JPH0829164A - Road surface shape measuring instrument - Google Patents
Road surface shape measuring instrumentInfo
- Publication number
- JPH0829164A JPH0829164A JP16192494A JP16192494A JPH0829164A JP H0829164 A JPH0829164 A JP H0829164A JP 16192494 A JP16192494 A JP 16192494A JP 16192494 A JP16192494 A JP 16192494A JP H0829164 A JPH0829164 A JP H0829164A
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- vehicle
- data
- surface shape
- reference point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は道路の路面形状を計測、
測量する路面形状測定装置に関する。BACKGROUND OF THE INVENTION The present invention measures the shape of a road surface,
The present invention relates to a road surface shape measuring device for surveying.
【０００２】[0002]
【従来の技術】図６は従来の路面形状測定装置の斜視図
である。図に示すように従来の装置は計測車両３４に路
面／車両間測距装置１とデータ処理装置３とを搭載し、
計測車両３４は路面を走行し、路面と車両間の相対距離
を測定する。測定したデータはデータ処理装置３に送ら
れてデータ処理され、路面と車両との相対距離を求める
ものである。2. Description of the Related Art FIG. 6 is a perspective view of a conventional road surface shape measuring apparatus. As shown in the figure, in the conventional device, a road surface / vehicle distance measuring device 1 and a data processing device 3 are mounted on a measurement vehicle 34,
The measurement vehicle 34 travels on the road surface and measures the relative distance between the road surface and the vehicle. The measured data is sent to the data processing device 3 for data processing, and the relative distance between the road surface and the vehicle is obtained.
【０００３】[0003]
【発明が解決しようとする課題】従来の装置は、路面と
車両間の相対距離の測定のみのため、局所的な路面形状
の相対変化量の算出しかできず、路面状況の概略調査用
としてしか利用できない。Since the conventional device only measures the relative distance between the road surface and the vehicle, it can only calculate the relative change amount of the local road surface shape, and is only for rough investigation of the road surface condition. Not available.
【０００４】路面形状測定の必要な他の機会として、道
路工事の出来形測量がある。この場合、施工前後での路
面形状変化を調べるためには、路面形状の３次元絶対座
標でのデータが必要であるため、従来装置で測定した相
対変位データを絶対位置にするため、別途測量を実施す
る必要がある。[0004] Another opportunity for measuring road surface shape is road work surveying. In this case, in order to investigate the road surface shape change before and after construction, data on the road surface shape in three-dimensional absolute coordinates is required. Need to be implemented.
【０００５】[0005]
【課題を解決するための手段】本発明はこのような課題
を解決するために、走行する車両に路面／車両間測距装
置と、自己位置と姿勢の算出用の車両位置検出装置、な
らびにこれら両装置のデータを入力し、統合処理する形
状データを求めるデータ処理装置とを搭載し、路面形状
測定装置とする。In order to solve such a problem, the present invention provides a traveling vehicle with a road surface / vehicle distance measuring device, a vehicle position detecting device for calculating a self-position and an attitude, and these. A road surface shape measuring device is equipped with a data processing device that inputs data from both devices and obtains shape data for integrated processing.
【０００６】即ち、本発明は、路面を走行する車両に搭
載し、前記路面と車両間の相対距離を測定する路面／車
両間測距装置と、前記車両の基準点での３次元絶対座標
位置及び姿勢角を検出する車両位置検出装置と、これら
の測定データを入力し、前記路面の形状を３次元絶対座
標変換を行い、形状データを求めるデータ処理装置とを
具備して成ることを特徴とする路面形状測定装置を提供
する。That is, according to the present invention, a road surface / vehicle distance measuring device mounted on a vehicle traveling on a road surface for measuring a relative distance between the road surface and the vehicle, and a three-dimensional absolute coordinate position at a reference point of the vehicle. And a vehicle position detecting device for detecting an attitude angle, and a data processing device for inputting measurement data of these and performing three-dimensional absolute coordinate conversion of the shape of the road surface to obtain shape data. Provided is a road surface shape measuring device.
【０００７】[0007]
【作用】本発明はこのような手段により、路面／車両間
測距装置は、車両上の測定装置に固定された基準点から
の相対距離データとして路面形状を測定する。一方、車
両位置検出装置は、地球空間のある１点を基準点とする
３次元の絶対座標で、車両上のある１点（通常は位置検
出装置内のある基準点）の位置及び姿勢角データをもた
らす。路面／車両間測距装置と車両位置検出装置は、と
もに車両上に固定されているため相対位置は既知であ
る。According to the present invention, by such means, the road surface / vehicle distance measuring device measures the road surface shape as the relative distance data from the reference point fixed to the measuring device on the vehicle. On the other hand, the vehicle position detection device uses three-dimensional absolute coordinates with one point in the earth space as a reference point, and the position and attitude angle data of one point on the vehicle (usually a certain reference point in the position detection device). Bring Since the road surface / vehicle distance measuring device and the vehicle position detecting device are both fixed on the vehicle, their relative positions are known.
【０００８】これら両測定装置からのデータをデータ処
理装置に同期した計測信号に従って組み合わせること、
つまり、車両位置検出装置より、車両基準点での位置、
姿勢を３次元絶対座標で求め、それらを路面／車両間測
距装置との相対位置関係より、路面／車両間測距装置の
基準点の位置、姿勢の絶対座標に変換して表示を行な
い、その求めた座標に路面との相対距離データを加える
ことにより、本装置のみで路面形状を３次元絶対座標表
示することができる。Combining data from both of these measuring devices according to a measurement signal synchronized with the data processing device,
In other words, from the vehicle position detection device, the position at the vehicle reference point,
The attitude is obtained by three-dimensional absolute coordinates, and the relative position relationship with the road surface / vehicle distance measuring device is converted into the absolute coordinates of the position and attitude of the reference point of the road surface / vehicle distance measuring device for display. By adding the relative distance data to the road surface to the obtained coordinates, the road surface shape can be displayed in three-dimensional absolute coordinates only with this device.
【０００９】[0009]
【実施例】以下、本発明の実施例を図面に基づいて具体
的に説明する。図１は本発明の第１実施例に係る路面形
状測定装置の斜視図、図２はそのブロック図である。図
１において、計測車両４には路面と、車両に取付けた測
距計間の相対距離を測定する路面／車両間測距装置１、
車両中の基準点の３次元絶対座標位置と姿勢角を検出す
る車両位置検出装置２及びこれらの装置からのデータを
入力し、幾何学的に組合わせて路面形状を３次元絶対座
標に変換するデータ処理装置３とが搭載されている。Embodiments of the present invention will be described below in detail with reference to the drawings. 1 is a perspective view of a road surface shape measuring apparatus according to a first embodiment of the present invention, and FIG. 2 is a block diagram thereof. In FIG. 1, a measurement vehicle 4 has a road surface and a distance measuring device 1 between the road surface and the vehicle, which measures a relative distance between a distance meter attached to the vehicle.
The vehicle position detecting device 2 for detecting the three-dimensional absolute coordinate position and attitude angle of the reference point in the vehicle and the data from these devices are input and geometrically combined to convert the road surface shape into three-dimensional absolute coordinates. The data processing device 3 is installed.
【００１０】路面／車両間測距装置１は図６に示すもの
と同じく既知のものであり、レーザ測距計を用いる方
式、光源から測定点に光をあて、車両上に固定された２
台のカメラでの画像上の光の位置のずれを測定すること
によりその距離を算出する方式、ローラを路面上にころ
がし、その上下動を読み取る方式、等がある。The road surface / vehicle distance measuring device 1 is the same as that shown in FIG. 6, and it is fixed on the vehicle by a method using a laser range finder and irradiating light from a light source to a measuring point.
There are a method of calculating the distance by measuring the displacement of the light position on the image with a single camera, a method of rolling the roller on the road surface and reading the vertical movement thereof.
【００１１】ここで、路面／車両間測距装置１から得ら
れるデータは、測距装置の基準点からの相対座標空間で
の路面の相対距離データである。また、車両位置検出装
置２の内、車両中の基準点の３次元絶対座標位置（Ｘ、
Ｙ、Ｚの３データ）の検出方式としては、Ｇセンサによ
り、計測車両４の加速度を検知し、それを地上基準点か
ら積分して位置を求める方式（慣性装置方式）、ＧＰＳ
（Global PositioningSystem）を用いる方式、等があ
る。姿勢角検出方式としては３個のジャイロを搭載し、
絶対座標３軸からのずれ量を検出する方式が適用され
る。ここで、車両位置検出装置２から得られるデータ
は、位置検出装置の基準点の３次元絶対座標位置と姿勢
角データである。Here, the data obtained from the road surface / vehicle distance measuring device 1 is the relative distance data of the road surface in the relative coordinate space from the reference point of the distance measuring device. Further, in the vehicle position detecting device 2, the three-dimensional absolute coordinate position (X,
As a detection method of 3 data of Y and Z), a G sensor detects the acceleration of the measurement vehicle 4 and integrates it from a ground reference point to obtain a position (inertial device method), GPS
(Global Positioning System), etc. As a posture angle detection method, it is equipped with three gyros,
A method of detecting the amount of deviation from the three axes of absolute coordinates is applied. Here, the data obtained from the vehicle position detecting device 2 is the three-dimensional absolute coordinate position and attitude angle data of the reference point of the position detecting device.
【００１２】図２のブロック図に示すように、路面／車
両間測距装置１から路面／車両間相対距離データ（Ａ）
が、車両位置検出装置２から車両絶対位置データ（Ｂ）
及び姿勢角データ（Ｃ）がそれぞれ、データ処理装置３
の同期された計測信号（Ｅ）ごとにデータ処理装置３に
送られる。データ処理装置３では、車両位置検出装置２
からの基準点３次元絶対座標と姿勢角データを基に、路
面／車両間測距装置１の基準点での絶対座標及び姿勢角
に変換して算出し、さらに、この算出したデータに相対
距離データを加算することで路面形状を３次元絶対座標
データとして求める。As shown in the block diagram of FIG. 2, relative distance data (A) between the road surface / vehicle distance measuring device 1 to the road surface / vehicle.
From the vehicle position detection device 2 to the vehicle absolute position data (B)
And the attitude angle data (C) are data processing device 3 respectively.
Is sent to the data processing device 3 for each synchronized measurement signal (E). In the data processing device 3, the vehicle position detection device 2
Based on the three-dimensional absolute coordinates of the reference point and the attitude angle data, the absolute coordinates and the attitude angle at the reference point of the road surface / vehicle distance measuring apparatus 1 are converted and calculated, and the relative distance is added to the calculated data. The road surface shape is obtained as three-dimensional absolute coordinate data by adding the data.
【００１３】次に、図５を参照して、データ処理装置３
で実施する演算の例を説明する。図５に示すように、基
準点０を原点とする絶対空間座標系を（Ｘ、Ｙ、Ｚ）と
し、車両の基準点Ｐを原点とする車両軸座標系（ｘ、
ｙ、ｚ）とする。Next, referring to FIG. 5, the data processing device 3
An example of the calculation carried out in 1. will be described. As shown in FIG. 5, an absolute space coordinate system having a reference point 0 as an origin is (X, Y, Z) and a vehicle axis coordinate system (x, Y, Z) having a vehicle reference point P as an origin.
y, z).
【００１４】また車両の姿勢角に相当するものとして、
飛行機の座標系として用いられる地面軸系とオイラー角
の定義に従い設定する。つまり、地面軸を上述の絶対空
間座標系を（Ｘ、Ｙ、Ｚ）とし、車両軸座標系がｚ、
ｙ、ｘ軸の順序でψ、θ、φだけ回転して車両姿勢角に
なるとする。Further, as the one corresponding to the attitude angle of the vehicle,
Set according to the definition of the Euler angle and the ground axis system used as the coordinate system of the airplane. That is, the ground axis is the absolute space coordinate system (X, Y, Z), and the vehicle axis coordinate system is z,
It is assumed that the vehicle attitude angle is reached by rotating ψ, θ, and φ in the order of the y and x axes.
【００１５】いま、基準点０に対する車両位置（絶対空
間座標系での値）を次の（１）式で、車両基準点に対す
る路面の相対位置（車両軸系）を（２）式で、車両姿勢
角を上述のオイラー角（φ、θ、ψ）とする。Now, the vehicle position (value in the absolute space coordinate system) with respect to the reference point 0 is expressed by the following equation (1), and the relative position of the road surface (vehicle axis system) with respect to the vehicle reference point is expressed by the equation (2). The posture angle is the Euler angle (φ, θ, ψ) described above.
【００１６】[0016]
【数１】 [Equation 1]
【００１７】ここで、上式のＬ（ベクトル値）は次のよ
うに表される。Here, L (vector value) in the above equation is expressed as follows.
【００１８】[0018]
【数２】 [Equation 2]
【００１９】図３は本発明の第２実施例に係る路面形状
測定装置の斜視図である。この第２実施例は計測車両１
４に第１実施例と同じ路面／車両間測距装置１、車両位
置検出装置２及びデータ処理装置３を搭載し、図２に示
す機能と同じ機能を有すると共に、更に、ビデオカメラ
６と映像処理装置５から構成される路面上の基準線認識
装置を組み込んだものである。FIG. 3 is a perspective view of a road surface shape measuring apparatus according to a second embodiment of the present invention. This second embodiment is a measurement vehicle 1.
4 is equipped with the same road surface / vehicle distance measuring device 1, vehicle position detecting device 2 and data processing device 3 as in the first embodiment, and has the same function as shown in FIG. A reference line recognizing device on the road which is composed of the processing device 5 is incorporated.
【００２０】図において、車両１４上に設置されたビデ
オカメラ６の映像範囲内に、区画線、あるいは路肩等、
路面上の基準線７をとらえるように、計測車両１４を運
行する。ビデオカメラ６の設置位置及び向きは既知であ
るので、路面上の基準線７からの画像を入力し、計測車
両１４の相対位置を映像処理装置５で求めることにより
路面形状の３次元絶対座標データが道路上のどの地点の
ものか特定することが容易となる。In the figure, a marking line, a shoulder, or the like is displayed within the image range of the video camera 6 installed on the vehicle 14.
The measurement vehicle 14 is operated so as to capture the reference line 7 on the road surface. Since the installation position and orientation of the video camera 6 are known, the image from the reference line 7 on the road surface is input, and the relative position of the measurement vehicle 14 is obtained by the image processing device 5 to obtain the three-dimensional absolute coordinate data of the road surface shape. It is easy to identify which point on the road is.
【００２１】また、路面／車両間測距装置１と車両位置
検出装置２を一体化し、車両の変形や振動からくる誤差
を低減する構造としている。Further, the road surface / vehicle distance measuring device 1 and the vehicle position detecting device 2 are integrated to reduce an error caused by deformation or vibration of the vehicle.
【００２２】図４は本発明の第３実施例に係る路面形状
測定装置の斜視図である。本第３実施例は第１実施例の
計測部、すなわち路面／車両間測距装置１と車両位置検
出装置２を計測専用車両２５にとう載したものである。FIG. 4 is a perspective view of a road surface shape measuring apparatus according to a third embodiment of the present invention. In the third embodiment, the measurement unit of the first embodiment, that is, the road surface / vehicle distance measuring device 1 and the vehicle position detecting device 2 are mounted on a measurement-dedicated vehicle 25.
【００２３】計測部を動力付きの計測車両２４から分離
して連結することにより、計測部をエンジン振動及びサ
スペンションの振動を除去することができ、第１実施例
と同じ作用を奏すると共により正確な路面形状データの
取得が可能な構造としている。もちろん、本第３実施例
に第２実施例で追加した装置、すなわち、ビデオカメラ
６と映像処理装置５から構成される路面上の基準線認識
装置を付加しても良いものである。By separating and connecting the measuring unit from the power-equipped measuring vehicle 24, the measuring unit can eliminate the engine vibration and the vibration of the suspension, and the same operation as in the first embodiment can be achieved and more accurate. It has a structure that allows acquisition of road surface shape data. Of course, the device added in the second embodiment to the third embodiment, that is, the reference line recognition device on the road surface composed of the video camera 6 and the image processing device 5 may be added.
【００２４】[0024]
【発明の効果】以上、具体的に説明したように、本発明
においては、走行する車両に路面と車両間の相対距離を
測定する路面／車両間測距装置と、車両の位置、姿勢角
を検出する車両位置検出装置と、これらの測定データを
処理するデータ処理装置とを設けて路面形状を絶対座標
変換を行い路面形状データを得る装置としたために、１
回の測定で、路面形状の３次元絶対座標表示ができる。As described above in detail, in the present invention, the road surface / vehicle distance measuring device for measuring the relative distance between the road surface and the vehicle, and the position and attitude angle of the vehicle are determined. Since a vehicle position detecting device for detecting and a data processing device for processing these measurement data are provided to obtain absolute road surface shape data by performing absolute coordinate conversion of the road surface shape,
With three measurements, the road surface shape can be displayed in three-dimensional absolute coordinates.
【００２５】又、絶対座標の基準点のみ固定しておけば
道路工事前後での形状変化を直接比較することができ
る。すなわち、出来形管理を短時間かつ容易に行なうこ
とができる。又、路面の維持管理上も、これまでは不可
能であった詳細形状変化（隆起、沈下等）の把握も可能
となる。If only the reference points of absolute coordinates are fixed, it is possible to directly compare the shape changes before and after road construction. That is, the work form management can be easily performed in a short time. In addition, it is possible to grasp detailed shape changes (protrusion, subsidence, etc.) that were not possible in the past in terms of road surface maintenance.
【図１】本発明の第１実施例に係る路面形状測定装置の
斜視図である。FIG. 1 is a perspective view of a road surface shape measuring apparatus according to a first embodiment of the present invention.
【図２】本発明の第１実施例に係る路面形状測定装置の
ブロック図である。FIG. 2 is a block diagram of a road surface shape measuring apparatus according to the first embodiment of the present invention.
【図３】本発明の第２実施例に係る路面形状測定装置の
斜視図である。FIG. 3 is a perspective view of a road surface shape measuring apparatus according to a second embodiment of the present invention.
【図４】本発明の第３実施例に係る路面形状測定装置の
斜視図である。FIG. 4 is a perspective view of a road surface shape measuring apparatus according to a third embodiment of the present invention.
【図５】本発明の測定装置の演算を説明するための座標
系の説明図である。FIG. 5 is an explanatory diagram of a coordinate system for explaining calculation of the measuring apparatus of the present invention.
【図６】従来の路面形状測定装置の斜視図である。FIG. 6 is a perspective view of a conventional road surface shape measuring device.
１ 路面／車両間測距装置 ２ 車両位置検出装置 ３ データ処理装置 ４ 計測車両 ５ 映像処理装置 ６ ビデオカメラ １４ 計測車両 ２４ 計測車両 1 Road surface / vehicle distance measuring device 2 Vehicle position detection device 3 Data processing device 4 Measurement vehicle 5 Video processing device 6 Video camera 14 Measurement vehicle 24 Measurement vehicle
Claims (1)
と車両間の相対距離を測定する路面／車両間測距装置
と、前記車両の基準点での３次元絶対座標位置及び姿勢
角を検出する車両位置検出装置と、これらの測定データ
を入力し、前記路面の形状を３次元絶対座標変換を行
い、形状データを求めるデータ処理装置とを具備して成
ることを特徴とする路面形状測定装置。1. A road surface / vehicle distance measuring device mounted on a vehicle traveling on a road surface for measuring a relative distance between the road surface and the vehicle, and a three-dimensional absolute coordinate position and attitude angle at a reference point of the vehicle. A road surface shape measuring device, comprising: a vehicle position detecting device for detecting; and a data processing device for inputting these measurement data and performing three-dimensional absolute coordinate conversion of the road surface shape to obtain shape data. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16192494A JPH0829164A (en) | 1994-07-14 | 1994-07-14 | Road surface shape measuring instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16192494A JPH0829164A (en) | 1994-07-14 | 1994-07-14 | Road surface shape measuring instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0829164A true JPH0829164A (en) | 1996-02-02 |
Family
ID=15744626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16192494A Pending JPH0829164A (en) | 1994-07-14 | 1994-07-14 | Road surface shape measuring instrument |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0829164A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002081941A (en) * | 2000-09-11 | 2002-03-22 | Zenrin Co Ltd | System and method of measuring three-dimensional shape of road |
| JP2004294152A (en) * | 2003-03-26 | 2004-10-21 | Pasuko:Kk | Road surface property measuring unit |
| JP2008089307A (en) * | 2006-09-29 | 2008-04-17 | Mitsubishi Electric Corp | Measuring carriage, layer thickness measuring apparatus, method and program of layer thickness measurement of the same, and layer thickness measuring method of layer thickness measuring system |
| CN112964220A (en) * | 2021-02-05 | 2021-06-15 | 四川九通智路科技有限公司 | Road surface deformation monitoring devices |
-
1994
- 1994-07-14 JP JP16192494A patent/JPH0829164A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002081941A (en) * | 2000-09-11 | 2002-03-22 | Zenrin Co Ltd | System and method of measuring three-dimensional shape of road |
| JP2004294152A (en) * | 2003-03-26 | 2004-10-21 | Pasuko:Kk | Road surface property measuring unit |
| JP2008089307A (en) * | 2006-09-29 | 2008-04-17 | Mitsubishi Electric Corp | Measuring carriage, layer thickness measuring apparatus, method and program of layer thickness measurement of the same, and layer thickness measuring method of layer thickness measuring system |
| CN112964220A (en) * | 2021-02-05 | 2021-06-15 | 四川九通智路科技有限公司 | Road surface deformation monitoring devices |
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