CN109506619A - A kind of road surface elevation detection system and its detection method - Google Patents
A kind of road surface elevation detection system and its detection method Download PDFInfo
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- CN109506619A CN109506619A CN201811202646.2A CN201811202646A CN109506619A CN 109506619 A CN109506619 A CN 109506619A CN 201811202646 A CN201811202646 A CN 201811202646A CN 109506619 A CN109506619 A CN 109506619A
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 55
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 239000000523 sample Substances 0.000 claims description 47
- 238000000034 method Methods 0.000 claims description 19
- 238000002474 experimental method Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses a kind of road surface elevation detection system and its detection methods, by laser displacement sensor, the composition such as gyroscope and data reading terminals, road surface elevation data can be acquired for establishing three-dimensional road surface model and evaluation pavement behavior, Trolley front wheel driving trolley travels on road surface, system starts, laser displacement sensor acquires road surface elevation data in real time, gyroscope detects trolley posture, when car wheel passes through bump or recess, the road surface elevation data that laser displacement sensor measures generate measurement error, trolley posture is detected by gyroscope, establish the correlation model between trolley posture and laser displacement sensor measurement error, laser displacement sensor measurement error is finally corrected by reading data terminal, calculate accurate road surface elevation data.The system that one kind provided by the present invention can accurately measure road surface elevation data can accurately measure road surface elevation data, while save cost and manpower.
Description
Technical Field
The invention belongs to the field of measuring equipment, and particularly relates to a pavement elevation detection system and a detection method thereof.
Background
The road surface elevation data can establish a three-dimensional virtual road surface model and evaluate the road surface condition to provide a data basis. The vehicle road test needs to consume a large amount of manpower and financial resources, and the cost can be greatly saved by establishing a simulation model of the virtual road surface for the road test; the International Roughness Index (IRI) is used as a road surface flatness evaluation Index and is also calculated from the road surface elevation. The traditional measuring method of the road surface elevation is leveling method measurement and triangular elevation measurement, while the currently used more road surface elevation measuring instruments are leveling instruments and total stations, the leveling instruments have higher precision but are limited by topographic relief, the measuring speed is slower, the measuring speed of the total stations is faster but the precision is lower, the two instruments have higher cost, the measurement still needs to be finished manually, the field work load is large, and the efficiency is low.
At present, an advanced vehicle-mounted laser profiler with wide application can measure road surface elevation data, but the data calibration is measured by a level gauge with the same precision before the vehicle-mounted laser profiler is installed and used. The laser profiler is generally pulled by a motor vehicle, and can keep better precision only by keeping higher speed and advancing at a uniform speed as much as possible, and the error of the road surface elevation data which cannot be acquired by the profiler is larger at a low-speed road section or a traffic light intersection. The system is provided with a laser displacement sensor and a gyroscope, the laser displacement sensor is used for collecting road surface elevation data, when the system passes through a convex or concave part of a road surface, the gyroscope is used for detecting the posture of the trolley, a correlation model between a measurement error and the posture of the trolley is established for correction, the uniform speed does not need to be kept, and the road surface elevation data can still be accurately measured. Meanwhile, the system is low in cost and simple and convenient to operate, and a large amount of labor cost can be saved when the pavement elevation data are collected.
Disclosure of Invention
The invention aims to provide a pavement elevation detection system and a detection method thereof according to the defects and shortcomings of the prior art, and aims to correct pavement elevation data acquired by a laser displacement sensor when wheels of a trolley pass through a bulge or a recess of a pavement and provide an accurate measurement method for measuring the pavement elevation data.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a road surface elevation detection system comprises a trolley, a gyroscope, a laser displacement sensor probe, an amplifier unit, a data reading terminal and a storage battery, wherein the gyroscope is installed at the geometric center of the trolley and used for detecting the posture of the trolley in the driving process and is connected with the data reading terminal; the displacement sensor probe is arranged in the middle of the trolley, the displacement sensor probes are distributed on the same horizontal straight line at equal intervals and used for detecting the road surface elevation data in real time, and the displacement sensor probes are connected with the amplifier unit; the amplifier unit converts the road surface elevation data acquired by the displacement sensor probe from optical signals into digital signals and is connected with a data reading terminal; the data reading terminal receives road elevation and trolley attitude data acquired by the amplifier unit and the gyroscope and performs data processing;
furthermore, 3 displacement sensor probes are arranged;
furthermore, a storage battery is also arranged on the trolley and is respectively connected with the amplifier unit, the gyroscope and the hub motor to supply energy to the amplifier unit, the gyroscope and the hub motor;
further, the amplifier unit and the gyroscope are connected with a data reading terminal through a converter, and the converter is an NI data acquisition card; the data reading terminal is a computer and internally carries Labview software;
further, the amplifier unit supplies power to the laser displacement sensor probe through the voltage output function of the amplifier unit; the amplifier unit is also provided with a display screen for displaying the elevation data acquired by the probe in real time;
a road surface elevation detection method comprises the following steps:
step 1, establishing a three-dimensional coordinate system by using the geometric center of a trolley;
step 2, detecting the attitude of the trolley in real time by the gyroscope to obtain attitude information of the trolley; the method comprises the following steps that a laser displacement sensor probe collects road surface elevation data to obtain road surface elevation data to generate a measurement error;
step 3, inputting measurement errors generated by the obtained attitude information of the trolley and the road elevation data into data statistical analysis software (SPSS), obtaining a correlation model of the road elevation detection, and inputting the obtained correlation model into Labview software; and inputting the road elevation and the trolley attitude data into Labview software through a data reading terminal, and finally calculating accurate road elevation data.
Further, in the step 2, the posture information of the trolley is a rotation angle α of the trolley in the X-axis and Y-axis coordinate directionsi、βiWhere i is 1,2, …, n is experiment times, and the rotation angle value αi、βiConverted into a camber value xαi、xβi。
Further, the method for obtaining the road surface elevation data to generate the measurement error comprises the following steps:
s1, on the smooth horizontal road surface, the laser displacement sensor probe vertically emits to the ground, and the distance L from the ground is measuredjWherein j is 1,2, …, m is the number of the laser displacement sensor probes;
s2, when the trolley passes byWhen the road surface is uneven, the angle emitted from the probe of the laser displacement sensor to the ground is changed, and the measured distance from the probe of the laser displacement sensor to the ground is Lj' where j is 1,2, …, m is the number of laser displacement sensor probes;
s3, the measurement error generated by the road surface elevation data is expressed as: l isj’-Lj。
The invention has the beneficial effects that:
1. the system utilizes the gyroscope to detect the posture of the trolley, corrects the measurement error of the laser displacement sensor and can accurately measure the road surface elevation data.
2. The instrument for generally measuring the road surface elevation needs to be calibrated firstly, the procedure is complex, and the instrument cost is high; the system of the invention does not need to be calibrated before measurement, and has simple operation procedure, easy operation and lower cost.
Drawings
FIG. 1 is an isometric view of a detection system;
FIG. 2 is a flow chart of the detection system;
FIG. 3 is a schematic view of the detection system on a smooth horizontal surface;
FIG. 4 is a schematic view of the front wheel of the detection system as it passes over a road surface bump;
FIG. 5 is a schematic view of the rear wheel of the detection system as it passes over a road surface bump;
in the figure: 1. the system comprises a hub motor, 2. a front wheel, 3. a trolley, 4. a gyroscope, 5. a laser displacement sensor probe, 6. a switch button, 7. an amplifier unit, 8. a data reading terminal, 9. a storage battery and 10. a rear wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a road surface elevation detection system comprises a trolley 3, a gyroscope 4, a laser displacement sensor probe 5, an amplifier unit 7, a data reading terminal 8 and a storage battery 9, wherein a hub motor 1 is mounted on a front wheel 2 of the trolley 3 to drive the trolley 3 to run, and the front wheel 2 is a steering wheel;
the gyroscope 4 is arranged at the geometric center of the trolley 3 and used for detecting the posture of the trolley 3 in the running process, and the gyroscope 4 is connected with the data reading terminal 8 through a converter;
3 displacement sensor probes 5 are arranged on a cross beam in the middle of the trolley 3, the 3 displacement sensor probes 5 are arranged on the same horizontal straight line at equal intervals and are used for detecting road surface elevation data in real time, the displacement sensor probes 5 are connected with an amplifier unit 7, the amplifier unit 7 is arranged on the side surface of the trolley 3, and a display screen is arranged on the amplifier unit 7 and is used for displaying the elevation data acquired by the probes in real time; the displacement sensor probe 5 transmits the acquired road surface elevation data to the amplifier unit 7, the acquired road surface elevation data are optical signals, the amplifier unit 7 converts the acquired optical signals into digital signals, and the digital signals are connected with the data reading terminal 8 through a converter, so that the signals are transmitted; in the present example, the converter is an NI data acquisition card, and the model is USB-6003; the data reading terminal 8 is a computer and internally carries Labview software; and the data reading terminal 8 receives and processes the road elevation and the trolley attitude data acquired and processed by the amplifier unit 7 and the gyroscope 4, and performs data processing.
As shown in fig. 1 and 2, the trolley 3 is further provided with a storage battery 9, the storage battery 9 is respectively connected with the amplifier unit 7, the gyroscope 4 and the hub motor 1 to supply energy to the amplifier unit 7, the gyroscope 4 and the hub motor 1, and the trolley 3 is provided with a switch 6 to control the closing of the whole system circuit; the amplifier unit 7 powers the laser displacement sensor probe 5 through its own voltage output function.
Based on the designed road surface elevation detection system, the application also provides a road surface elevation detection method, which specifically adopts the following technical scheme:
step 1, establishing a three-dimensional coordinate system by using a geometric center of a trolley 3;
step 2, the gyroscope 4 detects the posture of the trolley 3 in real time to obtain posture information of the trolley 3, wherein the posture information of the trolley 3 is the rotation angle α of the trolley in the X-axis and Y-axis coordinate directionsi、βiWhere i is 1,2, …, n is experiment times, and the rotation angle value αi、βiConverted into a camber value xαi、xβi；
The method comprises the following steps of acquiring road surface elevation data acquired by a laser displacement sensor probe 5 to generate measurement errors, wherein the measurement errors are generated by the road surface elevation data, and the specific process comprises the following steps:
s1, on the smooth horizontal road surface, the laser displacement sensor probe 5 is vertically emitted to the ground, and the measured distance from the ground is LjWherein j is 1,2, …, m is the number of the laser displacement sensor probes 5;
s2, when the trolley 3 passes through the uneven road surface, the angle of the laser displacement sensor probe 5 emitted to the ground changes, and the measured distance from the ground is Lj' where j is 1,2, …, m is the number of the laser displacement sensor probes 5;
s3, the measurement error generated by the road surface elevation data is expressed as: l isj’-Lj。
Step 3, inputting the obtained attitude information of the trolley 3 and the measurement error generated by the road elevation data into data statistical analysis software (SPSS), obtaining a correlation model of the road elevation detection, and inputting the obtained correlation model into Labview software; and inputting the road elevation and the trolley attitude data into Labview software through a data reading terminal, and finally calculating accurate road elevation data.
In order to explain the technical scheme of the invention more clearly, the following is further explained by combining the working process of the invention:
as shown in fig. 3, the switch button 6 is turned on, the front wheel 2 drives the trolley 3 to run, the trolley 3 is placed on a smooth horizontal road surface in an initial state, the laser displacement sensor probe 5 is vertically emitted to the ground at the moment, the measured distance from the ground is an initial value L, and the collected road surface elevation data is an accurate value.
As shown in figure 4, when the front wheel 2 of the trolley 3 passes through the road surface bulge, the head of the trolley 2 is lifted, the angle of the laser displacement sensor probe 5 transmitted to the ground is changed, the distance between the 3 laser displacement sensor probes 5 and the ground is L ', the collected road surface elevation data generate a measurement error L' -L, at the moment, the gyroscope 4 detects that the trolley 3 generates a rotation angle α on the X axis, in order to correct the measurement error when the front wheel 2 passes through the road surface bulge, and the X axis rotation angle α of the gyroscope 4 when the front wheel passes through the different height bulges is recorded for multiple timesiWhere i is 1,2, …, n, n is the number of experiments and the corresponding measurement error (L' -L) of the three laser displacement sensor probes 5iWhere i is 1,2, …, n, n is the number of experiments, and the rotation angle measured by the gyroscope 4 is an angle value, and the rotation angle value α is calculated by using the conversion formula of radian angle pi/180iConverted into a camber value xαiA plurality of groups of measured camber values xαiWith multiple sets of measurement errors (L' -L)iInputting the data into statistical analysis software (SPSS) to obtain a correlation model of the road surface elevation detection:
wherein,measurement error of laser displacement sensor, xαIs the arc value of the X-axis rotation angle measured by the gyroscope.
As shown in fig. 5When the rear wheels 10 pass through the road surface bulges, the trolley 3 generates a pitch angle and a roll angle, the angle of the laser displacement sensor probe 5 transmitted to the ground is changed, the gyroscope 4 detects that the trolley 3 generates rotation angles α and β on an X axis and a Y axis, the collected road surface elevation data generates measurement errors, and in order to correct the measurement errors in the state, the rotation angles α of the X axis and the Y axis of the gyroscope 4 when the rear wheels 10 pass through the bulges with different heights are recordedi、βi(i is 1,2, …, n, n is the number of experiments) and the corresponding measurement error y of the three laser displacement sensor probes 51i＝L1i’-L1i、y2i＝L2i’-L2i、y3i＝L3i’-L3iI is 1,2, …, n is the number of experiments, the measurement error is the difference between the road elevation data when the rear wheel 10 passes through the road surface bulge and the laser displacement sensor probe 5 of the trolley 3 on the smooth horizontal plane reaches the same point in the experiment, the conversion formula is that the radian is equal to the angle pi/180, the rotation angle value α is obtainedi、βiConverted into a camber value xαi、xβiFrom a plurality of sets xαi、xβiAnd y1i、y2i、y3iAnd the data establishes a correlation model between the rotation angles of the X axis and the Y axis of the three gyroscopes 4 and the measurement error. Record x of these multiple experimentsαi、xβiAnd y1i、y2i、y3iData are input into SPSS software, and the obtained correlation model when the rear wheel 10 passes through the road surface bump is as follows:
wherein,measurement errors, x, of three laser displacement sensors, respectivelyα，xβRespectively are the arc values of the rotation angles of the X axis and the Y axis measured by the gyroscope.
When the front wheel 2 passes through the concave part of the road surface, the method for correcting the measurement error by the system is the same as that when the front wheel 2 passes through the convex part of the road surface.
When the rear wheel 10 passes through the concave part of the road surface, the method for correcting the measurement error by the system is the same as that when the rear wheel 10 passes through the convex part of the road surface.
Obtaining a correlation model of the road surface elevation detection, and inputting the obtained correlation model into Labview software; and inputting the road elevation and the trolley attitude data into Labview software through a data reading terminal, and finally calculating accurate road elevation data.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (8)
1. The road surface elevation detection system is characterized by comprising a trolley (3), a gyroscope (4), a laser displacement sensor probe (5), an amplifier unit (7), a data reading terminal (8) and a storage battery (9), wherein the gyroscope (4) is installed at the geometric center of the trolley (3) and used for detecting the posture of the trolley (3) in the driving process, and the gyroscope (4) is connected with the data reading terminal (8); the displacement sensor probe (5) is arranged at the middle position of the trolley (3), the displacement sensor probes (5) are distributed on the same horizontal straight line at equal intervals for detecting the road surface elevation data in real time, and the displacement sensor probes (5) are connected with the amplifier unit (7); the amplifier unit (7) converts the road surface elevation data acquired by the displacement sensor probe (5) into digital signals from optical signals and is connected with a data reading terminal (8); and the data reading terminal (8) receives the road elevation and the trolley attitude data acquired by the amplifier unit (7) and the gyroscope (4) and performs data processing.
2. The system for detecting the elevation of a road surface according to claim 1, wherein there are 3 displacement sensor probes (5).
3. The system for detecting the elevation of a road surface according to claim 1, wherein a storage battery (9) is further arranged on the trolley (3), and the storage battery (9) is respectively connected with the amplifier unit (7), the gyroscope (4) and the in-wheel motor (1) to supply energy to the amplifier unit (7), the gyroscope (4) and the in-wheel motor (1).
4. The system for detecting the elevation of a road surface according to claim 1, wherein the amplifier unit (7) and the gyroscope (4) are connected with a data reading terminal (8) through a converter, the converter is an NI data acquisition card, and the data reading terminal (8) is a computer and is internally loaded with Labview software.
5. The system for detecting the elevation of a road surface according to claim 1, wherein the amplifier unit (7) powers the laser displacement sensor probe (5) by its own voltage output function; and the amplifier unit (7) is provided with a display screen for displaying the elevation data acquired by the probe in real time.
6. A method for detecting the elevation of a road surface according to any one of claims 1 to 5, comprising the steps of:
step 1, establishing a three-dimensional coordinate system by using a geometric center of a trolley (3);
step 2, detecting the posture of the trolley (3) in real time by the gyroscope (4) to obtain the posture information of the trolley (3); the laser displacement sensor probe (5) acquires road surface elevation data to obtain the road surface elevation data to generate a measurement error;
step 3, measuring errors generated by the obtained attitude information of the trolley (3) and the road surface elevation data are input into data statistical analysis software to obtain a correlation model of the road surface elevation detection, and the obtained correlation model is input into Labview software; and inputting the road elevation and the trolley attitude data into Labview software through a data reading terminal, and finally calculating accurate road elevation data.
7. The method for detecting the elevation of a road surface according to claim 6, wherein in the step 2, the attitude information of the trolley (3) is the rotation angle α of the trolley in the X-axis and Y-axis coordinate directionsi、βiWhere i is 1,2, …, n is experiment times, and the rotation angle value αi、βiConverted into a camber value xαi、xβi。
8. The method for detecting the elevation of a road surface according to claim 6, wherein the method for obtaining the elevation data of the road surface to generate the measurement error comprises the following steps:
s1, on a smooth horizontal road surface, the laser displacement sensor probe (5) is vertically emitted to the ground, and the measured distance from the ground is LjWherein j is 1,2, …, m is the number of the laser displacement sensor probes (5);
s2, when the trolley (3) passes through the uneven road surface, the angle of the laser displacement sensor probe 5 emitted to the ground changes, and the measured distance from the ground is Lj' where j is 1,2, …, m is the number of the laser displacement sensor probes (5);
s3, the measurement error generated by the road surface elevation data is expressed as: l isj’-Lj。
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| CN111074787A (en) * | 2020-01-21 | 2020-04-28 | 上海城建市政工程（集团）有限公司 | Ultrahigh-performance concrete distributing device and application method thereof |
| CN111721262A (en) * | 2020-07-10 | 2020-09-29 | 中国科学院武汉岩土力学研究所 | Automatic guiding method for total station tracking in field elevation measurement |
| CN113737620A (en) * | 2021-09-24 | 2021-12-03 | 燕山大学 | Multi-index acquisition device and method for asphalt pavement conditions |
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Application publication date: 20190322 |