JP2004108988A - Road surface diagnostic method and its device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To diagnose the road surface state daily and quantitatively at low cost by actually driving a vehicle without using a special specification car. <P>SOLUTION: Vibration in the vertical direction on a vehicle body floor part of the vehicle running on a road is measured in time series. Vibration data in the vertical direction on the vehicle body floor part measured in time series are converted into road surface displacement data of the road. The road surface irregularity state of the road is diagnosed based on the acquired road surface displacement data. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a road surface diagnosis method for diagnosing a road surface state of a road, for example, a state of a step or unevenness by driving a vehicle, and a road surface diagnosis device for realizing the diagnosis method.
[0002]
[Prior art]
Many highways have an elevated structure for the most part of their entire length. Particularly, the elevated structure in the early stage of construction has a simple girder structure of about 20 to 30 meters independently, and thus has a large number of expansion joints. On such roads, the expansion joints are damaged due to the repeated passage of heavy-duty vehicles such as heavy-duty trucks, causing steps to occur, and cracks and rutting on the pavement surface causing unevenness on the road surface. However, there is a concern that the performance as a road is reduced. Such a decrease in performance not only deteriorates noise and running stability of the vehicle, but also may lead to a serious situation in which the elevated structure itself is deteriorated. Therefore, it has been desired to establish a system capable of timely and quantitatively diagnosing the level difference and unevenness of the road surface and accumulating it as a database.
[0003]
Conventionally, a patrol observer travels a road surface at a low speed with a vehicle and checks the road surface condition on a daily basis by visual observation and sensation.
[0004]
In addition, a device that irradiates a road surface with fan beam light from a fan beam light source such as a laser oscillator, photographs a trajectory of a light beam emitted from the light source with a camera, and measures a road surface unevenness state from the trajectory of the photographed light beam. (For example, see Patent Document 1).
[0005]
[Patent Document 1]
JP-A-4-32705
[0006]
[Problems to be solved by the invention]
However, in daily inspections by patrol observers, it was necessary to rely on the experience of the observers, and quantitative diagnosis could not be made at all. In addition, it was not possible to accumulate the results of a rare story as a database.
[0007]
On the other hand, with a conventional measuring device that uses fan beam light such as laser light, when the road surface is wet such as rainy weather, the fan beam light causes irregular reflection, so accurate measurement cannot be performed, and a timely quantitative diagnosis can be made. It was hard to say it could. In addition, since the fan beam light source must be projected onto the road surface during traveling and the trajectory of the light beam must be photographed by a camera, a specially-designed vehicle must be used, which requires high equipment costs and maintenance costs. In addition, since the measurement is expensive, it can be used only for periodic inspections at most once or twice a year, and is not suitable for daily inspections.
[0008]
The present invention has been made in view of such circumstances, and it is an object of the present invention to be able to routinely and quantitatively diagnose road surface conditions at low cost and to provide equipment without specially designed vehicles as vehicles. An object of the present invention is to provide a road surface diagnosis method that does not require cost such as cost and maintenance cost, and a road surface diagnosis device for realizing the method.
[0009]
[Means for Solving the Problems]
The invention according to claim 1 of the present application is a vibration measuring step of measuring a vertical vibration in a vehicle body floor of a vehicle traveling on a road in a time series, and the vibration is measured in a time series by the vibration measuring step. A road surface diagnosis including a conversion step of converting vertical vibration data of a vehicle body floor into road surface displacement data of a road, and a diagnosis step of diagnosing a road surface unevenness state based on the road surface displacement data obtained by the conversion step. Is the way.
[0010]
According to a second aspect of the present invention, there is provided the road surface diagnosis method according to the first aspect, further comprising: a position measuring step of measuring a position of the vehicle traveling on the road in a time series; And an identification step of identifying, based on the measurement time, the vehicle position data and the vertical vibration data of the vehicle body floor measured in time series in the vibration measurement step.
[0011]
The invention according to claim 3 of the present application relates to the road surface diagnosis method according to claim 1 or 2, wherein the natural frequency of the vehicle itself is obtained from the vertical vibration data of the vehicle body floor measured in time series in the vibration measurement step. A vibration removing step to be removed is added, and the converting step converts vertical vibration data from which the natural frequency of the vehicle itself has been removed by the vibration removing step into road surface displacement data of the road.
[0012]
The invention according to claim 4 of the present application is a vibration measuring means for measuring a vertical vibration in a vehicle body floor of a vehicle traveling on a road in a time series, and the vibration measuring means is measured in a time series by the vibration measuring means. The present invention is a road surface diagnostic apparatus including: a data conversion unit that converts vertical vibration data of a vehicle body floor into road surface displacement data of a road; and a data output unit that outputs road surface displacement data obtained by the data conversion unit.
[0013]
According to a fifth aspect of the present invention, in addition to the vibration measuring means and the data converting means according to the fourth aspect of the present invention, an abnormal portion in a road surface unevenness state is detected based on road surface displacement data obtained by the data converting means. A road surface diagnostic apparatus comprising an abnormal part detecting means and an abnormal part output means for outputting a road surface irregularity abnormal part detected by the abnormal part detecting means.
[0014]
The invention according to claim 6 of the present invention is the invention according to claim 5, wherein the position measuring means for measuring the position of the vehicle traveling on the road in time series, and the road surface unevenness state detected by the abnormal part detecting means. Abnormal part position specifying means for specifying the position of the abnormal part based on the measurement time based on the position data of the vehicle measured in chronological order by the position measuring means is further provided, and the abnormal part output means detects the road surface irregularity abnormal part. This is output together with the position information specified by the abnormal part position specifying means.
[0015]
The invention according to claim 7 of the present application relates to the road surface vibration device according to any one of claims 4 to 6, wherein the vehicle itself is obtained from the vertical vibration data of the vehicle body floor measured in time series by the vibration measuring means. Vibration removing means for removing the natural frequency of the vehicle, and the data converting means converts the vertical vibration data from which the natural frequency of the vehicle itself has been removed by the vibration removing means to road surface displacement data of the road. is there.
[0016]
The invention according to claim 8 of the present application is directed to the road surface vibration device according to any one of claims 4 to 7, wherein the data conversion unit includes a vertical direction of the vehicle body floor measured in time series by the vibration measurement unit. The displacement of the portion where the tire of the vehicle comes into contact with the road surface is calculated from the vibration data and the specification data of the vehicle by numerical analysis and converted into road surface displacement data.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0018]
FIG. 1 is a block diagram showing a main configuration of a road surface diagnosis device according to the present embodiment. This road surface diagnostic apparatus includes a vibration measuring device 1 as a vibration measuring unit that measures a vertical vibration in a vehicle body floor of a measuring vehicle running on a road in a time-series manner, and a GPS (Global Positioning System: Global). Positioning system) a GPS receiver 2 as a position measuring means for receiving a radio wave from a satellite and measuring the position of the measurement vehicle running on the road in time series from the time required for the radio wave to arrive. And collect and analyze the vibration measurement data from the vibration measuring device 1 and the position measurement data from the GPS receiver 2 to diagnose the road surface unevenness state of the road on which the measurement vehicle traveled, The controller 3 outputs a position. The vibration measuring instrument 1 and the controller 3 and the GPS receiver 2 and the controller 3 are detachably connected by dedicated communication cables 4 and 5, respectively.
[0019]
The vibration measuring device 1 includes an acceleration sensor 11 for measuring a vibration acceleration of the measurement vehicle body with respect to a floor vertical direction, an amplifier 12 for amplifying an analog signal from the acceleration sensor 11, and an analog signal amplified by the amplifier 12. And an A / D converter 13 for converting the data into digital data. The vibration acceleration data digitized by the A / D converter 13 is supplied to the controller 3 through the communication cable 4.
[0020]
The GPS receiver 2 receives radio waves transmitted from three or more GPS satellites, calculates the distance to each satellite from the time required for these radio waves to reach, and based on this distance data It measures the vehicle position (latitude, longitude), moving direction, and moving speed, and these measurement data are supplied to the controller 3 through the communication cable 5 together with the measurement date and time data.
[0021]
The controller 3 includes a control unit 31 mainly composed of a CPU (Central Processing Unit), a keyboard 32 as an operation unit, a display 33 as a display unit, and a clock unit 34 for measuring the date and time. , A printer interface 35 to which a printer can be connected, an input port 36, a GPS driver 37, and a storage unit 38. The communication cable 4 is connected to the input port 36, and vibration acceleration data is given from the vibration measuring device 1 to the control unit 31 via the input port 36. In addition, the communication cable 5 is connected to the GPS driver 37, and measurement data and measurement date and time data are given from the GPS receiver 2 to the GPS driver 37.
[0022]
The storage unit 38 is configured by, for example, an HDD (Hard Disk Drive) device, and stores and holds various data files such as a specification data file 38A, a vibration data file 38B, a map data file 38C, and a position data file 38D.
[0023]
The specification data file 38A stores vehicle specification values such as the vehicle length, weight, suspension spring constant, tire spring constant, suspension damping constant, and tire damping constant of the measurement vehicle. These vehicle specification values are checked in advance from a catalog or the like of the measurement vehicle, and can be manually input by operating the keyboard 32 to set the specification data file 38A of the measurement vehicle in the storage unit 38. it can.
[0024]
The vibration data file 38B stores the vibration acceleration data measured by the vibration measuring device 1 in a time series in a text format. As shown in FIG. ) Is stored, and the vibration acceleration data is stored in the measurement order in the second and subsequent rows.
[0025]
The map data file 38C stores electronic map data in which roads for diagnosing road surface unevenness are posted, and a commercially available GPS-compatible one can be used.
[0026]
The position data file 38D stores the measurement data of the vehicle position (latitude and longitude), the moving direction, and the speed received from the GPS receiver 2 together with the measurement date and time data in a time-series manner, as shown in FIG. As described above, each item of date, time, latitude, longitude, moving direction and moving speed is stored as one line in the measurement order.
[0027]
Here, as the controller 3, a portable personal computer (hereinafter abbreviated as a personal computer) equipped with a CPU and having a keyboard, a display, an HDD device, various communication interfaces, and the like can be applied.
[0028]
The road surface diagnostic apparatus having such a configuration includes a measurement mode for measuring, in time series, a vertical vibration and a position of the vehicle on a main body floor of a vehicle traveling on a road for diagnosing a road surface unevenness state, An analysis mode for diagnosing the road surface unevenness state of the road by analyzing the result. When the measurement mode is executed, the vibration measuring device 1, the GPS receiver 2, and the controller 3 including the personal computer are all mounted on the measurement vehicle.
[0029]
4A and 4B are schematic views of the measurement vehicle 6 used in the present embodiment. FIG. 4A is a side view, and FIG. 4B is a top view. In the present embodiment, a sedan-type passenger car is used as the measurement vehicle 6. The vibration measuring device 1 is mounted on a floor 63 between the driver's seat 61 and the passenger's seat 62 of the measuring vehicle body 60 using, for example, an adhesive tape, and the GPS receiver is mounted on a dashboard behind a rear seat 64. 2 is installed. Further, the controller 3 is placed on the rear seat 64, and the vibration measuring instrument 1 and the controller 3 and the GPS receiver 2 and the controller 3 are connected with the communication cables 4 and 5, respectively.
[0030]
In this state, the researcher actually drives the measurement target vehicle 6 on the road whose road surface unevenness is to be diagnosed, and inputs a measurement mode execution command to the controller 3 by operating the keyboard 32 of the controller 3. Then, the control unit 31 controls each unit according to the procedure shown in the flowchart of FIG.
[0031]
First, the control unit 31 waits for a measurement start command to be input (S1). Then, when a measurement start command is input by operating the keyboard 32, the control unit 31 reads the date and time data measured by the clock unit 34, and uses the date and time data as a measurement start time to store the date and time in the vibration data file 38B. It records on the line (S2). The control unit 31 activates the GPS driver 37 (S3).
[0032]
Thereafter, the control unit 31 continuously samples the vibration acceleration data supplied from the vibration measuring device 1 via the input port 36 in accordance with a preset sampling rate of vibration measurement (for example, 20 times / second). Then, the data is converted into text (numerical) data and sequentially recorded on the second and subsequent lines of the vibration data file 38B (S4, S5).
[0033]
The control unit 31 repeats sampling and recording of the vibration acceleration data until a measurement end command is input. Then, when the measurement end command is input by operating the keyboard 32 (S6), the control unit 31 stops the GPS driver 37 (S7). The control unit 31 stores the vibration data file 38B in the storage unit 38 (ST8). As described above, the control unit 31 ends the control at the time of executing the measurement mode.
[0034]
In this measurement mode, the control unit 31 causes the display 33 to display a chart of the output signal from the vibration measuring device 1 in real time. By doing so, the investigator can confirm that the vibration measuring instrument 1 is operating normally during the measurement.
[0035]
On the other hand, when the GPS driver 37 is started under the control of the control unit 31, the vehicle position (latitude, longitude) and movement from the GPS receiver 2 are set at intervals of a preset sampling rate (for example, 0.5 times / second). Each measurement data of direction and movement speed and measurement date and time data are input, and each time, each item of date, time, latitude, longitude, movement direction and movement speed is recorded as one line in the text data format in the position data file 38D sequentially. Is repeated. When stopped under the control of the control unit 31, the position data file 38D is stored in the storage unit 38.
[0036]
As described above, the measurement vehicle 6 equipped with the vibration measuring device 1, the GPS receiver 2, and the controller 3 actually travels on the road whose road surface unevenness is to be diagnosed, and thereby the vehicle body of the measurement vehicle 6 traveling on this road Vertical vibration acceleration data on the floor is measured in time series, and is recorded and stored in the controller 3 as a vibration data file 38B, and the GPS position data of the measurement vehicle 6 is measured in time series. Is recorded and stored as a position data file 38D.
[0037]
When the user has traveled on the road whose road surface unevenness is to be diagnosed and completed measurement of the vibration acceleration data and the GPS position data, the researcher operates the keyboard 32 to input an execution command of the analysis mode to the controller 3. Then, the control unit 31 controls each unit according to the procedure shown in the flowchart of FIG.
[0038]
First, the control unit 31 determines whether or not the specification data file 38A of the measurement vehicle 6 is stored in the storage unit 38 (S11). If the specification data file 38A is not stored, the measurement result cannot be analyzed, so the control unit 31 terminates this control with the execution of the analysis mode as an error.
[0039]
When the specification data file 38A of the measurement vehicle 6 is stored, the control unit 31 converts the vibration acceleration data from the second line of the vibration data file 38B stored in the storage unit 38 by executing the measurement mode. Data is sequentially acquired one by one (S12). Then, the control unit 31 calculates a measurement time t of the acquired vibration acceleration data from the measurement start time recorded in the vibration data file 38B and a preset sampling rate of the vibration measurement (S13). The control unit 31 converts the vibration acceleration data into a road surface displacement amount r based on the specification data of the measurement vehicle 6 set in the specification data file 38A [data conversion means] (S14). The displacement r is stored in association with the measurement time t (ST15).
[0040]
Here, the conversion from the vibration acceleration data to the road surface displacement amount r is performed by taking the measured vehicle 6 as a model composed of a four-degree-of-freedom system shown in FIG. The calculation is performed by calculating the displacement of the portion where.
[0041]
In FIG. 7, m _S Is the total mass (kgf) of the vehicle body 6, m _TF Is the front mass (kgf) of the vehicle body 6, m _TR Is the rear mass (kgf) of the vehicle body 6, z _S Is the displacement amount (cm) of the vehicle body 6 in the floor surface vertical direction, z _TF Is the amount of displacement (cm) of the front floor surface of the vehicle body 6 in the vertical direction, z _TR Is the displacement (cm) in the vertical direction of the rear floor of the vehicle body 6, and λ _F Is the front vehicle length (cm) of the vehicle body 6, λ _R Is the rear vehicle length (cm) of the vehicle body 6, k _SF Is the spring constant of the front suspension (kgf / cm), k _SR Is the spring constant of the rear suspension (kgf / cm), k _TF Is the spring constant of the front tire (kgf / cm), k _TR Is the spring constant of the rear tire (kgf / cm), c _SF Is the damping rate of the front suspension (kgfs / cm), c _SR Is the damping rate of the rear suspension (kgfs / cm), c _TF Is the attenuation rate of the front tire (kgfs / cm), c _TR Is the decay rate of the rear tire (kgfs / cm), r _F Is the displacement (cm) of the portion where the front tire contacts the road surface, r _R Is the displacement (cm) of the portion where the rear tire and the road surface are in contact. Of these values, each mass m _S , M _TF , M _TR , Each vehicle length λ _F , Λ _R , Spring constant k of each suspension _SF , K _SR , The spring constant k of each tire _TF , K _TR , Damping rate c of each suspension _SF , C _SR , Damping rate c of each tire _TF , C _TR , Can be obtained in advance as the specification data of the measurement vehicle 6, and are set in the specification data file 38A when executing the analysis mode.
[0042]
When the balance equation of each mass system is obtained, the following equations (1) to (4) are obtained.
[0043]
m _S z _S ″ + C _SF (Z _S '-Z _TF ') + K _SF (Z _S -Z _TF ) + C _SR (Z _S '-Z _TR ') + K _SR (Z _S -Z _TR ) = 0 (1)
m _TF z _TF ″ + C _SF (Z _TF '-Z _S ') + K _SF (Z _TF -Z _S ) + C _TF (Z _TF '-R _F ') + K _TF (Z _TF -R _F ) = 0 (2)
m _TR z _TR ″ + C _SR (Z _TR '-Z _S ') + K _SR (Z _TR -Z _S ) + C _TR (Z _TR '-R _R ') + K _TR (Z _TR -R _R ) = 0… (3)
λ _F ｛C _SF (Z _S '-Z _TF ') K _SF (Z _S -Z _TF )｝-Λ _R ｛C _SR (Z _S '-Z _TR ') + K _SR (Z _S -Z _TR )｝ = 0… (4)
Note that z _S ″ = D ² z _S / Dt ² ,
z _S '= Dz _S / Dt,
z _TF '= Dz _TF / Dt,
z _TR '= Dz _TR / Dt,
r _F '= Dr _F / Dt,
r _R '= Dr _R / Dt.
[0044]
In the expressions (1) to (4), the displacement z of the vehicle body 6 in the vertical direction of the floor surface is obtained. _S Is the vibration acceleration data z _S ″, The unknown is r _F , R _R , Z _TF , Z _TR The four. Therefore, the displacement amount z is given by the equations (1) to (4). _S And the specification data of the measurement vehicle 6 set in the specification data file 38A by substituting the unknown r _F , R _R , Z _TF , Z _TR Can be requested. As a result, the road surface displacement amount r _F , R _R Is obtained. Road surface displacement r _F Is the displacement amount of the portion where the front tire and the road surface are in contact, and the road surface displacement amount r _R Is the displacement of the portion where the rear tire and the road surface are in contact. Therefore, the road surface displacement amount r _F And road surface displacement r _R Is obtained and set as the road surface displacement amount r corresponding to the measurement time t, or one of the displacement amounts is selected as the road surface displacement amount r corresponding to the measurement time t.
[0045]
The control unit 31 repeats the above processing for each piece of vibration acceleration data recorded in the vibration data file 38B. Then, the above processing is executed for the last vibration acceleration data recorded in the vibration data file 38B, and when it is confirmed that the next vibration acceleration data is not recorded in the vibration data file 38B (ST16), the control unit 31 Analyzes the data of the road surface displacement amount r corresponding to the measurement time t and detects an abnormal portion in the road surface unevenness state (ST17). Specifically, when the road surface displacement amount r exceeds a preset threshold value, the control unit 31 determines that there is an abnormal portion in an uneven state on the road surface on which the measurement vehicle 6 has traveled at that time [abnormal portion detection means].
[0046]
FIG. 8 shows an example of the road surface displacement amount r corresponding to the measurement time t. In this example, it is determined that the road surface on which the measurement vehicle 6 has traveled at times t1 and t2 at which the road surface displacement amount r exceeds the threshold values S and -S set in the positive and negative directions, respectively, is the irregularity state abnormal portion. I do.
[0047]
Now, as a result of analyzing the data of the road surface displacement amount r corresponding to the measurement time t, when it is determined that there is an abnormal part in the road surface unevenness state (ST18), the control unit 31 records the data in the position data file 38D in time series. With reference to the position record data, the position record data of the measurement vehicle 6 measured at substantially the same time as the measurement time t corresponding to the road surface displacement amount r determined to be abnormal is selected, and the road surface The position of the irregularity state abnormal part is specified [abnormal part position specifying means].
[0048]
Here, as described above, the sampling rate of vibration recording data is 20 times / second (20 times per second, that is, once every 0.05 seconds), and the sampling rate of position recording data is 0.5 times / second. Seconds (once every two seconds), the position record data at the same time as the measurement time t corresponding to the road surface displacement amount r is not always stored. Therefore, it is necessary to identify the position recording data at substantially the same time as the measurement time t by identifying the vibration recording data and the position recording data based on the measurement time. Specifically, the vibration recording data is measured 40 times between the time when the position recording data is measured at a certain timing and the time when the position recording data is measured at the next timing. Is divided into 40 equal parts to obtain position recording data at each time. Then, the position record data at the time closest to the measurement time t is set as the position record data at substantially the same time as the measurement time t.
[0049]
When the position record data at substantially the same time as the measurement time t is obtained, the control unit 31 causes the display 33 to display the electronic map data stored in the map data file 38C as shown in FIG. Then, a mark (indicated by X in the figure) indicating the road surface irregularity abnormal portion is displayed at a position on the electronic map data indicated by the position record data substantially at the same time as the measurement time t [abnormal position output means], and the analysis mode processing To end.
[0050]
Therefore, the investigator can know the abnormal part of the road surface irregularity state at a glance of the display contents of the display 33.
[0051]
By the way, in the present embodiment, the vibration measuring device 1 is attached to the upper part of the floor of the vehicle body to measure the vertical vibration acceleration in the vehicle body floor. In addition to the vibrations caused by the unevenness of the road surface due to cracks and rutting on the pavement surface, vibrations caused by the engine of the measurement vehicle itself are included. On a road having an elevated structure such as an expressway, vibration of a bridge girder is included.
[0052]
Therefore, in order to remove the vibration data of the measurement vehicle itself and the vibration data of the bridge girder from the vertical vibration acceleration data on the vehicle body floor, the natural frequency of the vibration originating from the measurement vehicle and the vibration originating from the bridge girder Find the natural frequency. For example, by measuring the vibration while stopping on the ground while the engine of the measurement vehicle is running, the natural frequency of the vibration caused by the measurement vehicle is obtained. In addition, by measuring the vibration with the engine stopped at the viaduct and stopping, the natural frequency of the vibration caused by the bridge girder is obtained. Then, from the vibration acceleration data in the vertical direction on the vehicle body floor, a frequency band near the above natural frequency is removed by a filter process [vibration removing means]. This eliminates the vibration component of the vibration caused by the vehicle and the vibration component of the vibration caused by the bridge girder from the raw vibration measurement waveform, and provides a vibration measurement waveform only by external excitation. By converting the waveform data into road surface displacement data and analyzing the data, it is possible to diagnose the unevenness of the road surface more accurately.
[0053]
As described above, according to the present embodiment, the vibration measuring device 1 is attached to the upper portion of the floor surface 63 of the vehicle body, and the controller 3 including a portable personal computer and the GPS receiver 2 are mounted. The vibration measuring device 1 and the controller 3 and the GPS receiver 2 are connected to the GPS receiver 2 by the communication cables 4 and 5, respectively. Can be diagnosed.
[0054]
In this case, the vibration measuring device 1 may be attached and fixed to the upper part of the vehicle interior floor surface 63 with an adhesive tape or the like, so that it is easy to attach and the controller 3 and the GPS receiver 2 may be carried in the vehicle. It is not necessary to prepare a special specification vehicle as a measurement vehicle, and a general passenger car can be used as a measurement vehicle only at the time of measurement as long as the vehicle specification data is known. In addition, recently, not only passenger cars equipped with the GPS receiver 2 as standard equipment are increasing, but also personal computers applicable as the controller 3 are widely used, so that equipment costs can be reduced and specially designed vehicles can be used. No maintenance cost is required, so that the cost can be significantly reduced as compared with the related art. As a result, it can be used not only for regular inspection but also for daily inspection.
[0055]
Further, in the present embodiment, the controller 3 does not need to be connected to the vibration measuring device 1 or the GPS receiver 2 at the time of data analysis, so that the controller 3 is taken out of the measurement vehicle 6 and analyzed at the office or the like. Is possible, and there is an advantage that the analysis operation can be performed efficiently.
[0056]
Further, in the present embodiment, the measurement vehicle 6 equipped with the vibration measuring device 1, the GPS receiver 2, and the controller 3 actually travels on the road on which the road surface unevenness state is to be diagnosed, so that the measurement vehicle traveling on this road 6, vertical vibration acceleration data on the floor of the vehicle body is measured in time series, recorded and stored in the controller 3 as a vibration data file 38B, and the GPS position data of the measurement vehicle 6 is measured in time series. Similarly, since the position data file 38D is recorded and stored in the controller 3, the vertical vibration acceleration data stored in the vibration data file 38B and the GPS position data of the measurement vehicle 6 stored in the position data file 38D are stored in the controller 3. Even after the diagnosis is completed, the results of routine road surface diagnosis It is possible to base reduction. This makes it easy to diagnose aging.
[0057]
In the above-described embodiment, the electronic map data is displayed on the display 33, a mark indicating the abnormal road surface irregularity is displayed on the electronic map, and the position of the abnormal road surface irregularity is displayed. A graph (see FIG. 8) of the road surface displacement amount r converted from the vibration recording data is displayed on the display 33 (data output means), and the investigator diagnoses the unevenness of the road surface by looking at the graph. May be. By adopting such a configuration, the specification data file 38A in which vehicle specification data such as the vehicle length, the weight, the suspension spring constant, the tire spring constant, the suspension damping constant, the tire damping constant, and the like of the measurement vehicle 6 are set in advance. By registering in the storage unit 38 of the controller, it is possible to diagnose the unevenness of the road surface in real time while running the measuring vehicle 6. Further, in this case, even if there is no position record data, the surveyor can recognize the road surface irregularity abnormal portion. Therefore, there is an advantage that a vehicle without the GPS receiver 2 can be used as the measurement vehicle 6.
[0058]
Further, in the above-described embodiment, the vertical vibration at the vehicle body floor of the vehicle running on the road is obtained from the vibration acceleration waveform. However, by using the vibration speed sensor, the vehicle body floor is obtained from the vibration speed waveform. The same effect can be obtained by obtaining the vertical vibration at.
[0059]
Further, in the above-described embodiment, the sedan type passenger car is used as the measuring vehicle 6, but the type of the measuring vehicle 6 is not particularly limited. Further, in the above-described embodiment, the vibration measuring device 1 is mounted on the floor 63 between the driver's seat 61 and the passenger's seat 62 of the measuring vehicle body 60, but the mounting position of the vibration measuring device 1 is limited to this location. For example, it may be the upper part of the floor of the passenger seat or the like. In short, any location can be used as long as vibration data in the vertical direction of the floor surface of the measurement vehicle 6 can be accurately measured.
[0060]
In addition, it goes without saying that various modifications can be made without departing from the spirit of the present invention.
[0061]
【The invention's effect】
As described in detail above, according to each of the inventions according to claims 1 to 3 of the present application, road surface conditions can be routinely and quantitatively diagnosed at a low cost. Therefore, it is possible to provide a road surface diagnosis method that does not require any cost such as maintenance cost.
[0062]
In particular, according to the invention of claim 2, there is an effect that it is possible to easily specify even the position of the road where the road surface condition is abnormal.
[0063]
Further, according to the invention of claim 3, there is an effect that the state of the road surface can be diagnosed more accurately.
[0064]
According to each of the inventions according to claims 4 to 8 of the present application, the condition of the road surface can be routinely and quantitatively diagnosed at low cost, and a specially-designed vehicle is not required as a vehicle, and equipment costs and maintenance costs are reduced. It is possible to provide a cost-effective road surface diagnosis device.
[0065]
In particular, according to the fifth aspect of the present invention, since an abnormal portion of the road surface condition is specified, there is an effect that diagnosis is easy.
[0066]
Further, according to the invention of claim 6, since even the position of the abnormal portion of the road surface condition is specified, the effect that the diagnosis is further facilitated is achieved.
[0067]
Further, according to the invention of claim 7, there is an effect that the state of the road surface can be more accurately diagnosed.
[0068]
Further, according to the invention of claim 8, road surface displacement data can be obtained by numerical analysis from vertical vibration data on the floor of the vehicle body, and the computer can be effectively used. Further, by setting the specification data of the vehicle before traveling of the vehicle, real-time diagnosis can be performed while the vehicle is traveling.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a main configuration of a road surface diagnosis apparatus according to an embodiment of the present invention.
FIG. 2 is a schematic diagram showing a data structure of a vibration data file in the embodiment.
FIG. 3 is an exemplary diagram showing a data structure of a position data file according to the embodiment;
FIG. 4 is a side view and a top view showing a mounting state of the measurement vehicle and each component in the embodiment.
FIG. 5 is a flowchart showing a main part processing procedure when the controller executes the measurement mode in the embodiment.
FIG. 6 is a flowchart showing a main part processing procedure when the controller executes the analysis mode in the embodiment.
FIG. 7 is a schematic diagram showing a four-degree-of-freedom system model used when the controller converts vibration acceleration data into a road surface displacement amount r in the embodiment.
FIG. 8 is a waveform chart showing an example of a road surface displacement amount r corresponding to a measurement time t in the embodiment.
FIG. 9 is a schematic diagram showing one output example of a road surface irregularity abnormal portion in the embodiment.
[Explanation of symbols]
1: Vibration measuring instrument
2 ... GPS receiver
3. Controller
4,5… Communication cable
6… Measurement vehicle
11 ... acceleration sensor
31 ... Control unit
38A: Specification data file
38B: Vibration data file
38C… Map data file
38D: Position data file
60 ... Vehicle body

Claims (8)

A vibration measurement step of measuring in a time series the vertical vibration of the vehicle body floor of the vehicle running on the road,
A conversion step of converting the vertical vibration data of the vehicle body floor measured in time series by the vibration measurement step into road surface displacement data of the road;
A diagnosis step of diagnosing the road surface unevenness state of the road based on the road surface displacement data obtained by the conversion step. A position measurement step of measuring the position of the vehicle traveling on a road in a time-series manner,
Identification for identifying the vehicle position data measured in time series in the position measuring step and the vertical vibration data of the vehicle body floor measured in time series in the vibration measuring step based on the measurement time. The road surface diagnosis method according to claim 1, further comprising the steps of: Adding a vibration removal step of removing the natural frequency of the vehicle itself from the vertical vibration data of the vehicle body floor measured in time series by the vibration measurement step,
3. The road surface diagnosis method according to claim 1, wherein the converting step converts the vertical vibration data from which the natural frequency of the vehicle itself has been removed by the vibration removing step into road surface displacement data of the road. Vibration measuring means for measuring in a time series a vertical vibration of a vehicle body floor of a vehicle traveling on a road,
Data conversion means for converting the vertical vibration data of the vehicle body floor measured in time series by the vibration measurement means into road surface displacement data of the road,
A road output device for outputting road displacement data obtained by the data conversion means. Vibration measuring means for measuring in a time series a vertical vibration of a vehicle body floor of a vehicle traveling on a road,
Data conversion means for converting the vertical vibration data of the vehicle body floor measured in time series by the vibration measurement means into road surface displacement data of the road,
Abnormal part detecting means for detecting an abnormal part in a road surface unevenness state based on the road surface displacement data obtained by the data conversion means,
A road surface diagnostic device comprising: an abnormal portion output unit that outputs a road surface irregularity abnormal portion detected by the abnormal unit detection unit. Position measuring means for measuring the position of the vehicle traveling on a road in time series,
Abnormal part position specifying means for specifying the position of the road surface irregularity abnormal part detected by the abnormal part detecting means based on the measurement time based on the position data of the vehicle measured in time series by the position measuring means; Equipped,
The road surface diagnostic apparatus according to claim 5, wherein the abnormal portion output means outputs the road surface irregularity state abnormal portion together with the position information specified by the abnormal portion position specifying device. Vibration removing means for removing the natural frequency of the vehicle itself from vertical vibration data in the vehicle body floor measured in time series by vibration measuring means,
7. The data converter according to claim 4, wherein the vertical direction data from which the natural frequency of the vehicle has been removed by the vibration remover is converted into road surface displacement data of a road. 8. Road surface diagnostic device. The data conversion means calculates the displacement of the portion where the tire of the vehicle comes into contact with the road surface by numerical analysis from the vertical vibration data on the vehicle body floor measured in time series by the vibration measurement means and the specification data of the vehicle. The road surface diagnostic apparatus according to any one of claims 4 to 7, wherein the road surface diagnostic device is calculated and converted into road surface displacement data.

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