JP2003004440A - Method of measuring longitudinal section profile of road surface - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of measuring the longitudinal section profile of a road for measuring easily and accurately the flatness of the road surface in its longitudinal direction. SOLUTION: With a first and second connecting rods 14, 15, aligned straight in a measuring block 10, a reference distance between the centers of a first and third rolls 11, 13, are divided in a plurality of measuring positions. When the measuring block passes over the reference distance in the longitudinal direction of the road to move the third roller from one measuring point to another, a rotary encoder detects the displacement angle made between the first and second connection rods at each measuring position. Based on the detected displacement angle value and the known height data at each measuring position in the measuring block located at the immediate preceding measuring position, the height data of the road surface at the measuring position is calculated, using the infinite impulse response filter calculation. Thus unit road surface profiles at the reference distance are obtained and integrated, to obtain a longitudinal section profile of the road surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring a profile of a road surface profile for measuring the unevenness of a flat surface having unevenness such as the road surface of a road.

[0002]

2. Description of the Related Art Conventionally, as a method for measuring the straightness of an object to be measured on a straight line, as shown in Japanese Patent Publication No. Sho 61-33364 (see FIG. 7), a straight line guide parallel to the object to be measured 3 is used. Two displacement gauges 6 and 7 are arranged in parallel at a short pitch on the slide 4 movably engaged with 5 toward the DUT 3, and the slide 4 is placed in one direction over the entire length of the measurement length for one pitch. Two displacement meters at each position, sent once
7 is a method of measuring the distance between the object to be measured 3 and each of the displacement meters 6 and 7, and processing the data to obtain the straightness of the object to be measured together with the linear guide (hereinafter, referred to as the sequential two-point method). Are known. According to this sequential two-point method, it is possible to independently obtain the straight shape curves of both the linear guide and the object to be measured, and it is possible to accurately measure the straightness of the object to be measured even if the guide is not straight. It was very convenient.

[0003]

However, the above-mentioned sequential two-point method has a problem that the two displacement gauges must always be kept in parallel, and the measurement is very complicated. Also,
Recent roads use drainage and sound absorbing pavements with fine irregularities on the surface. Therefore, according to the sequential two-point method, care should be taken to prevent the displacement gauge probe from being affected by the irregularities. There is a need to. The present invention is intended to solve the above problems, and an object of the present invention is to provide a method for measuring a road surface vertical profile that can easily and accurately measure the flatness of a road surface in the vertical direction of a road.

[0004]

In order to achieve the above object, the structural feature of the invention of claim 1 is that the measurement vehicle is vertically moved on the road to measure the unevenness of the road surface in the vertical direction. A method for measuring a longitudinal profile of a road surface, comprising: arranging a disk-shaped first roller, a second roller, and a third roller at a predetermined interval on the same straight line and with their rotation directions aligned with the same straight line direction, A first roller attached to each rotary shaft of the first and second rollers to rotatably connect the first and second rollers
A connecting rod; a second connecting rod attached to each rotating shaft of the second and third rollers to rotatably connect the second and third rollers; distance measuring means for measuring a moving distance of the roller; A measuring block provided with an angle detecting means for detecting a displacement angle when the connecting rod and the second connecting rod rotate from a straight state is used, and the measuring block is attached to the measuring vehicle by a connecting member toward the road surface. The first and second connecting rods are elastically attached so as to urge each other, and the reference distance is the center distance between the first roller and the third roller when the first and second connecting rods are in a straight state. When the measurement block passes the reference distance in the longitudinal direction of the road surface, the displacement angle formed by the first and second connecting rods is detected at each measurement position each time the roller in the traveling direction sequentially reaches the measurement position. Angle detection by means of The height of the road surface at each measurement position is calculated using a filter calculation method based on the detected displacement angle value by the step and the known height data at each measurement position in the measurement block when the measurement block is at the immediately previous measurement position. By calculating the height data, a unit road surface profile of the reference distance is obtained, and unit road surface profiles that are continuous over the entire length of the road surface are accumulated to create a longitudinal profile of the road surface.

In the invention of claim 1 configured as described above, the measurement block starts from the starting point and passes a distance corresponding to the reference distance in the longitudinal direction of the road surface. At that time, each time the leading roller sequentially reaches each predetermined measurement position within the reference distance, the displacement angle formed by the first connecting rod and the second connecting rod is detected by the angle detecting means at each measuring position. It
Based on the value detected by the angle detection means and the known height data of each measurement position in the measurement block at the measurement position immediately before this angle detection position, the filter calculation method is used to sequentially measure each measurement position. Height data can be calculated. By combining the calculated data at each measurement position, the profile of the road surface within the reference distance can be accurately obtained for each measurement position with a short pitch. By precisely accumulating the unit road surface profiles at the reference distance thus obtained over the entire longitudinal direction of the road surface, it is possible to obtain a precise vertical profile of the entire road surface.

In the following, as an example of a filter calculation method, an infinite impulse response filter (Infinite Impulse Response)
Filter, hereinafter referred to as IIR filter) will be described. As shown in FIG. 3, the reference distance 50 (which is the distance between the centers of the first roller 11 and the third roller 13 in a straight state of the first and second connecting rods 14 and 15 (here, having the same length) ( For example, it is divided into 50 equal parts, and each measurement position is set to i to (i-50). Assuming that the road surface height corresponding to each measurement position is y (i) to y (i-50), the angle u formed by the first connecting rod 14 and the second connecting rod 15
(I) is represented by the following mathematical expression 1.

[0007]

[Equation 1]

However, a is a constant. Number 1 is y (i)
When expressed by, the following formula 2 is obtained.

[0009]

[Equation 2]

Here, the following expression 3 is obtained by z-converting the above expression 1. Furthermore, when the expression 3 is represented by Y (z), the expression 4 is obtained.

[0011]

[Equation 3]

[0012]

[Equation 4]

When the denominator of equation 4 is expanded as D (z),
It becomes like the number 5. Furthermore, the equation 5 is converted into D ₁ (z) and D ₂
When expressed by the product of (z), D ₁ (z) and D ₂ (z) can be summarized as shown in Formula 6.

[0014]

[Equation 5]

[0015]

[Equation 6]

The solution of D (z) = 0, that is, the pole P of the filter
k corresponds to 2 for 1 and 2 for each of e ^{[j (2π / 25) i]} (i = 1 to 25), that is, corresponds to integration of unevenness between 25. The behavior of this pole Pk is
(I, i (Pk) ⁱ ) and the absolute value of all poles is 1
Therefore, the filter output having D (z) as the denominator diverges. Therefore, the output of the filter can be converged by further replacing the poles as shown in the following Expression 7.

[0017]

[Equation 7]

Based on Equation 7, the above D ₁ (z) and D ₂ (z)
By replacing the poles of, D ₁ ′ (z) and D ₂ ′ (z) are obtained as shown in the following formulas 8 and 9.

[0019]

[Equation 8]

[0020]

[Equation 9]

Further, by multiplying D ₁ ′ (z) and D ₂ ′ (z), as shown in the following formula 10, D ′
(Z).

[0022]

[Equation 10]

Here, C _{1 to} C ₅₀ are constants. By replacing this D '(z) with D (z) of the above equation 4, the following equation 11 is obtained, and by expressing equation 11 by U (z), equation 12 is obtained.

[0024]

[Equation 11]

[0025]

[Equation 12]

By inverse z-transforming the above equation 12, the equation 13 representing the displacement angle U (i) formed by the first connecting rod 14 and the second connecting rod 15 at the measurement position i can be obtained. Furthermore, the number 1
By representing 3 by y (i), the equation 14 indicating the road surface height y (i) at the measurement position i can be obtained.

[0027]

[Equation 13]

[0028]

[Equation 14]

That is, by adopting the IIR method, it is possible to obtain the arithmetic expression of the road surface vertical profile shown in Expression 14. With this arithmetic expression, the reference distance is subdivided into a plurality of sections, and the height data at each measurement position is calculated as the displacement angle U (i) and the known height of each measurement position of the measurement block at the immediately previous measurement position. It can be determined from the data.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 are used for the method for measuring the profile in the longitudinal direction of a road surface D of a road according to the embodiment. 1 shows a schematic configuration of a measurement block 10 with a front view and a plan view. The longitudinal profile measurement position of the road D is performed with respect to the passing position of the left wheel of the vehicle, which is called an out-wheel path (OWP) in which the road surface is most worn. The out-wheel path on this road is known to be where 70-80% of the vehicles pass.

The measuring block 10 is, as shown in FIG.
It has three disk-shaped first, second, and third rollers 11, 12, and 13 in the front, rear, middle, and front directions in the traveling direction. The rollers 11, 12 and 13 are made of hard rubber or plastic and are arranged on the same straight line with their rotation directions aligned with the same straight line direction. First, second and third rollers 1
The outer diameters of 1, 12, and 13 are 100 mmφ in this embodiment.
It has become. The first, second and third rollers 11, 12,
Rotational shafts 11a, 12a, 13a are fixedly passed through 13 respectively. A pair of long plate-shaped first connecting rods 14 are fixed to both ends of the rotating shafts 11a and 12a of the first roller 11 and the second roller 12 so that the rotating shafts 11a and 12a are rotatable. A pair of long plate-shaped second connecting rods 15 are fixed to both ends of the rotation shafts 12a and 13a of the second roller 12 and the third roller 13 so that the rotation shafts 12a and 13a are rotatable. . In this embodiment, the roller 1
The distances between the rollers 1 and 12 and between the rollers 12 and 13 are both set to 250 mm.
First roller 11 when 2, 13 are arranged in a straight line
And the reference distance, which is the dimension between the center of the third roller 13 and the center of the third roller 13, is 50
It is 0 mm.

A distance measuring device 16 is attached to the first connecting rod 14 (or the second connecting rod 15) to detect the moving distance of the measuring block from the rotational speed of any one of the rollers 11, 12 and 13. In addition, the second connecting rod 15 (or the first connecting rod 14) is a rotary that is an angle detecting unit that detects a displacement angle θ at which the first connecting rod 14 and the second connecting rod 15 are rotated from the straight state. An encoder 18 is attached.

The measuring block 10 is connected to the measuring wheel M by a connecting support bar 19 at the first connecting bar 14. The connection support rod 19 is rotatably attached to the first connection rod 14 and the measurement vehicle M, respectively. further,
The connection support bar 19 is elastically connected to the measurement wheel M by the coil spring 19a at the intermediate position in the length direction, and is biased in the direction in which the measurement block 10 is slightly pressed against the road by the coil spring 19a. As a result, the measurement block 10 can move while being lightly pressed against the road surface as the measurement vehicle M moves.

The measuring vehicle M is provided with a control device 21 including a computer. The storage unit of the control device 21 stores an interval value (measurement pitch) of 10 mm at the measurement position obtained by dividing the reference distance into 50 sections, and also stores the arithmetic expression of the above-mentioned expression 14. The distance measuring device 16 and the rotary encoder 18 are connected to the input side of the control device 21, and a recording device such as a printer (not shown) is connected to the output side.

Next, the measurement of the unevenness of the road by the above measuring system will be described. As shown in FIG. 3, the measurement block 10 is placed at the flattened initial position of the road in the traveling direction, and further, the third roller 13 at the head is placed at the starting point G in accordance with the OWP position of the road. It will be set. At the initial position, angle u (0) = 0, height data y
(0) = ... = y (-250) = ... = y (-500) = 0
Is. Here, “0” is set to use the height data at the initial position as the reference value.

By advancing the measuring vehicle M forward (longitudinal direction), the measuring block 10 also moves. When the measurement block 10 moves 10 mm and reaches the first measurement position,
The measurement results of the distance measuring device 16 and the rotary encoder 18 are input to the control device 21. That is, first, the value of the angle u (10) at the first measurement position is obtained. Here, since the known height data at the immediately preceding measurement position is y (0) = ... = y (-490) = 0 from the initial value, the control device 21 controls the above-mentioned number by the IIR filter calculation method. 14
The height data y (10) at the first measurement position is calculated based on. Hereinafter, every time the measurement block 10 moves by 10 mm, similarly, the height data y (20), y (30), ...
0) and y (500) are obtained.

That is, while the measurement block 10 starts from the starting point G and passes the distance of 500 mm converted to the reference distance in the longitudinal direction of the road surface, every time the leading third roller 13 reaches each measurement position in sequence, First and second at each measurement position
The displacement angle formed by the connecting rods 14 and 15 is detected by the rotary encoder 18. The output from the distance measuring device 16 and the displacement angle detection value u from the rotary encoder 18
In response to (i), the control device 21 uses the known height data at each measurement position of the measurement block 10 at the immediately previous measurement position with respect to the measurement position, and at the measurement position based on the arithmetic expression of the above equation (14). Height data can be calculated. Then, by uniting the height data y (i) at each measurement position, as shown in FIG. 4, a unit road surface profile of the road surface within the reference distance can be precisely obtained for each short pitch between each measurement position. You can By precisely accumulating the unit road surface profiles at the reference distance thus obtained over the entire longitudinal direction of the road surface, it is possible to obtain a precise vertical profile of the entire road surface.

As a result, according to the present embodiment, since it is possible to obtain accurate unevenness data of the road surface for each short pitch between the measurement positions divided within the reference distance, the structure joint existing on the entire road surface can be obtained. It is possible to accurately detect irregularities on the entire road surface including small irregularities such as concrete media and potholes. Furthermore, the road surface profile obtained in this way can be utilized for road level difference management.

Next, a method of obtaining the flatness of the above vertical profile will be described. As the first method,
As shown in FIG. 5, three probes 31a, 3 are arranged parallel to each other and arranged at a predetermined interval t (for example, 3 m).
The measuring tool 31 provided with 1b and 31c is attached at a predetermined interval t in a state where the probes 31a and 31c on both sides of the measuring tool 31 are in contact with the longitudinal profile f (x) along the longitudinal profile f (x) obtained by the above method. By calculating the standard deviation σ of the deviation dimension hx in each movement unit by obtaining the deviation dimension hx from the longitudinal profile f (x) of the probe 31b in the middle of the measuring tool 31 for each movement unit. The flatness of the road surface. In addition, such a measurement process is usually performed using a computer, whereby a quick and accurate result can be obtained.

As a second method for obtaining the flatness of the longitudinal profile, the international roughness index iRi (int
ernational roughness index). Figure 6
As shown in, a measuring tool 33 having a weight 35 of a predetermined weight attached to one end of a linear spring member 34 having a predetermined spring constant,
The linear spring member 34 is oriented vertically and the weight 35 is disposed on the upper end side, and the lower end is brought into contact with the longitudinal profile f (x), and is moved vertically at a predetermined speed v, and the vertical direction of the weight at that time is moved. The flatness of the road surface is obtained by integrating the displacement in the direction and calculating the integrated value. The method for obtaining the international roughness index iRi is usually carried out by software processing using a microcomputer, which allows quick and accurate results to be obtained. This international roughness index
According to iRi, it is possible to obtain realistic road surface roughness from the standpoint of a vehicle traveling on a road.

In the above embodiment, the measuring vehicle M
The height data is calculated by the control device 21 mounted on the vehicle based on the angle detection value at the measurement position, etc. Instead of this, the measurement vehicle M acquires only the measurement data, Data may be calculated at another place based on this measurement data. Further, in the above embodiment, the lengths of the first connecting rod 14 and the second connecting rod 15 of the measuring block 10 are the same, but it is not necessary to make both lengths the same, and the respective lengths can be changed. May be. Further, the distance measuring device 16 is not limited to that shown in the above embodiment, and the mounting position is not limited to the connecting rod.
Further, the angle detecting means is not limited to the rotary encoder, but similar detecting means can be used.

Further, as a filter calculation method, a method using a fast Fourier transform or the like can be used instead of the infinite impulse response filter calculation method IIR. The specific configuration of the measurement block is not limited to that shown in the above embodiment. In addition, what is shown in the above embodiment is an example, and various modifications can be made without departing from the gist of the present invention.

[0043]

According to the present invention, since it is possible to obtain accurate unevenness data of the road surface for each short pitch between the measurement positions divided within the reference distance, the structure joints and concrete existing on the entire road surface can be obtained. It is possible to accurately detect irregularities on the entire road surface including small irregularities such as media and potholes. Furthermore, the road surface profile obtained in this way can be utilized for road level difference management.

[Brief description of drawings]

FIG. 1 is a front view schematically showing a measurement block attached to a measurement block for measuring the flatness of a road surface according to an embodiment of the present invention.

FIG. 2 is a plan view schematically showing the measurement block.

FIG. 3 is an explanatory diagram illustrating a method of measuring unevenness of a road surface at a reference distance using a measurement block.

FIG. 4 is an explanatory diagram illustrating the relationship between the unevenness of the road surface and the height data at each measurement position within the reference distance.

FIG. 5 is an explanatory diagram illustrating a method of analyzing the flatness of a road surface based on a longitudinal profile of the road surface.

FIG. 6 is an explanatory diagram illustrating a method of analyzing flatness of a road surface by an iRi method based on a longitudinal profile of the road surface.

FIG. 7 is an explanatory diagram illustrating a method of measuring the flatness of a road surface by a sequential two-point method, which is a conventional example.

[Explanation of symbols]

10 ... Measuring block, 11, 12, 13 ... First, second,
Third roller, 11a, 12a, 13a ... Rotating shaft, 14 ...
1st connecting rod, 15 ... 2nd connecting rod, 16 ... Distance measuring device, 1
8 ... Rotary encoder (angle detecting means), 19 ... Connection support rod, 19a ... Coil spring, 21 ... Control device, M ... Measuring vehicle.

Continued front page    (72) Inventor Akihiko Yoneya             5-5, 2-58, Umetsubo-cho, Toyota-shi, Aichi             Suberde 301 F term (reference) 2F069 AA06 AA61 AA71 BB24 GG01                       GG59 HH15 NN00 NN07

Claims (2)

[Claims] 1. A method of measuring a profile of a road surface profile in which a measurement vehicle is vertically moved on a road to measure the unevenness of the road surface in a vertical direction, and the measurement is performed on a straight line at predetermined intervals and in a rotation direction. A disk-shaped first roller, a second roller, and a third roller are arranged in alignment with the same linear direction, and are attached to the respective rotary shafts of the first and second rollers, and the first and second rollers are rotatable. A first connecting rod connected to the second connecting rod, a second connecting rod attached to each rotating shaft of the second and third rollers to rotatably connect the second and third rollers, and a moving distance of the roller is measured. And a distance measuring means, and an angle detecting means for detecting a displacement angle when the first connecting rod and the second connecting rod rotate from a straight state with respect to each other. By the connecting member to the measurement vehicle The first and second connecting rods are elastically attached so as to be urged toward the surface, and the reference distance is a plurality of points with the center-to-center dimension of the first roller and the third roller in a straight state. A plurality of measurement positions divided into two are determined, and each time the first roller in the traveling direction sequentially reaches the measurement position when the measurement block passes the reference distance in the longitudinal direction of the road surface, the first measurement position is measured at each measurement position. And the displacement angle formed by the second connecting rod is detected by the angle detecting means, and the displacement angle detection value by the angle detecting means and the respective measurement positions in the measurement block when the measurement block is at the immediately previous measurement position. Obtaining a unit road surface profile of the reference distance by calculating height data of the road surface at each measurement position using a filter calculation method based on known height data,
A method for measuring a longitudinal profile of a road, characterized in that a vertical profile of the road is created by accumulating continuous unit road profiles over the entire longitudinal direction of the road. 2. The infinite impulse response filter operation method is used as the filter operation method.
The method for measuring the longitudinal profile of the road surface described in.