CN117570901A - Rapid intelligent detection device and detection method for pavement rut depth - Google Patents
Rapid intelligent detection device and detection method for pavement rut depth Download PDFInfo
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Classifications
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses a rapid intelligent detection device for the depth of a pavement track, which comprises a driving vibration acquisition terminal and a GPS antenna array, wherein the driving vibration acquisition terminal is provided with a hardware layer, a driving layer, an intermediate layer and an application layer; the detection method comprises the following specific steps: s1, setting parameters of a PC end; s2, configuring equipment sampling frequency; s3, installing intelligent acquisition equipment; s4, fixing and supplying power to the intelligent detection equipment; s5, intelligent detection of pavement performance, namely reading satellite positioning module data and acceleration sensor module data in the process, acquiring positioning data and speed data, and calculating pavement rutting depth RD by taking a travelling distance of 100 meters as an interval; s6, checking and exporting the detection result. The invention adopts the structure and the steps to rapidly and intelligently detect the depth of the pavement rut and the detection method, and utilizes unbalanced vibration caused by rut in the driving process to detect the running process of the vehicle.
Description
Technical Field
The invention relates to the technical field of pavement detection, in particular to a rapid intelligent detection device and a detection method for the depth of a pavement rut.
Background
In the service process of the built asphalt pavement, the high-temperature environment causes the asphalt mixture to generate fluidity deformation, the asphalt mixture is compacted to form vertical compression deformation and the wheel is worn to generate abrasion deformation, so that the pavement track belt has rutting, and the rutting is called as 'pavement rutting depth' in the national standard. The pavement rut depth is the most common disease in asphalt pavement, which can cause the reduction of road performance, reduce driving comfort, shorten the service life of pavement and influence driving safety. The pavement rut depth is taken as one of main diseases of the asphalt concrete pavement, is an important technical index for reflecting the pavement service quality, and is also a necessary index for developing pavement performance evaluation, pavement overhaul scheme formulation and pavement maintenance management decision. According to the national highway technical condition evaluation standard (JTG 5210-2018), the maximum pavement rut depth and the pavement rut depth influence area are used as indexes to evaluate the pavement rut depth. The standard specifies that the road rut depth between 10mm and 15mm is light road rut depth, and the road rut depth greater than 15mm is heavy road rut depth. The sum of the products of the depth length and the influence width of the pavement ruts with the light and heavy severity is taken as the pavement rut depth influence area, wherein the weight of the pavement rut depth influence area is 0.6, and the weight of the pavement rut depth influence area is 1.
The pavement rut depth is a main index for representing pavement rut depth diseases, is a main technical index for developing pavement rut depth disease detection, and currently comprises a manual detection method, a laser detection method, a three-dimensional image modeling analysis method and the like. Practical application finds that the manual method has low detection efficiency and poor detection work safety, and is gradually replaced by other technologies. The laser detection method has formed a mature technical system, but has low detection frequency and complicated data processing and analysis due to high detection cost and complex detection work. The three-dimensional image modeling analysis method has better precision, but solves the problems of huge processing data, high detection and analysis cost, immature technical system and the like.
Disclosure of Invention
The invention aims to provide a rapid intelligent detection device and a detection method for the depth of a pavement track, which are used for detecting unbalanced vibration caused by the track in the running process of a vehicle.
In order to achieve the aim, the invention provides a rapid intelligent detection device for the depth of a pavement rut, which comprises a driving vibration acquisition terminal and a GPS antenna array, wherein the driving vibration acquisition terminal is provided with a hardware layer, a driving layer, an intermediate layer and an application layer,
the hardware layer comprises a controller, and a satellite positioning module, an acceleration sensor module, a control panel, an SD card seat, a USB interface, a 4G communication module and a power module which are respectively connected with the controller;
the driving layer integrates hardware equipment driving, communicates with the hardware equipment and interacts data; the system comprises a satellite positioning module serial port driver, an acceleration sensor serial port driver, a start-stop key driver, an SD card driver, a USB CDC driver and a 4G serial port driver;
the middle layer realizes the functions of an application layer and comprises a satellite positioning module data analysis program, an acceleration sensor data analysis program, a data acquisition start and stop judgment program, a pavement rut depth calculation and data uploading program, a FATFS file system, a USB CDC virtual serial port upper computer communication protocol, a 4G data remote transmission packet and analysis program;
the RD calculation model used for the pavement rut depth calculation is:
wherein v represents the driving speed, km/h; k (k) 1 、k 2 、k 3 、k 4 Is a model parameter; a, a ZMV Represents the average value, m/s, of the absolute value of the Z-axis vibration acceleration 2 ，a zMV The calculation formula of (2) is as follows:
wherein i is the i-th sampling point in every 100 meters, a z The Z axial vibration acceleration is adopted, and N is the number of sampling points in every 100 meters;
the application layer comprises a local SD card data storage and reading application, a PC end data communication application and a data 4G remote transmission application.
Preferably, the local SD card data storage and reading application transmits an interaction command to a pavement rut depth calculation and data uploading program and a FATFS file system, the pavement rut depth calculation and data uploading program transmits a data interaction command to a satellite positioning module data analysis program, an acceleration sensor data analysis program and a data acquisition automatic stop judgment program, the pavement rut depth calculation and data uploading program, the satellite positioning module data analysis program, the acceleration sensor data analysis program and the data acquisition automatic stop judgment program jointly form a timing task for detecting pavement vibration data, the PC end data communication application transmits the interaction command to a USB CDC virtual serial port upper computer communication protocol, and the data 4G remote transmission application transmits the interaction command to a 4G data remote transmission packet and analysis program.
Preferably, the satellite positioning module data analysis program interacts with positioning data obtained by the satellite positioning module through serial port driving of the satellite positioning module;
the acceleration sensor data analysis program is driven by an acceleration sensor serial port to interact with acceleration data obtained by an acceleration sensor module;
the data acquisition start and stop judging program judges states of a start button and a stop button on the control panel through a start and stop button drive, and the control panel is provided with the start button, the stop button and an LED indicator lamp;
the FATFS file system interacts with an SD card seat through an SD card driver, and the SD card seat is inserted into the SD card;
the USB CDC virtual serial port upper computer communication protocol interacts with the USB interface through a USB CDC drive;
the 4G data remote transmission packet and the analysis program interact with the 4G communication module through a 4G serial port driver, and the 4G communication module is inserted into the SIM card.
Preferably, the satellite positioning module adopts an RAC-D1M single-frequency high-precision positioning module, and is provided with three antenna sockets, the reference coordinate system is WGS-84, the speed precision is 0.1M/s, the updating rate is 5Hz, the NMEA0183 protocol is used for data transmission, and the protocol digital data is transmitted in ASCII.
Preferably, the GPS antenna array comprises three GPS antennas which are arranged outside the vehicle and distributed in a triangle shape, and the three GPS antennas are respectively connected with the three antenna sockets.
Preferably, the acceleration sensor module adopts an JY61P 6 shaft attitude angle sensor, the attitude measurement precision is static 0.05 degrees, dynamic 0.1 degrees and the output frequency range is between 1 and 100HZ.
Preferably, the 4G communication module adopts a GM331 wireless communication module, supports an LTE-FDD/LTE-TDD network data connection communication protocol, supports 3GPP R9 CAT1, and supports VOLTE functions and voice services.
The rapid intelligent detection method for the depth of the road rut based on the rapid intelligent detection device for the depth of the road rut comprises the following steps:
s1, setting parameters of a PC end: installing PC end test software of the driving vibration acquisition terminal on a computer, connecting the PC end with the driving vibration acquisition terminal, and carrying out data communication with the driving vibration acquisition terminal by using the PC end as an upper computer through PC end data communication application;
s2, configuring the sampling frequency of the equipment: setting a sampling frequency on a main interface of PC end test software, storing sampling frequency parameters into Flash of a driving vibration acquisition terminal after setting, and reading relevant configuration parameters from Flash after the driving vibration acquisition terminal is initialized;
s3, mounting intelligent acquisition equipment: the SD card seat is configured by installing an SD card, the 4G communication module is configured by installing an SIM card, and the external GPS antenna array is connected with the satellite positioning module;
s4, fixing and supplying power to the intelligent detection equipment: the driving vibration acquisition terminal is fixed on the detection vehicle, the driving vibration acquisition terminal is rigidly connected with the vehicle body in the running process of the vehicle, and the power supply module is connected with external energy sources through power lines to supply power to the terminal;
s5, intelligent detection of pavement performance:
A. pressing a starting key to observe that an LED indicator lamp on the surface of the driving vibration acquisition terminal is lightened to indicate that the acquisition function is started, and the driving vibration acquisition terminal enters a test state;
B. after the terminal enters a normal test state, starting the vehicle from 200-300 meters in front of a detection starting point, entering a detection road section, keeping the vehicle running at a constant speed in the detection process, and collecting X, Y, Z triaxial vibration acceleration of the vehicle, X, Y, Z triaxial angular speed and pitch angle of the terminal by an acceleration sensor module, wherein the collection frequency is between 10 and 100 HZ; the method comprises the steps that a pavement rut depth calculation and data uploading program sequentially reads satellite positioning module data and acceleration sensor module data, positioning data and speed data are obtained, and pavement rut depth RD is calculated by taking a travelling distance of 100 meters as an interval;
C. stably detecting the road section end point, pressing a stop key, stopping data acquisition, locally storing a test result through a local SD card data storage application, and performing 4G remote transmission through a data 4G remote transmission application;
s6, checking and exporting a detection result: the local data are stored in the SD card, the SD card storing the original data is taken out, the original test data are obtained by reading the SD card, the original test data comprise acceleration, angular velocity and angle data of an acceleration sensor, date, time, longitude and latitude and ground speed data of GPS positioning, and a history data file in the SD card is subjected to new file creation according to the date and is stored in a CSV format; the 4G remote data are transmitted to the cloud platform of the upper computer through the 4G communication module, and rut depth detection data are directly checked and downloaded on a test software interface of the PC end.
Preferably, in the step S1, the PC end is connected to the driving vibration acquisition terminal through a USB connection line, and after the equipment sampling frequency configuration is completed, the PC end is connected to or disconnected from the driving vibration acquisition terminal, and in the connected state, the driving vibration acquisition terminal is powered by the PC end through the USB connection line; in the disconnected state, the driving vibration acquisition terminal is powered by 12V direct current or external power supply equipment of the vehicle cigar lighter.
Preferably, in S4, the driving vibration acquisition terminal is fixed at a platform position between the main driving and the auxiliary driving of the vehicle.
Therefore, the rapid intelligent detection method for the depth of the pavement ruts can rapidly, efficiently and widely detect the depth of the pavement ruts, reduce the detection cost of the depth of the pavement ruts and save the cost; the intelligent detection and monitoring of the track depth of the road surface are realized in an auxiliary manner, and the intelligent detection and monitoring device is applied to different scenes such as rapid detection of the road surface performance, general investigation of the road surface performance in a road network, low-cost rapid detection of the technical performance of a low-grade road, quality control of road surface construction and the like.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a system architecture diagram of a driving vibration acquisition terminal of a rapid intelligent detection device for road rut depth;
FIG. 2 is a simplified flow chart of a method for rapid intelligent detection of rut depth in a road surface according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a control panel of a driving vibration acquisition terminal according to an embodiment of the present invention.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Examples
The utility model provides a quick intelligent detection device of road surface rut degree of depth, includes driving vibration acquisition terminal and GPS antenna array, as shown in figure 1, driving vibration acquisition terminal has hardware layer, actuating layer, intermediate level and applied layer.
The hardware layer comprises a controller, and a satellite positioning module, an acceleration sensor module, a control panel, an SD card seat, a USB interface, a 4G communication module and a power module which are respectively connected with the controller.
The satellite positioning module adopts an RAC-D1M single-frequency high-precision positioning module, and is provided with three antenna sockets, a reference coordinate system is WGS-84, the speed precision reaches 0.1M/s, the updating rate is 5Hz, the data transmission uses NMEA0183 protocol, and the protocol digital data is transmitted in ASCII.
The acceleration sensor module adopts an JY61P 6 shaft attitude angle sensor, the attitude measurement precision is static 0.05 degrees, the dynamic 0.1 degrees is dynamic, and the output frequency range is between 1 and 100HZ.
The 4G communication module adopts a GM331 wireless communication module, supports an LTE-FDD/LTE-TDD network data connection communication protocol, supports 3GPP R9 CAT1, and supports VOLTE functions and voice services.
The SD card seat is used for inserting an SD card, and the SD card is read and written in an SPI mode.
The USB interface is used for being connected with the PC end through a USB connecting wire.
The control panel is provided with a start button, a stop button and an LED indicator lamp, as shown in fig. 3.
The power module is used for converting an external power supply into a 5V power supply which is matched with the controller.
The driving layer is used for integrating hardware equipment driving, communicating with the hardware equipment and interacting data; the system comprises a satellite positioning module serial port driver, an acceleration sensor serial port driver, a start-stop key driver, an SD card driver, a USB CDC driver and a 4G serial port driver.
The middle layer is used for realizing the function of an application layer and transmitting and processing data, and comprises a satellite positioning module data analysis program, an acceleration sensor data analysis program, a data acquisition start and stop judgment program, a pavement rut depth calculation and data uploading program, a FATFS file system, a USB CDC virtual serial port upper computer communication protocol, a 4G data remote transmission packet and analysis program;
during the operation of the middle layer:
the satellite positioning module data analysis program interacts with positioning data obtained by the satellite positioning module through serial port driving of the satellite positioning module.
The acceleration sensor data analysis program is driven by an acceleration sensor serial port to interact with acceleration data obtained by the acceleration sensor module.
The data acquisition start and stop judging program judges the state of a start button and a stop button on the control panel through the drive of the start and stop button.
The FATFS file system interacts with the SD card socket through the SD card driver.
The USB CDC virtual serial port upper computer communication protocol interacts with the USB interface through a USB CDC driver.
The 4G data remote transmission packet and the analysis program interact with the 4G communication module through a 4G serial port driver.
In the road rut depth calculation and data uploading program, the RD calculation model used for the road rut depth calculation is as follows:
RD＝k 1 *a XMV +k 2 *a ZAMP -k 3 *v+k 4
a ZAMP ＝max{a z (t)}-min{a z (t)}
wherein v is the driving speed, km/h;
k 1 、k 2 、k 3 、k 4 the initial values of the model parameters are 4.956, 0.888, -0.018 and 4.532 respectively, the model parameters are related to the road type, the vehicle type and other test conditions, and when the test conditions change greatly, the model parameters can be calibrated and adjusted through a comparison experiment;
a X for X-axis vibration acceleration, m/s 2 ；
a XMV Is the average value of the absolute value of the X-axis vibration acceleration, m/s 2 ；
a ZAMP Is Z axial vibration acceleration amplitude, m/s 2 ；
a z (t) is the Z axial vibration acceleration value of a certain time t in every 100 m, m/s 2 ；
i is the i-th sampling point in every 100 meters;
n is the number of sampling points in every 100 meters;
the application layer is the highest layer of the device, which interacts directly with the user. In this layer, the application communicates with the user via a graphical interface, command line, or other means, receives user input, and performs the corresponding operations. The application layer is also responsible for processing and analyzing data, and converting the requirements of users into specific tasks and instructions. The application layer of the driving vibration acquisition terminal comprises three applications including local SD card data storage and reading, PC end data communication and data 4G remote transmission.
The local SD card data storage and reading application sends an interaction command to a pavement rut depth calculation and data uploading program and a FATFS file system;
the pavement rut depth calculation and data uploading program sends a data interaction command to the satellite positioning module data analysis program, the acceleration sensor data analysis program and the data acquisition automatic stop judgment program, and the pavement rut depth calculation and data uploading program, the satellite positioning module data analysis program, the acceleration sensor data analysis program and the data acquisition automatic stop judgment program jointly form a timing task for detecting pavement vibration data;
the PC end data communication application sends an interaction command to the USB CDC virtual serial port upper computer communication protocol, and the data 4G remote transmission application sends the interaction command to the 4G data remote transmission packet and the analysis program.
As shown in fig. 2, based on the above-mentioned rapid intelligent detection device for the depth of a pavement track, a rapid intelligent detection method for the depth of a pavement track is provided, which comprises the following steps:
s1, setting parameters of a PC end: setting parameters of a PC end: and installing PC end test software of the driving vibration acquisition terminal on the computer, connecting the PC end with the driving vibration acquisition terminal, and carrying out data communication with the driving vibration acquisition terminal by using the PC end as an upper computer through PC end data communication application.
S2, configuring the sampling frequency of the equipment: clicking the 'setting', 'basic parameter', 'sampling frequency setting' above the main interface of the PC software in turn, and opening the 'sampling frequency' interface. And inputting a target frequency in a sampling frequency input box of the interface, wherein the default value is 10Hz, and the recommended value is 100Hz. Clicking the "set" button sets the sampling frequency parameter on the interface into the terminal. After the sampling frequency is set, clicking a 'save' button on the interface, and saving the sampling frequency parameter set by the user into the terminal into Flash of the terminal. And after the driving vibration acquisition terminal finishes initialization, reading relevant configuration parameters from Flash.
S3, mounting intelligent acquisition equipment: before installing the device, it is first ensured that the SIM card, SD card on the device are already installed in place. The SD card seat is configured by installing the SD card, the 4G communication module is configured by installing the SIM card, and the external GPS antenna array is connected with three sockets of the satellite positioning module. The three GPS antennas should be distributed as much as possible in the shape of maximum triangle to improve the positioning accuracy.
S4, fixing and supplying power to the intelligent detection equipment: the driving vibration acquisition terminal is fixed on the detection vehicle, for example, the driving vibration acquisition terminal is fixed at a platform position between a main driving and a secondary driving of the vehicle, and the driving vibration acquisition terminal is rigidly connected with the vehicle body in the running process of the vehicle in a manner of traceless glue or a fixing support and the like.
The PC end is connected with the driving vibration acquisition terminal through a USB connecting wire, and is connected with or disconnected from the driving vibration acquisition terminal after the equipment sampling frequency configuration is completed, and the driving vibration acquisition terminal is powered by the PC end through the USB connecting wire in a connected state; in the disconnected state, the driving vibration acquisition terminal is powered by 12V direct current or external power supply equipment of the vehicle cigar lighter.
S5, intelligent detection of pavement performance:
A. pressing a starting key to observe that an LED indicator lamp on the surface of the driving vibration acquisition terminal is lightened to indicate that the acquisition function is started, and the driving vibration acquisition terminal enters a test state;
B. after the terminal enters a normal test state, starting the vehicle from 200-300 meters before the detection starting point, entering a detection road section, and keeping the vehicle running at a constant speed in the detection process, so as to avoid sudden acceleration and deceleration and avoid overtaking as much as possible; in multi-lane road detection, vehicles are ensured to run on the same lane, so that accurate pavement performance indexes of the same lane are obtained; in the detection of the up-down double-lane road surface, the vehicle should run according to the lane of the direction; in the performance detection of the single-lane road surface of the uplink and downlink mixed running, the vehicle should run along the central line of the road as much as possible under the condition of ensuring the running safety of the vehicle and the safe vehicle dislocation.
In the detection process, an acceleration sensor module acquires X, Y, Z triaxial vibration acceleration, X, Y, Z triaxial angular speed and pitch angle of a terminal of a vehicle, and the acquisition frequency is based on a preset sampling frequency; the method comprises the steps that a pavement rut depth calculation and data uploading program sequentially reads satellite positioning module data and acceleration sensor module data, positioning data and speed data are obtained, and pavement rut depth RD is calculated according to an RD calculation model and with a 100-meter driving distance as an interval;
C. stably detecting the road section end point, pressing a stop key, stopping data acquisition, locally storing a test result through a local SD card data storage application, and performing 4G remote transmission through a data 4G remote transmission application;
s6, checking and exporting a detection result: the local data are stored in the SD card, the SD card storing the original data is taken out, the original test data are obtained by reading the SD card, the original test data comprise acceleration, angular velocity and angle data of an acceleration sensor, date, time, longitude and latitude and ground speed data of GPS positioning, and a history data file in the SD card is subjected to new file creation according to the date and is stored in a CSV format; the 4G remote data are transmitted to the cloud platform of the upper computer through the 4G communication module, and rut depth detection data are directly checked and downloaded on a test software interface of the PC end.
The device is communicated with the cloud service platform in a 4G wireless mode, achieves a data transmission function, uploads relevant information such as ruts on a road surface, speed of a vehicle and the like in real time, and can be converted into a GIS map with higher visibility. The system can log on a cloud service platform, realize the visual display of the tracks in the road network by adjusting the colors of the tracks of different grades on the map, and can record and download data. In the case of good network conditions, the vehicle track and the detected road ruts can be displayed and downloaded in real time.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (10)
1. Quick intelligent detection device of road surface rut degree of depth, its characterized in that: comprises a driving vibration acquisition terminal and a GPS antenna array, wherein the driving vibration acquisition terminal is provided with a hardware layer, a driving layer, an intermediate layer and an application layer,
the hardware layer comprises a controller, and a satellite positioning module, an acceleration sensor module, a control panel, an SD card seat, a USB interface, a 4G communication module and a power module which are respectively connected with the controller;
the driving layer integrates hardware equipment driving, communicates with the hardware equipment and interacts data; the system comprises a satellite positioning module serial port driver, an acceleration sensor serial port driver, a start-stop key driver, an SD card driver, a USB CDC driver and a 4G serial port driver;
the middle layer realizes the functions of an application layer and comprises a satellite positioning module data analysis program, an acceleration sensor data analysis program, a data acquisition start and stop judgment program, a pavement rut depth calculation and data uploading program, a FATFS file system, a USB CDC virtual serial port upper computer communication protocol, a 4G data remote transmission packet and analysis program;
the RD calculation model used for the pavement rut depth calculation is:
RD＝k 1 *a XMV +k 2 *a ZAMP -k 3 *v+k 4
a ZAMP ＝max{a z (t)}-min{a z (t)}
wherein v is the driving speed, km/h;
k 1 、k 2 、k 3 、k 4 is a model parameter;
a X for X-axis vibration acceleration, m/s 2 ；
a XMV Is the average value of the absolute value of the X-axis vibration acceleration, m/s 2 ；
a ZAMP Is Z axial vibration acceleration amplitude, m/s 2 ；
a z (t) is the Z axial vibration acceleration value of a certain time t in every 100 m, m/s 2 ；
i is the i-th sampling point in every 100 meters;
n is the number of sampling points in every 100 meters;
the application layer comprises a local SD card data storage and reading application, a PC end data communication application and a data 4G remote transmission application.
2. The rapid intelligent detection device for the depth of a pavement rut according to claim 1, wherein: the local SD card data storage and reading application transmits an interaction command to a pavement rut depth calculation and data uploading program and a FATFS file system, the pavement rut depth calculation and data uploading program transmits a data interaction command to a satellite positioning module data analysis program, an acceleration sensor data analysis program and a data acquisition automatic stop judgment program, the pavement rut depth calculation and data uploading program, the satellite positioning module data analysis program, the acceleration sensor data analysis program and the data acquisition automatic stop judgment program jointly form a timing task for detecting pavement vibration data, the PC end data communication application transmits the interaction command to a USB CDC virtual serial port upper computer communication protocol, and the data 4G remote transmission application transmits the interaction command to a 4G data remote transmission packet and the analysis program.
3. The rapid intelligent detection device for the depth of a pavement rut according to claim 2, wherein: the satellite positioning module data analysis program interacts with positioning data obtained by the satellite positioning module through a serial port drive of the satellite positioning module;
the acceleration sensor data analysis program is driven by an acceleration sensor serial port to interact with acceleration data obtained by an acceleration sensor module;
the data acquisition start and stop judging program judges states of a start button and a stop button on the control panel through a start and stop button drive, and the control panel is provided with the start button, the stop button and an LED indicator lamp;
the FATFS file system interacts with an SD card seat through an SD card driver, and the SD card seat is inserted into the SD card;
the USB CDC virtual serial port upper computer communication protocol interacts with the USB interface through a USB CDC drive;
the 4G data remote transmission packet and the analysis program interact with the 4G communication module through a 4G serial port driver, and the 4G communication module is inserted into the SIM card.
4. A rapid intelligent detection device for rut depth on road surface according to claim 3, wherein: the satellite positioning module adopts an RAC-D1M single-frequency high-precision positioning module, and is provided with three antenna sockets, the reference coordinate system is WGS-84, the speed precision is up to 0.1M/s, the updating rate is 5Hz, the NMEA0183 protocol is used for data transmission, and the protocol digital data is transmitted in ASCII.
5. The rapid intelligent detection device for pavement rut depth according to claim 4, wherein: the GPS antenna array comprises three GPS antennas which are arranged outside the vehicle and distributed in a triangle shape, and the three GPS antennas are respectively connected with the three antenna sockets.
6. A rapid intelligent detection device for rut depth on road surface according to claim 3, wherein: the acceleration sensor module adopts a JY61P 6 shaft gesture angle sensor, the gesture measurement precision is static 0.05 degrees, dynamic 0.1 degrees, and the output frequency range is 1-100 Hz.
7. The rapid intelligent detection device for the depth of a pavement rut according to claim 1, wherein: the 4G communication module adopts a GM331 wireless communication module, supports an LTE-FDD/LTE-TDD network data connection communication protocol, supports 3GPP R9 CAT1, and supports VOLTE functions and voice services.
8. A method for detecting a rapid intelligent detecting device for the depth of a rut on a road surface according to claims 1-7, characterized in that: the method comprises the following steps:
s1, setting parameters of a PC end: installing PC end test software of the driving vibration acquisition terminal on a computer, connecting the PC end with the driving vibration acquisition terminal, and carrying out data communication with the driving vibration acquisition terminal by using the PC end as an upper computer through PC end data communication application;
s2, configuring the sampling frequency of the equipment: setting a sampling frequency on a main interface of PC end test software, storing sampling frequency parameters into Flash of a driving vibration acquisition terminal after setting, and reading relevant configuration parameters from Flash after the driving vibration acquisition terminal is initialized;
s3, mounting intelligent acquisition equipment: the SD card seat is configured by installing an SD card, the 4G communication module is configured by installing an SIM card, and the external GPS antenna array is connected with the satellite positioning module;
s4, fixing and supplying power to the intelligent detection equipment: the driving vibration acquisition terminal is fixed on the detection vehicle, the driving vibration acquisition terminal is rigidly connected with the vehicle body in the running process of the vehicle, and the power supply module is connected with external energy sources through power lines to supply power to the terminal;
s5, intelligent detection of pavement performance:
A. pressing a starting key to observe that an LED indicator lamp on the surface of the driving vibration acquisition terminal is lightened to indicate that the acquisition function is started, and the driving vibration acquisition terminal enters a test state;
B. after the terminal enters a normal test state, starting the vehicle from 200-300 meters in front of a detection starting point, entering a detection road section, keeping the vehicle running at a constant speed in the detection process, and collecting X, Y, Z triaxial vibration acceleration of the vehicle, X, Y, Z triaxial angular speed and pitch angle of the terminal by an acceleration sensor module, wherein the collection frequency is between 10 and 100 HZ; the method comprises the steps that a pavement rut depth calculation and data uploading program sequentially reads satellite positioning module data and acceleration sensor module data, positioning data and speed data are obtained, and pavement rut depth RD is calculated by taking a travelling distance of 100 meters as an interval;
C. stably detecting the road section end point, pressing a stop key, stopping data acquisition, locally storing a test result through a local SD card data storage application, and performing 4G remote transmission through a data 4G remote transmission application;
s6, checking and exporting a detection result: the local data are stored in the SD card, the SD card storing the original data is taken out, the original test data are obtained by reading the SD card, the original test data comprise acceleration, angular velocity and angle data of an acceleration sensor, date, time, longitude and latitude and ground speed data of GPS positioning, and a history data file in the SD card is subjected to new file creation according to the date and is stored in a CSV format; the 4G remote data are transmitted to the cloud platform of the upper computer through the 4G communication module, and rut depth detection data are directly checked and downloaded on a test software interface of the PC end.
9. The method for rapidly and intelligently detecting the depth of a pavement rut according to claim 8, wherein the method comprises the following steps: in the method, in S1, a PC end is connected with a driving vibration acquisition terminal through a USB connecting wire, after equipment sampling frequency configuration is completed, the PC end is connected with or disconnected from the driving vibration acquisition terminal, and in the connected state, the driving vibration acquisition terminal is powered by the PC end through the USB connecting wire; in the disconnected state, the driving vibration acquisition terminal is powered by 12V direct current or external power supply equipment of the vehicle cigar lighter.
10. The method for rapidly and intelligently detecting the depth of a pavement rut according to claim 8, wherein the method comprises the following steps: and S4, fixing the driving vibration acquisition terminal at a platform position between the main driving and the auxiliary driving of the vehicle.
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