JP4096091B2 - Road diagnosis method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a road surface diagnosis method for diagnosing road surface conditions such as steps and unevenness by running a vehicle.To the lawRelated.
[0002]
[Prior art]
Most highways have an elevated structure over most of the entire length, and in particular, an elevated structure in the early stages of construction has an independent simple girder structure of about 20 to 30 meters, and therefore there are many expansion joints. In such roads, the expansion joints are damaged due to repeated passage of super heavy vehicles such as large cargo trucks, resulting in steps, cracks on the paved surface, rutting, etc., resulting in unevenness on the road surface. There was a concern that the performance as a road would decline. Such a decrease in performance not only deteriorates noise and running stability of the vehicle, but can also lead to a serious situation such as deterioration of the elevated structure itself. Therefore, it has been desired to establish a system capable of timely and quantitatively diagnosing road level differences and unevenness and storing it as a database.
[0003]
Conventionally, a patrol supervisor travels on a road surface at a low speed by a vehicle, and checks the road surface condition on a daily basis by visual observation and experience.
[0004]
Also, a device that irradiates the road surface with fan beam light from a fan beam light source such as a laser oscillator, captures the trajectory of the light beam emitted from the light source with a camera, and measures the uneven state of the road surface from the trajectory of the captured light beam (For example, refer to Patent Document 1).
[0005]
[Patent Document 1]
JP-A-4-32705
[0006]
[Problems to be solved by the invention]
  However, daily inspections by patrol watchers had to rely on the watcher's experience and could not make quantitative diagnosis. Also as a databaseDiagnosisIt was not possible to accumulate results.
[0007]
On the other hand, with conventional measurement devices that use fan beam light such as laser light, the fan beam light causes irregular reflection when the road surface is wet, such as in rainy weather. It was hard to say that I could do it. In addition, a specially-equipped vehicle has to be used because a fan beam light source must be projected onto the road surface and the trajectory of the light beam must be photographed with a camera while traveling, which requires high equipment costs and maintenance costs. Moreover, since the measurement is expensive, it can be used only at regular inspections once or twice a year, and is unsuitable for daily inspections.
[0008]
  The present invention has been made on the basis of such circumstances, and the object of the present invention is that it is possible to diagnose a road surface condition on a daily and quantitative basis at a low cost, and a facility without requiring a special specification vehicle as a vehicle. Road surface diagnosis method that does not incur costs such as costs and maintenance costsThe lawIt is something to be offered.
[0009]
[Means for Solving the Problems]
  The invention according to claim 1 of the present application isA controller in which specification data used for modeling the measurement vehicle is registered in the storage unit is mounted on the measurement vehicle, and the measurement vehicle is run on a road for diagnosing a road surface unevenness state.Time-series measurement of vertical vibration at the vehicle body floor of the measurement vehicleShi,The controllerVertical vibration data of the vehicle body floor measured in time series,Registered in memoryBased on the data used for modeling the measurement vehicle, the displacement of the portion where the tire of the measurement vehicle is in contact with the road surface is numerically analyzed.In real timeCalculate and convert vertical vibration data of the vehicle body floor to road surface displacement dataAnd this convertedBased on road surface displacement data,, Diagnosis while running the measurement vehicleThis is a road surface diagnosis method.
[0010]
In the invention according to claim 2 of the present application, in the road surface diagnosis method of the invention according to claim 1 described above, a position measurement step for measuring the position of the vehicle traveling on the road in time series, and this time series measurement are performed. An identification step for identifying the vehicle position data and the vertical vibration data of the vehicle body floor portion measured in time series by the vibration measurement step based on the measurement time is added.
[0011]
In the invention according to claim 3 of the present application, in the road surface diagnosis method according to claim 1 or 2, the natural frequency of the vehicle itself is obtained from the vertical vibration data of the vehicle body floor portion measured in time series by the vibration measurement step. A vibration removing step to be removed is added, and 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.
[0017]
DETAILED DESCRIPTION OF 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 the road surface diagnosis apparatus according to the present embodiment. This road surface diagnosis apparatus includes a vibration measuring instrument 1 as a vibration measuring unit that measures time-series vibrations in a vertical direction of a vehicle body floor of a measurement vehicle traveling on a road, and a GPS (Global Positioning System: Global). Positioning system) GPS receiver 2 as a position measuring means for measuring the position of the measuring vehicle traveling on the road in time series from the time required for receiving the radio wave from the satellite and reaching the radio wave The vibration measurement data from the vibration measuring instrument 1 and the position measurement data from the GPS receiver 2 are collected and analyzed to diagnose the road surface unevenness state of the road on which the measurement vehicle has traveled. And a controller 3 that 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 instrument 1 includes an acceleration sensor 11 that measures vibration acceleration in the vertical direction of the floor of the measurement vehicle body, an amplifier 12 that amplifies 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 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 The vehicle position (latitude, longitude), moving direction, and moving speed are measured, and these measurement data are supplied to the controller 3 through the communication cable 5 together with the measurement date / 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 that measures 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 instrument 1 to the control unit 31 via the input port 36. Further, the communication cable 5 is connected to the GPS driver 37, and measurement data and measurement date / 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 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 can be checked in advance from the catalog of the measurement vehicle or the like, and by inputting manually by operating the keyboard 32, the specification data file 38A of the measurement vehicle can be set in the storage unit 38. it can.
[0024]
The vibration data file 38B stores vibration acceleration data measured by the vibration measuring instrument 1 in a text format in time series. As shown in FIG. 2, the measurement start date (year / month / day / hour / minute / second) is displayed on the first line. ) Is stored, and vibration acceleration data is stored in the order of measurement after the second row.
[0025]
The map data file 38C stores electronic map data on which roads for diagnosing road surface unevenness are posted, and commercially available GPS compatible data can be used.
[0026]
The position data file 38D stores the measurement data of the vehicle position (latitude, longitude), moving direction, and speed received from the GPS receiver 2 along with the measurement date / time data in a text format in time series, as shown in FIG. Thus, each item of date, time, latitude, longitude, moving direction, and moving speed is stored in the order of measurement as one line.
[0027]
Here, the controller 3 can be a portable personal computer (hereinafter abbreviated as a personal computer) equipped with a CPU and equipped with a keyboard, display, HDD device, various communication interfaces, and the like.
[0028]
The road surface diagnosis apparatus having such a configuration includes a measurement mode for measuring, in time series, vibrations in the vertical direction on the main body floor of a vehicle traveling on a road for diagnosing a road surface uneven state and the position of the vehicle, respectively. And an analysis mode for diagnosing the road surface unevenness state of the road by analyzing the result. When executing the measurement mode, the vibration measuring instrument 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, where 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 instrument 1 is attached to the floor surface 63 between the driver's seat 61 and the passenger seat 62 of the measuring vehicle main body 60 using, for example, an adhesive tape, and the GPS receiver is mounted on the dashboard behind the 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 by communication cables 4 and 5, respectively.
[0030]
In this state, the investigator actually travels on the road subject to road surface unevenness diagnosis with the measurement vehicle 6 and operates the keyboard 32 of the controller 3 to input the execution command of the measurement mode to the controller 3. If it does so, the control part 31 will control each part in the procedure shown to the flowchart of FIG.
[0031]
First, the control unit 31 waits for a measurement start command to be input (S1). If a measurement start command is input by operating the keyboard 32, the control unit 31 reads the date / time data measured by the clock unit 34, and uses this date / time data as the measurement start time. Record in the line (S2). The control unit 31 activates the GPS driver 37 (S3).
[0032]
Thereafter, the control unit 31 continuously samples vibration acceleration data supplied from the vibration measuring instrument 1 via the input port 36 according to a preset vibration measurement sampling rate (for example, 20 times / second). Then, it is converted into text (numerical value) data and sequentially recorded in the second and subsequent lines of the vibration data file 38B (S4, S5).
[0033]
The control unit 31 repeats sampling and recording of vibration acceleration data until a measurement end command is input. If a measurement end command is input by operating the keyboard 32 (S6), the control unit 31 stops the GPS driver 37 (S7). In addition, the control unit 31 stores the vibration data file 38B in the storage unit 38 (ST8). Thus, the control unit 31 ends the control when the measurement mode is executed.
[0034]
In this measurement mode, the control unit 31 displays the output signal from the vibration measuring instrument 1 on the display 33 as a chart in real time. By doing so, the investigator can confirm that the vibration measuring instrument 1 is operating normally during measurement.
[0035]
On the other hand, when activated by the control of the control unit 31, the GPS driver 37 moves from the GPS receiver 2 to the vehicle position (latitude, longitude) and moves at a preset sampling rate (for example, 0.5 times / second). Each direction and moving speed measurement data and measurement date and time data are input, and each time, date, time, latitude, longitude, moving direction and moving speed items are sequentially recorded as text in the position data file 38D. Repeat the process. Then, when stopped by the control of the control unit 31, the position data file 38D is stored in the storage unit 38.
[0036]
Thus, the vehicle body of the measurement vehicle 6 traveling on this road by actually traveling on the road subject to the road surface unevenness diagnosis by the measurement vehicle 6 equipped with the vibration measuring instrument 1, the GPS receiver 2 and the controller 3. The vibration acceleration data in the vertical direction on the floor is measured in time series and 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 saved as a position data file 38D.
[0037]
Now, when the road surface unevenness state diagnosis target road is run and the measurement of the vibration acceleration data and the GPS position data is finished, the investigator operates the keyboard 32 to input an analysis mode execution command to the controller 3. If it does so, the control part 31 will control each part in the procedure shown to 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, and therefore the control unit 31 terminates this control with an error in execution of the analysis mode.
[0039]
When the specification data file 38A of the measurement vehicle 6 is stored, the control unit 31 obtains 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 the measurement time t of the acquired vibration acceleration data from the measurement start time recorded in the vibration data file 38B and the preset sampling rate of vibration measurement (S13). Further, the control unit 31 converts the vibration acceleration data into 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 amount r is stored in correspondence 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 measurement vehicle 6 as a model composed of a four-degree-of-freedom system shown in FIG. 7 and performing numerical analysis using a balance equation of each mass point to determine the vehicle tire and road surface. This is done by calculating the displacement of the part in contact with.
[0041]
In FIG. 7, m_SIs the total mass of the vehicle body 6 (kgf), m_TFIs the front mass of the vehicle body 6 (kgf), m_TRIs the rear mass (kgf) of the vehicle body 6, z_SIs the amount of displacement (cm) in the vertical direction of the floor of the vehicle body 6, z_TFIs the vertical displacement of the front floor of the vehicle body 6 (cm), z_TRIs the displacement in the vertical direction of the rear floor of the vehicle body 6 (cm), λ_FIs the front vehicle length of the vehicle body 6 (cm), λ_RIs the rear vehicle length (cm) of the vehicle body 6, k_SFIs the spring constant of the front suspension (kgf / cm), k_SRIs the spring constant of the rear suspension (kgf / cm), k_TFIs the front tire spring constant (kgf / cm), k_TRIs the rear tire spring constant (kgf / cm), c_SFIs the damping factor of the front suspension (kgfs / cm), c_SRIs the damping factor of the rear suspension (kgfs / cm), c_TFIs the front tire attenuation (kgfs / cm), c_TRIs the rear tire damping rate (kgfs / cm), r_FIs the amount of displacement (cm) at the part where the front tire contacts the road surface, r_RIs the amount of displacement (cm) at the part where the rear tire and the road surface 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, 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_TRCan be obtained in advance as the specification data of the measuring vehicle 6, and is set in the specification data file 38A when executing the analysis mode.
[0042]
When the balance equation of each mass point system is obtained, the following equations (1) to (4) are obtained.
[0043]
m_Sz_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_TFz_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_TRz_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)
Z_S″ = D²z_S/ Dt²,
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 equations (1) to (4), the displacement amount z of the vehicle body 6 in the vertical direction of the floor surface_SIs the vibration acceleration data z_SIs unknown, so the unknown is r_F, R_R, Z_TF, Z_TRThere are four. Therefore, the displacement amount z is expressed by the equations (1) to (4)._SAnd the specification data of the measuring vehicle 6 set in the specification data file 38A, the unknown number r_F, R_R, Z_TF, Z_TRCan be requested. As a result, the road surface displacement r_F, R_RIs obtained. Road surface displacement r_FIs the displacement amount of the portion where the front tire and the road surface are in contact with each other, and the road surface displacement amount r_RIs the amount of displacement of the portion where the rear tire and the road surface are in contact. Therefore, the road surface displacement amount r_FAnd road displacement r_RIs obtained 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 vibration acceleration data recorded in the vibration data file 38B. Then, when the above-described processing is executed for the last vibration acceleration data recorded in the vibration data file 38B and 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 road surface displacement amount r data corresponding to the measurement time t to detect an abnormal portion of the road surface uneven state (ST17). Specifically, when the road surface displacement amount r exceeds a preset threshold value, the control unit 31 determines that there is an irregular portion in an uneven state on the road surface on which the measurement vehicle 6 traveled at that time [abnormal portion detection. means].
[0046]
An example of the road surface displacement amount r corresponding to the measurement time t is shown in FIG. In this example, it is determined that the road surface on which the measurement vehicle 6 has traveled at the times t1 and t2 when the road surface displacement amount r exceeds the threshold values S and -S set in the positive direction and the negative direction, respectively, is an uneven state abnormal portion. To do.
[0047]
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 portion in the road surface uneven state (ST18), the control unit 31 is recorded in the position data file 38D in time series. The position record data of the measuring vehicle 6 measured at approximately the same time as the measurement time t corresponding to the road surface displacement amount r determined to be an abnormal portion is selected with reference to the position record data, and the road surface is selected based on the position record data. The position of the irregular portion abnormal part is identified [abnormal part position identifying means].
[0048]
Here, as described above, the sampling rate of the vibration recording data is 20 times / second (20 times per second, that is, once every 0.05 seconds), and the sampling rate of the position recording data is 0.5 times / second. Since it is a second (once every 2 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 obtain position record data at almost the same time as the measurement time t by identifying the vibration record data and the position record data based on the measurement time. Specifically, since the vibration recording data is measured 40 times from the time when the position recording data is measured at a certain timing to the time at which the position recording data is measured at the next timing, Is divided into 40 equal parts to obtain position record data at each time. Then, the position record data at the time closest to the measurement time t is set as position record data at the same time as the measurement time t.
[0049]
When the position record data at the same time as the measurement time t is obtained in this way, the control unit 31 displays the electronic map data stored in the map data file 38C on the display 33 as shown in FIG. Then, a mark (X mark in the figure) for notifying the road surface irregularity portion is displayed at a position on the electronic map data indicated by the position record data at approximately the same time as the measurement time t [abnormal position output means], and processing in the analysis mode Exit.
[0050]
Therefore, the person in charge of the survey can know the abnormal part of the road surface unevenness state by simply looking at the display contents on the display 33.
[0051]
By the way, in the present embodiment, the vibration measuring instrument 1 is attached to the upper part of the floor surface of the vehicle main body, and the vertical vibration acceleration in the vehicle main body floor is measured. In addition to the vibrations associated with the uneven shape of the road surface due to cracks, rutting, etc. on the pavement surface, vibrations caused by the engine of the measuring vehicle itself are also included. Moreover, in a road having an elevated structure such as an expressway, vibration of a bridge girder is also 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 vibration acceleration data in the vertical direction on the vehicle body floor, the natural frequency of the vibration caused by the measurement vehicle and the vibration caused by the bridge girder Obtain the natural frequency. For example, the natural frequency of vibration caused by the measurement vehicle is obtained by measuring the vibration while the engine of the measurement vehicle is running and stopped on the ground. In addition, the natural frequency of vibration caused by the bridge girder is obtained by measuring the vibration while the engine is stopped at the viaduct. Then, a frequency band near the natural frequency is removed from the vibration acceleration data in the vertical direction on the vehicle body floor by a filter process [vibration removing means]. By doing this, the vibration component of the vibration caused by the vehicle and the vibration component of the vibration caused by the bridge girder are eliminated from the raw vibration measurement waveform, and the vibration measurement waveform obtained only by external excitation can be obtained. By converting the waveform data into road surface displacement data and analyzing it, it is possible to more accurately diagnose the uneven state of the road surface.
[0053]
As described above, according to the present embodiment, the vibration measuring instrument 1 is attached to the upper part of the floor surface 63 of the vehicle main body, and the controller 3 and the GPS receiver 2 each including a portable personal computer are mounted. By simply driving the measurement vehicle 6 in which the vibration measuring instrument 1 and the controller 3 and the GPS receiver 2 are connected to each other by communication cables 4 and 5 on the road subject to the road surface unevenness diagnosis, the road surface uneven state can be quantitatively determined. Can be diagnosed.
[0054]
In this case, the vibration measuring instrument 1 may be fixed by sticking it on the upper surface 63 of the vehicle interior with an adhesive tape, and it is easy to install, and the controller 3 and the GPS receiver 2 may also be brought into 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 specification data of the vehicle is known. In addition, the number of passenger cars equipped with a GPS receiver 2 as a standard equipment has been increasing recently, and personal computers that can be used as the controller 3 are also widely used. The maintenance cost is also unnecessary, and the cost can be greatly reduced as compared with the conventional case. As a result, it can be used not only for regular inspections but also for daily inspections.
[0055]
In the present embodiment, the controller 3 does not need to be connected to the vibration measuring instrument 1 or the GPS receiver 2 at the time of data analysis, so the controller 3 is taken out of the measuring vehicle 6 and analyzed at the office or the like. There is also an advantage that the analysis work can be performed efficiently.
[0056]
In the present embodiment, the measurement vehicle 6 on which the vibration measuring instrument 1, the GPS receiver 2, and the controller 3 are mounted is actually traveled on the road subject to the road surface unevenness diagnosis, thereby measuring the vehicle traveling on the road. The vibration acceleration data in the vertical direction on the vehicle body floor 6 is time-sequentially recorded and stored in the controller 3 as a vibration data file 38B, and the GPS position data of the measurement vehicle 6 is time-sequentially measured. Similarly, since the controller 3 records and stores the position data file 38D, 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. Even after the diagnosis is completed, the results of daily road surface diagnosis can be It is possible to base reduction. This makes it possible to easily diagnose aging degradation.
[0057]
In the one embodiment, the electronic map data is displayed on the display 33, and a mark for informing the road surface irregularity abnormal part is displayed on the electronic map so that the position of the road surface irregularity abnormal part is displayed. A graph (see FIG. 8) of the road surface displacement r converted from the vibration recording data is displayed on the display 33 (data output means), and the investigator diagnoses the road surface unevenness state by viewing this graph. May be. By adopting such a configuration, a specification data file 38A in which vehicle specification data such as the vehicle length, weight, suspension spring constant, tire spring constant, suspension damping constant, tire damping constant, etc. of the measuring vehicle 6 is set in advance. By registering in the storage unit 38 of the controller, it is possible to diagnose the uneven state of the road surface in real time while the measuring vehicle 6 is traveling. Further, in this case, since the investigator can recognize the road surface irregularity abnormal portion without the position record data, there is an advantage that a vehicle not equipped with the GPS receiver 2 can be used as the measurement vehicle 6.
[0058]
In the embodiment, the vertical vibration at the vehicle body floor of the vehicle traveling on the road is obtained from the vibration acceleration waveform. By using the vibration speed sensor, the vehicle body floor from the vibration speed waveform is obtained. The same effect can be obtained even if the vertical vibration at is obtained.
[0059]
Moreover, in the said one Embodiment, although the sedan type passenger vehicle was used as the measurement vehicle 6, the vehicle type of the measurement vehicle 6 is not specifically limited. Moreover, in the said one Embodiment, although the vibration measuring device 1 was attached to the floor surface 63 between the driver's seat 61 and the passenger seat 62 of the measurement vehicle main body 60, the attachment position of the vibration measuring device 1 is limited to this place. For example, the upper surface of the passenger seat may be used. In short, any place where vibration data in the vertical direction of the floor surface of the measurement vehicle 6 can be measured with high accuracy may be used.
[0060]
Of course, various modifications can be made without departing from the scope of the present invention.
[0061]
【The invention's effect】
  As described above in detail, according to the inventions according to claims 1 to 3, the road surface condition can be diagnosed on a daily and quantitative basis at a low cost, and a special specification vehicle is not required as a vehicle. In addition, it is possible to provide a road surface diagnosis method that does not require maintenance costs.In addition, road surface displacement data can be obtained by numerical analysis from vertical vibration data in the vehicle body floor, and the computer can be used effectively. In addition, by setting the vehicle specification data before the vehicle travels, real-time diagnosis can be performed while the vehicle travels.
[0062]
In particular, according to the invention according to claim 2, there is an effect that it is possible to easily specify even the position of the road where the road surface is abnormal.
[0063]
Moreover, according to the invention which concerns on Claim 3, there exists an effect which can diagnose the state of a road surface more correctly.
[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 same embodiment.
FIG. 3 is a schematic diagram showing a data structure of a position data file in the embodiment.
FIGS. 4A and 4B are 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 a measurement mode is executed by the controller according to the embodiment;
FIG. 6 is a flowchart showing a main processing procedure when an analysis mode is executed by the controller according to the embodiment;
7 is a schematic diagram showing a four-degree-of-freedom system model used when the controller converts vibration acceleration data into road surface displacement amount r in the embodiment. FIG.
FIG. 8 is a waveform diagram showing an example of a road surface displacement amount r corresponding to the measurement time t in the same embodiment.
FIG. 9 is a schematic diagram showing an output example of an abnormal road surface unevenness portion in the embodiment.
[Explanation of symbols]
1 ... Vibration measuring instrument
2 ... GPS receiver
3 ... Controller
4,5 ... Communication cable
6 ... Measurement vehicle
11 ... Accelerometer
31 ... Control unit
38A ... Specification data file
38B ... Vibration data file
38C ... Map data file
38D ... Position data file
60 ... Vehicle body

Claims (3)

A controller in which specification data used for modeling of the measurement vehicle is registered in the storage unit is mounted on the measurement vehicle, and the measurement vehicle is run on a road for diagnosing a road surface unevenness state, and the vehicle body floor of the measurement vehicle is mounted. chronologically it measures the vibration in the vertical direction in the section,
The controller is
From the time-series measured vertical vibration data of the vehicle main body floor and the specification data used for modeling the measurement vehicle registered in the storage unit, the tire and road surface of the measurement vehicle are numerically analyzed. The displacement of the portion in contact with the vehicle is calculated in real time, the vertical vibration data of the vehicle body floor is converted into road surface displacement data of the road, and the road surface uneven state of the road is converted based on the converted road surface displacement data A road surface diagnosis method characterized in that the vehicle is diagnosed while the measurement vehicle is running . The controller is
A position measurement step for measuring the position of the measurement vehicle traveling on the road in time series;
The identification step of identifying a series measured position data and the measurement time and the vertical vibration data before Symbol time series manner measured the vehicle body floor portion of the measurement vehicle when this position measurement step based on The road surface diagnosis method according to claim 1, further comprising: The controller is
From the vertical direction vibration data of the vehicle body floor which is measured before Symbol time series manner include vibration removal step of removing the natural frequency of the measuring vehicle's own,
The road surface diagnosis method according to claim 1 or 2, wherein the vibration data in the vertical direction from which the natural frequency of the measuring vehicle itself has been removed by the vibration removing step is converted into road surface displacement data.

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