to the ground and travel, unmanned aerial vehicle can fly to detect and fall to the ground and detect promptly for the detection data has more dimensionality, further improves the degree of accuracy of detection.
As shown in fig. 3, in some embodiments, a mounting bracket 5 is provided at the bottom of the body 1, the mounting bracket 5 is provided with a fan 51, the fan 51 is located directly under the body 1, an air outlet of the fan 51 faces downward, and the roller 54 is provided at the bottom of the mounting bracket 5.
In this embodiment, the fan 51 can blow away dust on the high-speed road surface, so as to avoid influencing the detection accuracy when more dust exists.
As shown in fig. 3, in some embodiments, a pressure sensor 52 is provided at the top of the roller 54, and a spring 53 is provided between the top of the pressure sensor 52 and the bottom of the mounting bracket 5.
In this embodiment, there are 4 rollers 54, and there are 4 corresponding pressure sensors 52, and the first height and the second height can be further corrected by the pressure data obtained by detecting the 4 pressure sensors 52, so as to further improve the detection accuracy.
A second aspect of the embodiments of the present specification discloses a method for detecting flatness of a highway surface, which may be implemented by a system for detecting flatness of a highway surface;
the method for detecting the flatness of the high-speed pavement specifically comprises the following steps:
s1, controlling the unmanned aerial vehicle to fly or run along a high-speed road surface through a near-end controller and/or a remote control system;
s2, detecting through a laser ranging sensor on the unmanned aerial vehicle to obtain a first height;
s3, detecting through an ultrasonic ranging sensor on the unmanned aerial vehicle to obtain a second height;
s4, detecting a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when the first height is detected and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when the second height is detected through a gyroscope on the unmanned aerial vehicle when the S2 and the S3 are executed;
s5, comparing the first rotation angles and the second rotation angles of all the detection points, and when the first rotation angles and the second rotation angles are consistent, using the first heights and the second heights respectively corresponding to the first rotation angles and the second rotation angles as high-speed pavement flatness information.
The above embodiments are provided to illustrate the present invention and not to limit the present invention, so that the modification of the exemplary values or the replacement of equivalent elements should still fall within the scope of the present invention.
From the foregoing detailed description, it will be apparent to those skilled in the art that the present invention can be practiced without these specific details, and that the present invention meets the requirements of the patent statutes.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
It should be noted that the above description of the flow is only for the purpose of illustration and description, and does not limit the application scope of the present specification. Various modifications and changes to the flow may be made by those skilled in the art under the guidance of this specification. However, such modifications and variations are still within the scope of the present description.
While the basic concepts have been described above, it will be apparent to those of ordinary skill in the art after reading this application that the above disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations of the application may occur to one of ordinary skill in the art. Such modifications, improvements, and modifications are intended to be suggested within the present disclosure, and therefore, such modifications, improvements, and adaptations are intended to be within the spirit and scope of the exemplary embodiments of the present disclosure.
Meanwhile, the present application uses specific words to describe embodiments of the present application. For example, "one embodiment," "an embodiment," and/or "some embodiments" means a particular feature, structure, or characteristic in connection with at least one embodiment of the application. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the application may be combined as suitable.
Furthermore, those of ordinary skill in the art will appreciate that aspects of the application are illustrated and described in the context of a number of patentable categories or conditions, including any novel and useful processes, machines, products, or materials, or any novel and useful improvements thereof. Accordingly, aspects of the present application may be implemented entirely in hardware, entirely in software (including firmware, resident software, micro-code, etc.) or a combination of hardware and software. The above hardware or software may be referred to as a "unit," module, "or" system. Furthermore, aspects of the present application may take the form of a computer program product embodied in one or more computer-readable media, wherein the computer-readable program code is embodied therein.
Furthermore, the order in which the elements and sequences are presented, the use of numerical letters, or other designations are used in the application is not intended to limit the sequence of the processes and methods unless specifically recited in the claims. While certain presently useful inventive embodiments have been discussed in the foregoing disclosure, by way of example, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the application. For example, while the implementation of the various components described above may be embodied in a hardware device, it may also be implemented as a purely software solution, e.g., an installation on an existing server or mobile device.
Likewise, it should be noted that in order to simplify the presentation of the disclosure and thereby aid in understanding one or more inventive embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed subject matter requires more features than are expressly recited in each claim. Rather, the inventive subject matter should be provided with fewer features than the single embodiments described above.
Claims (10)
1. A highway surface flatness detection system, comprising:
the unmanned aerial vehicle is provided with a near-end controller and/or a remote control system;
the laser ranging sensor is arranged on the unmanned aerial vehicle and used for detecting and obtaining a first height;
the ultrasonic ranging sensor is arranged on the unmanned aerial vehicle and used for detecting and obtaining a second height;
the gyroscope is arranged on the unmanned aerial vehicle to detect and obtain a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when detecting the first height and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when detecting the second height;
a memory for storing the first height, the second height, the first rotation angle, and the second rotation angle;
and the processor is connected with the laser ranging sensor, the ultrasonic ranging sensor, the gyroscope and the memory, is used for controlling the laser ranging sensor, the ultrasonic ranging sensor and the gyroscope to work, and is used for comparing the first rotation angle and the second rotation angle of all detection points, and when the first rotation angle and the second rotation angle are consistent, the first height and the second height which respectively correspond to the first rotation angle and the second rotation angle are used as high-speed pavement flatness information together.
2. The system according to claim 1, wherein the unmanned aerial vehicle is provided with a GPS positioning system and/or an acceleration sensor and/or an air pressure height sensor.
3. The highway surface flatness detection system of claim 1, wherein the unmanned aerial vehicle is provided with an ultrasonic imaging device.
4. The system according to claim 3, wherein the ultrasonic imaging device and the ultrasonic ranging sensor are commonly provided with a power supply circuit.
5. The highway surface flatness detection system of claim 1, wherein the unmanned aerial vehicle comprises:
a machine body which is cross-shaped;
the mounting plate is arranged at the tail end of the cross shape of the machine body;
the first annular plate is rotationally connected between the adjacent mounting plates;
the first motor is arranged on the mounting plate and connected with the first annular plate so as to drive the first annular plate to rotate;
the second annular plate is rotationally connected with the inner annular surface of the first annular plate;
the second motor is arranged on the first annular plate and connected with the second annular plate so as to drive the second annular plate to rotate;
And the rotor wing device is arranged on the inner ring surface of the second ring plate.
6. The system of claim 5, wherein a line connecting two rotational connection points of the first circular plate is perpendicular to a line connecting two rotational connection points of the second circular plate.
7. The system of claim 5, wherein the bottom of the body is provided with rollers.
8. The system of claim 7, wherein a mounting bracket is provided at the bottom of the body, the mounting bracket is provided with a fan, the fan is located directly below the body, an air outlet of the fan faces downward, and the roller is provided at the bottom of the mounting bracket.
9. The system of claim 8, wherein a pressure sensor is provided on a top of the roller, and a spring is provided between the top of the pressure sensor and a bottom of the mounting bracket.
10. The method for detecting the flatness of the high-speed pavement is characterized by comprising the following steps of:
s1, controlling the unmanned aerial vehicle to fly or run along a high-speed road surface through a near-end controller and/or a remote control system;
S2, detecting through a laser ranging sensor on the unmanned aerial vehicle to obtain a first height;
s3, detecting through an ultrasonic ranging sensor on the unmanned aerial vehicle to obtain a second height;
s4, detecting a first rotation angle between the unmanned aerial vehicle and a high-speed road surface when the first height is detected and a second rotation angle between the unmanned aerial vehicle and the high-speed road surface when the second height is detected through a gyroscope on the unmanned aerial vehicle when the S2 and the S3 are executed;
s5, comparing the first rotation angles and the second rotation angles of all the detection points, and when the first rotation angles and the second rotation angles are consistent, using the first heights and the second heights respectively corresponding to the first rotation angles and the second rotation angles as high-speed pavement flatness information.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117073570A (en) * | 2023-10-12 | 2023-11-17 | 四川高速公路建设开发集团有限公司 | Tunnel deformation degree detection system and method based on unmanned aerial vehicle |
| CN117107600A (en) * | 2023-10-23 | 2023-11-24 | 四川高速公路建设开发集团有限公司 | Tunnel pavement detection system and method |
| CN117232471A (en) * | 2023-11-16 | 2023-12-15 | 四川省亚通工程咨询有限公司 | Expressway tunnel inspection system and method |
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